2025-06-05T18:31:48.775Z,1749148308.775 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-06-05T18:31:48.775Z,1749148308.775 [lineCaptureHoming:BA.Execute] Stopped
2025-06-05T18:31:48.793Z,1749148308.793 [CommandExec](IMPORTANT): got command restart logs
2025-06-05T18:31:48.812Z,1749148308.812 [lineCaptureHoming:InitialDive] Running Loop=1
2025-06-05T18:31:48.812Z,1749148308.812 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-06-05T18:31:48.812Z,1749148308.812 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-05T18:31:48.812Z,1749148308.812 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-06-05T18:31:48.812Z,1749148308.812 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-05T18:31:48.812Z,1749148308.812 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-06-05T18:31:48.813Z,1749148308.813 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-06-05T18:31:48.813Z,1749148308.813 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-06-05T18:31:48.882Z,1749148308.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526263
2025-06-05T18:31:49.133Z,1749148309.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777747
2025-06-05T18:31:49.137Z,1749148309.137 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-05T18:31:49.138Z,1749148309.138 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-05T18:31:49.385Z,1749148309.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029767
2025-06-05T18:31:49.641Z,1749148309.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285306
2025-06-05T18:31:49.891Z,1749148309.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535665
2025-06-05T18:31:50.141Z,1749148310.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785764
2025-06-05T18:31:50.393Z,1749148310.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037590
2025-06-05T18:31:50.645Z,1749148310.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289700
2025-06-05T18:31:50.897Z,1749148310.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541674
2025-06-05T18:31:51.153Z,1749148311.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797277
2025-06-05T18:31:51.401Z,1749148311.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045654
2025-06-05T18:31:51.654Z,1749148311.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298901
2025-06-05T18:31:51.906Z,1749148311.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550706
2025-06-05T18:31:52.158Z,1749148312.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802819
2025-06-05T18:31:52.409Z,1749148312.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053601
2025-06-05T18:31:52.661Z,1749148312.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305877
2025-06-05T18:31:52.913Z,1749148312.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557693
2025-06-05T18:31:53.165Z,1749148313.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809637
2025-06-05T18:31:53.417Z,1749148313.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061642
2025-06-05T18:31:53.671Z,1749148313.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315575
2025-06-05T18:31:53.923Z,1749148313.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567492
2025-06-05T18:31:54.173Z,1749148314.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817689
2025-06-05T18:31:54.425Z,1749148314.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069915
2025-06-05T18:31:54.677Z,1749148314.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321701
2025-06-05T18:31:54.930Z,1749148314.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574431
2025-06-05T18:31:55.181Z,1749148315.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825650
2025-06-05T18:31:55.433Z,1749148315.433 [DAT](INFO): Reached modem response timeout
2025-06-05T18:31:56.189Z,1749148316.189 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:31:56.190Z,1749148316.190 [DAT](INFO): response not received
2025-06-05T18:31:56.190Z,1749148316.190 [DAT](ERROR): No response from remote modem.
2025-06-05T18:31:59.892Z,1749148319.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:32:18.426Z,1749148338.426 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-06-05T18:32:18.508Z,1749148338.508 [NAL9602](ERROR): received: 
+CSQ:0

OK143, 2, 0, 0, 0

OK
2025-06-05T18:32:19.564Z,1749148339.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:32:31.123Z,1749148351.123 [NAL9602](INFO): SBD MO Status=2, MOMSN=48143, MT Status=2, MTMSN=0
2025-06-05T18:32:31.123Z,1749148351.123 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T18:32:37.199Z,1749148357.199 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-06-05T18:32:45.089Z,1749148365.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:32:45.128Z,1749148365.128 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:32:45.129Z,1749148365.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:32:45.381Z,1749148365.381 [DAT](INFO): DAT read: user:2670>

2025-06-05T18:32:45.381Z,1749148365.381 [DAT](INFO): DAT read: Tx time:18:32:44.3213

2025-06-05T18:32:45.382Z,1749148365.382 [DAT](INFO): Ping request sent.
2025-06-05T18:32:45.382Z,1749148365.382 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:32:45.382Z,1749148365.382 [DAT](INFO): publishing transmit ping time
2025-06-05T18:32:45.382Z,1749148365.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-06-05T18:32:45.639Z,1749148365.639 [DAT](INFO): DAT read: TxSync time:18:32:44.3206

2025-06-05T18:32:45.647Z,1749148365.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261513
2025-06-05T18:32:45.885Z,1749148365.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502869
2025-06-05T18:32:46.138Z,1749148366.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756033
2025-06-05T18:32:46.389Z,1749148366.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006795
2025-06-05T18:32:46.641Z,1749148366.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258998
2025-06-05T18:32:46.893Z,1749148366.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510923
2025-06-05T18:32:47.145Z,1749148367.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762861
2025-06-05T18:32:47.397Z,1749148367.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015134
2025-06-05T18:32:47.649Z,1749148367.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266939
2025-06-05T18:32:47.901Z,1749148367.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519351
2025-06-05T18:32:48.154Z,1749148368.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772165
2025-06-05T18:32:48.405Z,1749148368.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023418
2025-06-05T18:32:48.657Z,1749148368.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274778
2025-06-05T18:32:48.909Z,1749148368.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527171
2025-06-05T18:32:49.161Z,1749148369.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778957
2025-06-05T18:32:49.413Z,1749148369.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030905
2025-06-05T18:32:49.665Z,1749148369.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283185
2025-06-05T18:32:49.917Z,1749148369.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534829
2025-06-05T18:32:50.169Z,1749148370.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787176
2025-06-05T18:32:50.421Z,1749148370.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039678
2025-06-05T18:32:50.674Z,1749148370.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292588
2025-06-05T18:32:50.716Z,1749148370.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:32:50.927Z,1749148370.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544732
2025-06-05T18:32:51.177Z,1749148371.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794960
2025-06-05T18:32:51.429Z,1749148371.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046908
2025-06-05T18:32:51.682Z,1749148371.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299952
2025-06-05T18:32:51.933Z,1749148371.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550730
2025-06-05T18:32:52.186Z,1749148372.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803279
2025-06-05T18:32:52.438Z,1749148372.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055861
2025-06-05T18:32:52.689Z,1749148372.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307289
2025-06-05T18:32:52.943Z,1749148372.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561153
2025-06-05T18:32:53.193Z,1749148373.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810907
2025-06-05T18:32:53.446Z,1749148373.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063399
2025-06-05T18:32:53.698Z,1749148373.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315710
2025-06-05T18:32:53.949Z,1749148373.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567186
2025-06-05T18:32:54.201Z,1749148374.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819616
2025-06-05T18:32:54.454Z,1749148374.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072445
2025-06-05T18:32:54.709Z,1749148374.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326403
2025-06-05T18:32:54.958Z,1749148374.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575792
2025-06-05T18:32:55.209Z,1749148375.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826832
2025-06-05T18:32:55.460Z,1749148375.460 [DAT](INFO): Reached modem response timeout
2025-06-05T18:32:56.217Z,1749148376.217 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:32:56.217Z,1749148376.217 [DAT](INFO): response not received
2025-06-05T18:32:56.217Z,1749148376.217 [DAT](ERROR): No response from remote modem.
2025-06-05T18:33:18.845Z,1749148398.845 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.287743
2025-06-05T18:33:19.848Z,1749148399.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:33:29.032Z,1749148409.032 [Radio_Surface](INFO): Powering down
2025-06-05T18:33:45.224Z,1749148425.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:33:45.417Z,1749148425.417 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:33:45.418Z,1749148425.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:33:45.669Z,1749148425.669 [DAT](INFO): DAT read: user:2671>

2025-06-05T18:33:45.671Z,1749148425.671 [DAT](INFO): DAT read: Tx time:18:33:44.6221

2025-06-05T18:33:45.671Z,1749148425.671 [DAT](INFO): Ping request sent.
2025-06-05T18:33:45.672Z,1749148425.672 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:33:45.672Z,1749148425.672 [DAT](INFO): publishing transmit ping time
2025-06-05T18:33:45.672Z,1749148425.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000854
2025-06-05T18:33:45.922Z,1749148425.922 [DAT](INFO): DAT read: TxSync time:18:33:44.6213

2025-06-05T18:33:45.924Z,1749148425.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252027
2025-06-05T18:33:46.029Z,1749148426.029 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +20,  +89,A
2025-06-05T18:33:46.173Z,1749148426.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501194
2025-06-05T18:33:46.425Z,1749148426.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753068
2025-06-05T18:33:46.677Z,1749148426.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005587
2025-06-05T18:33:46.931Z,1749148426.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258904
2025-06-05T18:33:47.181Z,1749148427.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509186
2025-06-05T18:33:47.433Z,1749148427.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761045
2025-06-05T18:33:47.697Z,1749148427.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025842
2025-06-05T18:33:47.950Z,1749148427.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278440
2025-06-05T18:33:48.201Z,1749148428.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529105
2025-06-05T18:33:48.454Z,1749148428.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782689
2025-06-05T18:33:48.705Z,1749148428.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033427
2025-06-05T18:33:48.959Z,1749148428.959 [DAT](INFO): DAT read: Rx Time:18:33:47.4733

2025-06-05T18:33:48.960Z,1749148428.960 [DAT](INFO): Rx dataTimestamp_ set to:1749148428.959063
2025-06-05T18:33:48.961Z,1749148428.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289710
2025-06-05T18:33:49.210Z,1749148429.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538353
2025-06-05T18:33:49.470Z,1749148429.470 [DAT](INFO): DAT read: 18:33:47.4733 LVL= 31168, 27505, 26802, 31587, AGC= 72, IDX=  78,-0.20,-2.432,-0.061,-0.593,-0.686, PHS=-1.659, 0.672, 0.090, RAW= 283.9,   8.6, CAL= 288.1,  13.1, ROT= 221.9, -13.1

2025-06-05T18:33:49.471Z,1749148429.471 [DAT](INFO): got valid direction response:
 18:33:47.4733 LVL= 31168, 27505, 26802, 31587, AGC= 72, IDX=  78,-0.20,-2.432,-0.061,-0.593,-0.686, PHS=-1.659, 0.672, 0.090, RAW= 283.9,   8.6, CAL= 288.1,  13.1, ROT= 221.9, -13.1

2025-06-05T18:33:49.483Z,1749148429.483 [DAT](INFO): DAT read: Bearing 221.9, -13.1 (Local)

2025-06-05T18:33:49.484Z,1749148429.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.9, -13.1 (Local)

2025-06-05T18:33:49.485Z,1749148429.485 [DAT](INFO): DAT read: Range 10 to 50 : 335.2 m  (Round-trip  447.0 ms) speed -0.5 m/s

2025-06-05T18:33:49.486Z,1749148429.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:33:49.521Z,1749148429.521 [DAT](INFO): direction in FSK: [-0.724942,-0.650453,0.226651]
2025-06-05T18:33:49.521Z,1749148429.521 [DAT](INFO): publishing direction and range info
2025-06-05T18:33:49.975Z,1749148429.975 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:33:50.976Z,1749148430.976 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-05T18:33:50.976Z,1749148430.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:34:05.064Z,1749148445.064 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:34:21.096Z,1749148461.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:34:22.101Z,1749148462.101 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:34:23.372Z,1749148463.372 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:34:45.556Z,1749148485.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:34:45.724Z,1749148485.724 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:34:45.725Z,1749148485.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:34:45.977Z,1749148485.977 [DAT](INFO): DAT read: user:2672>

2025-06-05T18:34:45.977Z,1749148485.977 [DAT](INFO): DAT read: Tx time:18:34:44.9228

2025-06-05T18:34:45.978Z,1749148485.978 [DAT](INFO): Ping request sent.
2025-06-05T18:34:45.978Z,1749148485.978 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:34:45.978Z,1749148485.978 [DAT](INFO): publishing transmit ping time
2025-06-05T18:34:45.979Z,1749148485.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-05T18:34:46.229Z,1749148486.229 [DAT](INFO): DAT read: TxSync time:18:34:44.9220

2025-06-05T18:34:46.229Z,1749148486.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251611
2025-06-05T18:34:46.481Z,1749148486.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502990
2025-06-05T18:34:46.733Z,1749148486.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754890
2025-06-05T18:34:46.985Z,1749148486.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006679
2025-06-05T18:34:47.238Z,1749148487.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259945
2025-06-05T18:34:47.489Z,1749148487.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860
2025-06-05T18:34:47.741Z,1749148487.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762803
2025-06-05T18:34:47.993Z,1749148487.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014806
2025-06-05T18:34:48.245Z,1749148488.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864
2025-06-05T18:34:48.497Z,1749148488.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519053
2025-06-05T18:34:48.749Z,1749148488.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771162
2025-06-05T18:34:49.001Z,1749148489.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022798
2025-06-05T18:34:49.256Z,1749148489.256 [DAT](INFO): DAT read: Rx Time:18:34:47.8219

2025-06-05T18:34:49.257Z,1749148489.257 [DAT](INFO): Rx dataTimestamp_ set to:1749148489.256419
2025-06-05T18:34:49.257Z,1749148489.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279392
2025-06-05T18:34:49.509Z,1749148489.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531086
2025-06-05T18:34:49.763Z,1749148489.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784878
2025-06-05T18:34:50.018Z,1749148490.018 [DAT](INFO): DAT read: 18:34:47.8219 LVL= 27056, 28737, 15058, 32755, AGC= 64, IDX= 409,-0.04,-2.538, 0.011,-1.287,-1.406, PHS=-1.044, 1.464, 0.116, RAW= 302.5,  -5.0, CAL= 306.3,  -7.1, ROT= 203.7,   7.1

2025-06-05T18:34:50.020Z,1749148490.020 [DAT](INFO): got valid direction response:
 18:34:47.8219 LVL= 27056, 28737, 15058, 32755, AGC= 64, IDX= 409,-0.04,-2.538, 0.011,-1.287,-1.406, PHS=-1.044, 1.464, 0.116, RAW= 302.5,  -5.0, CAL= 306.3,  -7.1, ROT= 203.7,   7.1

2025-06-05T18:34:50.021Z,1749148490.021 [DAT](INFO): DAT read: Bearing 203.7,   7.1 (Local)

2025-06-05T18:34:50.022Z,1749148490.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.7,   7.1 (Local)

2025-06-05T18:34:50.023Z,1749148490.023 [DAT](INFO): DAT read: Range 10 to 50 : 371.2 m  (Round-trip  495.0 ms) speed -0.5 m/s

2025-06-05T18:34:50.024Z,1749148490.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:34:50.025Z,1749148490.025 [DAT](INFO): direction in FSK: [-0.908641,-0.398866,-0.123601]
2025-06-05T18:34:50.025Z,1749148490.025 [DAT](INFO): publishing direction and range info
2025-06-05T18:34:52.237Z,1749148492.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:34:53.240Z,1749148493.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:35:03.521Z,1749148503.521 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:InitialDive] Stopped
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-05T18:35:03.522Z,1749148503.522 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-05T18:35:03.875Z,1749148503.875 [lineCaptureHoming:RepeatHack] Stopped
2025-06-05T18:35:03.875Z,1749148503.875 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-05T18:35:03.875Z,1749148503.875 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-05T18:35:03.875Z,1749148503.875 [lineCaptureHoming:Lap] Running Loop=1
2025-06-05T18:35:03.875Z,1749148503.875 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-05T18:35:03.875Z,1749148503.875 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-05T18:35:04.294Z,1749148504.294 [lineCaptureHoming:Lap:A] Stopped
2025-06-05T18:35:04.295Z,1749148504.295 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-05T18:35:04.295Z,1749148504.295 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-05T18:35:04.712Z,1749148504.712 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-05T18:35:04.712Z,1749148504.712 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-05T18:35:04.712Z,1749148504.712 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-05T18:35:04.712Z,1749148504.712 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-05T18:35:04.713Z,1749148504.713 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T18:35:04.713Z,1749148504.713 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T18:35:04.713Z,1749148504.713 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T18:35:04.713Z,1749148504.713 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T18:35:04.713Z,1749148504.713 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T18:35:04.713Z,1749148504.713 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T18:35:04.714Z,1749148504.714 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-05T18:35:04.714Z,1749148504.714 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-05T18:35:04.714Z,1749148504.714 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-05T18:35:04.714Z,1749148504.714 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-05T18:35:04.714Z,1749148504.714 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-05T18:35:04.714Z,1749148504.714 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-05T18:35:04.714Z,1749148504.714 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-05T18:35:04.714Z,1749148504.714 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-05T18:35:04.715Z,1749148504.715 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-05T18:35:04.715Z,1749148504.715 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-05T18:35:04.715Z,1749148504.715 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T18:35:04.715Z,1749148504.715 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-05T18:35:04.720Z,1749148504.720 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-05T18:35:04.721Z,1749148504.721 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-05T18:35:04.721Z,1749148504.721 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-05T18:35:04.721Z,1749148504.721 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-05T18:35:04.721Z,1749148504.721 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-05T18:35:04.722Z,1749148504.722 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-05T18:35:04.722Z,1749148504.722 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-05T18:35:04.722Z,1749148504.722 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-05T18:35:04.722Z,1749148504.722 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T18:35:04.723Z,1749148504.723 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T18:35:04.723Z,1749148504.723 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T18:35:04.728Z,1749148504.728 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-05T18:35:04.728Z,1749148504.728 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-05T18:35:05.082Z,1749148505.082 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-05T18:35:05.082Z,1749148505.082 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T18:35:05.082Z,1749148505.082 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-05T18:35:05.088Z,1749148505.088 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 371.200012 m (mode  0.000000 count ).
2025-06-05T18:35:05.088Z,1749148505.088 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-05T18:35:05.088Z,1749148505.088 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-05T18:35:05.091Z,1749148505.091 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-05T18:35:05.091Z,1749148505.091 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-05T18:35:05.517Z,1749148505.517 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-05T18:35:05.518Z,1749148505.518 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-05T18:35:05.518Z,1749148505.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:05.522Z,1749148505.522 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-05T18:35:05.522Z,1749148505.522 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-05T18:35:05.640Z,1749148505.640 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:35:05.641Z,1749148505.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:05.893Z,1749148505.893 [DAT](INFO): DAT read: user:2673>

2025-06-05T18:35:05.893Z,1749148505.893 [DAT](INFO): DAT read: Tx time:18:35:04.8230

2025-06-05T18:35:05.894Z,1749148505.894 [DAT](INFO): Ping request sent.
2025-06-05T18:35:05.894Z,1749148505.894 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:05.894Z,1749148505.894 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:05.895Z,1749148505.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-06-05T18:35:05.917Z,1749148505.917 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-05T18:35:05.918Z,1749148505.918 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-05T18:35:05.924Z,1749148505.924 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-05T18:35:05.924Z,1749148505.924 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-05T18:35:06.145Z,1749148506.145 [DAT](INFO): DAT read: TxSync time:18:35:04.8222

2025-06-05T18:35:06.146Z,1749148506.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251879
2025-06-05T18:35:06.314Z,1749148506.314 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-05T18:35:06.314Z,1749148506.314 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T18:35:06.314Z,1749148506.314 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-05T18:35:06.315Z,1749148506.315 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T18:35:06.323Z,1749148506.323 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-05T18:35:06.323Z,1749148506.323 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-05T18:35:06.328Z,1749148506.328 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-05T18:35:06.328Z,1749148506.328 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-05T18:35:06.328Z,1749148506.328 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T18:35:06.328Z,1749148506.328 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-05T18:35:06.328Z,1749148506.328 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T18:35:06.328Z,1749148506.328 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-05T18:35:06.328Z,1749148506.328 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-05T18:35:06.328Z,1749148506.328 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T18:35:06.329Z,1749148506.329 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T18:35:06.329Z,1749148506.329 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T18:35:06.329Z,1749148506.329 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-05T18:35:06.329Z,1749148506.329 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T18:35:06.329Z,1749148506.329 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T18:35:06.329Z,1749148506.329 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-05T18:35:06.329Z,1749148506.329 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T18:35:06.330Z,1749148506.330 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-05T18:35:06.330Z,1749148506.330 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-05T18:35:06.330Z,1749148506.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T18:35:06.330Z,1749148506.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T18:35:06.330Z,1749148506.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-05T18:35:06.331Z,1749148506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T18:35:06.331Z,1749148506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T18:35:06.331Z,1749148506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T18:35:06.331Z,1749148506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T18:35:06.331Z,1749148506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-05T18:35:06.331Z,1749148506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-05T18:35:06.331Z,1749148506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T18:35:06.331Z,1749148506.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-05T18:35:06.336Z,1749148506.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-05T18:35:06.337Z,1749148506.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T18:35:06.337Z,1749148506.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T18:35:06.338Z,1749148506.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-05T18:35:06.400Z,1749148506.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505210
2025-06-05T18:35:06.649Z,1749148506.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754753
2025-06-05T18:35:06.738Z,1749148506.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-05T18:35:06.738Z,1749148506.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T18:35:06.738Z,1749148506.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-05T18:35:06.738Z,1749148506.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T18:35:06.738Z,1749148506.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-05T18:35:06.738Z,1749148506.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-05T18:35:06.738Z,1749148506.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T18:35:06.738Z,1749148506.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-05T18:35:06.739Z,1749148506.739 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-05T18:35:06.740Z,1749148506.740 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-05T18:35:06.740Z,1749148506.740 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-05T18:35:06.740Z,1749148506.740 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-05T18:35:06.740Z,1749148506.740 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-05T18:35:06.740Z,1749148506.740 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T18:35:06.741Z,1749148506.741 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.418480 m.
2025-06-05T18:35:06.901Z,1749148506.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006800
2025-06-05T18:35:07.153Z,1749148507.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258909
2025-06-05T18:35:07.160Z,1749148507.160 [DockingStepper](INFO): Changing to mode: 3
2025-06-05T18:35:07.161Z,1749148507.161 [DockingStepper](INFO): Detach mode.
2025-06-05T18:35:07.224Z,1749148507.224 [DockingStepper](INFO): Commanding negative:54297
2025-06-05T18:35:07.408Z,1749148507.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513420
2025-06-05T18:35:07.536Z,1749148507.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:07.657Z,1749148507.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762896
2025-06-05T18:35:07.909Z,1749148507.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014980
2025-06-05T18:35:08.161Z,1749148508.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267527
2025-06-05T18:35:08.415Z,1749148508.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520966
2025-06-05T18:35:08.665Z,1749148508.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770761
2025-06-05T18:35:08.728Z,1749148508.728 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 213.91, 187.95, 211.44
2025-06-05T18:35:08.917Z,1749148508.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022727
2025-06-05T18:35:09.177Z,1749148509.177 [DAT](INFO): DAT read: Rx Time:18:35:07.7368

2025-06-05T18:35:09.177Z,1749148509.177 [DAT](INFO): Rx dataTimestamp_ set to:1749148509.176789
2025-06-05T18:35:09.178Z,1749148509.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283774
2025-06-05T18:35:09.432Z,1749148509.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537284
2025-06-05T18:35:09.617Z,1749148509.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:09.684Z,1749148509.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789550
2025-06-05T18:35:09.940Z,1749148509.940 [DAT](INFO): DAT read: 18:35:07.7368 LVL= 21744, 17297, 12834, 19747, AGC= 67, IDX=  63,-0.11,-2.668,-0.242,-1.061,-1.451, PHS=-1.128, 1.257, 0.388, RAW= 291.1,  -5.0, CAL= 295.1,  -7.8, ROT= 214.9,   7.8

2025-06-05T18:35:09.941Z,1749148509.941 [DAT](INFO): got valid direction response:
 18:35:07.7368 LVL= 21744, 17297, 12834, 19747, AGC= 67, IDX=  63,-0.11,-2.668,-0.242,-1.061,-1.451, PHS=-1.128, 1.257, 0.388, RAW= 291.1,  -5.0, CAL= 295.1,  -7.8, ROT= 214.9,   7.8

2025-06-05T18:35:09.942Z,1749148509.942 [DAT](INFO): DAT read: Bearing 214.9,   7.8 (Local)

2025-06-05T18:35:09.942Z,1749148509.942 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.9,   7.8 (Local)

2025-06-05T18:35:09.943Z,1749148509.943 [DAT](INFO): DAT read: Range 10 to 50 : 382.2 m  (Round-trip  509.6 ms) speed -0.4 m/s

2025-06-05T18:35:09.944Z,1749148509.944 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:09.945Z,1749148509.945 [DAT](INFO): direction in FSK: [-0.812564,-0.566852,-0.135716]
2025-06-05T18:35:09.945Z,1749148509.945 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:09.949Z,1749148509.949 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:09.949Z,1749148509.949 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:09.949Z,1749148509.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:10.185Z,1749148510.185 [DAT](INFO): DAT read: user:2674>

2025-06-05T18:35:10.185Z,1749148510.185 [DAT](INFO): DAT read: Tx time:18:35:09.1230

2025-06-05T18:35:10.186Z,1749148510.186 [DAT](INFO): Ping request sent.
2025-06-05T18:35:10.186Z,1749148510.186 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:10.186Z,1749148510.186 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:10.187Z,1749148510.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-06-05T18:35:10.440Z,1749148510.440 [DAT](INFO): DAT read: TxSync time:18:35:09.1222

2025-06-05T18:35:10.443Z,1749148510.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256899
2025-06-05T18:35:10.689Z,1749148510.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503030
2025-06-05T18:35:10.941Z,1749148510.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754879
2025-06-05T18:35:11.213Z,1749148511.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.027326
2025-06-05T18:35:11.463Z,1749148511.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.277111
2025-06-05T18:35:11.714Z,1749148511.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.527425
2025-06-05T18:35:11.949Z,1749148511.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:11.967Z,1749148511.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780857
2025-06-05T18:35:12.217Z,1749148512.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030805
2025-06-05T18:35:12.472Z,1749148512.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.285579
2025-06-05T18:35:12.721Z,1749148512.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535673
2025-06-05T18:35:12.973Z,1749148512.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786708
2025-06-05T18:35:13.204Z,1749148513.204 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-05T18:35:13.225Z,1749148513.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038916
2025-06-05T18:35:13.481Z,1749148513.481 [DAT](INFO): DAT read: Rx Time:18:35:12.0386

2025-06-05T18:35:13.483Z,1749148513.483 [DAT](INFO): Rx dataTimestamp_ set to:1749148513.481989
2025-06-05T18:35:13.484Z,1749148513.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.298321
2025-06-05T18:35:13.590Z,1749148513.590 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +23,  +55,A
2025-06-05T18:35:13.733Z,1749148513.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546823
2025-06-05T18:35:13.988Z,1749148513.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.801348
2025-06-05T18:35:14.017Z,1749148514.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:14.247Z,1749148514.247 [DAT](INFO): DAT read: 18:35:12.0386 LVL= 24272, 25889, 13970, 26307, AGC= 69, IDX= 450,-0.25,-0.933, 1.343, 0.565, 0.247, PHS=-1.092, 1.144, 0.315, RAW= 291.5,  -3.8, CAL= 295.2,  -6.1, ROT= 214.8,   6.1

2025-06-05T18:35:14.251Z,1749148514.251 [DAT](INFO): got valid direction response:
 18:35:12.0386 LVL= 24272, 25889, 13970, 26307, AGC= 69, IDX= 450,-0.25,-0.933, 1.343, 0.565, 0.247, PHS=-1.092, 1.144, 0.315, RAW= 291.5,  -3.8, CAL= 295.2,  -6.1, ROT= 214.8,   6.1

2025-06-05T18:35:14.252Z,1749148514.252 [DAT](INFO): DAT read: Bearing 214.8,   6.1 (Local)

2025-06-05T18:35:14.252Z,1749148514.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.8,   6.1 (Local)

2025-06-05T18:35:14.253Z,1749148514.253 [DAT](INFO): DAT read: Range 10 to 50 : 383.6 m  (Round-trip  511.5 ms) speed -0.4 m/s

2025-06-05T18:35:14.254Z,1749148514.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:14.255Z,1749148514.255 [DAT](INFO): direction in FSK: [-0.816500,-0.567482,-0.106264]
2025-06-05T18:35:14.255Z,1749148514.255 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:14.259Z,1749148514.259 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:14.259Z,1749148514.259 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:14.259Z,1749148514.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:14.492Z,1749148514.492 [DAT](INFO): DAT read: user:2675>

2025-06-05T18:35:14.495Z,1749148514.495 [DAT](INFO): DAT read: Tx time:18:35:13.4230

2025-06-05T18:35:14.503Z,1749148514.503 [DAT](INFO): Ping request sent.
2025-06-05T18:35:14.503Z,1749148514.503 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:14.505Z,1749148514.505 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:14.508Z,1749148514.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004533
2025-06-05T18:35:14.741Z,1749148514.741 [DAT](INFO): DAT read: TxSync time:18:35:13.4222

2025-06-05T18:35:14.741Z,1749148514.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.238946
2025-06-05T18:35:14.993Z,1749148514.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490071
2025-06-05T18:35:15.255Z,1749148515.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752765
2025-06-05T18:35:15.500Z,1749148515.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996470
2025-06-05T18:35:15.749Z,1749148515.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246026
2025-06-05T18:35:16.001Z,1749148516.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498179
2025-06-05T18:35:16.253Z,1749148516.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750427
2025-06-05T18:35:16.393Z,1749148516.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:16.509Z,1749148516.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005512
2025-06-05T18:35:16.757Z,1749148516.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254393
2025-06-05T18:35:17.009Z,1749148517.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506250
2025-06-05T18:35:17.263Z,1749148517.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759797
2025-06-05T18:35:17.513Z,1749148517.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010076
2025-06-05T18:35:17.766Z,1749148517.766 [DAT](INFO): DAT read: Rx Time:18:35:16.3403

2025-06-05T18:35:17.766Z,1749148517.766 [DAT](INFO): Rx dataTimestamp_ set to:1749148517.766138
2025-06-05T18:35:17.767Z,1749148517.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264421
2025-06-05T18:35:18.017Z,1749148518.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514168
2025-06-05T18:35:18.273Z,1749148518.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769366
2025-06-05T18:35:18.453Z,1749148518.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:18.588Z,1749148518.588 [DAT](INFO): DAT read: 18:35:16.3403 LVL= 25584, 24881, 17170, 26291, AGC= 67, IDX= 434, 0.02,-2.060, 0.224,-0.496,-1.111, PHS=-0.861, 1.383, 0.613, RAW= 289.7, -11.5, CAL= 295.4, -17.0, ROT= 214.6,  17.0

2025-06-05T18:35:18.589Z,1749148518.589 [DAT](INFO): got valid direction response:
 18:35:16.3403 LVL= 25584, 24881, 17170, 26291, AGC= 67, IDX= 434, 0.02,-2.060, 0.224,-0.496,-1.111, PHS=-0.861, 1.383, 0.613, RAW= 289.7, -11.5, CAL= 295.4, -17.0, ROT= 214.6,  17.0

2025-06-05T18:35:18.590Z,1749148518.590 [DAT](INFO): DAT read: Bearing 214.6,  17.0 (Local)

2025-06-05T18:35:18.590Z,1749148518.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.6,  17.0 (Local)

2025-06-05T18:35:18.600Z,1749148518.600 [DAT](INFO): DAT read: Range 10 to 50 : 384.7 m  (Round-trip  513.0 ms) speed  0.0 m/s

2025-06-05T18:35:18.601Z,1749148518.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:18.602Z,1749148518.602 [DAT](INFO): direction in FSK: [-0.787169,-0.543032,-0.292372]
2025-06-05T18:35:18.602Z,1749148518.602 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:18.610Z,1749148518.610 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:18.610Z,1749148518.610 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:18.610Z,1749148518.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:18.772Z,1749148518.772 [DAT](INFO): DAT read: user:2676>

2025-06-05T18:35:18.773Z,1749148518.773 [DAT](INFO): DAT read: Tx time:18:35:17.7731

2025-06-05T18:35:18.773Z,1749148518.773 [DAT](INFO): Ping request sent.
2025-06-05T18:35:18.774Z,1749148518.774 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:18.774Z,1749148518.774 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:18.774Z,1749148518.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-06-05T18:35:19.026Z,1749148519.026 [DAT](INFO): DAT read: TxSync time:18:35:17.7723

2025-06-05T18:35:19.027Z,1749148519.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253211
2025-06-05T18:35:19.277Z,1749148519.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503043
2025-06-05T18:35:19.531Z,1749148519.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756714
2025-06-05T18:35:19.781Z,1749148519.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007487
2025-06-05T18:35:20.033Z,1749148520.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259299
2025-06-05T18:35:20.285Z,1749148520.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511017
2025-06-05T18:35:20.539Z,1749148520.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764936
2025-06-05T18:35:20.789Z,1749148520.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015267
2025-06-05T18:35:20.867Z,1749148520.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:21.040Z,1749148521.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266829
2025-06-05T18:35:21.293Z,1749148521.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519337
2025-06-05T18:35:21.547Z,1749148521.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772704
2025-06-05T18:35:21.797Z,1749148521.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023067
2025-06-05T18:35:22.049Z,1749148522.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275062
2025-06-05T18:35:22.301Z,1749148522.301 [DAT](INFO): DAT read: Rx Time:18:35:20.6924

2025-06-05T18:35:22.301Z,1749148522.301 [DAT](INFO): Rx dataTimestamp_ set to:1749148522.300841
2025-06-05T18:35:22.302Z,1749148522.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528025
2025-06-05T18:35:22.570Z,1749148522.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.796117
2025-06-05T18:35:22.827Z,1749148522.827 [DAT](INFO): DAT read: 18:35:20.6924 LVL= 30128, 23857, 14642, 30515, AGC= 68, IDX= 456, 0.19,-1.577, 0.731,-0.095,-0.699, PHS=-0.791, 1.477, 0.601, RAW= 292.5, -12.9, CAL= 298.3, -18.6, ROT= 211.7,  18.6

2025-06-05T18:35:22.828Z,1749148522.828 [DAT](INFO): got valid direction response:
 18:35:20.6924 LVL= 30128, 23857, 14642, 30515, AGC= 68, IDX= 456, 0.19,-1.577, 0.731,-0.095,-0.699, PHS=-0.791, 1.477, 0.601, RAW= 292.5, -12.9, CAL= 298.3, -18.6, ROT= 211.7,  18.6

2025-06-05T18:35:22.829Z,1749148522.829 [DAT](INFO): DAT read: Bearing 211.7,  18.6 (Local)

2025-06-05T18:35:22.829Z,1749148522.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.7,  18.6 (Local)

2025-06-05T18:35:22.831Z,1749148522.831 [DAT](INFO): DAT read: Range 10 to 50 : 386.4 m  (Round-trip  515.2 ms) speed -0.2 m/s

2025-06-05T18:35:22.831Z,1749148522.831 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:22.832Z,1749148522.832 [DAT](INFO): direction in FSK: [-0.806372,-0.498025,-0.318959]
2025-06-05T18:35:22.833Z,1749148522.833 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:22.840Z,1749148522.840 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:22.840Z,1749148522.840 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:22.840Z,1749148522.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:23.073Z,1749148523.073 [DAT](INFO): DAT read: user:2677>

2025-06-05T18:35:23.073Z,1749148523.073 [DAT](INFO): DAT read: Tx time:18:35:22.0231

2025-06-05T18:35:23.074Z,1749148523.074 [DAT](INFO): Ping request sent.
2025-06-05T18:35:23.074Z,1749148523.074 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:23.074Z,1749148523.074 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:23.074Z,1749148523.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-06-05T18:35:23.325Z,1749148523.325 [DAT](INFO): DAT read: TxSync time:18:35:22.0223

2025-06-05T18:35:23.325Z,1749148523.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251567
2025-06-05T18:35:23.364Z,1749148523.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:35:23.380Z,1749148523.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:23.578Z,1749148523.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504252
2025-06-05T18:35:23.829Z,1749148523.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755222
2025-06-05T18:35:24.081Z,1749148524.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006778
2025-06-05T18:35:24.333Z,1749148524.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259035
2025-06-05T18:35:24.368Z,1749148524.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:35:24.586Z,1749148524.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512045
2025-06-05T18:35:24.838Z,1749148524.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764069
2025-06-05T18:35:25.089Z,1749148525.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015123
2025-06-05T18:35:25.341Z,1749148525.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266932
2025-06-05T18:35:25.593Z,1749148525.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518793
2025-06-05T18:35:25.765Z,1749148525.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:25.846Z,1749148525.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772121
2025-06-05T18:35:26.097Z,1749148526.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022898
2025-06-05T18:35:26.349Z,1749148526.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274819
2025-06-05T18:35:26.601Z,1749148526.601 [DAT](INFO): DAT read: Rx Time:18:35:24.9441

2025-06-05T18:35:26.601Z,1749148526.601 [DAT](INFO): Rx dataTimestamp_ set to:1749148526.601139
2025-06-05T18:35:26.602Z,1749148526.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528194
2025-06-05T18:35:26.853Z,1749148526.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779340
2025-06-05T18:35:27.110Z,1749148527.110 [DAT](INFO): DAT read: 18:35:24.9442 LVL= 22672, 21681, 14258, 29075, AGC= 70, IDX= 441, 0.06, 1.791,-2.159,-3.086, 2.579, PHS=-0.700, 1.592, 0.615, RAW= 295.1, -15.0, CAL= 300.4, -21.3, ROT= 209.6,  21.3

2025-06-05T18:35:27.111Z,1749148527.111 [DAT](INFO): got valid direction response:
 18:35:24.9442 LVL= 22672, 21681, 14258, 29075, AGC= 70, IDX= 441, 0.06, 1.791,-2.159,-3.086, 2.579, PHS=-0.700, 1.592, 0.615, RAW= 295.1, -15.0, CAL= 300.4, -21.3, ROT= 209.6,  21.3

2025-06-05T18:35:27.112Z,1749148527.112 [DAT](INFO): DAT read: Bearing 209.6,  21.3 (Local)

2025-06-05T18:35:27.113Z,1749148527.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.6,  21.3 (Local)

2025-06-05T18:35:27.114Z,1749148527.114 [DAT](INFO): DAT read: Range 10 to 50 : 387.6 m  (Round-trip  516.8 ms) speed  0.0 m/s

2025-06-05T18:35:27.114Z,1749148527.114 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:27.116Z,1749148527.116 [DAT](INFO): direction in FSK: [-0.810101,-0.460201,-0.363251]
2025-06-05T18:35:27.116Z,1749148527.116 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:27.121Z,1749148527.121 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:27.121Z,1749148527.121 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:27.122Z,1749148527.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:27.357Z,1749148527.357 [DAT](INFO): DAT read: user:2678>

2025-06-05T18:35:27.357Z,1749148527.357 [DAT](INFO): DAT read: Tx time:18:35:26.3232

2025-06-05T18:35:27.358Z,1749148527.358 [DAT](INFO): Ping request sent.
2025-06-05T18:35:27.358Z,1749148527.358 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:27.358Z,1749148527.358 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:27.359Z,1749148527.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-06-05T18:35:27.609Z,1749148527.609 [DAT](INFO): DAT read: TxSync time:18:35:26.3224

2025-06-05T18:35:27.610Z,1749148527.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251701
2025-06-05T18:35:27.790Z,1749148527.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:27.862Z,1749148527.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503860
2025-06-05T18:35:28.116Z,1749148528.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758671
2025-06-05T18:35:28.369Z,1749148528.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010906
2025-06-05T18:35:28.623Z,1749148528.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265500
2025-06-05T18:35:28.873Z,1749148528.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515086
2025-06-05T18:35:29.125Z,1749148529.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767107
2025-06-05T18:35:29.344Z,1749148529.344 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T18:35:29.377Z,1749148529.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018880
2025-06-05T18:35:29.629Z,1749148529.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270760
2025-06-05T18:35:29.833Z,1749148529.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:29.881Z,1749148529.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522819
2025-06-05T18:35:30.133Z,1749148530.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774823
2025-06-05T18:35:30.385Z,1749148530.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026784
2025-06-05T18:35:30.645Z,1749148530.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286848
2025-06-05T18:35:30.897Z,1749148530.897 [DAT](INFO): DAT read: Rx Time:18:35:29.2458

2025-06-05T18:35:30.897Z,1749148530.897 [DAT](INFO): Rx dataTimestamp_ set to:1749148530.896946
2025-06-05T18:35:30.898Z,1749148530.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539954
2025-06-05T18:35:31.150Z,1749148531.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791731
2025-06-05T18:35:31.407Z,1749148531.407 [DAT](INFO): DAT read: 18:35:29.2458 LVL= 24960, 21665, 12098, 22451, AGC= 68, IDX= 442,-0.41,-2.060, 0.387,-0.861,-1.331, PHS=-0.641, 1.765, 0.468, RAW= 302.6, -15.1, CAL= 308.0, -20.9, ROT= 202.0,  20.9

2025-06-05T18:35:31.409Z,1749148531.409 [DAT](INFO): got valid direction response:
 18:35:29.2458 LVL= 24960, 21665, 12098, 22451, AGC= 68, IDX= 442,-0.41,-2.060, 0.387,-0.861,-1.331, PHS=-0.641, 1.765, 0.468, RAW= 302.6, -15.1, CAL= 308.0, -20.9, ROT= 202.0,  20.9

2025-06-05T18:35:31.410Z,1749148531.410 [DAT](INFO): DAT read: Bearing 202.0,  20.9 (Local)

2025-06-05T18:35:31.410Z,1749148531.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.0,  20.9 (Local)

2025-06-05T18:35:31.411Z,1749148531.411 [DAT](INFO): DAT read: Range 10 to 50 : 388.8 m  (Round-trip  518.5 ms) speed  0.0 m/s

2025-06-05T18:35:31.412Z,1749148531.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:31.413Z,1749148531.413 [DAT](INFO): direction in FSK: [-0.866179,-0.349959,-0.356738]
2025-06-05T18:35:31.413Z,1749148531.413 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:31.417Z,1749148531.417 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:31.417Z,1749148531.417 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:31.417Z,1749148531.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:31.652Z,1749148531.652 [DAT](INFO): DAT read: user:2679>

2025-06-05T18:35:31.653Z,1749148531.653 [DAT](INFO): DAT read: Tx time:18:35:30.6232

2025-06-05T18:35:31.654Z,1749148531.654 [DAT](INFO): Ping request sent.
2025-06-05T18:35:31.654Z,1749148531.654 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:31.654Z,1749148531.654 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:31.654Z,1749148531.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-06-05T18:35:31.905Z,1749148531.905 [DAT](INFO): DAT read: TxSync time:18:35:30.6224

2025-06-05T18:35:31.906Z,1749148531.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252277
2025-06-05T18:35:32.157Z,1749148532.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503094
2025-06-05T18:35:32.217Z,1749148532.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:32.409Z,1749148532.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754990
2025-06-05T18:35:32.662Z,1749148532.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008673
2025-06-05T18:35:32.915Z,1749148532.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260713
2025-06-05T18:35:33.165Z,1749148533.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510959
2025-06-05T18:35:33.417Z,1749148533.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763076
2025-06-05T18:35:33.428Z,1749148533.428 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 388.80 m. Transitioning docking module to standby.
2025-06-05T18:35:33.669Z,1749148533.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015043
2025-06-05T18:35:33.922Z,1749148533.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268133
2025-06-05T18:35:33.993Z,1749148533.993 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T18:35:33.993Z,1749148533.993 [DockingStepper](INFO): Standby mode.
2025-06-05T18:35:34.056Z,1749148534.056 [DockingStepper](INFO): Commanding positive:54297
2025-06-05T18:35:34.173Z,1749148534.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519003
2025-06-05T18:35:34.235Z,1749148534.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:34.425Z,1749148534.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771046
2025-06-05T18:35:34.690Z,1749148534.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036234
2025-06-05T18:35:34.941Z,1749148534.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287236
2025-06-05T18:35:35.194Z,1749148535.194 [DAT](INFO): DAT read: Rx Time:18:35:33.5468

2025-06-05T18:35:35.195Z,1749148535.195 [DAT](INFO): Rx dataTimestamp_ set to:1749148535.194331
2025-06-05T18:35:35.196Z,1749148535.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542087
2025-06-05T18:35:35.445Z,1749148535.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791030
2025-06-05T18:35:35.702Z,1749148535.702 [DAT](INFO): DAT read: 18:35:33.5468 LVL= 24048, 32753, 18786, 30099, AGC= 68, IDX= 452,-0.11,-0.399, 1.975, 0.891, 0.221, PHS=-0.532, 1.800, 0.666, RAW= 299.1, -18.7, CAL= 301.6, -27.1, ROT= 208.4,  27.1

2025-06-05T18:35:35.703Z,1749148535.703 [DAT](INFO): got valid direction response:
 18:35:33.5468 LVL= 24048, 32753, 18786, 30099, AGC= 68, IDX= 452,-0.11,-0.399, 1.975, 0.891, 0.221, PHS=-0.532, 1.800, 0.666, RAW= 299.1, -18.7, CAL= 301.6, -27.1, ROT= 208.4,  27.1

2025-06-05T18:35:35.704Z,1749148535.704 [DAT](INFO): DAT read: Bearing 208.4,  27.1 (Local)

2025-06-05T18:35:35.704Z,1749148535.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.4,  27.1 (Local)

2025-06-05T18:35:35.706Z,1749148535.706 [DAT](INFO): DAT read: Range 10 to 50 : 389.6 m  (Round-trip  519.5 ms) speed -0.2 m/s

2025-06-05T18:35:35.706Z,1749148535.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:35.707Z,1749148535.707 [DAT](INFO): direction in FSK: [-0.783074,-0.423407,-0.455545]
2025-06-05T18:35:35.708Z,1749148535.708 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:35.713Z,1749148535.713 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:35.713Z,1749148535.713 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:35.714Z,1749148535.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:35.949Z,1749148535.949 [DAT](INFO): DAT read: user:2680>

2025-06-05T18:35:35.949Z,1749148535.949 [DAT](INFO): DAT read: Tx time:18:35:34.8732

2025-06-05T18:35:35.950Z,1749148535.950 [DAT](INFO): Ping request sent.
2025-06-05T18:35:35.950Z,1749148535.950 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:35.950Z,1749148535.950 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:35.951Z,1749148535.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-06-05T18:35:36.201Z,1749148536.201 [DAT](INFO): DAT read: TxSync time:18:35:34.8724

2025-06-05T18:35:36.202Z,1749148536.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251646
2025-06-05T18:35:36.254Z,1749148536.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:36.454Z,1749148536.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503726
2025-06-05T18:35:36.707Z,1749148536.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756873
2025-06-05T18:35:36.957Z,1749148536.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006675
2025-06-05T18:35:37.209Z,1749148537.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259422
2025-06-05T18:35:37.461Z,1749148537.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510866
2025-06-05T18:35:37.715Z,1749148537.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764238
2025-06-05T18:35:37.965Z,1749148537.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014696
2025-06-05T18:35:38.217Z,1749148538.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266736
2025-06-05T18:35:38.469Z,1749148538.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518727
2025-06-05T18:35:38.705Z,1749148538.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:38.723Z,1749148538.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772529
2025-06-05T18:35:38.973Z,1749148538.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022825
2025-06-05T18:35:39.225Z,1749148539.225 [DAT](INFO): DAT read: Rx Time:18:35:37.7986

2025-06-05T18:35:39.225Z,1749148539.225 [DAT](INFO): Rx dataTimestamp_ set to:1749148539.225076
2025-06-05T18:35:39.226Z,1749148539.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276036
2025-06-05T18:35:39.477Z,1749148539.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526822
2025-06-05T18:35:39.731Z,1749148539.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780431
2025-06-05T18:35:39.941Z,1749148539.941 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-05T18:35:39.989Z,1749148539.989 [DAT](INFO): DAT read: 18:35:37.7986 LVL= 24784, 26209, 19394, 31987, AGC= 69, IDX= 437, 0.47, 2.875,-1.253,-2.236,-2.719, PHS=-0.602, 1.512, 0.480, RAW= 299.2, -15.0, CAL= 304.6, -21.1, ROT= 205.4,  21.1

2025-06-05T18:35:39.990Z,1749148539.990 [DAT](INFO): got valid direction response:
 18:35:37.7986 LVL= 24784, 26209, 19394, 31987, AGC= 69, IDX= 437, 0.47, 2.875,-1.253,-2.236,-2.719, PHS=-0.602, 1.512, 0.480, RAW= 299.2, -15.0, CAL= 304.6, -21.1, ROT= 205.4,  21.1

2025-06-05T18:35:39.991Z,1749148539.991 [DAT](INFO): DAT read: $Error in header

2025-06-05T18:35:39.991Z,1749148539.991 [DAT](INFO): Received a bad header
2025-06-05T18:35:40.005Z,1749148540.005 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:35:40.006Z,1749148540.006 [DAT](INFO): direction in FSK: [-0.842770,-0.400176,-0.359997]
2025-06-05T18:35:40.009Z,1749148540.009 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:40.009Z,1749148540.009 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:40.009Z,1749148540.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:40.232Z,1749148540.232 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:40.233Z,1749148540.233 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:40.233Z,1749148540.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:40.327Z,1749148540.327 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-05T18:35:40.327Z,1749148540.327 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-05T18:35:40.332Z,1749148540.332 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-05T18:35:40.484Z,1749148540.484 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:40.485Z,1749148540.485 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:40.485Z,1749148540.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:40.708Z,1749148540.708 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-05T18:35:40.708Z,1749148540.708 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-05T18:35:40.709Z,1749148540.709 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-05T18:35:40.738Z,1749148540.738 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:40.738Z,1749148540.738 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:40.738Z,1749148540.738 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:40.988Z,1749148540.988 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:40.989Z,1749148540.989 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:40.989Z,1749148540.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:41.113Z,1749148541.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:41.114Z,1749148541.114 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-05T18:35:41.114Z,1749148541.114 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T18:35:41.114Z,1749148541.114 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-05T18:35:41.114Z,1749148541.114 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-05T18:35:41.114Z,1749148541.114 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T18:35:41.241Z,1749148541.241 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:41.241Z,1749148541.241 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:41.241Z,1749148541.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:41.493Z,1749148541.493 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:41.493Z,1749148541.493 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:41.493Z,1749148541.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:41.493Z,1749148541.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T18:35:41.493Z,1749148541.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T18:35:41.493Z,1749148541.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-05T18:35:41.493Z,1749148541.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T18:35:41.494Z,1749148541.494 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T18:35:41.494Z,1749148541.494 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-05T18:35:41.494Z,1749148541.494 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T18:35:41.494Z,1749148541.494 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-05T18:35:41.494Z,1749148541.494 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-05T18:35:41.494Z,1749148541.494 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-05T18:35:41.494Z,1749148541.494 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-05T18:35:41.495Z,1749148541.495 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-05T18:35:41.495Z,1749148541.495 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-05T18:35:41.495Z,1749148541.495 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T18:35:41.496Z,1749148541.496 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-05T18:35:41.496Z,1749148541.496 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 389.600006 m 
2025-06-05T18:35:41.496Z,1749148541.496 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-05T18:35:41.496Z,1749148541.496 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-05T18:35:41.497Z,1749148541.497 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-05T18:35:41.497Z,1749148541.497 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-05T18:35:41.498Z,1749148541.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-05T18:35:41.498Z,1749148541.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T18:35:41.499Z,1749148541.499 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-05T18:35:41.745Z,1749148541.745 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:41.745Z,1749148541.745 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:41.745Z,1749148541.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:41.977Z,1749148541.977 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-05T18:35:41.979Z,1749148541.979 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-05T18:35:41.979Z,1749148541.979 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T18:35:41.979Z,1749148541.979 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-05T18:35:41.979Z,1749148541.979 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-05T18:35:41.997Z,1749148541.997 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:41.997Z,1749148541.997 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:41.997Z,1749148541.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:42.248Z,1749148542.248 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:42.248Z,1749148542.248 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:42.248Z,1749148542.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:42.333Z,1749148542.333 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-05T18:35:42.334Z,1749148542.334 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-05T18:35:42.334Z,1749148542.334 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-05T18:35:42.335Z,1749148542.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T18:35:42.336Z,1749148542.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T18:35:42.336Z,1749148542.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-05T18:35:42.337Z,1749148542.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T18:35:42.337Z,1749148542.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T18:35:42.337Z,1749148542.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T18:35:42.337Z,1749148542.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T18:35:42.338Z,1749148542.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-05T18:35:42.338Z,1749148542.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-05T18:35:42.338Z,1749148542.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T18:35:42.338Z,1749148542.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-05T18:35:42.338Z,1749148542.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-05T18:35:42.338Z,1749148542.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T18:35:42.338Z,1749148542.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T18:35:42.338Z,1749148542.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-05T18:35:42.339Z,1749148542.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-05T18:35:42.339Z,1749148542.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-05T18:35:42.339Z,1749148542.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-05T18:35:42.340Z,1749148542.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-05T18:35:42.340Z,1749148542.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-05T18:35:42.340Z,1749148542.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-05T18:35:42.340Z,1749148542.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-05T18:35:42.340Z,1749148542.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-05T18:35:42.341Z,1749148542.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-05T18:35:42.341Z,1749148542.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-05T18:35:42.341Z,1749148542.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-05T18:35:42.341Z,1749148542.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-05T18:35:42.342Z,1749148542.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-05T18:35:42.342Z,1749148542.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-05T18:35:42.342Z,1749148542.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-05T18:35:42.343Z,1749148542.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-06-05T18:35:42.343Z,1749148542.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-05T18:35:42.344Z,1749148542.344 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T18:35:42.500Z,1749148542.500 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:42.501Z,1749148542.501 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:42.501Z,1749148542.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:42.714Z,1749148542.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 389.600006 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-05T18:35:42.720Z,1749148542.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 387.219879 m,
      bearing: 286.206676 deg,
      lat: 36.905573 deg,
      lon: -122.116343 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-05T18:35:42.722Z,1749148542.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:42.727Z,1749148542.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 371.786011 m,
      bearing: 282.651098 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 88.282893 deg,
      new cmd heading: 282.651098 deg.

2025-06-05T18:35:42.753Z,1749148542.753 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:42.753Z,1749148542.753 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:42.753Z,1749148542.753 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:42.756Z,1749148542.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933192 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:42.800Z,1749148542.800 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-05T18:35:42.801Z,1749148542.801 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-05T18:35:43.005Z,1749148543.005 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:43.005Z,1749148543.005 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:43.005Z,1749148543.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:43.150Z,1749148543.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:43.152Z,1749148543.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:43.172Z,1749148543.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 371.877869 m,
      bearing: 282.650873 deg,
      approach rate: 0.209379 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.651096 deg,
      new cmd heading: 282.650873 deg.

2025-06-05T18:35:43.173Z,1749148543.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933188 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:43.257Z,1749148543.257 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:43.258Z,1749148543.258 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:43.258Z,1749148543.258 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:43.509Z,1749148543.509 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:43.509Z,1749148543.509 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:43.509Z,1749148543.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:43.597Z,1749148543.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:43.604Z,1749148543.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 371.966370 m,
      bearing: 282.650704 deg,
      approach rate: 0.198637 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.650877 deg,
      new cmd heading: 282.650704 deg.

2025-06-05T18:35:43.605Z,1749148543.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933186 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:43.760Z,1749148543.760 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:43.760Z,1749148543.760 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:43.761Z,1749148543.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:44.014Z,1749148544.014 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:44.014Z,1749148544.014 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:44.015Z,1749148544.015 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:44.080Z,1749148544.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:44.083Z,1749148544.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.058624 m,
      bearing: 282.651692 deg,
      approach rate: 0.190947 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.650713 deg,
      new cmd heading: 282.651692 deg.

2025-06-05T18:35:44.088Z,1749148544.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933203 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:44.269Z,1749148544.269 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:44.269Z,1749148544.269 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:44.270Z,1749148544.270 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:44.461Z,1749148544.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:44.466Z,1749148544.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.131714 m,
      bearing: 282.652528 deg,
      approach rate: 0.191892 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.651697 deg,
      new cmd heading: 282.652528 deg.

2025-06-05T18:35:44.467Z,1749148544.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933217 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:44.521Z,1749148544.521 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:44.521Z,1749148544.521 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:44.522Z,1749148544.522 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:44.773Z,1749148544.773 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:44.773Z,1749148544.773 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:44.773Z,1749148544.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:44.864Z,1749148544.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:44.866Z,1749148544.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.206512 m,
      bearing: 282.653392 deg,
      approach rate: 0.187627 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.652516 deg,
      new cmd heading: 282.653392 deg.

2025-06-05T18:35:44.867Z,1749148544.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933232 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:45.025Z,1749148545.025 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:45.026Z,1749148545.026 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:45.026Z,1749148545.026 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:45.252Z,1749148545.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:45.256Z,1749148545.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:45.258Z,1749148545.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.285339 m,
      bearing: 282.654332 deg,
      approach rate: 0.199177 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.653391 deg,
      new cmd heading: 282.654332 deg.

2025-06-05T18:35:45.259Z,1749148545.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933249 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:45.276Z,1749148545.276 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:45.276Z,1749148545.276 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:45.276Z,1749148545.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:45.528Z,1749148545.528 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:45.528Z,1749148545.528 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:45.529Z,1749148545.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:45.614Z,1749148545.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:45.616Z,1749148545.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.354065 m,
      bearing: 282.655146 deg,
      approach rate: 0.191948 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.654319 deg,
      new cmd heading: 282.655146 deg.

2025-06-05T18:35:45.617Z,1749148545.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933263 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:45.780Z,1749148545.780 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:45.781Z,1749148545.781 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:45.781Z,1749148545.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:35:46.033Z,1749148546.033 [DAT](INFO): Reached modem response timeout
2025-06-05T18:35:46.034Z,1749148546.034 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:35:46.034Z,1749148546.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:46.116Z,1749148546.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:46.119Z,1749148546.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.455994 m,
      bearing: 282.654721 deg,
      approach rate: 0.204716 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.655139 deg,
      new cmd heading: 282.654721 deg.

2025-06-05T18:35:46.125Z,1749148546.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933256 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:46.284Z,1749148546.284 [DAT](INFO): DAT read: 

2025-06-05T18:35:46.285Z,1749148546.285 [DAT](INFO): Reached modem response timeout
2025-06-05T18:35:46.285Z,1749148546.285 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:35:46.285Z,1749148546.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:46.482Z,1749148546.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:46.489Z,1749148546.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.530304 m,
      bearing: 282.654402 deg,
      approach rate: 0.200640 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.654729 deg,
      new cmd heading: 282.654402 deg.

2025-06-05T18:35:46.490Z,1749148546.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933250 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:46.538Z,1749148546.538 [DAT](INFO): Reached modem response timeout
2025-06-05T18:35:46.539Z,1749148546.539 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:35:46.539Z,1749148546.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:46.789Z,1749148546.789 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:35:46.790Z,1749148546.790 [DAT](INFO): response not received
2025-06-05T18:35:46.790Z,1749148546.790 [DAT](INFO): DAT read: user:2682>

2025-06-05T18:35:46.791Z,1749148546.791 [DAT](INFO): DAT read: Tx time:18:35:45.8233

2025-06-05T18:35:46.791Z,1749148546.791 [DAT](INFO): Ping request sent.
2025-06-05T18:35:46.791Z,1749148546.791 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:46.791Z,1749148546.791 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:46.792Z,1749148546.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000820
2025-06-05T18:35:46.902Z,1749148546.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:46.912Z,1749148546.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.620697 m,
      bearing: 282.653955 deg,
      approach rate: 0.215588 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.654401 deg,
      new cmd heading: 282.653955 deg.

2025-06-05T18:35:46.913Z,1749148546.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933242 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:47.045Z,1749148547.045 [DAT](INFO): DAT read: TxSync time:18:35:45.8225

2025-06-05T18:35:47.046Z,1749148547.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254951
2025-06-05T18:35:47.297Z,1749148547.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505454
2025-06-05T18:35:47.365Z,1749148547.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:47.367Z,1749148547.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:47.370Z,1749148547.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.745361 m,
      bearing: 282.650983 deg,
      approach rate: 0.267846 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.653964 deg,
      new cmd heading: 282.650983 deg.

2025-06-05T18:35:47.372Z,1749148547.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933190 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:47.549Z,1749148547.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757273
2025-06-05T18:35:47.745Z,1749148547.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:47.752Z,1749148547.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.838104 m,
      bearing: 282.648758 deg,
      approach rate: 0.245053 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.650986 deg,
      new cmd heading: 282.648758 deg.

2025-06-05T18:35:47.754Z,1749148547.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933151 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:47.801Z,1749148547.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009605
2025-06-05T18:35:48.054Z,1749148548.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262481
2025-06-05T18:35:48.166Z,1749148548.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:48.172Z,1749148548.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 372.976227 m,
      bearing: 282.643076 deg,
      approach rate: 0.328522 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.648746 deg,
      new cmd heading: 282.643076 deg.

2025-06-05T18:35:48.173Z,1749148548.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933052 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:48.305Z,1749148548.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514069
2025-06-05T18:35:48.557Z,1749148548.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765588
2025-06-05T18:35:48.576Z,1749148548.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:48.579Z,1749148548.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 373.109009 m,
      bearing: 282.637455 deg,
      approach rate: 0.324975 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.643063 deg,
      new cmd heading: 282.637455 deg.

2025-06-05T18:35:48.580Z,1749148548.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932954 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:48.809Z,1749148548.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017406
2025-06-05T18:35:48.936Z,1749148548.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:48.940Z,1749148548.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 373.231079 m,
      bearing: 282.632166 deg,
      approach rate: 0.337587 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.637463 deg,
      new cmd heading: 282.632166 deg.

2025-06-05T18:35:48.942Z,1749148548.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932862 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:49.061Z,1749148549.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269501
2025-06-05T18:35:49.313Z,1749148549.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521466
2025-06-05T18:35:49.378Z,1749148549.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:49.381Z,1749148549.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:49.383Z,1749148549.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 373.394470 m,
      bearing: 282.623245 deg,
      approach rate: 0.367268 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.632162 deg,
      new cmd heading: 282.623245 deg.

2025-06-05T18:35:49.384Z,1749148549.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932706 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:49.565Z,1749148549.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773417
2025-06-05T18:35:49.790Z,1749148549.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:49.793Z,1749148549.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 373.544922 m,
      bearing: 282.614877 deg,
      approach rate: 0.367333 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.623256 deg,
      new cmd heading: 282.614877 deg.

2025-06-05T18:35:49.794Z,1749148549.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932560 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:49.817Z,1749148549.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025343
2025-06-05T18:35:50.069Z,1749148550.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278232
2025-06-05T18:35:50.272Z,1749148550.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:50.275Z,1749148550.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 373.728760 m,
      bearing: 282.603137 deg,
      approach rate: 0.408880 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.614868 deg,
      new cmd heading: 282.603137 deg.

2025-06-05T18:35:50.276Z,1749148550.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932355 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:50.322Z,1749148550.322 [DAT](INFO): DAT read: Rx Time:18:35:48.7518

2025-06-05T18:35:50.323Z,1749148550.323 [DAT](INFO): Rx dataTimestamp_ set to:1749148550.322573
2025-06-05T18:35:50.324Z,1749148550.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532792
2025-06-05T18:35:50.573Z,1749148550.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781553
2025-06-05T18:35:50.667Z,1749148550.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.22 m.
2025-06-05T18:35:50.674Z,1749148550.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.219879 m,
      nav range: 373.900635 m,
      bearing: 282.591960 deg,
      approach rate: 0.402383 m/s,
      LOS rate: nan deg/s,
      cmd heading: 282.603148 deg,
      new cmd heading: 282.591960 deg.

2025-06-05T18:35:50.675Z,1749148550.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932160 target range: 387.219879 and range: 389.60 m.
2025-06-05T18:35:50.832Z,1749148550.832 [DAT](INFO): DAT read: 18:35:48.7518 LVL= 20128, 21297, 13714, 23331, AGC= 69, IDX= 453, 0.03,-2.855,-0.563,-1.787,-2.153, PHS=-0.614, 1.637, 0.363, RAW= 304.3, -14.1, CAL= 310.0, -19.3, ROT= 200.0,  19.3

2025-06-05T18:35:50.834Z,1749148550.834 [DAT](INFO): got valid direction response:
 18:35:48.7518 LVL= 20128, 21297, 13714, 23331, AGC= 69, IDX= 453, 0.03,-2.855,-0.563,-1.787,-2.153, PHS=-0.614, 1.637, 0.363, RAW= 304.3, -14.1, CAL= 310.0, -19.3, ROT= 200.0,  19.3

2025-06-05T18:35:50.835Z,1749148550.835 [DAT](INFO): DAT read: Bearing 200.0,  19.3 (Local)

2025-06-05T18:35:50.835Z,1749148550.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.0,  19.3 (Local)

2025-06-05T18:35:50.838Z,1749148550.838 [DAT](INFO): DAT read: Range 10 to 50 : 393.2 m  (Round-trip  524.3 ms) speed -0.1 m/s

2025-06-05T18:35:50.839Z,1749148550.839 [DAT](INFO): DAT read: user:2683>

2025-06-05T18:35:50.839Z,1749148550.839 [DAT](INFO): DAT read: Tx time:18:35:49.8734

2025-06-05T18:35:50.840Z,1749148550.840 [DAT](INFO): Ping request sent.
2025-06-05T18:35:50.840Z,1749148550.840 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:50.840Z,1749148550.840 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:50.841Z,1749148550.841 [DAT](INFO): direction in FSK: [-0.886883,-0.322799,-0.330514]
2025-06-05T18:35:50.841Z,1749148550.841 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:50.842Z,1749148550.842 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:50.850Z,1749148550.850 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:50.851Z,1749148550.851 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:51.077Z,1749148551.077 [DAT](INFO): DAT read: TxSync time:18:35:49.8726

2025-06-05T18:35:51.209Z,1749148551.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 393.200012 m,
      deltaT: 15.129062 s,
      deltaX: 3.600006 m,
      approachRate: 0.237953 m/s,
      rangeRepo size: 2

2025-06-05T18:35:51.216Z,1749148551.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 390.800690 m,
      bearing: 283.275752 deg,
      lat: 36.905573 deg,
      lon: -122.116320 deg,
      deltaT: 15.129062 s,
      deltaX: 3.580811 m,
      approachRate: 0.236684 m/s,
      posRepo size: 2

2025-06-05T18:35:51.216Z,1749148551.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:51.218Z,1749148551.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 283.275752 deg.
2025-06-05T18:35:51.218Z,1749148551.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944095 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:51.583Z,1749148551.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:51.586Z,1749148551.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:51.590Z,1749148551.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.800690 m,
      nav range: 372.289276 m,
      bearing: 282.633797 deg,
      approach rate: 0.444714 m/s,
      LOS rate: -0.030441 deg/s,
      cmd heading: 283.275757 deg,
      new cmd heading: 283.241327 deg.

2025-06-05T18:35:51.592Z,1749148551.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.943494 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:51.832Z,1749148551.832 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:51.833Z,1749148551.833 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:51.833Z,1749148551.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:51.942Z,1749148551.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:51.964Z,1749148551.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.800690 m,
      nav range: 372.447662 m,
      bearing: 282.622549 deg,
      approach rate: 0.445936 m/s,
      LOS rate: -0.031656 deg/s,
      cmd heading: 283.241333 deg,
      new cmd heading: 283.207603 deg.

2025-06-05T18:35:51.965Z,1749148551.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942905 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:52.088Z,1749148552.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247430
2025-06-05T18:35:52.349Z,1749148552.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508238
2025-06-05T18:35:52.374Z,1749148552.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:52.377Z,1749148552.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.800690 m,
      nav range: 372.649475 m,
      bearing: 282.607806 deg,
      approach rate: 0.465939 m/s,
      LOS rate: -0.034019 deg/s,
      cmd heading: 283.207592 deg,
      new cmd heading: 283.163388 deg.

2025-06-05T18:35:52.378Z,1749148552.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942133 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:52.597Z,1749148552.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756807
2025-06-05T18:35:52.764Z,1749148552.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:52.767Z,1749148552.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.800690 m,
      nav range: 372.829010 m,
      bearing: 282.594347 deg,
      approach rate: 0.460384 m/s,
      LOS rate: -0.034497 deg/s,
      cmd heading: 283.163387 deg,
      new cmd heading: 283.123028 deg.

2025-06-05T18:35:52.768Z,1749148552.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941429 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:52.850Z,1749148552.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009797
2025-06-05T18:35:53.101Z,1749148553.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260865
2025-06-05T18:35:53.315Z,1749148553.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:53.318Z,1749148553.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.800690 m,
      nav range: 373.087769 m,
      bearing: 282.574945 deg,
      approach rate: 0.469554 m/s,
      LOS rate: -0.035182 deg/s,
      cmd heading: 283.123034 deg,
      new cmd heading: 283.064870 deg.

2025-06-05T18:35:53.319Z,1749148553.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.940414 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:53.354Z,1749148553.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513281
2025-06-05T18:35:53.605Z,1749148553.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765194
2025-06-05T18:35:53.631Z,1749148553.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:53.633Z,1749148553.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:53.656Z,1749148553.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.800690 m,
      nav range: 373.234985 m,
      bearing: 282.563030 deg,
      approach rate: 0.463068 m/s,
      LOS rate: -0.037463 deg/s,
      cmd heading: 283.064868 deg,
      new cmd heading: 283.029138 deg.

2025-06-05T18:35:53.657Z,1749148553.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.939790 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:53.857Z,1749148553.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016978
2025-06-05T18:35:54.034Z,1749148554.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:54.039Z,1749148554.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.800690 m,
      nav range: 373.417969 m,
      bearing: 282.547848 deg,
      approach rate: 0.456411 m/s,
      LOS rate: -0.037850 deg/s,
      cmd heading: 283.029133 deg,
      new cmd heading: 282.983609 deg.

2025-06-05T18:35:54.043Z,1749148554.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938996 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:54.111Z,1749148554.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270970
2025-06-05T18:35:54.362Z,1749148554.362 [DAT](INFO): DAT read: Rx Time:18:35:52.8040

2025-06-05T18:35:54.363Z,1749148554.363 [DAT](INFO): Rx dataTimestamp_ set to:1749148554.362355
2025-06-05T18:35:54.364Z,1749148554.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523742
2025-06-05T18:35:54.488Z,1749148554.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:35:54.514Z,1749148554.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.80 m.
2025-06-05T18:35:54.517Z,1749148554.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.800690 m,
      nav range: 373.641876 m,
      bearing: 282.531067 deg,
      approach rate: 0.466495 m/s,
      LOS rate: -0.034942 deg/s,
      cmd heading: 282.983617 deg,
      new cmd heading: 282.933303 deg.

2025-06-05T18:35:54.518Z,1749148554.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938118 target range: 390.800690 and range: 393.20 m.
2025-06-05T18:35:54.614Z,1749148554.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774143
2025-06-05T18:35:54.872Z,1749148554.872 [DAT](INFO): DAT read: 18:35:52.8040 LVL= 26000, 22481, 17458, 26659, AGC= 69, IDX= 443,-0.40, 0.321, 2.713, 1.524, 1.110, PHS=-0.701, 1.650, 0.411, RAW= 301.8, -13.3, CAL= 307.3, -18.4, ROT= 202.7,  18.4

2025-06-05T18:35:54.873Z,1749148554.873 [DAT](INFO): got valid direction response:
 18:35:52.8040 LVL= 26000, 22481, 17458, 26659, AGC= 69, IDX= 443,-0.40, 0.321, 2.713, 1.524, 1.110, PHS=-0.701, 1.650, 0.411, RAW= 301.8, -13.3, CAL= 307.3, -18.4, ROT= 202.7,  18.4

2025-06-05T18:35:54.874Z,1749148554.874 [DAT](INFO): DAT read: Bearing 202.7,  18.4 (Local)

2025-06-05T18:35:54.874Z,1749148554.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.7,  18.4 (Local)

2025-06-05T18:35:54.875Z,1749148554.875 [DAT](INFO): DAT read: Range 10 to 50 : 394.8 m  (Round-trip  526.4 ms) speed -0.2 m/s

2025-06-05T18:35:54.876Z,1749148554.876 [DAT](INFO): DAT read: user:2684>

2025-06-05T18:35:54.877Z,1749148554.877 [DAT](INFO): DAT read: Tx time:18:35:53.9234

2025-06-05T18:35:54.877Z,1749148554.877 [DAT](INFO): Ping request sent.
2025-06-05T18:35:54.877Z,1749148554.877 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:54.878Z,1749148554.878 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:54.878Z,1749148554.878 [DAT](INFO): direction in FSK: [-0.875374,-0.366177,-0.315649]
2025-06-05T18:35:54.879Z,1749148554.879 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:54.879Z,1749148554.879 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:54.889Z,1749148554.889 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:54.889Z,1749148554.889 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:54.969Z,1749148554.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 394.799988 m,
      deltaT: 4.038769 s,
      deltaX: 1.599976 m,
      approachRate: 0.396154 m/s,
      rangeRepo size: 3

2025-06-05T18:35:54.971Z,1749148554.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 392.392487 m,
      bearing: 281.248924 deg,
      lat: 36.905573 deg,
      lon: -122.116320 deg,
      deltaT: 4.038769 s,
      deltaX: 1.591797 m,
      approachRate: 0.394129 m/s,
      posRepo size: 3

2025-06-05T18:35:54.976Z,1749148554.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:54.979Z,1749148554.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 373.854584 m,
      bearing: 282.514679 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034942 deg/s,
      cmd heading: 282.933292 deg,
      new cmd heading: 282.887393 deg.

2025-06-05T18:35:54.990Z,1749148554.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937316 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:55.121Z,1749148555.121 [DAT](INFO): DAT read: TxSync time:18:35:53.9226

2025-06-05T18:35:55.492Z,1749148555.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:35:55.530Z,1749148555.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:55.555Z,1749148555.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 374.149170 m,
      bearing: 282.493082 deg,
      approach rate: 0.509046 m/s,
      LOS rate: -0.037290 deg/s,
      cmd heading: 282.887393 deg,
      new cmd heading: 282.822653 deg.

2025-06-05T18:35:55.560Z,1749148555.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.936186 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:56.075Z,1749148556.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:56.103Z,1749148556.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:56.130Z,1749148556.130 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:35:56.130Z,1749148556.130 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:35:56.132Z,1749148556.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:35:56.143Z,1749148556.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 374.412323 m,
      bearing: 282.472324 deg,
      approach rate: 0.460649 m/s,
      LOS rate: -0.036311 deg/s,
      cmd heading: 282.822643 deg,
      new cmd heading: 282.760413 deg.

2025-06-05T18:35:56.151Z,1749148556.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.935100 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:56.377Z,1749148556.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500145
2025-06-05T18:35:56.629Z,1749148556.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751394
2025-06-05T18:35:56.659Z,1749148556.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:56.662Z,1749148556.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 374.706787 m,
      bearing: 282.451764 deg,
      approach rate: 0.528365 m/s,
      LOS rate: -0.036863 deg/s,
      cmd heading: 282.760406 deg,
      new cmd heading: 282.698774 deg.

2025-06-05T18:35:56.663Z,1749148556.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934024 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:56.881Z,1749148556.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003304
2025-06-05T18:35:57.058Z,1749148557.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:57.061Z,1749148557.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 374.899414 m,
      bearing: 282.438334 deg,
      approach rate: 0.485616 m/s,
      LOS rate: -0.033841 deg/s,
      cmd heading: 282.698770 deg,
      new cmd heading: 282.658500 deg.

2025-06-05T18:35:57.062Z,1749148557.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933321 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:57.137Z,1749148557.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259124
2025-06-05T18:35:57.385Z,1749148557.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507415
2025-06-05T18:35:57.484Z,1749148557.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:57.492Z,1749148557.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 375.110504 m,
      bearing: 282.423323 deg,
      approach rate: 0.499490 m/s,
      LOS rate: -0.035499 deg/s,
      cmd heading: 282.658500 deg,
      new cmd heading: 282.613493 deg.

2025-06-05T18:35:57.493Z,1749148557.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932536 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:57.638Z,1749148557.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760333
2025-06-05T18:35:57.850Z,1749148557.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:57.857Z,1749148557.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 375.305908 m,
      bearing: 282.408940 deg,
      approach rate: 0.526049 m/s,
      LOS rate: -0.038701 deg/s,
      cmd heading: 282.613502 deg,
      new cmd heading: 282.570375 deg.

2025-06-05T18:35:57.858Z,1749148557.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.931783 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:57.889Z,1749148557.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011581
2025-06-05T18:35:58.144Z,1749148558.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265921
2025-06-05T18:35:58.275Z,1749148558.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:35:58.281Z,1749148558.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:58.289Z,1749148558.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 375.516907 m,
      bearing: 282.393898 deg,
      approach rate: 0.488868 m/s,
      LOS rate: -0.034832 deg/s,
      cmd heading: 282.570363 deg,
      new cmd heading: 282.525261 deg.

2025-06-05T18:35:58.290Z,1749148558.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.930996 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:58.394Z,1749148558.394 [DAT](INFO): DAT read: Rx Time:18:35:56.8558

2025-06-05T18:35:58.394Z,1749148558.394 [DAT](INFO): Rx dataTimestamp_ set to:1749148558.393713
2025-06-05T18:35:58.395Z,1749148558.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517701
2025-06-05T18:35:58.645Z,1749148558.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767512
2025-06-05T18:35:58.654Z,1749148558.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.39 m.
2025-06-05T18:35:58.658Z,1749148558.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.392487 m,
      nav range: 375.719757 m,
      bearing: 282.379452 deg,
      approach rate: 0.546120 m/s,
      LOS rate: -0.038870 deg/s,
      cmd heading: 282.525256 deg,
      new cmd heading: 282.481943 deg.

2025-06-05T18:35:58.659Z,1749148558.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.930240 target range: 392.392487 and range: 394.80 m.
2025-06-05T18:35:58.902Z,1749148558.902 [DAT](INFO): DAT read: 18:35:56.8558 LVL= 20944, 26001, 10994, 21075, AGC= 65, IDX= 446, 0.11, 2.140,-1.802,-2.769, 2.935, PHS=-0.707, 1.593, 0.577, RAW= 296.2, -14.5, CAL= 301.8, -20.5, ROT= 208.2,  20.5

2025-06-05T18:35:58.905Z,1749148558.905 [DAT](INFO): got valid direction response:
 18:35:56.8558 LVL= 20944, 26001, 10994, 21075, AGC= 65, IDX= 446, 0.11, 2.140,-1.802,-2.769, 2.935, PHS=-0.707, 1.593, 0.577, RAW= 296.2, -14.5, CAL= 301.8, -20.5, ROT= 208.2,  20.5

2025-06-05T18:35:58.906Z,1749148558.906 [DAT](INFO): DAT read: Bearing 208.2,  20.5 (Local)

2025-06-05T18:35:58.906Z,1749148558.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.2,  20.5 (Local)

2025-06-05T18:35:58.908Z,1749148558.908 [DAT](INFO): DAT read: Range 10 to 50 : 396.2 m  (Round-trip  528.3 ms) speed -0.5 m/s

2025-06-05T18:35:58.908Z,1749148558.908 [DAT](INFO): DAT read: user:2685>

2025-06-05T18:35:58.909Z,1749148558.909 [DAT](INFO): DAT read: Tx time:18:35:57.9734

2025-06-05T18:35:58.909Z,1749148558.909 [DAT](INFO): Ping request sent.
2025-06-05T18:35:58.909Z,1749148558.909 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:35:58.910Z,1749148558.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:35:58.911Z,1749148558.911 [DAT](INFO): direction in FSK: [-0.825492,-0.442625,-0.350207]
2025-06-05T18:35:58.911Z,1749148558.911 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:58.911Z,1749148558.911 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:58.914Z,1749148558.914 [DAT](INFO): publishing transmit ping time
2025-06-05T18:35:58.915Z,1749148558.915 [DAT](INFO): publishing direction and range info
2025-06-05T18:35:59.155Z,1749148559.155 [DAT](INFO): DAT read: TxSync time:18:35:57.9726

2025-06-05T18:35:59.202Z,1749148559.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 396.200012 m,
      deltaT: 4.032055 s,
      deltaX: 1.400024 m,
      approachRate: 0.347224 m/s,
      rangeRepo size: 4

2025-06-05T18:35:59.213Z,1749148559.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 393.779755 m,
      bearing: 279.925817 deg,
      lat: 36.905505 deg,
      lon: -122.116320 deg,
      deltaT: 4.032055 s,
      deltaX: 1.387268 m,
      approachRate: 0.344060 m/s,
      posRepo size: 4

2025-06-05T18:35:59.214Z,1749148559.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:35:59.222Z,1749148559.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 374.400269 m,
      bearing: 281.234132 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038870 deg/s,
      cmd heading: 282.481953 deg,
      new cmd heading: 282.417924 deg.

2025-06-05T18:35:59.223Z,1749148559.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929122 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:35:59.742Z,1749148559.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:35:59.745Z,1749148559.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 374.734253 m,
      bearing: 281.209207 deg,
      approach rate: 0.618206 m/s,
      LOS rate: -0.046095 deg/s,
      cmd heading: 282.417913 deg,
      new cmd heading: 282.343205 deg.

2025-06-05T18:35:59.746Z,1749148559.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.927819 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:36:00.289Z,1749148560.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:00.291Z,1749148560.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:36:00.294Z,1749148560.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 375.029785 m,
      bearing: 281.186791 deg,
      approach rate: 0.538218 m/s,
      LOS rate: -0.040791 deg/s,
      cmd heading: 282.343218 deg,
      new cmd heading: 282.276024 deg.

2025-06-05T18:36:00.295Z,1749148560.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926646 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:36:00.408Z,1749148560.408 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:00.409Z,1749148560.409 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:00.409Z,1749148560.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:00.661Z,1749148560.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751909
2025-06-05T18:36:00.793Z,1749148560.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:36:00.796Z,1749148560.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 375.295288 m,
      bearing: 281.165147 deg,
      approach rate: 0.529130 m/s,
      LOS rate: -0.043104 deg/s,
      cmd heading: 282.276036 deg,
      new cmd heading: 282.211150 deg.

2025-06-05T18:36:00.797Z,1749148560.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.925514 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:36:00.914Z,1749148560.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004127
2025-06-05T18:36:01.169Z,1749148561.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258547
2025-06-05T18:36:01.260Z,1749148561.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:36:01.263Z,1749148561.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 375.545319 m,
      bearing: 281.144410 deg,
      approach rate: 0.535556 m/s,
      LOS rate: -0.044389 deg/s,
      cmd heading: 282.211149 deg,
      new cmd heading: 282.148978 deg.

2025-06-05T18:36:01.280Z,1749148561.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924428 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:36:01.417Z,1749148561.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507218
2025-06-05T18:36:01.582Z,1749148561.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:36:01.585Z,1749148561.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 375.715179 m,
      bearing: 281.129306 deg,
      approach rate: 0.527795 m/s,
      LOS rate: -0.046909 deg/s,
      cmd heading: 282.148967 deg,
      new cmd heading: 282.103678 deg.

2025-06-05T18:36:01.586Z,1749148561.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923638 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:36:01.671Z,1749148561.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760893
2025-06-05T18:36:01.922Z,1749148561.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012051
2025-06-05T18:36:01.984Z,1749148561.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:36:01.988Z,1749148561.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 375.924622 m,
      bearing: 281.110069 deg,
      approach rate: 0.521326 m/s,
      LOS rate: -0.047857 deg/s,
      cmd heading: 282.103670 deg,
      new cmd heading: 282.045990 deg.

2025-06-05T18:36:01.989Z,1749148561.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922631 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:36:02.173Z,1749148562.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263322
2025-06-05T18:36:02.419Z,1749148562.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:02.423Z,1749148562.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:36:02.425Z,1749148562.425 [DAT](INFO): DAT read: Rx Time:18:36:00.9092

2025-06-05T18:36:02.425Z,1749148562.425 [DAT](INFO): Rx dataTimestamp_ set to:1749148562.425048
2025-06-05T18:36:02.426Z,1749148562.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516388
2025-06-05T18:36:02.444Z,1749148562.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 376.155701 m,
      bearing: 281.087933 deg,
      approach rate: 0.526084 m/s,
      LOS rate: -0.050365 deg/s,
      cmd heading: 282.045996 deg,
      new cmd heading: 281.979627 deg.

2025-06-05T18:36:02.445Z,1749148562.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.921473 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:36:02.677Z,1749148562.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767029
2025-06-05T18:36:02.802Z,1749148562.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.78 m.
2025-06-05T18:36:02.807Z,1749148562.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.779755 m,
      nav range: 376.356903 m,
      bearing: 281.068687 deg,
      approach rate: 0.529587 m/s,
      LOS rate: -0.050631 deg/s,
      cmd heading: 281.979633 deg,
      new cmd heading: 281.921926 deg.

2025-06-05T18:36:02.808Z,1749148562.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.920466 target range: 393.779755 and range: 396.20 m.
2025-06-05T18:36:02.938Z,1749148562.938 [DAT](INFO): DAT read: 18:36:00.9092 LVL= 28752, 22737, 14034, 29139, AGC= 71, IDX= 460, 0.43, 1.728,-2.199, 3.003, 2.634, PHS=-0.818, 1.497, 0.366, RAW= 299.2, -10.4, CAL= 304.2, -14.7, ROT= 205.8,  14.7

2025-06-05T18:36:02.940Z,1749148562.940 [DAT](INFO): got valid direction response:
 18:36:00.9092 LVL= 28752, 22737, 14034, 29139, AGC= 71, IDX= 460, 0.43, 1.728,-2.199, 3.003, 2.634, PHS=-0.818, 1.497, 0.366, RAW= 299.2, -10.4, CAL= 304.2, -14.7, ROT= 205.8,  14.7

2025-06-05T18:36:02.941Z,1749148562.941 [DAT](INFO): DAT read: Bearing 205.8,  14.7 (Local)

2025-06-05T18:36:02.941Z,1749148562.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.8,  14.7 (Local)

2025-06-05T18:36:02.942Z,1749148562.942 [DAT](INFO): DAT read: Range 10 to 50 : 398.7 m  (Round-trip  531.6 ms) speed -0.5 m/s

2025-06-05T18:36:02.943Z,1749148562.943 [DAT](INFO): DAT read: user:2686>

2025-06-05T18:36:02.952Z,1749148562.952 [DAT](INFO): DAT read: Tx time:18:36:02.0235

2025-06-05T18:36:02.952Z,1749148562.952 [DAT](INFO): Ping request sent.
2025-06-05T18:36:02.953Z,1749148562.953 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:02.954Z,1749148562.954 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:36:02.955Z,1749148562.955 [DAT](INFO): direction in FSK: [-0.870849,-0.420985,-0.253758]
2025-06-05T18:36:02.964Z,1749148562.964 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:02.964Z,1749148562.964 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:02.967Z,1749148562.967 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:02.967Z,1749148562.967 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:03.184Z,1749148563.184 [DAT](INFO): DAT read: TxSync time:18:36:02.0227

2025-06-05T18:36:03.277Z,1749148563.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 398.700012 m,
      deltaT: 4.032691 s,
      deltaX: 2.500000 m,
      approachRate: 0.619933 m/s,
      rangeRepo size: 4

2025-06-05T18:36:03.279Z,1749148563.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 396.273743 m,
      bearing: 269.051995 deg,
      lat: 36.905505 deg,
      lon: -122.116320 deg,
      deltaT: 4.032691 s,
      deltaX: 2.493988 m,
      approachRate: 0.618443 m/s,
      posRepo size: 4

2025-06-05T18:36:03.289Z,1749148563.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:03.300Z,1749148563.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 376.586792 m,
      bearing: 281.044370 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050631 deg/s,
      cmd heading: 281.921932 deg,
      new cmd heading: 281.850206 deg.

2025-06-05T18:36:03.301Z,1749148563.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.919214 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:03.674Z,1749148563.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:03.681Z,1749148563.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 376.803955 m,
      bearing: 281.020321 deg,
      approach rate: 0.543836 m/s,
      LOS rate: -0.060190 deg/s,
      cmd heading: 281.850215 deg,
      new cmd heading: 281.778111 deg.

2025-06-05T18:36:03.683Z,1749148563.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.917956 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:04.130Z,1749148564.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:04.143Z,1749148564.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 377.035339 m,
      bearing: 280.993925 deg,
      approach rate: 0.507985 m/s,
      LOS rate: -0.057915 deg/s,
      cmd heading: 281.778115 deg,
      new cmd heading: 281.698975 deg.

2025-06-05T18:36:04.152Z,1749148564.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.916574 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:04.589Z,1749148564.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:04.591Z,1749148564.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:04.598Z,1749148564.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 377.267059 m,
      bearing: 280.967018 deg,
      approach rate: 0.502396 m/s,
      LOS rate: -0.058302 deg/s,
      cmd heading: 281.698967 deg,
      new cmd heading: 281.618296 deg.

2025-06-05T18:36:04.599Z,1749148564.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915166 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:04.694Z,1749148564.694 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:04.694Z,1749148564.694 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:04.694Z,1749148564.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:04.945Z,1749148564.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992074
2025-06-05T18:36:04.968Z,1749148564.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:04.973Z,1749148564.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 377.469360 m,
      bearing: 280.941837 deg,
      approach rate: 0.535961 m/s,
      LOS rate: -0.066676 deg/s,
      cmd heading: 281.618289 deg,
      new cmd heading: 281.542788 deg.

2025-06-05T18:36:04.974Z,1749148564.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.913848 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:05.197Z,1749148565.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244099
2025-06-05T18:36:05.381Z,1749148565.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:05.383Z,1749148565.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 377.668579 m,
      bearing: 280.913949 deg,
      approach rate: 0.483933 m/s,
      LOS rate: -0.067709 deg/s,
      cmd heading: 281.542774 deg,
      new cmd heading: 281.459154 deg.

2025-06-05T18:36:05.405Z,1749148565.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912389 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:05.449Z,1749148565.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496234
2025-06-05T18:36:05.704Z,1749148565.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750654
2025-06-05T18:36:05.794Z,1749148565.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:05.801Z,1749148565.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 377.859375 m,
      bearing: 280.886221 deg,
      approach rate: 0.460248 m/s,
      LOS rate: -0.066854 deg/s,
      cmd heading: 281.459146 deg,
      new cmd heading: 281.376002 deg.

2025-06-05T18:36:05.802Z,1749148565.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.910938 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:05.953Z,1749148565.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000016
2025-06-05T18:36:06.199Z,1749148566.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:06.202Z,1749148566.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 378.064301 m,
      bearing: 280.856489 deg,
      approach rate: 0.506379 m/s,
      LOS rate: -0.073429 deg/s,
      cmd heading: 281.376009 deg,
      new cmd heading: 281.286861 deg.

2025-06-05T18:36:06.203Z,1749148566.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909382 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:06.205Z,1749148566.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252220
2025-06-05T18:36:06.458Z,1749148566.458 [DAT](INFO): DAT read: Rx Time:18:36:04.9608

2025-06-05T18:36:06.458Z,1749148566.458 [DAT](INFO): Rx dataTimestamp_ set to:1749148566.458203
2025-06-05T18:36:06.459Z,1749148566.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506467
2025-06-05T18:36:06.606Z,1749148566.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:06.608Z,1749148566.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.27 m.
2025-06-05T18:36:06.611Z,1749148566.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 396.273743 m,
      nav range: 378.246704 m,
      bearing: 280.825728 deg,
      approach rate: 0.445827 m/s,
      LOS rate: -0.075149 deg/s,
      cmd heading: 281.286861 deg,
      new cmd heading: 281.194623 deg.

2025-06-05T18:36:06.612Z,1749148566.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907772 target range: 396.273743 and range: 398.70 m.
2025-06-05T18:36:06.710Z,1749148566.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757324
2025-06-05T18:36:06.967Z,1749148566.967 [DAT](INFO): DAT read: 18:36:04.9608 LVL= 18224, 20145, 17538, 23123, AGC= 70, IDX= 448,-0.26,-2.816,-0.561,-0.937,-1.818, PHS=-0.910, 1.305, 0.879, RAW= 280.4, -12.5, CAL= 287.1, -19.9, ROT= 222.9,  19.9

2025-06-05T18:36:06.968Z,1749148566.968 [DAT](INFO): got valid direction response:
 18:36:04.9608 LVL= 18224, 20145, 17538, 23123, AGC= 70, IDX= 448,-0.26,-2.816,-0.561,-0.937,-1.818, PHS=-0.910, 1.305, 0.879, RAW= 280.4, -12.5, CAL= 287.1, -19.9, ROT= 222.9,  19.9

2025-06-05T18:36:06.969Z,1749148566.969 [DAT](INFO): DAT read: Bearing 222.9,  19.9 (Local)

2025-06-05T18:36:06.969Z,1749148566.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9,  19.9 (Local)

2025-06-05T18:36:06.972Z,1749148566.972 [DAT](INFO): DAT read: Range 10 to 50 : 399.9 m  (Round-trip  533.2 ms) speed -0.3 m/s

2025-06-05T18:36:06.973Z,1749148566.973 [DAT](INFO): DAT read: user:2687>

2025-06-05T18:36:06.974Z,1749148566.974 [DAT](INFO): DAT read: Tx time:18:36:06.0750

2025-06-05T18:36:06.974Z,1749148566.974 [DAT](INFO): Ping request sent.
2025-06-05T18:36:06.974Z,1749148566.974 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:06.974Z,1749148566.974 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:36:06.976Z,1749148566.976 [DAT](INFO): direction in FSK: [-0.688801,-0.640074,-0.340380]
2025-06-05T18:36:06.976Z,1749148566.976 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:06.977Z,1749148566.977 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:06.984Z,1749148566.984 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:06.984Z,1749148566.984 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:07.107Z,1749148567.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 399.899994 m,
      deltaT: 4.031738 s,
      deltaX: 1.199982 m,
      approachRate: 0.297634 m/s,
      rangeRepo size: 4

2025-06-05T18:36:07.117Z,1749148567.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 397.484680 m,
      bearing: 278.066217 deg,
      lat: 36.905427 deg,
      lon: -122.116320 deg,
      deltaT: 4.031738 s,
      deltaX: 1.210938 m,
      approachRate: 0.300351 m/s,
      posRepo size: 4

2025-06-05T18:36:07.118Z,1749148567.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:07.129Z,1749148567.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 376.919861 m,
      bearing: 279.493266 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.075149 deg/s,
      cmd heading: 281.194626 deg,
      new cmd heading: 281.082306 deg.

2025-06-05T18:36:07.130Z,1749148567.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.905812 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:07.213Z,1749148567.213 [DAT](INFO): DAT read: TxSync time:18:36:06.0743

2025-06-05T18:36:07.564Z,1749148567.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:07.567Z,1749148567.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 377.126251 m,
      bearing: 279.454184 deg,
      approach rate: 0.455391 m/s,
      LOS rate: -0.086186 deg/s,
      cmd heading: 281.082310 deg,
      new cmd heading: 280.965128 deg.

2025-06-05T18:36:07.572Z,1749148567.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903767 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:08.039Z,1749148568.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:08.042Z,1749148568.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 377.317657 m,
      bearing: 279.416327 deg,
      approach rate: 0.399121 m/s,
      LOS rate: -0.078898 deg/s,
      cmd heading: 280.965132 deg,
      new cmd heading: 280.851620 deg.

2025-06-05T18:36:08.043Z,1749148568.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901785 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:08.464Z,1749148568.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:08.473Z,1749148568.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 377.487061 m,
      bearing: 279.380252 deg,
      approach rate: 0.398382 m/s,
      LOS rate: -0.084798 deg/s,
      cmd heading: 280.851614 deg,
      new cmd heading: 280.743439 deg.

2025-06-05T18:36:08.474Z,1749148568.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.899898 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:09.015Z,1749148569.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:09.022Z,1749148569.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:09.029Z,1749148569.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 377.679260 m,
      bearing: 279.334768 deg,
      approach rate: 0.344441 m/s,
      LOS rate: -0.081471 deg/s,
      cmd heading: 280.743451 deg,
      new cmd heading: 280.607068 deg.

2025-06-05T18:36:09.030Z,1749148569.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897517 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:09.230Z,1749148569.230 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:09.231Z,1749148569.231 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:09.231Z,1749148569.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:09.410Z,1749148569.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:09.441Z,1749148569.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 377.818481 m,
      bearing: 279.299091 deg,
      approach rate: 0.358934 m/s,
      LOS rate: -0.091948 deg/s,
      cmd heading: 280.607066 deg,
      new cmd heading: 280.500073 deg.

2025-06-05T18:36:09.442Z,1749148569.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895650 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:09.482Z,1749148569.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507063
2025-06-05T18:36:09.734Z,1749148569.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759418
2025-06-05T18:36:09.823Z,1749148569.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:09.830Z,1749148569.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 377.945251 m,
      bearing: 279.264709 deg,
      approach rate: 0.307029 m/s,
      LOS rate: -0.083242 deg/s,
      cmd heading: 280.500078 deg,
      new cmd heading: 280.396968 deg.

2025-06-05T18:36:09.831Z,1749148569.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893850 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:09.985Z,1749148569.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010506
2025-06-05T18:36:10.239Z,1749148570.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264188
2025-06-05T18:36:10.266Z,1749148570.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:10.278Z,1749148570.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.077667 m,
      bearing: 279.226545 deg,
      approach rate: 0.298798 m/s,
      LOS rate: -0.086088 deg/s,
      cmd heading: 280.396969 deg,
      new cmd heading: 280.282517 deg.

2025-06-05T18:36:10.288Z,1749148570.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.891853 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:10.490Z,1749148570.490 [DAT](INFO): DAT read: Rx Time:18:36:09.0151

2025-06-05T18:36:10.490Z,1749148570.490 [DAT](INFO): Rx dataTimestamp_ set to:1749148570.490085
2025-06-05T18:36:10.491Z,1749148570.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517169
2025-06-05T18:36:10.741Z,1749148570.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766793
2025-06-05T18:36:10.748Z,1749148570.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:10.751Z,1749148570.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.229614 m,
      bearing: 279.183141 deg,
      approach rate: 0.315645 m/s,
      LOS rate: -0.090128 deg/s,
      cmd heading: 280.282523 deg,
      new cmd heading: 280.152364 deg.

2025-06-05T18:36:10.752Z,1749148570.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.889581 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:11.005Z,1749148571.005 [DAT](INFO): DAT read: 18:36:09.0151 LVL= 16880, 20241, 16050, 21971, AGC= 65, IDX= 465,-0.25, 1.243, 2.775,-2.776, 2.185, PHS=-0.854, 0.637, 1.319, RAW= 252.1, -11.5, CAL= 253.3, -22.9, ROT= 256.7,  22.9

2025-06-05T18:36:11.013Z,1749148571.013 [DAT](INFO): got valid direction response:
 18:36:09.0151 LVL= 16880, 20241, 16050, 21971, AGC= 65, IDX= 465,-0.25, 1.243, 2.775,-2.776, 2.185, PHS=-0.854, 0.637, 1.319, RAW= 252.1, -11.5, CAL= 253.3, -22.9, ROT= 256.7,  22.9

2025-06-05T18:36:11.014Z,1749148571.014 [DAT](INFO): DAT read: Bearing 256.7,  22.9 (Local)

2025-06-05T18:36:11.014Z,1749148571.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.7,  22.9 (Local)

2025-06-05T18:36:11.014Z,1749148571.014 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:36:11.015Z,1749148571.015 [DAT](INFO): direction in FSK: [-0.211918,-0.896478,-0.389124]
2025-06-05T18:36:11.031Z,1749148571.031 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:11.031Z,1749148571.031 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:11.031Z,1749148571.031 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:11.150Z,1749148571.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:11.157Z,1749148571.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:11.164Z,1749148571.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.342957 m,
      bearing: 279.148661 deg,
      approach rate: 0.276990 m/s,
      LOS rate: -0.084237 deg/s,
      cmd heading: 280.152367 deg,
      new cmd heading: 280.048959 deg.

2025-06-05T18:36:11.165Z,1749148571.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.887776 target range: 397.484680 and range: 399.90 m.
2025-06-05T18:36:11.250Z,1749148571.250 [DAT](INFO): DAT read: Range 10 to 50 : 401.9 m  (Round-trip  535.9 ms) speed -0.3 m/s

2025-06-05T18:36:11.251Z,1749148571.251 [DAT](INFO): DAT read: user:2688>

2025-06-05T18:36:11.253Z,1749148571.253 [DAT](INFO): DAT read: Tx time:18:36:10.1235

2025-06-05T18:36:11.254Z,1749148571.254 [DAT](INFO): Ping request sent.
2025-06-05T18:36:11.254Z,1749148571.254 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:11.256Z,1749148571.256 [DAT](INFO): DAT read: TxSync time:18:36:10.1227

2025-06-05T18:36:11.258Z,1749148571.258 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-05T18:36:11.259Z,1749148571.259 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:11.264Z,1749148571.264 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:11.586Z,1749148571.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 401.899994 m,
      deltaT: 4.285213 s,
      deltaX: 2.000000 m,
      approachRate: 0.466721 m/s,
      rangeRepo size: 4

2025-06-05T18:36:11.592Z,1749148571.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:11.594Z,1749148571.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.474670 m,
      bearing: 279.113723 deg,
      approach rate: 0.307581 m/s,
      LOS rate: -0.081561 deg/s,
      cmd heading: 280.048957 deg,
      new cmd heading: 279.944178 deg.

2025-06-05T18:36:11.600Z,1749148571.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885948 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:11.911Z,1749148571.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:11.934Z,1749148571.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.568237 m,
      bearing: 279.085644 deg,
      approach rate: 0.287549 m/s,
      LOS rate: -0.086269 deg/s,
      cmd heading: 279.944182 deg,
      new cmd heading: 279.859968 deg.

2025-06-05T18:36:11.935Z,1749148571.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884478 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:12.492Z,1749148572.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:12.495Z,1749148572.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.713470 m,
      bearing: 279.041143 deg,
      approach rate: 0.251993 m/s,
      LOS rate: -0.077183 deg/s,
      cmd heading: 279.859980 deg,
      new cmd heading: 279.726529 deg.

2025-06-05T18:36:12.500Z,1749148572.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882149 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:12.961Z,1749148572.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:12.969Z,1749148572.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.826691 m,
      bearing: 279.001214 deg,
      approach rate: 0.238583 m/s,
      LOS rate: -0.084115 deg/s,
      cmd heading: 279.726518 deg,
      new cmd heading: 279.606767 deg.

2025-06-05T18:36:12.971Z,1749148572.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880059 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:13.477Z,1749148573.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:13.480Z,1749148573.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:13.482Z,1749148573.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.947449 m,
      bearing: 278.959124 deg,
      approach rate: 0.233095 m/s,
      LOS rate: -0.081219 deg/s,
      cmd heading: 279.606771 deg,
      new cmd heading: 279.480541 deg.

2025-06-05T18:36:13.483Z,1749148573.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.877856 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:13.514Z,1749148573.514 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:13.514Z,1749148573.514 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:13.514Z,1749148573.514 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:13.765Z,1749148573.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510692
2025-06-05T18:36:13.879Z,1749148573.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:13.882Z,1749148573.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.031403 m,
      bearing: 278.927570 deg,
      approach rate: 0.210327 m/s,
      LOS rate: -0.079034 deg/s,
      cmd heading: 279.480549 deg,
      new cmd heading: 279.385908 deg.

2025-06-05T18:36:13.883Z,1749148573.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876204 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:14.018Z,1749148574.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763237
2025-06-05T18:36:14.269Z,1749148574.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014778
2025-06-05T18:36:14.276Z,1749148574.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:14.278Z,1749148574.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.109467 m,
      bearing: 278.895879 deg,
      approach rate: 0.196732 m/s,
      LOS rate: -0.079849 deg/s,
      cmd heading: 279.385910 deg,
      new cmd heading: 279.290857 deg.

2025-06-05T18:36:14.279Z,1749148574.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874545 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:14.526Z,1749148574.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269554
2025-06-05T18:36:14.761Z,1749148574.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:14.764Z,1749148574.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.196198 m,
      bearing: 278.856893 deg,
      approach rate: 0.178539 m/s,
      LOS rate: -0.080236 deg/s,
      cmd heading: 279.290861 deg,
      new cmd heading: 279.173929 deg.

2025-06-05T18:36:14.765Z,1749148574.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872504 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:14.778Z,1749148574.778 [DAT](INFO): DAT read: 18:36:13.0647 LVL= 32752, 32753, 17874, 32755, AGC= 70, IDX= 439,-0.13, 0.200, 1.443, 2.479, 1.298, PHS=-1.010, 0.193, 1.179, RAW= 243.3,  -3.9, CAL= 244.3,  -9.5, ROT= 265.7,   9.5

2025-06-05T18:36:14.779Z,1749148574.779 [DAT](INFO): got valid direction response:
 18:36:13.0647 LVL= 32752, 32753, 17874, 32755, AGC= 70, IDX= 439,-0.13, 0.200, 1.443, 2.479, 1.298, PHS=-1.010, 0.193, 1.179, RAW= 243.3,  -3.9, CAL= 244.3,  -9.5, ROT= 265.7,   9.5

2025-06-05T18:36:14.780Z,1749148574.780 [DAT](INFO): DAT read: Rx Time:18:36:13.0647

2025-06-05T18:36:14.781Z,1749148574.781 [DAT](INFO): Rx dataTimestamp_ set to:1749148574.780651
2025-06-05T18:36:14.782Z,1749148574.782 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-05T18:36:14.782Z,1749148574.782 [DAT](INFO): Received low SNR in chirp
2025-06-05T18:36:14.796Z,1749148574.796 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:36:14.797Z,1749148574.797 [DAT](INFO): direction in FSK: [-0.073950,-0.983509,-0.165048]
2025-06-05T18:36:14.800Z,1749148574.800 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:14.800Z,1749148574.800 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:14.800Z,1749148574.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:15.025Z,1749148575.025 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:15.025Z,1749148575.025 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:15.025Z,1749148575.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:15.116Z,1749148575.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:15.119Z,1749148575.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.255432 m,
      bearing: 278.827669 deg,
      approach rate: 0.167064 m/s,
      LOS rate: -0.082409 deg/s,
      cmd heading: 279.173928 deg,
      new cmd heading: 279.086271 deg.

2025-06-05T18:36:15.121Z,1749148575.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870975 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:15.276Z,1749148575.276 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:15.276Z,1749148575.276 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:15.277Z,1749148575.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:15.535Z,1749148575.535 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:15.535Z,1749148575.535 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:15.535Z,1749148575.535 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:15.651Z,1749148575.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:15.655Z,1749148575.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:15.658Z,1749148575.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.341278 m,
      bearing: 278.784410 deg,
      approach rate: 0.159803 m/s,
      LOS rate: -0.080509 deg/s,
      cmd heading: 279.086283 deg,
      new cmd heading: 278.956536 deg.

2025-06-05T18:36:15.659Z,1749148575.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868710 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:15.789Z,1749148575.789 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:15.789Z,1749148575.789 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:15.789Z,1749148575.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:16.014Z,1749148576.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:16.017Z,1749148576.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.393372 m,
      bearing: 278.755249 deg,
      approach rate: 0.144458 m/s,
      LOS rate: -0.080855 deg/s,
      cmd heading: 278.956537 deg,
      new cmd heading: 278.869065 deg.

2025-06-05T18:36:16.018Z,1749148576.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867183 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:16.041Z,1749148576.041 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:16.041Z,1749148576.041 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:16.041Z,1749148576.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:16.292Z,1749148576.292 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:16.293Z,1749148576.293 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:16.293Z,1749148576.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:16.544Z,1749148576.544 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:16.545Z,1749148576.545 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:16.545Z,1749148576.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:16.601Z,1749148576.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:16.608Z,1749148576.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.467896 m,
      bearing: 278.709650 deg,
      approach rate: 0.126955 m/s,
      LOS rate: -0.077665 deg/s,
      cmd heading: 278.869056 deg,
      new cmd heading: 278.732286 deg.

2025-06-05T18:36:16.609Z,1749148576.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864796 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:16.796Z,1749148576.796 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:16.797Z,1749148576.797 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:16.797Z,1749148576.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:16.967Z,1749148576.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:16.971Z,1749148576.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.504272 m,
      bearing: 278.675588 deg,
      approach rate: 0.099381 m/s,
      LOS rate: -0.093047 deg/s,
      cmd heading: 278.732288 deg,
      new cmd heading: 278.630112 deg.

2025-06-05T18:36:16.973Z,1749148576.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863013 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:17.049Z,1749148577.049 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:17.050Z,1749148577.050 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:17.050Z,1749148577.050 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:17.301Z,1749148577.301 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:17.301Z,1749148577.301 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:17.301Z,1749148577.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:17.377Z,1749148577.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:17.384Z,1749148577.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.533447 m,
      bearing: 278.642663 deg,
      approach rate: 0.071155 m/s,
      LOS rate: -0.080296 deg/s,
      cmd heading: 278.630109 deg,
      new cmd heading: 278.531341 deg.

2025-06-05T18:36:17.385Z,1749148577.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861289 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:17.552Z,1749148577.552 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:17.553Z,1749148577.553 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:17.553Z,1749148577.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:17.805Z,1749148577.805 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:17.805Z,1749148577.805 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:17.805Z,1749148577.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:17.880Z,1749148577.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:17.882Z,1749148577.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:17.885Z,1749148577.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.566681 m,
      bearing: 278.597011 deg,
      approach rate: 0.065731 m/s,
      LOS rate: -0.090284 deg/s,
      cmd heading: 278.531344 deg,
      new cmd heading: 278.394401 deg.

2025-06-05T18:36:17.887Z,1749148577.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858899 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:18.056Z,1749148578.056 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:18.057Z,1749148578.057 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:18.057Z,1749148578.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:18.232Z,1749148578.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:18.235Z,1749148578.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.583496 m,
      bearing: 278.566410 deg,
      approach rate: 0.048044 m/s,
      LOS rate: -0.087431 deg/s,
      cmd heading: 278.394412 deg,
      new cmd heading: 278.302612 deg.

2025-06-05T18:36:18.237Z,1749148578.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857297 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:18.309Z,1749148578.309 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:18.309Z,1749148578.309 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:18.309Z,1749148578.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:18.560Z,1749148578.560 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:18.561Z,1749148578.560 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:18.561Z,1749148578.561 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:18.663Z,1749148578.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:18.666Z,1749148578.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.598785 m,
      bearing: 278.527045 deg,
      approach rate: 0.035497 m/s,
      LOS rate: -0.091389 deg/s,
      cmd heading: 278.302615 deg,
      new cmd heading: 278.184526 deg.

2025-06-05T18:36:18.667Z,1749148578.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855236 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:18.813Z,1749148578.813 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:18.814Z,1749148578.814 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:18.814Z,1749148578.814 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:19.065Z,1749148579.065 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:19.065Z,1749148579.065 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:19.065Z,1749148579.065 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:19.066Z,1749148579.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:19.069Z,1749148579.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.613251 m,
      bearing: 278.490239 deg,
      approach rate: 0.035915 m/s,
      LOS rate: -0.091382 deg/s,
      cmd heading: 278.184534 deg,
      new cmd heading: 278.074120 deg.

2025-06-05T18:36:19.072Z,1749148579.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853309 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:19.318Z,1749148579.318 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:19.318Z,1749148579.318 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:19.318Z,1749148579.318 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:19.508Z,1749148579.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:19.528Z,1749148579.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.628601 m,
      bearing: 278.451617 deg,
      approach rate: 0.036046 m/s,
      LOS rate: -0.090690 deg/s,
      cmd heading: 278.074131 deg,
      new cmd heading: 277.958271 deg.

2025-06-05T18:36:19.529Z,1749148579.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851287 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:19.568Z,1749148579.568 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:19.569Z,1749148579.569 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:19.569Z,1749148579.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:19.822Z,1749148579.822 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:19.822Z,1749148579.822 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:19.822Z,1749148579.822 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:20.050Z,1749148580.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:20.052Z,1749148580.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:20.057Z,1749148580.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.611511 m,
      bearing: 278.398376 deg,
      approach rate: -0.030513 m/s,
      LOS rate: -0.095064 deg/s,
      cmd heading: 277.958264 deg,
      new cmd heading: 277.798534 deg.

2025-06-05T18:36:20.057Z,1749148580.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848499 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:20.073Z,1749148580.073 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:20.073Z,1749148580.073 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:20.073Z,1749148580.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:20.326Z,1749148580.326 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:20.326Z,1749148580.326 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:20.326Z,1749148580.326 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:20.605Z,1749148580.605 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:20.605Z,1749148580.605 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:20.605Z,1749148580.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:20.686Z,1749148580.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:20.691Z,1749148580.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.595581 m,
      bearing: 278.336118 deg,
      approach rate: -0.025219 m/s,
      LOS rate: -0.098566 deg/s,
      cmd heading: 277.798547 deg,
      new cmd heading: 277.611765 deg.

2025-06-05T18:36:20.693Z,1749148580.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845239 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:20.828Z,1749148580.828 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:20.828Z,1749148580.828 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:20.829Z,1749148580.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:21.081Z,1749148581.081 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:21.081Z,1749148581.081 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:21.081Z,1749148581.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:21.167Z,1749148581.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:21.170Z,1749148581.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.567200 m,
      bearing: 278.289813 deg,
      approach rate: -0.058717 m/s,
      LOS rate: -0.095806 deg/s,
      cmd heading: 277.611755 deg,
      new cmd heading: 277.472830 deg.

2025-06-05T18:36:21.180Z,1749148581.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842814 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:21.334Z,1749148581.334 [DAT](INFO): Reached modem response timeout
2025-06-05T18:36:21.334Z,1749148581.334 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:36:21.335Z,1749148581.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:21.365Z,1749148581.365 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:36:21.584Z,1749148581.584 [DAT](INFO): Reached modem response timeout
2025-06-05T18:36:21.585Z,1749148581.585 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:36:21.585Z,1749148581.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:21.650Z,1749148581.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:21.655Z,1749148581.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.532318 m,
      bearing: 278.240422 deg,
      approach rate: -0.072153 m/s,
      LOS rate: -0.102176 deg/s,
      cmd heading: 277.472829 deg,
      new cmd heading: 277.324641 deg.

2025-06-05T18:36:21.657Z,1749148581.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.840228 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:21.837Z,1749148581.837 [DAT](INFO): Reached modem response timeout
2025-06-05T18:36:21.838Z,1749148581.838 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:36:21.838Z,1749148581.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:22.007Z,1749148582.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:22.010Z,1749148582.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.501068 m,
      bearing: 278.205157 deg,
      approach rate: -0.087669 m/s,
      LOS rate: -0.098940 deg/s,
      cmd heading: 277.324641 deg,
      new cmd heading: 277.218838 deg.

2025-06-05T18:36:22.011Z,1749148582.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838381 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:22.089Z,1749148582.089 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:36:22.090Z,1749148582.090 [DAT](INFO): response not received
2025-06-05T18:36:22.090Z,1749148582.090 [DAT](INFO): DAT read: user:2690>

2025-06-05T18:36:22.091Z,1749148582.091 [DAT](INFO): DAT read: Tx time:18:36:21.0737

2025-06-05T18:36:22.091Z,1749148582.091 [DAT](INFO): Ping request sent.
2025-06-05T18:36:22.091Z,1749148582.091 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:22.091Z,1749148582.091 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:22.092Z,1749148582.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000852
2025-06-05T18:36:22.341Z,1749148582.341 [DAT](INFO): DAT read: TxSync time:18:36:21.0729

2025-06-05T18:36:22.341Z,1749148582.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250271
2025-06-05T18:36:22.408Z,1749148582.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:22.410Z,1749148582.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:22.417Z,1749148582.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.452393 m,
      bearing: 278.166446 deg,
      approach rate: -0.120632 m/s,
      LOS rate: -0.095949 deg/s,
      cmd heading: 277.218828 deg,
      new cmd heading: 277.102681 deg.

2025-06-05T18:36:22.418Z,1749148582.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836354 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:22.593Z,1749148582.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501594
2025-06-05T18:36:22.814Z,1749148582.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:22.845Z,1749148582.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753603
2025-06-05T18:36:22.846Z,1749148582.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.390137 m,
      bearing: 278.126381 deg,
      approach rate: -0.154290 m/s,
      LOS rate: -0.099311 deg/s,
      cmd heading: 277.102687 deg,
      new cmd heading: 276.982471 deg.

2025-06-05T18:36:22.847Z,1749148582.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834256 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:23.097Z,1749148583.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005383
2025-06-05T18:36:23.181Z,1749148583.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:23.200Z,1749148583.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.328888 m,
      bearing: 278.090949 deg,
      approach rate: -0.166601 m/s,
      LOS rate: -0.096391 deg/s,
      cmd heading: 276.982476 deg,
      new cmd heading: 276.876165 deg.

2025-06-05T18:36:23.205Z,1749148583.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832401 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:23.349Z,1749148583.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257601
2025-06-05T18:36:23.601Z,1749148583.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509448
2025-06-05T18:36:23.672Z,1749148583.672 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-05T18:36:23.672Z,1749148583.672 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-05T18:36:23.672Z,1749148583.672 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-05T18:36:23.730Z,1749148583.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:23.741Z,1749148583.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.237946 m,
      bearing: 278.038155 deg,
      approach rate: -0.165736 m/s,
      LOS rate: -0.096237 deg/s,
      cmd heading: 276.876171 deg,
      new cmd heading: 276.717750 deg.

2025-06-05T18:36:23.742Z,1749148583.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829636 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:23.853Z,1749148583.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761872
2025-06-05T18:36:23.989Z,1749148583.989 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-05T18:36:24.010Z,1749148584.010 [RDI_Pathfinder](INFO): Powering down
2025-06-05T18:36:24.060Z,1749148584.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:24.063Z,1749148584.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.178925 m,
      bearing: 278.010133 deg,
      approach rate: -0.181254 m/s,
      LOS rate: -0.086067 deg/s,
      cmd heading: 276.717738 deg,
      new cmd heading: 276.633660 deg.

2025-06-05T18:36:24.068Z,1749148584.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828168 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:24.106Z,1749148584.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014651
2025-06-05T18:36:24.357Z,1749148584.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265721
2025-06-05T18:36:24.432Z,1749148584.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:24.434Z,1749148584.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:24.437Z,1749148584.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 379.090485 m,
      bearing: 277.971860 deg,
      approach rate: -0.233679 m/s,
      LOS rate: -0.101152 deg/s,
      cmd heading: 276.633672 deg,
      new cmd heading: 276.518823 deg.

2025-06-05T18:36:24.438Z,1749148584.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826164 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:24.609Z,1749148584.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517449
2025-06-05T18:36:24.845Z,1749148584.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:24.848Z,1749148584.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.994995 m,
      bearing: 277.933888 deg,
      approach rate: -0.232368 m/s,
      LOS rate: -0.092425 deg/s,
      cmd heading: 276.518815 deg,
      new cmd heading: 276.404871 deg.

2025-06-05T18:36:24.849Z,1749148584.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824175 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:24.861Z,1749148584.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769695
2025-06-05T18:36:25.100Z,1749148585.100 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-05T18:36:25.100Z,1749148585.100 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-05T18:36:25.114Z,1749148585.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022829
2025-06-05T18:36:25.227Z,1749148585.227 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-05T18:36:25.244Z,1749148585.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:25.247Z,1749148585.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.894989 m,
      bearing: 277.897228 deg,
      approach rate: -0.250787 m/s,
      LOS rate: -0.091958 deg/s,
      cmd heading: 276.404860 deg,
      new cmd heading: 276.294851 deg.

2025-06-05T18:36:25.248Z,1749148585.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822255 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:25.365Z,1749148585.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273522
2025-06-05T18:36:25.619Z,1749148585.619 [DAT](INFO): DAT read: Rx Time:18:36:24.0133

2025-06-05T18:36:25.620Z,1749148585.620 [DAT](INFO): Rx dataTimestamp_ set to:1749148585.619090
2025-06-05T18:36:25.621Z,1749148585.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530092
2025-06-05T18:36:25.624Z,1749148585.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:36:25.690Z,1749148585.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:25.694Z,1749148585.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.776886 m,
      bearing: 277.857109 deg,
      approach rate: -0.266174 m/s,
      LOS rate: -0.090446 deg/s,
      cmd heading: 276.294840 deg,
      new cmd heading: 276.174445 deg.

2025-06-05T18:36:25.697Z,1749148585.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820153 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:25.869Z,1749148585.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777405
2025-06-05T18:36:26.075Z,1749148586.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.48 m.
2025-06-05T18:36:26.078Z,1749148586.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.484680 m,
      nav range: 378.668121 m,
      bearing: 277.822813 deg,
      approach rate: -0.280520 m/s,
      LOS rate: -0.088478 deg/s,
      cmd heading: 276.174437 deg,
      new cmd heading: 276.071521 deg.

2025-06-05T18:36:26.079Z,1749148586.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818357 target range: 397.484680 and range: 401.90 m.
2025-06-05T18:36:26.128Z,1749148586.128 [DAT](INFO): DAT read: 18:36:24.0133 LVL= 25888, 27089, 12770, 30579, AGC= 69, IDX= 420,-0.16,-1.591,-1.647,-0.205,-1.201, PHS=-0.302,-0.399, 0.993, RAW= 206.4,  -4.4, CAL= 204.6, -11.0, ROT= 305.4,  11.0

2025-06-05T18:36:26.130Z,1749148586.130 [DAT](INFO): got valid direction response:
 18:36:24.0133 LVL= 25888, 27089, 12770, 30579, AGC= 69, IDX= 420,-0.16,-1.591,-1.647,-0.205,-1.201, PHS=-0.302,-0.399, 0.993, RAW= 206.4,  -4.4, CAL= 204.6, -11.0, ROT= 305.4,  11.0

2025-06-05T18:36:26.131Z,1749148586.131 [DAT](INFO): DAT read: Bearing 305.4,  11.0 (Local)

2025-06-05T18:36:26.132Z,1749148586.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.4,  11.0 (Local)

2025-06-05T18:36:26.134Z,1749148586.134 [DAT](INFO): DAT read: Range 10 to 50 : 401.6 m  (Round-trip  535.5 ms) speed  0.3 m/s

2025-06-05T18:36:26.135Z,1749148586.135 [DAT](INFO): DAT read: user:2691>

2025-06-05T18:36:26.150Z,1749148586.150 [DAT](INFO): DAT read: Tx time:18:36:25.1237

2025-06-05T18:36:26.150Z,1749148586.150 [DAT](INFO): Ping request sent.
2025-06-05T18:36:26.150Z,1749148586.150 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:26.151Z,1749148586.151 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:36:26.156Z,1749148586.156 [DAT](INFO): direction in FSK: [0.568638,-0.800152,-0.190809]
2025-06-05T18:36:26.157Z,1749148586.157 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:26.157Z,1749148586.157 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:26.167Z,1749148586.167 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:26.167Z,1749148586.167 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:26.373Z,1749148586.373 [DAT](INFO): DAT read: TxSync time:18:36:25.1229

2025-06-05T18:36:26.510Z,1749148586.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 401.600006 m,
      deltaT: 14.875753 s,
      deltaX: -0.299988 m,
      approachRate: -0.020166 m/s,
      rangeRepo size: 4

2025-06-05T18:36:26.517Z,1749148586.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 399.272888 m,
      bearing: 283.806473 deg,
      lat: 36.905427 deg,
      lon: -122.116369 deg,
      deltaT: 19.160966 s,
      deltaX: 1.788208 m,
      approachRate: 0.093326 m/s,
      posRepo size: 4

2025-06-05T18:36:26.518Z,1749148586.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:26.526Z,1749148586.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 382.853699 m,
      bearing: 277.698725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088478 deg/s,
      cmd heading: 276.071520 deg,
      new cmd heading: 275.957982 deg.

2025-06-05T18:36:26.527Z,1749148586.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816375 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:26.629Z,1749148586.629 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:36:26.892Z,1749148586.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:26.894Z,1749148586.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:26.897Z,1749148586.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 382.729370 m,
      bearing: 277.662372 deg,
      approach rate: -0.317556 m/s,
      LOS rate: -0.092883 deg/s,
      cmd heading: 275.957975 deg,
      new cmd heading: 275.848879 deg.

2025-06-05T18:36:26.898Z,1749148586.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814471 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:27.128Z,1749148587.128 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:27.128Z,1749148587.128 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:27.129Z,1749148587.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:27.309Z,1749148587.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:27.324Z,1749148587.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 382.602539 m,
      bearing: 277.629792 deg,
      approach rate: -0.306050 m/s,
      LOS rate: -0.078643 deg/s,
      cmd heading: 275.848883 deg,
      new cmd heading: 275.751111 deg.

2025-06-05T18:36:27.325Z,1749148587.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812765 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:27.381Z,1749148587.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230622
2025-06-05T18:36:27.635Z,1749148587.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484122
2025-06-05T18:36:27.744Z,1749148587.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:27.747Z,1749148587.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 382.446686 m,
      bearing: 277.592128 deg,
      approach rate: -0.361759 m/s,
      LOS rate: -0.087458 deg/s,
      cmd heading: 275.751102 deg,
      new cmd heading: 275.638066 deg.

2025-06-05T18:36:27.756Z,1749148587.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810792 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:27.885Z,1749148587.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734569
2025-06-05T18:36:28.106Z,1749148588.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:28.108Z,1749148588.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 382.312164 m,
      bearing: 277.561446 deg,
      approach rate: -0.367741 m/s,
      LOS rate: -0.083906 deg/s,
      cmd heading: 275.638076 deg,
      new cmd heading: 275.545996 deg.

2025-06-05T18:36:28.109Z,1749148588.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809185 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:28.138Z,1749148588.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988206
2025-06-05T18:36:28.389Z,1749148588.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239075
2025-06-05T18:36:28.629Z,1749148588.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:28.637Z,1749148588.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 382.120117 m,
      bearing: 277.520128 deg,
      approach rate: -0.366663 m/s,
      LOS rate: -0.078924 deg/s,
      cmd heading: 275.546005 deg,
      new cmd heading: 275.421991 deg.

2025-06-05T18:36:28.641Z,1749148588.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491272
2025-06-05T18:36:28.642Z,1749148588.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807021 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:28.893Z,1749148588.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742620
2025-06-05T18:36:28.991Z,1749148588.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:29.006Z,1749148589.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:29.012Z,1749148589.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 381.975464 m,
      bearing: 277.490739 deg,
      approach rate: -0.384499 m/s,
      LOS rate: -0.078147 deg/s,
      cmd heading: 275.421996 deg,
      new cmd heading: 275.333796 deg.

2025-06-05T18:36:29.013Z,1749148589.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805481 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:29.145Z,1749148589.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994659
2025-06-05T18:36:29.397Z,1749148589.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246863
2025-06-05T18:36:29.399Z,1749148589.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:29.401Z,1749148589.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 381.811859 m,
      bearing: 277.459338 deg,
      approach rate: -0.416175 m/s,
      LOS rate: -0.079912 deg/s,
      cmd heading: 275.333805 deg,
      new cmd heading: 275.239561 deg.

2025-06-05T18:36:29.402Z,1749148589.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803836 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:29.649Z,1749148589.649 [DAT](INFO): DAT read: Rx Time:18:36:28.0617

2025-06-05T18:36:29.649Z,1749148589.649 [DAT](INFO): Rx dataTimestamp_ set to:1749148589.648857
2025-06-05T18:36:29.650Z,1749148589.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499661
2025-06-05T18:36:29.814Z,1749148589.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.27 m.
2025-06-05T18:36:29.817Z,1749148589.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 399.272888 m,
      nav range: 381.638367 m,
      bearing: 277.427862 deg,
      approach rate: -0.417952 m/s,
      LOS rate: -0.075862 deg/s,
      cmd heading: 275.239548 deg,
      new cmd heading: 275.145077 deg.

2025-06-05T18:36:29.818Z,1749148589.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802187 target range: 399.272888 and range: 401.60 m.
2025-06-05T18:36:29.903Z,1749148589.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752605
2025-06-05T18:36:30.160Z,1749148590.160 [DAT](INFO): DAT read: 18:36:28.0618 LVL= 32736, 32753, 18130, 32755, AGC= 67, IDX= 423,-0.20, 2.925, 2.394,-2.073, 3.042, PHS=-0.029,-0.601, 1.165, RAW= 191.5,  -6.9, CAL= 191.0, -13.0, ROT= 319.0,  13.0

2025-06-05T18:36:30.161Z,1749148590.161 [DAT](INFO): got valid direction response:
 18:36:28.0618 LVL= 32736, 32753, 18130, 32755, AGC= 67, IDX= 423,-0.20, 2.925, 2.394,-2.073, 3.042, PHS=-0.029,-0.601, 1.165, RAW= 191.5,  -6.9, CAL= 191.0, -13.0, ROT= 319.0,  13.0

2025-06-05T18:36:30.162Z,1749148590.162 [DAT](INFO): DAT read: Bearing 319.0,  13.0 (Local)

2025-06-05T18:36:30.162Z,1749148590.162 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0,  13.0 (Local)

2025-06-05T18:36:30.164Z,1749148590.164 [DAT](INFO): DAT read: Range 10 to 50 : 400.3 m  (Round-trip  533.8 ms) speed  0.3 m/s

2025-06-05T18:36:30.165Z,1749148590.165 [DAT](INFO): DAT read: user:2692>

2025-06-05T18:36:30.165Z,1749148590.165 [DAT](INFO): DAT read: Tx time:18:36:29.1753

2025-06-05T18:36:30.165Z,1749148590.165 [DAT](INFO): Ping request sent.
2025-06-05T18:36:30.166Z,1749148590.166 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:30.166Z,1749148590.166 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:36:30.167Z,1749148590.167 [DAT](INFO): direction in FSK: [0.735366,-0.639244,-0.224951]
2025-06-05T18:36:30.167Z,1749148590.167 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:30.167Z,1749148590.167 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:30.178Z,1749148590.178 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:30.179Z,1749148590.179 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:30.293Z,1749148590.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 400.299988 m,
      deltaT: 4.030588 s,
      deltaX: -1.300018 m,
      approachRate: -0.322538 m/s,
      rangeRepo size: 4

2025-06-05T18:36:30.295Z,1749148590.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 397.980560 m,
      bearing: 283.068134 deg,
      lat: 36.905427 deg,
      lon: -122.116422 deg,
      deltaT: 4.030588 s,
      deltaX: -1.292328 m,
      approachRate: -0.320630 m/s,
      posRepo size: 4

2025-06-05T18:36:30.304Z,1749148590.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:30.307Z,1749148590.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 386.166626 m,
      bearing: 277.303563 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.075862 deg/s,
      cmd heading: 275.145073 deg,
      new cmd heading: 275.036134 deg.

2025-06-05T18:36:30.312Z,1749148590.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800286 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:30.408Z,1749148590.408 [DAT](INFO): DAT read: TxSync time:18:36:29.1746

2025-06-05T18:36:30.643Z,1749148590.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:30.658Z,1749148590.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 386.009644 m,
      bearing: 277.278313 deg,
      approach rate: -0.447703 m/s,
      LOS rate: -0.072040 deg/s,
      cmd heading: 275.036145 deg,
      new cmd heading: 274.960365 deg.

2025-06-05T18:36:30.664Z,1749148590.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798964 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:31.042Z,1749148591.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:31.044Z,1749148591.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:31.047Z,1749148591.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 385.819763 m,
      bearing: 277.249594 deg,
      approach rate: -0.473006 m/s,
      LOS rate: -0.071577 deg/s,
      cmd heading: 274.960357 deg,
      new cmd heading: 274.874158 deg.

2025-06-05T18:36:31.049Z,1749148591.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797459 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:31.161Z,1749148591.161 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:31.161Z,1749148591.161 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:31.162Z,1749148591.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:31.413Z,1749148591.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247069
2025-06-05T18:36:31.522Z,1749148591.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:31.525Z,1749148591.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 385.593140 m,
      bearing: 277.217198 deg,
      approach rate: -0.475696 m/s,
      LOS rate: -0.068041 deg/s,
      cmd heading: 274.874160 deg,
      new cmd heading: 274.776916 deg.

2025-06-05T18:36:31.526Z,1749148591.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795762 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:31.666Z,1749148591.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499981
2025-06-05T18:36:31.876Z,1749148591.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:31.879Z,1749148591.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 385.433868 m,
      bearing: 277.195726 deg,
      approach rate: -0.450026 m/s,
      LOS rate: -0.060697 deg/s,
      cmd heading: 274.776926 deg,
      new cmd heading: 274.712481 deg.

2025-06-05T18:36:31.880Z,1749148591.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794637 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:31.917Z,1749148591.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751386
2025-06-05T18:36:32.169Z,1749148592.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003000
2025-06-05T18:36:32.267Z,1749148592.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:32.294Z,1749148592.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 385.228363 m,
      bearing: 277.169468 deg,
      approach rate: -0.524232 m/s,
      LOS rate: -0.067018 deg/s,
      cmd heading: 274.712476 deg,
      new cmd heading: 274.633661 deg.

2025-06-05T18:36:32.295Z,1749148592.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793262 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:32.422Z,1749148592.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256117
2025-06-05T18:36:32.675Z,1749148592.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508720
2025-06-05T18:36:32.745Z,1749148592.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:32.756Z,1749148592.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 384.997650 m,
      bearing: 277.143215 deg,
      approach rate: -0.482267 m/s,
      LOS rate: -0.054909 deg/s,
      cmd heading: 274.633656 deg,
      new cmd heading: 274.554851 deg.

2025-06-05T18:36:32.757Z,1749148592.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791886 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:32.925Z,1749148592.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759075
2025-06-05T18:36:33.043Z,1749148593.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:33.046Z,1749148593.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 384.824371 m,
      bearing: 277.124666 deg,
      approach rate: -0.581924 m/s,
      LOS rate: -0.062324 deg/s,
      cmd heading: 274.554863 deg,
      new cmd heading: 274.499188 deg.

2025-06-05T18:36:33.047Z,1749148593.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790915 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:33.180Z,1749148593.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014366
2025-06-05T18:36:33.429Z,1749148593.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263378
2025-06-05T18:36:33.460Z,1749148593.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:33.462Z,1749148593.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:33.469Z,1749148593.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 384.607513 m,
      bearing: 277.102885 deg,
      approach rate: -0.516903 m/s,
      LOS rate: -0.051945 deg/s,
      cmd heading: 274.499183 deg,
      new cmd heading: 274.433805 deg.

2025-06-05T18:36:33.471Z,1749148593.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789773 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:33.681Z,1749148593.681 [DAT](INFO): DAT read: Rx Time:18:36:32.1104

2025-06-05T18:36:33.682Z,1749148593.682 [DAT](INFO): Rx dataTimestamp_ set to:1749148593.681519
2025-06-05T18:36:33.683Z,1749148593.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517131
2025-06-05T18:36:33.859Z,1749148593.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.98 m.
2025-06-05T18:36:33.862Z,1749148593.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 397.980560 m,
      nav range: 384.380768 m,
      bearing: 277.081558 deg,
      approach rate: -0.572311 m/s,
      LOS rate: -0.053862 deg/s,
      cmd heading: 274.433804 deg,
      new cmd heading: 274.369785 deg.

2025-06-05T18:36:33.862Z,1749148593.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788656 target range: 397.980560 and range: 400.30 m.
2025-06-05T18:36:33.933Z,1749148593.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767189
2025-06-05T18:36:34.195Z,1749148594.195 [DAT](INFO): DAT read: 18:36:32.1104 LVL= 32752, 27313, 21698, 32755, AGC= 70, IDX= 412, 0.37,-2.276, 3.083,-1.747,-2.623, PHS= 0.435,-0.530, 0.872, RAW= 167.7, -12.5, CAL= 171.8, -18.2, ROT= 338.2,  18.2

2025-06-05T18:36:34.197Z,1749148594.197 [DAT](INFO): got valid direction response:
 18:36:32.1104 LVL= 32752, 27313, 21698, 32755, AGC= 70, IDX= 412, 0.37,-2.276, 3.083,-1.747,-2.623, PHS= 0.435,-0.530, 0.872, RAW= 167.7, -12.5, CAL= 171.8, -18.2, ROT= 338.2,  18.2

2025-06-05T18:36:34.198Z,1749148594.198 [DAT](INFO): DAT read: Bearing 338.2,  18.2 (Local)

2025-06-05T18:36:34.198Z,1749148594.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.2,  18.2 (Local)

2025-06-05T18:36:34.233Z,1749148594.233 [DAT](INFO): DAT read: Range 10 to 50 : 398.1 m  (Round-trip  530.9 ms) speed  0.3 m/s

2025-06-05T18:36:34.234Z,1749148594.234 [DAT](INFO): DAT read: user:2693>

2025-06-05T18:36:34.234Z,1749148594.234 [DAT](INFO): DAT read: Tx time:18:36:33.2238

2025-06-05T18:36:34.235Z,1749148594.235 [DAT](INFO): Ping request sent.
2025-06-05T18:36:34.235Z,1749148594.235 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:34.235Z,1749148594.235 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:36:34.237Z,1749148594.237 [DAT](INFO): direction in FSK: [0.882036,-0.352789,-0.312335]
2025-06-05T18:36:34.237Z,1749148594.237 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:34.238Z,1749148594.238 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:34.257Z,1749148594.257 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:34.257Z,1749148594.257 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:34.325Z,1749148594.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 398.100006 m,
      deltaT: 4.032091 s,
      deltaX: -2.199982 m,
      approachRate: -0.545618 m/s,
      rangeRepo size: 4

2025-06-05T18:36:34.327Z,1749148594.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 395.787567 m,
      bearing: 283.542694 deg,
      lat: 36.905788 deg,
      lon: -122.116422 deg,
      deltaT: 4.032091 s,
      deltaX: -2.192993 m,
      approachRate: -0.543885 m/s,
      posRepo size: 4

2025-06-05T18:36:34.340Z,1749148594.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:34.342Z,1749148594.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 391.107086 m,
      bearing: 282.909358 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.053862 deg/s,
      cmd heading: 274.369792 deg,
      new cmd heading: 274.294716 deg.

2025-06-05T18:36:34.343Z,1749148594.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787346 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:34.438Z,1749148594.438 [DAT](INFO): DAT read: TxSync time:18:36:33.2230

2025-06-05T18:36:34.699Z,1749148594.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:34.712Z,1749148594.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 390.875793 m,
      bearing: 282.895119 deg,
      approach rate: -0.615940 m/s,
      LOS rate: -0.037942 deg/s,
      cmd heading: 274.294714 deg,
      new cmd heading: 274.251972 deg.

2025-06-05T18:36:34.714Z,1749148594.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786600 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:35.055Z,1749148595.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:35.058Z,1749148595.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 390.650330 m,
      bearing: 282.882481 deg,
      approach rate: -0.632806 m/s,
      LOS rate: -0.035492 deg/s,
      cmd heading: 274.251985 deg,
      new cmd heading: 274.214049 deg.

2025-06-05T18:36:35.059Z,1749148595.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785938 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:35.486Z,1749148595.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:35.496Z,1749148595.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:35.499Z,1749148595.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 390.397339 m,
      bearing: 282.868281 deg,
      approach rate: -0.573943 m/s,
      LOS rate: -0.032234 deg/s,
      cmd heading: 274.214036 deg,
      new cmd heading: 274.171411 deg.

2025-06-05T18:36:35.501Z,1749148595.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785194 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:35.697Z,1749148595.697 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:35.697Z,1749148595.697 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:35.697Z,1749148595.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:35.863Z,1749148595.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:35.866Z,1749148595.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 390.156830 m,
      bearing: 282.857262 deg,
      approach rate: -0.655679 m/s,
      LOS rate: -0.030058 deg/s,
      cmd heading: 274.171416 deg,
      new cmd heading: 274.138339 deg.

2025-06-05T18:36:35.867Z,1749148595.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784616 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:35.950Z,1749148595.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714427
2025-06-05T18:36:36.201Z,1749148596.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965701
2025-06-05T18:36:36.295Z,1749148596.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:36.298Z,1749148596.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 389.887787 m,
      bearing: 282.846290 deg,
      approach rate: -0.622793 m/s,
      LOS rate: -0.025416 deg/s,
      cmd heading: 274.138330 deg,
      new cmd heading: 274.105391 deg.

2025-06-05T18:36:36.299Z,1749148596.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784041 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:36.454Z,1749148596.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218462
2025-06-05T18:36:36.706Z,1749148596.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470726
2025-06-05T18:36:36.736Z,1749148596.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:36.738Z,1749148596.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 389.619080 m,
      bearing: 282.836675 deg,
      approach rate: -0.615182 m/s,
      LOS rate: -0.022029 deg/s,
      cmd heading: 274.105382 deg,
      new cmd heading: 274.076515 deg.

2025-06-05T18:36:36.744Z,1749148596.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783537 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:36.957Z,1749148596.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722451
2025-06-05T18:36:37.110Z,1749148597.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:37.117Z,1749148597.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 389.386597 m,
      bearing: 282.829519 deg,
      approach rate: -0.614436 m/s,
      LOS rate: -0.018923 deg/s,
      cmd heading: 274.076503 deg,
      new cmd heading: 274.055024 deg.

2025-06-05T18:36:37.118Z,1749148597.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783163 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:37.215Z,1749148597.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980083
2025-06-05T18:36:37.465Z,1749148597.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229685
2025-06-05T18:36:37.520Z,1749148597.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:37.523Z,1749148597.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:37.526Z,1749148597.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 389.124664 m,
      bearing: 282.822771 deg,
      approach rate: -0.633897 m/s,
      LOS rate: -0.016344 deg/s,
      cmd heading: 274.055029 deg,
      new cmd heading: 274.034769 deg.

2025-06-05T18:36:37.527Z,1749148597.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782809 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:37.717Z,1749148597.717 [DAT](INFO): DAT read: Rx Time:18:36:36.1562

2025-06-05T18:36:37.718Z,1749148597.718 [DAT](INFO): Rx dataTimestamp_ set to:1749148597.717391
2025-06-05T18:36:37.719Z,1749148597.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483610
2025-06-05T18:36:37.900Z,1749148597.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.79 m.
2025-06-05T18:36:37.902Z,1749148597.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.787567 m,
      nav range: 388.871246 m,
      bearing: 282.817505 deg,
      approach rate: -0.673454 m/s,
      LOS rate: -0.014002 deg/s,
      cmd heading: 274.034757 deg,
      new cmd heading: 274.018951 deg.

2025-06-05T18:36:37.904Z,1749148597.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782533 target range: 395.787567 and range: 398.10 m.
2025-06-05T18:36:37.969Z,1749148597.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733946
2025-06-05T18:36:38.227Z,1749148598.227 [DAT](INFO): DAT read: 18:36:36.1562 LVL= 28880, 32753, 27346, 32755, AGC= 70, IDX= 423,-0.48, 0.989,-0.186, 1.079, 0.412, PHS= 0.665,-0.551, 0.664, RAW= 150.0, -12.7, CAL= 157.0, -20.4, ROT= 353.0,  20.4

2025-06-05T18:36:38.228Z,1749148598.228 [DAT](INFO): got valid direction response:
 18:36:36.1562 LVL= 28880, 32753, 27346, 32755, AGC= 70, IDX= 423,-0.48, 0.989,-0.186, 1.079, 0.412, PHS= 0.665,-0.551, 0.664, RAW= 150.0, -12.7, CAL= 157.0, -20.4, ROT= 353.0,  20.4

2025-06-05T18:36:38.229Z,1749148598.229 [DAT](INFO): DAT read: Bearing 353.0,  20.4 (Local)

2025-06-05T18:36:38.230Z,1749148598.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,  20.4 (Local)

2025-06-05T18:36:38.231Z,1749148598.231 [DAT](INFO): DAT read: Range 10 to 50 : 396.2 m  (Round-trip  528.3 ms) speed  0.2 m/s

2025-06-05T18:36:38.232Z,1749148598.232 [DAT](INFO): DAT read: user:2694>

2025-06-05T18:36:38.233Z,1749148598.233 [DAT](INFO): DAT read: Tx time:18:36:37.2738

2025-06-05T18:36:38.233Z,1749148598.233 [DAT](INFO): Ping request sent.
2025-06-05T18:36:38.233Z,1749148598.233 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:38.234Z,1749148598.234 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:36:38.235Z,1749148598.235 [DAT](INFO): direction in FSK: [0.930296,-0.114226,-0.348572]
2025-06-05T18:36:38.235Z,1749148598.235 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:38.235Z,1749148598.235 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:38.241Z,1749148598.241 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:38.241Z,1749148598.241 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:38.389Z,1749148598.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 396.200012 m,
      deltaT: 4.036803 s,
      deltaX: -1.899994 m,
      approachRate: -0.470668 m/s,
      rangeRepo size: 4

2025-06-05T18:36:38.400Z,1749148598.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 393.880249 m,
      bearing: 279.279045 deg,
      lat: 36.905788 deg,
      lon: -122.116422 deg,
      deltaT: 4.036803 s,
      deltaX: -1.907318 m,
      approachRate: -0.472482 m/s,
      posRepo size: 4

2025-06-05T18:36:38.401Z,1749148598.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:38.409Z,1749148598.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 388.572388 m,
      bearing: 282.812784 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014002 deg/s,
      cmd heading: 274.018939 deg,
      new cmd heading: 273.998782 deg.

2025-06-05T18:36:38.410Z,1749148598.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782181 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:38.474Z,1749148598.474 [DAT](INFO): DAT read: TxSync time:18:36:37.2730

2025-06-05T18:36:38.778Z,1749148598.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:38.786Z,1749148598.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 388.310516 m,
      bearing: 282.809966 deg,
      approach rate: -0.657139 m/s,
      LOS rate: -0.007077 deg/s,
      cmd heading: 273.998776 deg,
      new cmd heading: 273.990315 deg.

2025-06-05T18:36:38.787Z,1749148598.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782033 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:39.118Z,1749148599.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:39.125Z,1749148599.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 388.099884 m,
      bearing: 282.808836 deg,
      approach rate: -0.619622 m/s,
      LOS rate: -0.003326 deg/s,
      cmd heading: 273.990306 deg,
      new cmd heading: 273.986915 deg.

2025-06-05T18:36:39.126Z,1749148599.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781974 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:39.508Z,1749148599.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:39.510Z,1749148599.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 387.839905 m,
      bearing: 282.808731 deg,
      approach rate: -0.666964 m/s,
      LOS rate: -0.000269 deg/s,
      cmd heading: 273.986919 deg,
      new cmd heading: 273.986604 deg.

2025-06-05T18:36:39.511Z,1749148599.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781968 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:39.911Z,1749148599.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:39.914Z,1749148599.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:39.916Z,1749148599.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 387.578888 m,
      bearing: 282.809920 deg,
      approach rate: -0.642713 m/s,
      LOS rate: 0.002929 deg/s,
      cmd heading: 273.986591 deg,
      new cmd heading: 273.990159 deg.

2025-06-05T18:36:39.917Z,1749148599.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782031 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:39.989Z,1749148599.989 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:39.989Z,1749148599.989 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:39.990Z,1749148599.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:40.241Z,1749148600.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007669
2025-06-05T18:36:40.323Z,1749148600.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:40.326Z,1749148600.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 387.316895 m,
      bearing: 282.812267 deg,
      approach rate: -0.640248 m/s,
      LOS rate: 0.005741 deg/s,
      cmd heading: 273.990170 deg,
      new cmd heading: 273.997217 deg.

2025-06-05T18:36:40.327Z,1749148600.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782154 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:40.494Z,1749148600.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259762
2025-06-05T18:36:40.747Z,1749148600.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513360
2025-06-05T18:36:40.816Z,1749148600.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:40.833Z,1749148600.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 387.002625 m,
      bearing: 282.816407 deg,
      approach rate: -0.639003 m/s,
      LOS rate: 0.008424 deg/s,
      cmd heading: 273.997219 deg,
      new cmd heading: 274.009648 deg.

2025-06-05T18:36:40.834Z,1749148600.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782371 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:40.997Z,1749148600.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763094
2025-06-05T18:36:41.211Z,1749148601.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:41.214Z,1749148601.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 386.760071 m,
      bearing: 282.820559 deg,
      approach rate: -0.611620 m/s,
      LOS rate: 0.010477 deg/s,
      cmd heading: 274.009650 deg,
      new cmd heading: 274.022114 deg.

2025-06-05T18:36:41.215Z,1749148601.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782588 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:41.249Z,1749148601.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015965
2025-06-05T18:36:41.505Z,1749148601.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271745
2025-06-05T18:36:41.626Z,1749148601.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:41.629Z,1749148601.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 386.487030 m,
      bearing: 282.826254 deg,
      approach rate: -0.658288 m/s,
      LOS rate: 0.013741 deg/s,
      cmd heading: 274.022108 deg,
      new cmd heading: 274.039206 deg.

2025-06-05T18:36:41.630Z,1749148601.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782887 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:41.758Z,1749148601.758 [DAT](INFO): DAT read: Rx Time:18:36:40.2047

2025-06-05T18:36:41.760Z,1749148601.760 [DAT](INFO): Rx dataTimestamp_ set to:1749148601.758841
2025-06-05T18:36:41.761Z,1749148601.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527581
2025-06-05T18:36:42.009Z,1749148602.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775375
2025-06-05T18:36:42.034Z,1749148602.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:42.037Z,1749148602.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.88 m.
2025-06-05T18:36:42.041Z,1749148602.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.880249 m,
      nav range: 386.226074 m,
      bearing: 282.831706 deg,
      approach rate: -0.636560 m/s,
      LOS rate: 0.013306 deg/s,
      cmd heading: 274.039211 deg,
      new cmd heading: 274.055575 deg.

2025-06-05T18:36:42.042Z,1749148602.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783172 target range: 393.880249 and range: 396.20 m.
2025-06-05T18:36:42.268Z,1749148602.268 [DAT](INFO): DAT read: 18:36:40.2047 LVL= 26048, 32753, 31522, 32755, AGC= 71, IDX= 430,-0.30,-2.851, 1.974, 2.794, 2.349, PHS= 1.171,-0.328, 0.442, RAW= 120.9, -19.3, CAL= 126.5, -27.7, ROT=  23.5,  27.7

2025-06-05T18:36:42.269Z,1749148602.269 [DAT](INFO): got valid direction response:
 18:36:40.2047 LVL= 26048, 32753, 31522, 32755, AGC= 71, IDX= 430,-0.30,-2.851, 1.974, 2.794, 2.349, PHS= 1.171,-0.328, 0.442, RAW= 120.9, -19.3, CAL= 126.5, -27.7, ROT=  23.5,  27.7

2025-06-05T18:36:42.272Z,1749148602.272 [DAT](INFO): DAT read: Bearing  23.5,  27.7 (Local)

2025-06-05T18:36:42.272Z,1749148602.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.5,  27.7 (Local)

2025-06-05T18:36:42.273Z,1749148602.273 [DAT](INFO): DAT read: Range 10 to 50 : 395.0 m  (Round-trip  526.7 ms) speed  0.4 m/s

2025-06-05T18:36:42.274Z,1749148602.274 [DAT](INFO): DAT read: user:2695>

2025-06-05T18:36:42.275Z,1749148602.275 [DAT](INFO): DAT read: Tx time:18:36:41.3239

2025-06-05T18:36:42.275Z,1749148602.275 [DAT](INFO): Ping request sent.
2025-06-05T18:36:42.275Z,1749148602.275 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:42.276Z,1749148602.276 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:36:42.277Z,1749148602.277 [DAT](INFO): direction in FSK: [0.811959,0.353050,-0.464842]
2025-06-05T18:36:42.277Z,1749148602.277 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:42.277Z,1749148602.277 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:42.289Z,1749148602.289 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:42.290Z,1749148602.290 [DAT](INFO): publishing direction and range info
2025-06-05T18:36:42.457Z,1749148602.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 395.000000 m,
      deltaT: 4.039155 s,
      deltaX: -1.200012 m,
      approachRate: -0.297095 m/s,
      rangeRepo size: 4

2025-06-05T18:36:42.459Z,1749148602.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 392.638306 m,
      bearing: 291.587613 deg,
      lat: 36.905815 deg,
      lon: -122.116422 deg,
      deltaT: 4.039155 s,
      deltaX: -1.241943 m,
      approachRate: -0.307476 m/s,
      posRepo size: 4

2025-06-05T18:36:42.464Z,1749148602.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:42.466Z,1749148602.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 386.643890 m,
      bearing: 283.266769 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013306 deg/s,
      cmd heading: 274.055576 deg,
      new cmd heading: 274.072176 deg.

2025-06-05T18:36:42.468Z,1749148602.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783462 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:42.515Z,1749148602.515 [DAT](INFO): DAT read: TxSync time:18:36:41.3231

2025-06-05T18:36:42.977Z,1749148602.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:42.980Z,1749148602.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 386.306427 m,
      bearing: 283.277258 deg,
      approach rate: -0.641900 m/s,
      LOS rate: 0.019970 deg/s,
      cmd heading: 274.072187 deg,
      new cmd heading: 274.103683 deg.

2025-06-05T18:36:42.981Z,1749148602.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784012 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:43.233Z,1749148603.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:43.240Z,1749148603.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 386.126282 m,
      bearing: 283.284990 deg,
      approach rate: -0.704372 m/s,
      LOS rate: 0.030246 deg/s,
      cmd heading: 274.103688 deg,
      new cmd heading: 274.126894 deg.

2025-06-05T18:36:43.241Z,1749148603.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784417 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:43.621Z,1749148603.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:43.625Z,1749148603.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 385.826874 m,
      bearing: 283.298456 deg,
      approach rate: -0.772654 m/s,
      LOS rate: 0.034775 deg/s,
      cmd heading: 274.126883 deg,
      new cmd heading: 274.167310 deg.

2025-06-05T18:36:43.626Z,1749148603.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785122 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:44.020Z,1749148604.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:44.025Z,1749148604.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 385.531189 m,
      bearing: 283.312263 deg,
      approach rate: -0.741474 m/s,
      LOS rate: 0.034651 deg/s,
      cmd heading: 274.167318 deg,
      new cmd heading: 274.208772 deg.

2025-06-05T18:36:44.026Z,1749148604.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785846 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:44.500Z,1749148604.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:44.502Z,1749148604.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:44.510Z,1749148604.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 385.199158 m,
      bearing: 283.328110 deg,
      approach rate: -0.688212 m/s,
      LOS rate: 0.032875 deg/s,
      cmd heading: 274.208763 deg,
      new cmd heading: 274.256345 deg.

2025-06-05T18:36:44.511Z,1749148604.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786676 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:44.528Z,1749148604.528 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:44.529Z,1749148604.529 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:44.529Z,1749148604.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:44.781Z,1749148604.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505860
2025-06-05T18:36:44.980Z,1749148604.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:44.983Z,1749148604.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 384.824677 m,
      bearing: 283.346017 deg,
      approach rate: -0.783811 m/s,
      LOS rate: 0.037517 deg/s,
      cmd heading: 274.256356 deg,
      new cmd heading: 274.310129 deg.

2025-06-05T18:36:44.984Z,1749148604.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787615 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:45.033Z,1749148605.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757530
2025-06-05T18:36:45.288Z,1749148605.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012935
2025-06-05T18:36:45.440Z,1749148605.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:45.443Z,1749148605.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 384.500092 m,
      bearing: 283.361902 deg,
      approach rate: -0.711943 m/s,
      LOS rate: 0.034870 deg/s,
      cmd heading: 274.310123 deg,
      new cmd heading: 274.357817 deg.

2025-06-05T18:36:45.449Z,1749148605.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788447 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:45.538Z,1749148605.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262128
2025-06-05T18:36:45.789Z,1749148605.789 [DAT](INFO): DAT read: Rx Time:18:36:44.2517

2025-06-05T18:36:45.789Z,1749148605.789 [DAT](INFO): Rx dataTimestamp_ set to:1749148605.788935
2025-06-05T18:36:45.790Z,1749148605.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514601
2025-06-05T18:36:45.849Z,1749148605.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:45.856Z,1749148605.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 384.297180 m,
      bearing: 283.370568 deg,
      approach rate: -0.490410 m/s,
      LOS rate: 0.020957 deg/s,
      cmd heading: 274.357825 deg,
      new cmd heading: 274.383838 deg.

2025-06-05T18:36:45.857Z,1749148605.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788901 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:46.041Z,1749148606.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765565
2025-06-05T18:36:46.269Z,1749148606.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:46.277Z,1749148606.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 384.092163 m,
      bearing: 283.379201 deg,
      approach rate: -0.488846 m/s,
      LOS rate: 0.020596 deg/s,
      cmd heading: 274.383835 deg,
      new cmd heading: 274.409747 deg.

2025-06-05T18:36:46.278Z,1749148606.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789353 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:46.299Z,1749148606.299 [DAT](INFO): DAT read: 18:36:44.2517 LVL= 27968, 30801, 29522, 31139, AGC= 69, IDX= 415, 0.31, 0.524,-0.985, 0.002,-0.583, PHS= 1.195,-0.355, 0.583, RAW= 126.9, -20.4, CAL= 132.2, -28.4, ROT=  17.8,  28.4

2025-06-05T18:36:46.300Z,1749148606.300 [DAT](INFO): got valid direction response:
 18:36:44.2517 LVL= 27968, 30801, 29522, 31139, AGC= 69, IDX= 415, 0.31, 0.524,-0.985, 0.002,-0.583, PHS= 1.195,-0.355, 0.583, RAW= 126.9, -20.4, CAL= 132.2, -28.4, ROT=  17.8,  28.4

2025-06-05T18:36:46.301Z,1749148606.301 [DAT](INFO): DAT read: $Error in header

2025-06-05T18:36:46.301Z,1749148606.301 [DAT](INFO): Received a bad header
2025-06-05T18:36:46.312Z,1749148606.312 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:36:46.313Z,1749148606.313 [DAT](INFO): direction in FSK: [0.837539,0.268904,-0.475624]
2025-06-05T18:36:46.316Z,1749148606.316 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:46.316Z,1749148606.316 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:46.316Z,1749148606.316 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:46.544Z,1749148606.544 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:46.545Z,1749148606.545 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:46.545Z,1749148606.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:46.645Z,1749148606.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:46.647Z,1749148606.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:46.669Z,1749148606.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 383.891052 m,
      bearing: 283.387826 deg,
      approach rate: -0.532000 m/s,
      LOS rate: 0.022829 deg/s,
      cmd heading: 274.409735 deg,
      new cmd heading: 274.435625 deg.

2025-06-05T18:36:46.671Z,1749148606.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789805 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:46.796Z,1749148606.796 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:46.796Z,1749148606.796 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:46.797Z,1749148606.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:47.049Z,1749148607.049 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:47.049Z,1749148607.049 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:47.049Z,1749148607.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:47.145Z,1749148607.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:47.148Z,1749148607.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 383.630829 m,
      bearing: 283.398449 deg,
      approach rate: -0.522350 m/s,
      LOS rate: 0.021337 deg/s,
      cmd heading: 274.435635 deg,
      new cmd heading: 274.467523 deg.

2025-06-05T18:36:47.149Z,1749148607.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790362 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:47.300Z,1749148607.300 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:47.300Z,1749148607.300 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:47.301Z,1749148607.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:47.552Z,1749148607.552 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:47.553Z,1749148607.553 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:47.553Z,1749148607.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:47.686Z,1749148607.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:47.700Z,1749148607.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 383.370087 m,
      bearing: 283.410085 deg,
      approach rate: -0.482473 m/s,
      LOS rate: 0.021546 deg/s,
      cmd heading: 274.467518 deg,
      new cmd heading: 274.502451 deg.

2025-06-05T18:36:47.702Z,1749148607.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790972 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:47.804Z,1749148607.804 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:47.805Z,1749148607.805 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:47.805Z,1749148607.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:48.057Z,1749148608.057 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:48.057Z,1749148608.057 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:48.057Z,1749148608.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:48.078Z,1749148608.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:48.081Z,1749148608.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 383.169769 m,
      bearing: 283.419036 deg,
      approach rate: -0.509921 m/s,
      LOS rate: 0.022797 deg/s,
      cmd heading: 274.502461 deg,
      new cmd heading: 274.529329 deg.

2025-06-05T18:36:48.082Z,1749148608.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791440 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:48.308Z,1749148608.308 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:48.309Z,1749148608.309 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:48.309Z,1749148608.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:48.564Z,1749148608.564 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:48.565Z,1749148608.565 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:48.565Z,1749148608.565 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:48.650Z,1749148608.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:48.652Z,1749148608.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:48.656Z,1749148608.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 382.895416 m,
      bearing: 283.431554 deg,
      approach rate: -0.478500 m/s,
      LOS rate: 0.021848 deg/s,
      cmd heading: 274.529318 deg,
      new cmd heading: 274.566898 deg.

2025-06-05T18:36:48.657Z,1749148608.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792097 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:48.812Z,1749148608.812 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:48.813Z,1749148608.813 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:48.813Z,1749148608.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:48.937Z,1749148608.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:48.940Z,1749148608.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 382.758667 m,
      bearing: 283.437576 deg,
      approach rate: -0.479029 m/s,
      LOS rate: 0.021102 deg/s,
      cmd heading: 274.566911 deg,
      new cmd heading: 274.584983 deg.

2025-06-05T18:36:48.941Z,1749148608.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792412 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:49.070Z,1749148609.070 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:49.070Z,1749148609.070 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:49.070Z,1749148609.070 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:49.316Z,1749148609.316 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:49.316Z,1749148609.316 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:49.316Z,1749148609.316 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:49.341Z,1749148609.341 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-05T18:36:49.358Z,1749148609.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:49.361Z,1749148609.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 382.558685 m,
      bearing: 283.446079 deg,
      approach rate: -0.475500 m/s,
      LOS rate: 0.020228 deg/s,
      cmd heading: 274.584970 deg,
      new cmd heading: 274.610492 deg.

2025-06-05T18:36:49.362Z,1749148609.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792857 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:49.572Z,1749148609.572 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:49.573Z,1749148609.573 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:49.573Z,1749148609.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:49.796Z,1749148609.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:49.799Z,1749148609.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 382.348907 m,
      bearing: 283.454902 deg,
      approach rate: -0.478961 m/s,
      LOS rate: 0.020156 deg/s,
      cmd heading: 274.610488 deg,
      new cmd heading: 274.636972 deg.

2025-06-05T18:36:49.800Z,1749148609.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793319 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:49.822Z,1749148609.822 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:49.822Z,1749148609.822 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:49.822Z,1749148609.822 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:50.072Z,1749148610.072 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:50.073Z,1749148610.073 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:50.073Z,1749148610.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:50.318Z,1749148610.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:50.322Z,1749148610.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 382.101532 m,
      bearing: 283.464981 deg,
      approach rate: -0.473796 m/s,
      LOS rate: 0.019316 deg/s,
      cmd heading: 274.636961 deg,
      new cmd heading: 274.667217 deg.

2025-06-05T18:36:50.323Z,1749148610.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793847 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:50.325Z,1749148610.325 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:50.325Z,1749148610.325 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:50.325Z,1749148610.325 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:50.577Z,1749148610.577 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:50.577Z,1749148610.577 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:50.577Z,1749148610.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:50.659Z,1749148610.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:50.661Z,1749148610.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:50.664Z,1749148610.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 381.933044 m,
      bearing: 283.471813 deg,
      approach rate: -0.490837 m/s,
      LOS rate: 0.019913 deg/s,
      cmd heading: 274.667206 deg,
      new cmd heading: 274.687712 deg.

2025-06-05T18:36:50.665Z,1749148610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794205 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:50.829Z,1749148610.829 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:50.829Z,1749148610.829 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:50.829Z,1749148610.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:50.844Z,1749148610.844 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:36:51.081Z,1749148611.081 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:51.081Z,1749148611.081 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:51.081Z,1749148611.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:51.090Z,1749148611.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:51.093Z,1749148611.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 381.725677 m,
      bearing: 283.480002 deg,
      approach rate: -0.483437 m/s,
      LOS rate: 0.019102 deg/s,
      cmd heading: 274.687723 deg,
      new cmd heading: 274.712305 deg.

2025-06-05T18:36:51.094Z,1749148611.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794634 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:51.332Z,1749148611.332 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:51.332Z,1749148611.332 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:51.333Z,1749148611.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:51.492Z,1749148611.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:51.495Z,1749148611.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 381.530334 m,
      bearing: 283.487557 deg,
      approach rate: -0.486179 m/s,
      LOS rate: 0.018813 deg/s,
      cmd heading: 274.712312 deg,
      new cmd heading: 274.734989 deg.

2025-06-05T18:36:51.496Z,1749148611.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795030 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:51.588Z,1749148611.588 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:51.588Z,1749148611.588 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:51.589Z,1749148611.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:51.838Z,1749148611.838 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:51.838Z,1749148611.838 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:51.839Z,1749148611.839 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:51.962Z,1749148611.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:51.965Z,1749148611.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 381.297394 m,
      bearing: 283.496507 deg,
      approach rate: -0.495178 m/s,
      LOS rate: 0.019037 deg/s,
      cmd heading: 274.734988 deg,
      new cmd heading: 274.761855 deg.

2025-06-05T18:36:51.966Z,1749148611.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795499 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:52.089Z,1749148612.089 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:36:52.089Z,1749148612.089 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:36:52.089Z,1749148612.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:36:52.340Z,1749148612.340 [DAT](INFO): Reached modem response timeout
2025-06-05T18:36:52.341Z,1749148612.341 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:36:52.341Z,1749148612.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:52.397Z,1749148612.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:52.400Z,1749148612.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 381.092346 m,
      bearing: 283.504394 deg,
      approach rate: -0.471390 m/s,
      LOS rate: 0.018140 deg/s,
      cmd heading: 274.761845 deg,
      new cmd heading: 274.785516 deg.

2025-06-05T18:36:52.401Z,1749148612.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795912 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:52.594Z,1749148612.594 [DAT](INFO): Reached modem response timeout
2025-06-05T18:36:52.595Z,1749148612.595 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:36:52.596Z,1749148612.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:52.805Z,1749148612.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:52.807Z,1749148612.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:52.814Z,1749148612.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 380.873291 m,
      bearing: 283.512442 deg,
      approach rate: -0.534158 m/s,
      LOS rate: 0.019638 deg/s,
      cmd heading: 274.785504 deg,
      new cmd heading: 274.809664 deg.

2025-06-05T18:36:52.815Z,1749148612.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796333 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:52.845Z,1749148612.845 [DAT](INFO): Reached modem response timeout
2025-06-05T18:36:52.845Z,1749148612.845 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:36:52.845Z,1749148612.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:53.098Z,1749148613.098 [DAT](INFO): Reached modem response timeout
2025-06-05T18:36:53.099Z,1749148613.099 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:36:53.100Z,1749148613.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:36:53.198Z,1749148613.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:53.201Z,1749148613.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 380.654572 m,
      bearing: 283.520488 deg,
      approach rate: -0.560143 m/s,
      LOS rate: 0.020616 deg/s,
      cmd heading: 274.809656 deg,
      new cmd heading: 274.833806 deg.

2025-06-05T18:36:53.202Z,1749148613.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796755 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:53.351Z,1749148613.351 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:36:53.352Z,1749148613.352 [DAT](INFO): response not received
2025-06-05T18:36:53.352Z,1749148613.352 [DAT](INFO): DAT read: uer29>

2025-06-05T18:36:53.352Z,1749148613.352 [DAT](INFO): unknown deviceResponse_: uer29>

2025-06-05T18:36:53.353Z,1749148613.353 [DAT](INFO): DAT read: Tx time:18:36:52.2740

2025-06-05T18:36:53.354Z,1749148613.354 [DAT](INFO): Ping request sent.
2025-06-05T18:36:53.354Z,1749148613.354 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:36:53.355Z,1749148613.355 [DAT](INFO): publishing transmit ping time
2025-06-05T18:36:53.356Z,1749148613.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001481
2025-06-05T18:36:53.606Z,1749148613.606 [DAT](INFO): DAT read: TxSync time:18:36:52.2732

2025-06-05T18:36:53.609Z,1749148613.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254790
2025-06-05T18:36:53.665Z,1749148613.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:53.667Z,1749148613.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 380.413269 m,
      bearing: 283.529375 deg,
      approach rate: -0.518241 m/s,
      LOS rate: 0.019100 deg/s,
      cmd heading: 274.833808 deg,
      new cmd heading: 274.860487 deg.

2025-06-05T18:36:53.677Z,1749148613.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797221 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:53.853Z,1749148613.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498627
2025-06-05T18:36:53.991Z,1749148613.991 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060510380967,35.0, +11.6,   0.0A,  0.00, 226.56, 196.97, 172.47, 271.47
2025-06-05T18:36:54.010Z,1749148614.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:54.014Z,1749148614.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 380.227722 m,
      bearing: 283.536185 deg,
      approach rate: -0.539097 m/s,
      LOS rate: 0.019796 deg/s,
      cmd heading: 274.860500 deg,
      new cmd heading: 274.880940 deg.

2025-06-05T18:36:54.015Z,1749148614.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797577 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:54.107Z,1749148614.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753024
2025-06-05T18:36:54.357Z,1749148614.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002670
2025-06-05T18:36:54.398Z,1749148614.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:54.401Z,1749148614.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 380.021332 m,
      bearing: 283.543768 deg,
      approach rate: -0.528128 m/s,
      LOS rate: 0.019415 deg/s,
      cmd heading: 274.880936 deg,
      new cmd heading: 274.903697 deg.

2025-06-05T18:36:54.402Z,1749148614.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797975 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:54.612Z,1749148614.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257126
2025-06-05T18:36:54.833Z,1749148614.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:54.835Z,1749148614.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:54.840Z,1749148614.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 379.786285 m,
      bearing: 283.552452 deg,
      approach rate: -0.538538 m/s,
      LOS rate: 0.019907 deg/s,
      cmd heading: 274.903694 deg,
      new cmd heading: 274.929760 deg.

2025-06-05T18:36:54.841Z,1749148614.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798429 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:54.861Z,1749148614.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506659
2025-06-05T18:36:55.115Z,1749148615.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761397
2025-06-05T18:36:55.194Z,1749148615.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:55.197Z,1749148615.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 379.593170 m,
      bearing: 283.559569 deg,
      approach rate: -0.537046 m/s,
      LOS rate: 0.019804 deg/s,
      cmd heading: 274.929758 deg,
      new cmd heading: 274.951122 deg.

2025-06-05T18:36:55.198Z,1749148615.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798802 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:55.365Z,1749148615.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011140
2025-06-05T18:36:55.620Z,1749148615.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265111
2025-06-05T18:36:55.678Z,1749148615.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:55.686Z,1749148615.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 379.363312 m,
      bearing: 283.568054 deg,
      approach rate: -0.475101 m/s,
      LOS rate: 0.017547 deg/s,
      cmd heading: 274.951123 deg,
      new cmd heading: 274.976591 deg.

2025-06-05T18:36:55.694Z,1749148615.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799247 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:55.869Z,1749148615.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514653
2025-06-05T18:36:56.076Z,1749148616.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:56.078Z,1749148616.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 379.116547 m,
      bearing: 283.576988 deg,
      approach rate: -0.621332 m/s,
      LOS rate: 0.022510 deg/s,
      cmd heading: 274.976586 deg,
      new cmd heading: 275.003406 deg.

2025-06-05T18:36:56.079Z,1749148616.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799715 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:56.123Z,1749148616.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768405
2025-06-05T18:36:56.373Z,1749148616.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018859
2025-06-05T18:36:56.497Z,1749148616.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:56.499Z,1749148616.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 378.895447 m,
      bearing: 283.585032 deg,
      approach rate: -0.524783 m/s,
      LOS rate: 0.019104 deg/s,
      cmd heading: 275.003415 deg,
      new cmd heading: 275.027562 deg.

2025-06-05T18:36:56.501Z,1749148616.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800137 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:56.627Z,1749148616.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272887
2025-06-05T18:36:56.760Z,1749148616.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:36:56.877Z,1749148616.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522745
2025-06-05T18:36:56.922Z,1749148616.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:56.924Z,1749148616.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:56.927Z,1749148616.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 378.658600 m,
      bearing: 283.593301 deg,
      approach rate: -0.553739 m/s,
      LOS rate: 0.019344 deg/s,
      cmd heading: 275.027566 deg,
      new cmd heading: 275.052388 deg.

2025-06-05T18:36:56.928Z,1749148616.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800570 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:57.130Z,1749148617.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775968
2025-06-05T18:36:57.343Z,1749148617.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:57.346Z,1749148617.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 378.449005 m,
      bearing: 283.600642 deg,
      approach rate: -0.501040 m/s,
      LOS rate: 0.017559 deg/s,
      cmd heading: 275.052401 deg,
      new cmd heading: 275.074437 deg.

2025-06-05T18:36:57.347Z,1749148617.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800955 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:57.381Z,1749148617.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026723
2025-06-05T18:36:57.641Z,1749148617.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286096
2025-06-05T18:36:57.764Z,1749148617.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:36:57.796Z,1749148617.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:57.798Z,1749148617.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 378.205597 m,
      bearing: 283.608626 deg,
      approach rate: -0.542473 m/s,
      LOS rate: 0.017805 deg/s,
      cmd heading: 275.074449 deg,
      new cmd heading: 275.098416 deg.

2025-06-05T18:36:57.799Z,1749148617.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801373 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:57.886Z,1749148617.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532239
2025-06-05T18:36:58.138Z,1749148618.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783979
2025-06-05T18:36:58.217Z,1749148618.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:58.222Z,1749148618.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 377.977875 m,
      bearing: 283.616169 deg,
      approach rate: -0.534491 m/s,
      LOS rate: 0.017715 deg/s,
      cmd heading: 275.098409 deg,
      new cmd heading: 275.121052 deg.

2025-06-05T18:36:58.223Z,1749148618.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801768 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:58.389Z,1749148618.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035129
2025-06-05T18:36:58.540Z,1749148618.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:58.543Z,1749148618.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 377.810364 m,
      bearing: 283.621757 deg,
      approach rate: -0.519862 m/s,
      LOS rate: 0.017349 deg/s,
      cmd heading: 275.121058 deg,
      new cmd heading: 275.137828 deg.

2025-06-05T18:36:58.544Z,1749148618.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802061 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:58.650Z,1749148618.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295649
2025-06-05T18:36:58.897Z,1749148618.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542614
2025-06-05T18:36:58.997Z,1749148618.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:36:58.999Z,1749148618.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:59.006Z,1749148619.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 377.575806 m,
      bearing: 283.629285 deg,
      approach rate: -0.510765 m/s,
      LOS rate: 0.016404 deg/s,
      cmd heading: 275.137833 deg,
      new cmd heading: 275.160432 deg.

2025-06-05T18:36:59.007Z,1749148619.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802455 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:59.151Z,1749148619.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796779
2025-06-05T18:36:59.361Z,1749148619.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:59.390Z,1749148619.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 377.377319 m,
      bearing: 283.635715 deg,
      approach rate: -0.548361 m/s,
      LOS rate: 0.017773 deg/s,
      cmd heading: 275.160427 deg,
      new cmd heading: 275.179727 deg.

2025-06-05T18:36:59.391Z,1749148619.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802792 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:59.401Z,1749148619.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046944
2025-06-05T18:36:59.653Z,1749148619.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298605
2025-06-05T18:36:59.815Z,1749148619.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:36:59.818Z,1749148619.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 377.149536 m,
      bearing: 283.643371 deg,
      approach rate: -0.501565 m/s,
      LOS rate: 0.016868 deg/s,
      cmd heading: 275.179716 deg,
      new cmd heading: 275.202697 deg.

2025-06-05T18:36:59.819Z,1749148619.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803193 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:36:59.906Z,1749148619.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551733
2025-06-05T18:37:00.150Z,1749148620.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:00.157Z,1749148620.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802717
2025-06-05T18:37:00.181Z,1749148620.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 376.981750 m,
      bearing: 283.649020 deg,
      approach rate: -0.500779 m/s,
      LOS rate: 0.016866 deg/s,
      cmd heading: 275.202692 deg,
      new cmd heading: 275.219646 deg.

2025-06-05T18:37:00.186Z,1749148620.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803489 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:00.409Z,1749148620.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054758
2025-06-05T18:37:00.557Z,1749148620.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:00.560Z,1749148620.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 376.779297 m,
      bearing: 283.655821 deg,
      approach rate: -0.497544 m/s,
      LOS rate: 0.016723 deg/s,
      cmd heading: 275.219659 deg,
      new cmd heading: 275.240073 deg.

2025-06-05T18:37:00.561Z,1749148620.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803845 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:00.665Z,1749148620.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310496
2025-06-05T18:37:00.913Z,1749148620.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558716
2025-06-05T18:37:01.012Z,1749148621.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:01.014Z,1749148621.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:01.022Z,1749148621.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 376.555359 m,
      bearing: 283.662944 deg,
      approach rate: -0.490342 m/s,
      LOS rate: 0.015606 deg/s,
      cmd heading: 275.240067 deg,
      new cmd heading: 275.261449 deg.

2025-06-05T18:37:01.023Z,1749148621.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804219 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:01.165Z,1749148621.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810588
2025-06-05T18:37:01.380Z,1749148621.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:01.383Z,1749148621.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 376.369629 m,
      bearing: 283.668819 deg,
      approach rate: -0.536559 m/s,
      LOS rate: 0.016980 deg/s,
      cmd heading: 275.261459 deg,
      new cmd heading: 275.279092 deg.

2025-06-05T18:37:01.389Z,1749148621.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804526 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:01.417Z,1749148621.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062974
2025-06-05T18:37:01.672Z,1749148621.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317223
2025-06-05T18:37:01.850Z,1749148621.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:01.854Z,1749148621.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 376.121216 m,
      bearing: 283.676742 deg,
      approach rate: -0.507308 m/s,
      LOS rate: 0.016191 deg/s,
      cmd heading: 275.279081 deg,
      new cmd heading: 275.302866 deg.

2025-06-05T18:37:01.856Z,1749148621.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804942 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:01.922Z,1749148621.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568447
2025-06-05T18:37:02.173Z,1749148622.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819151
2025-06-05T18:37:02.187Z,1749148622.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:02.189Z,1749148622.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 375.950195 m,
      bearing: 283.682202 deg,
      approach rate: -0.507427 m/s,
      LOS rate: 0.016208 deg/s,
      cmd heading: 275.302878 deg,
      new cmd heading: 275.319266 deg.

2025-06-05T18:37:02.190Z,1749148622.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805228 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:02.425Z,1749148622.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070810
2025-06-05T18:37:02.677Z,1749148622.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322761
2025-06-05T18:37:02.679Z,1749148622.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:02.683Z,1749148622.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 375.715363 m,
      bearing: 283.689485 deg,
      approach rate: -0.477145 m/s,
      LOS rate: 0.014806 deg/s,
      cmd heading: 275.319270 deg,
      new cmd heading: 275.341131 deg.

2025-06-05T18:37:02.686Z,1749148622.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805609 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:02.929Z,1749148622.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574630
2025-06-05T18:37:03.146Z,1749148623.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:03.149Z,1749148623.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:03.151Z,1749148623.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 375.449829 m,
      bearing: 283.698905 deg,
      approach rate: -0.565204 m/s,
      LOS rate: 0.020065 deg/s,
      cmd heading: 275.341127 deg,
      new cmd heading: 275.369407 deg.

2025-06-05T18:37:03.152Z,1749148623.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806103 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:03.181Z,1749148623.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827460
2025-06-05T18:37:03.432Z,1749148623.432 [DAT](INFO): Reached modem response timeout
2025-06-05T18:37:03.432Z,1749148623.432 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:37:03.433Z,1749148623.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:03.594Z,1749148623.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:03.617Z,1749148623.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 375.225433 m,
      bearing: 283.706759 deg,
      approach rate: -0.503477 m/s,
      LOS rate: 0.017634 deg/s,
      cmd heading: 275.369404 deg,
      new cmd heading: 275.392982 deg.

2025-06-05T18:37:03.618Z,1749148623.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806514 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:03.685Z,1749148623.685 [DAT](INFO): Reached modem response timeout
2025-06-05T18:37:03.686Z,1749148623.686 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:37:03.686Z,1749148623.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:03.937Z,1749148623.937 [DAT](INFO): Reached modem response timeout
2025-06-05T18:37:03.938Z,1749148623.938 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:37:03.938Z,1749148623.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:03.998Z,1749148623.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:04.001Z,1749148624.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 374.989319 m,
      bearing: 283.715510 deg,
      approach rate: -0.584928 m/s,
      LOS rate: 0.021691 deg/s,
      cmd heading: 275.392981 deg,
      new cmd heading: 275.419249 deg.

2025-06-05T18:37:04.002Z,1749148624.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806973 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:04.190Z,1749148624.190 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:37:04.191Z,1749148624.191 [DAT](INFO): response not received
2025-06-05T18:37:04.193Z,1749148624.193 [DAT](INFO): DAT read: user:2698>

2025-06-05T18:37:04.195Z,1749148624.195 [DAT](INFO): DAT read: Tx time:18:37:03.2241

2025-06-05T18:37:04.195Z,1749148624.195 [DAT](INFO): Ping request sent.
2025-06-05T18:37:04.195Z,1749148624.195 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:04.195Z,1749148624.195 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:04.196Z,1749148624.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000823
2025-06-05T18:37:04.363Z,1749148624.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:04.366Z,1749148624.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 374.788940 m,
      bearing: 283.722947 deg,
      approach rate: -0.548827 m/s,
      LOS rate: 0.020381 deg/s,
      cmd heading: 275.419237 deg,
      new cmd heading: 275.441560 deg.

2025-06-05T18:37:04.367Z,1749148624.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807362 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:04.442Z,1749148624.442 [DAT](INFO): DAT read: TxSync time:18:37:03.2233

2025-06-05T18:37:04.443Z,1749148624.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247989
2025-06-05T18:37:04.694Z,1749148624.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498378
2025-06-05T18:37:04.846Z,1749148624.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:04.849Z,1749148624.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 374.525116 m,
      bearing: 283.733796 deg,
      approach rate: -0.546581 m/s,
      LOS rate: 0.022493 deg/s,
      cmd heading: 275.441558 deg,
      new cmd heading: 275.474129 deg.

2025-06-05T18:37:04.850Z,1749148624.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807930 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:04.946Z,1749148624.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751309
2025-06-05T18:37:05.185Z,1749148625.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:05.187Z,1749148625.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:05.192Z,1749148625.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 374.336884 m,
      bearing: 283.741632 deg,
      approach rate: -0.552064 m/s,
      LOS rate: 0.022992 deg/s,
      cmd heading: 275.474124 deg,
      new cmd heading: 275.497642 deg.

2025-06-05T18:37:05.194Z,1749148625.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808341 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:05.197Z,1749148625.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001746
2025-06-05T18:37:05.449Z,1749148625.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253705
2025-06-05T18:37:05.587Z,1749148625.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:05.590Z,1749148625.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 374.117798 m,
      bearing: 283.750892 deg,
      approach rate: -0.548359 m/s,
      LOS rate: 0.023192 deg/s,
      cmd heading: 275.497647 deg,
      new cmd heading: 275.525444 deg.

2025-06-05T18:37:05.591Z,1749148625.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808826 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:05.701Z,1749148625.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506425
2025-06-05T18:37:05.953Z,1749148625.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757591
2025-06-05T18:37:06.035Z,1749148626.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:06.039Z,1749148626.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 373.866913 m,
      bearing: 283.759798 deg,
      approach rate: -0.559231 m/s,
      LOS rate: 0.019866 deg/s,
      cmd heading: 275.525432 deg,
      new cmd heading: 275.552169 deg.

2025-06-05T18:37:06.041Z,1749148626.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809293 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:06.205Z,1749148626.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009679
2025-06-05T18:37:06.393Z,1749148626.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:06.412Z,1749148626.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 373.667938 m,
      bearing: 283.766961 deg,
      approach rate: -0.555513 m/s,
      LOS rate: 0.020008 deg/s,
      cmd heading: 275.552179 deg,
      new cmd heading: 275.573679 deg.

2025-06-05T18:37:06.413Z,1749148626.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809668 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:06.457Z,1749148626.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262421
2025-06-05T18:37:06.709Z,1749148626.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514121
2025-06-05T18:37:06.873Z,1749148626.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:06.877Z,1749148626.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 373.394897 m,
      bearing: 283.777084 deg,
      approach rate: -0.569117 m/s,
      LOS rate: 0.021116 deg/s,
      cmd heading: 275.573681 deg,
      new cmd heading: 275.604073 deg.

2025-06-05T18:37:06.878Z,1749148626.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810198 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:06.962Z,1749148626.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766910
2025-06-05T18:37:07.213Z,1749148627.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017698
2025-06-05T18:37:07.215Z,1749148627.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:07.217Z,1749148627.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:07.220Z,1749148627.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 373.199280 m,
      bearing: 283.784401 deg,
      approach rate: -0.567890 m/s,
      LOS rate: 0.021251 deg/s,
      cmd heading: 275.604062 deg,
      new cmd heading: 275.626022 deg.

2025-06-05T18:37:07.221Z,1749148627.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810582 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:07.466Z,1749148627.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271099
2025-06-05T18:37:07.644Z,1749148627.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:07.647Z,1749148627.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 372.975769 m,
      bearing: 283.792793 deg,
      approach rate: -0.523123 m/s,
      LOS rate: 0.019654 deg/s,
      cmd heading: 275.626028 deg,
      new cmd heading: 275.651220 deg.

2025-06-05T18:37:07.653Z,1749148627.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811021 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:07.718Z,1749148627.718 [DAT](INFO): DAT read: Rx Time:18:37:06.1265

2025-06-05T18:37:07.719Z,1749148627.719 [DAT](INFO): Rx dataTimestamp_ set to:1749148627.718122
2025-06-05T18:37:07.720Z,1749148627.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524391
2025-06-05T18:37:07.969Z,1749148627.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773619
2025-06-05T18:37:08.042Z,1749148628.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:08.045Z,1749148628.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 372.733459 m,
      bearing: 283.802001 deg,
      approach rate: -0.609095 m/s,
      LOS rate: 0.023160 deg/s,
      cmd heading: 275.651217 deg,
      new cmd heading: 275.678857 deg.

2025-06-05T18:37:08.046Z,1749148628.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811504 target range: 392.638306 and range: 395.00 m.
2025-06-05T18:37:08.222Z,1749148628.222 [DAT](INFO): DAT read: Range 10 to 50 : 373.6 m  (Round-trip  498.2 ms) speed  0.4 m/s

2025-06-05T18:37:08.222Z,1749148628.222 [DAT](INFO): DAT read: user:2699>

2025-06-05T18:37:08.223Z,1749148628.223 [DAT](INFO): DAT read: Tx time:18:37:07.2242

2025-06-05T18:37:08.223Z,1749148628.223 [DAT](INFO): Ping request sent.
2025-06-05T18:37:08.223Z,1749148628.223 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:08.224Z,1749148628.224 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:37:08.224Z,1749148628.224 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:08.225Z,1749148628.225 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:08.419Z,1749148628.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 373.600006 m,
      deltaT: 25.960039 s,
      deltaX: -21.399994 m,
      approachRate: -0.824344 m/s,
      rangeRepo size: 4

2025-06-05T18:37:08.419Z,1749148628.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:08.424Z,1749148628.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 372.521881 m,
      bearing: 283.810032 deg,
      approach rate: -0.563161 m/s,
      LOS rate: 0.021391 deg/s,
      cmd heading: 275.678866 deg,
      new cmd heading: 275.702975 deg.

2025-06-05T18:37:08.425Z,1749148628.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811924 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:08.474Z,1749148628.474 [DAT](INFO): DAT read: TxSync time:18:37:07.2234

2025-06-05T18:37:08.939Z,1749148628.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:08.942Z,1749148628.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 372.256561 m,
      bearing: 283.819601 deg,
      approach rate: -0.509151 m/s,
      LOS rate: 0.018375 deg/s,
      cmd heading: 275.702963 deg,
      new cmd heading: 275.731689 deg.

2025-06-05T18:37:08.943Z,1749148628.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812426 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:09.241Z,1749148629.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:09.243Z,1749148629.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:09.246Z,1749148629.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 372.070190 m,
      bearing: 283.826328 deg,
      approach rate: -0.613135 m/s,
      LOS rate: 0.022143 deg/s,
      cmd heading: 275.731677 deg,
      new cmd heading: 275.751869 deg.

2025-06-05T18:37:09.247Z,1749148629.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812778 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:09.480Z,1749148629.480 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:09.480Z,1749148629.480 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:09.481Z,1749148629.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:09.633Z,1749148629.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:09.636Z,1749148629.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 371.856232 m,
      bearing: 283.834000 deg,
      approach rate: -0.549032 m/s,
      LOS rate: 0.019697 deg/s,
      cmd heading: 275.751867 deg,
      new cmd heading: 275.774894 deg.

2025-06-05T18:37:09.639Z,1749148629.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813180 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:09.734Z,1749148629.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510260
2025-06-05T18:37:09.985Z,1749148629.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761310
2025-06-05T18:37:10.066Z,1749148630.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:10.085Z,1749148630.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 371.618225 m,
      bearing: 283.841388 deg,
      approach rate: -0.548770 m/s,
      LOS rate: 0.017046 deg/s,
      cmd heading: 275.774898 deg,
      new cmd heading: 275.797077 deg.

2025-06-05T18:37:10.089Z,1749148630.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813567 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:10.240Z,1749148630.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016445
2025-06-05T18:37:10.489Z,1749148630.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265726
2025-06-05T18:37:10.557Z,1749148630.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:10.564Z,1749148630.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 371.355072 m,
      bearing: 283.849299 deg,
      approach rate: -0.536401 m/s,
      LOS rate: 0.016136 deg/s,
      cmd heading: 275.797083 deg,
      new cmd heading: 275.820832 deg.

2025-06-05T18:37:10.565Z,1749148630.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813982 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:10.741Z,1749148630.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517289
2025-06-05T18:37:10.973Z,1749148630.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:10.976Z,1749148630.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 371.123352 m,
      bearing: 283.856531 deg,
      approach rate: -0.556612 m/s,
      LOS rate: 0.017385 deg/s,
      cmd heading: 275.820824 deg,
      new cmd heading: 275.842537 deg.

2025-06-05T18:37:10.977Z,1749148630.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814361 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:10.995Z,1749148630.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770772
2025-06-05T18:37:11.249Z,1749148631.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025164
2025-06-05T18:37:11.486Z,1749148631.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:11.502Z,1749148631.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278343
2025-06-05T18:37:11.509Z,1749148631.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:11.522Z,1749148631.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 370.843414 m,
      bearing: 283.865209 deg,
      approach rate: -0.522461 m/s,
      LOS rate: 0.016208 deg/s,
      cmd heading: 275.842544 deg,
      new cmd heading: 275.868597 deg.

2025-06-05T18:37:11.523Z,1749148631.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814816 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:11.755Z,1749148631.755 [DAT](INFO): DAT read: Rx Time:18:37:10.1124

2025-06-05T18:37:11.756Z,1749148631.756 [DAT](INFO): Rx dataTimestamp_ set to:1749148631.755454
2025-06-05T18:37:11.756Z,1749148631.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532873
2025-06-05T18:37:11.931Z,1749148631.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.64 m.
2025-06-05T18:37:11.944Z,1749148631.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.638306 m,
      nav range: 370.608093 m,
      bearing: 283.872514 deg,
      approach rate: -0.557880 m/s,
      LOS rate: 0.017329 deg/s,
      cmd heading: 275.868609 deg,
      new cmd heading: 275.890537 deg.

2025-06-05T18:37:11.945Z,1749148631.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815198 target range: 392.638306 and range: 373.60 m.
2025-06-05T18:37:12.006Z,1749148632.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782592
2025-06-05T18:37:12.262Z,1749148632.262 [DAT](INFO): DAT read: 18:37:10.1124 LVL= 17520, 22705, 19074, 23779, AGC= 70, IDX= 297,-0.36,-2.363, 2.574,-2.717, 3.083, PHS= 0.925,-0.462, 0.480, RAW= 131.7, -15.2, CAL= 136.9, -24.8, ROT=  13.1,  24.8

2025-06-05T18:37:12.263Z,1749148632.263 [DAT](INFO): got valid direction response:
 18:37:10.1124 LVL= 17520, 22705, 19074, 23779, AGC= 70, IDX= 297,-0.36,-2.363, 2.574,-2.717, 3.083, PHS= 0.925,-0.462, 0.480, RAW= 131.7, -15.2, CAL= 136.9, -24.8, ROT=  13.1,  24.8

2025-06-05T18:37:12.264Z,1749148632.264 [DAT](INFO): DAT read: Bearing  13.1,  24.8 (Local)

2025-06-05T18:37:12.264Z,1749148632.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.1,  24.8 (Local)

2025-06-05T18:37:12.266Z,1749148632.266 [DAT](INFO): DAT read: Range 10 to 50 : 363.0 m  (Round-trip  484.0 ms) speed  0.6 m/s

2025-06-05T18:37:12.267Z,1749148632.267 [DAT](INFO): DAT read: user:2700>

2025-06-05T18:37:12.267Z,1749148632.267 [DAT](INFO): DAT read: Tx time:18:37:11.2257

2025-06-05T18:37:12.268Z,1749148632.268 [DAT](INFO): Ping request sent.
2025-06-05T18:37:12.268Z,1749148632.268 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:12.268Z,1749148632.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:12.269Z,1749148632.269 [DAT](INFO): direction in FSK: [0.884153,0.205749,-0.419452]
2025-06-05T18:37:12.269Z,1749148632.269 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:12.270Z,1749148632.270 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:12.273Z,1749148632.273 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:12.273Z,1749148632.273 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:12.426Z,1749148632.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 363.000000 m,
      deltaT: 4.035893 s,
      deltaX: -10.600006 m,
      approachRate: -2.626434 m/s,
      rangeRepo size: 4

2025-06-05T18:37:12.432Z,1749148632.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 360.275116 m,
      bearing: 287.374735 deg,
      lat: 36.905825 deg,
      lon: -122.116403 deg,
      deltaT: 29.995932 s,
      deltaX: -32.363190 m,
      approachRate: -1.078919 m/s,
      posRepo size: 4

2025-06-05T18:37:12.433Z,1749148632.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:12.444Z,1749148632.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 368.929474 m,
      bearing: 284.107716 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017329 deg/s,
      cmd heading: 275.890547 deg,
      new cmd heading: 275.916253 deg.

2025-06-05T18:37:12.445Z,1749148632.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815647 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:12.510Z,1749148632.510 [DAT](INFO): DAT read: TxSync time:18:37:11.2250

2025-06-05T18:37:12.802Z,1749148632.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:12.828Z,1749148632.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 368.707245 m,
      bearing: 284.115351 deg,
      approach rate: -0.590037 m/s,
      LOS rate: 0.020284 deg/s,
      cmd heading: 275.916256 deg,
      new cmd heading: 275.939174 deg.

2025-06-05T18:37:12.829Z,1749148632.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816047 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:13.223Z,1749148633.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:13.226Z,1749148633.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 368.470825 m,
      bearing: 284.124452 deg,
      approach rate: -0.561516 m/s,
      LOS rate: 0.021630 deg/s,
      cmd heading: 275.939178 deg,
      new cmd heading: 275.966499 deg.

2025-06-05T18:37:13.227Z,1749148633.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816524 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:13.628Z,1749148633.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:13.630Z,1749148633.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:13.639Z,1749148633.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 368.245728 m,
      bearing: 284.133260 deg,
      approach rate: -0.552786 m/s,
      LOS rate: 0.021645 deg/s,
      cmd heading: 275.966499 deg,
      new cmd heading: 275.992940 deg.

2025-06-05T18:37:13.656Z,1749148633.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816986 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:13.772Z,1749148633.772 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:13.773Z,1749148633.773 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:13.773Z,1749148633.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:14.025Z,1749148634.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757124
2025-06-05T18:37:14.035Z,1749148634.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:14.040Z,1749148634.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 368.008087 m,
      bearing: 284.144146 deg,
      approach rate: -0.587139 m/s,
      LOS rate: 0.026913 deg/s,
      cmd heading: 275.992945 deg,
      new cmd heading: 276.025624 deg.

2025-06-05T18:37:14.041Z,1749148634.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817556 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:14.277Z,1749148634.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009033
2025-06-05T18:37:14.418Z,1749148634.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:14.421Z,1749148634.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 367.788208 m,
      bearing: 284.154210 deg,
      approach rate: -0.574840 m/s,
      LOS rate: 0.026326 deg/s,
      cmd heading: 276.025621 deg,
      new cmd heading: 276.055830 deg.

2025-06-05T18:37:14.421Z,1749148634.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818083 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:14.530Z,1749148634.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261789
2025-06-05T18:37:14.781Z,1749148634.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512877
2025-06-05T18:37:14.821Z,1749148634.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:14.824Z,1749148634.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 367.556763 m,
      bearing: 284.164798 deg,
      approach rate: -0.574041 m/s,
      LOS rate: 0.026278 deg/s,
      cmd heading: 276.055838 deg,
      new cmd heading: 276.087623 deg.

2025-06-05T18:37:14.825Z,1749148634.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818638 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:15.033Z,1749148635.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764941
2025-06-05T18:37:15.259Z,1749148635.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:15.262Z,1749148635.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 367.307251 m,
      bearing: 284.177089 deg,
      approach rate: -0.568913 m/s,
      LOS rate: 0.028044 deg/s,
      cmd heading: 276.087612 deg,
      new cmd heading: 276.124511 deg.

2025-06-05T18:37:15.263Z,1749148635.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819282 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:15.285Z,1749148635.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016950
2025-06-05T18:37:15.537Z,1749148635.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268898
2025-06-05T18:37:15.624Z,1749148635.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:15.627Z,1749148635.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 367.107941 m,
      bearing: 284.186894 deg,
      approach rate: -0.546604 m/s,
      LOS rate: 0.026905 deg/s,
      cmd heading: 276.124522 deg,
      new cmd heading: 276.153954 deg.

2025-06-05T18:37:15.628Z,1749148635.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819796 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:15.789Z,1749148635.789 [DAT](INFO): DAT read: Rx Time:18:37:14.1227

2025-06-05T18:37:15.790Z,1749148635.790 [DAT](INFO): Rx dataTimestamp_ set to:1749148635.789537
2025-06-05T18:37:15.790Z,1749148635.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522598
2025-06-05T18:37:16.041Z,1749148636.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772998
2025-06-05T18:37:16.078Z,1749148636.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:16.095Z,1749148636.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.28 m.
2025-06-05T18:37:16.117Z,1749148636.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.275116 m,
      nav range: 366.846069 m,
      bearing: 284.201102 deg,
      approach rate: -0.557819 m/s,
      LOS rate: 0.030286 deg/s,
      cmd heading: 276.153946 deg,
      new cmd heading: 276.196600 deg.

2025-06-05T18:37:16.119Z,1749148636.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820540 target range: 360.275116 and range: 363.00 m.
2025-06-05T18:37:16.301Z,1749148636.301 [DAT](INFO): DAT read: 18:37:14.1227 LVL= 30768, 29041, 32754, 32755, AGC= 68, IDX=  18, 0.42, 1.613,-0.016, 1.212, 0.690, PHS= 1.011,-0.659, 0.519, RAW= 133.4, -11.7, CAL= 138.8, -22.4, ROT=  11.2,  22.4

2025-06-05T18:37:16.303Z,1749148636.303 [DAT](INFO): got valid direction response:
 18:37:14.1227 LVL= 30768, 29041, 32754, 32755, AGC= 68, IDX=  18, 0.42, 1.613,-0.016, 1.212, 0.690, PHS= 1.011,-0.659, 0.519, RAW= 133.4, -11.7, CAL= 138.8, -22.4, ROT=  11.2,  22.4

2025-06-05T18:37:16.305Z,1749148636.305 [DAT](INFO): DAT read: Bearing  11.2,  22.4 (Local)

2025-06-05T18:37:16.305Z,1749148636.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.2,  22.4 (Local)

2025-06-05T18:37:16.306Z,1749148636.306 [DAT](INFO): DAT read: Range 10 to 50 : 369.6 m  (Round-trip  492.8 ms) speed  0.4 m/s

2025-06-05T18:37:16.307Z,1749148636.307 [DAT](INFO): DAT read: user:2701>

2025-06-05T18:37:16.308Z,1749148636.308 [DAT](INFO): DAT read: Tx time:18:37:15.2242

2025-06-05T18:37:16.308Z,1749148636.308 [DAT](INFO): Ping request sent.
2025-06-05T18:37:16.308Z,1749148636.308 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:16.309Z,1749148636.309 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:16.310Z,1749148636.310 [DAT](INFO): direction in FSK: [0.906938,0.179579,-0.381070]
2025-06-05T18:37:16.310Z,1749148636.310 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:16.310Z,1749148636.310 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:16.316Z,1749148636.316 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:16.316Z,1749148636.316 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:16.498Z,1749148636.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 369.600006 m,
      deltaT: 4.036178 s,
      deltaX: 6.600006 m,
      approachRate: 1.635212 m/s,
      rangeRepo size: 4

2025-06-05T18:37:16.505Z,1749148636.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 366.749329 m,
      bearing: 285.473018 deg,
      lat: 36.905894 deg,
      lon: -122.116377 deg,
      deltaT: 4.036178 s,
      deltaX: 6.474213 m,
      approachRate: 1.604045 m/s,
      posRepo size: 4

2025-06-05T18:37:16.506Z,1749148636.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:16.513Z,1749148636.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 366.403534 m,
      bearing: 285.474295 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030286 deg/s,
      cmd heading: 276.196594 deg,
      new cmd heading: 276.233279 deg.

2025-06-05T18:37:16.514Z,1749148636.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821180 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:16.548Z,1749148636.548 [DAT](INFO): DAT read: TxSync time:18:37:15.2234

2025-06-05T18:37:16.865Z,1749148636.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:16.872Z,1749148636.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 366.175568 m,
      bearing: 285.487495 deg,
      approach rate: -0.619868 m/s,
      LOS rate: 0.035916 deg/s,
      cmd heading: 276.233286 deg,
      new cmd heading: 276.272912 deg.

2025-06-05T18:37:16.873Z,1749148636.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821872 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:17.267Z,1749148637.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:17.274Z,1749148637.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 365.939423 m,
      bearing: 285.501927 deg,
      approach rate: -0.586859 m/s,
      LOS rate: 0.035888 deg/s,
      cmd heading: 276.272901 deg,
      new cmd heading: 276.316224 deg.

2025-06-05T18:37:17.275Z,1749148637.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822628 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:17.633Z,1749148637.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:17.635Z,1749148637.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 365.719543 m,
      bearing: 285.515250 deg,
      approach rate: -0.601685 m/s,
      LOS rate: 0.036480 deg/s,
      cmd heading: 276.316232 deg,
      new cmd heading: 276.356225 deg.

2025-06-05T18:37:17.639Z,1749148637.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823326 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:18.085Z,1749148638.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:18.090Z,1749148638.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:18.093Z,1749148638.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 365.454407 m,
      bearing: 285.532095 deg,
      approach rate: -0.580022 m/s,
      LOS rate: 0.036877 deg/s,
      cmd heading: 276.356229 deg,
      new cmd heading: 276.406801 deg.

2025-06-05T18:37:18.094Z,1749148638.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824209 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:18.317Z,1749148638.317 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:18.317Z,1749148638.318 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:18.318Z,1749148638.318 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:18.455Z,1749148638.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:18.457Z,1749148638.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 365.248627 m,
      bearing: 285.545025 deg,
      approach rate: -0.564255 m/s,
      LOS rate: 0.035476 deg/s,
      cmd heading: 276.406800 deg,
      new cmd heading: 276.445613 deg.

2025-06-05T18:37:18.458Z,1749148638.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824886 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:18.570Z,1749148638.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260753
2025-06-05T18:37:18.822Z,1749148638.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513370
2025-06-05T18:37:18.870Z,1749148638.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:18.884Z,1749148638.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 365.000702 m,
      bearing: 285.560441 deg,
      approach rate: -0.597031 m/s,
      LOS rate: 0.037147 deg/s,
      cmd heading: 276.445623 deg,
      new cmd heading: 276.491901 deg.

2025-06-05T18:37:18.887Z,1749148638.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825694 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:19.073Z,1749148639.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764718
2025-06-05T18:37:19.325Z,1749148639.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016430
2025-06-05T18:37:19.459Z,1749148639.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:19.462Z,1749148639.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 364.664642 m,
      bearing: 285.582594 deg,
      approach rate: -0.570326 m/s,
      LOS rate: 0.037630 deg/s,
      cmd heading: 276.491904 deg,
      new cmd heading: 276.558424 deg.

2025-06-05T18:37:19.463Z,1749148639.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826855 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:19.577Z,1749148639.577 [DAT](INFO): DAT read: Rx Time:18:37:18.1193

2025-06-05T18:37:19.577Z,1749148639.577 [DAT](INFO): Rx dataTimestamp_ set to:1749148639.576963
2025-06-05T18:37:19.578Z,1749148639.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269415
2025-06-05T18:37:19.810Z,1749148639.810 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T18:37:19.829Z,1749148639.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520217
2025-06-05T18:37:19.851Z,1749148639.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:19.858Z,1749148639.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 364.457428 m,
      bearing: 285.596127 deg,
      approach rate: -0.528333 m/s,
      LOS rate: 0.034526 deg/s,
      cmd heading: 276.558430 deg,
      new cmd heading: 276.599054 deg.

2025-06-05T18:37:19.859Z,1749148639.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827564 target range: 366.749329 and range: 369.60 m.
2025-06-05T18:37:20.083Z,1749148640.083 [DAT](INFO): DAT read: Range 10 to 50 : 368.2 m  (Round-trip  491.0 ms) speed  0.4 m/s

2025-06-05T18:37:20.083Z,1749148640.083 [DAT](INFO): DAT read: user:2702>

2025-06-05T18:37:20.084Z,1749148640.084 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:37:20.085Z,1749148640.085 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:20.085Z,1749148640.085 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:20.085Z,1749148640.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:20.331Z,1749148640.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:20.333Z,1749148640.333 [DAT](INFO): DAT read: Tx time:18:37:19.2243

2025-06-05T18:37:20.333Z,1749148640.333 [DAT](INFO): Ping request sent.
2025-06-05T18:37:20.333Z,1749148640.333 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:20.334Z,1749148640.334 [DAT](INFO): DAT read: TxSync time:18:37:19.2235

2025-06-05T18:37:20.334Z,1749148640.334 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:20.335Z,1749148640.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001579
2025-06-05T18:37:20.339Z,1749148640.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 368.200012 m,
      deltaT: 3.789051 s,
      deltaX: -1.399994 m,
      approachRate: -0.369484 m/s,
      rangeRepo size: 4

2025-06-05T18:37:20.340Z,1749148640.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:20.343Z,1749148640.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 364.187195 m,
      bearing: 285.612781 deg,
      approach rate: -0.555266 m/s,
      LOS rate: 0.034245 deg/s,
      cmd heading: 276.599056 deg,
      new cmd heading: 276.649055 deg.

2025-06-05T18:37:20.344Z,1749148640.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828437 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:20.585Z,1749148640.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251244
2025-06-05T18:37:20.721Z,1749148640.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:20.728Z,1749148640.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 363.991028 m,
      bearing: 285.624578 deg,
      approach rate: -0.513985 m/s,
      LOS rate: 0.030926 deg/s,
      cmd heading: 276.649053 deg,
      new cmd heading: 276.684463 deg.

2025-06-05T18:37:20.729Z,1749148640.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829055 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:20.838Z,1749148640.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504409
2025-06-05T18:37:21.089Z,1749148641.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755459
2025-06-05T18:37:21.119Z,1749148641.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:21.154Z,1749148641.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 363.761414 m,
      bearing: 285.637332 deg,
      approach rate: -0.575283 m/s,
      LOS rate: 0.031974 deg/s,
      cmd heading: 276.684461 deg,
      new cmd heading: 276.722746 deg.

2025-06-05T18:37:21.160Z,1749148641.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829723 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:21.341Z,1749148641.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007170
2025-06-05T18:37:21.534Z,1749148641.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:21.539Z,1749148641.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 363.538269 m,
      bearing: 285.649744 deg,
      approach rate: -0.545768 m/s,
      LOS rate: 0.030377 deg/s,
      cmd heading: 276.722737 deg,
      new cmd heading: 276.759998 deg.

2025-06-05T18:37:21.540Z,1749148641.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830373 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:21.594Z,1749148641.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259688
2025-06-05T18:37:21.845Z,1749148641.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511318
2025-06-05T18:37:21.912Z,1749148641.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:21.915Z,1749148641.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 363.328461 m,
      bearing: 285.661194 deg,
      approach rate: -0.545103 m/s,
      LOS rate: 0.029765 deg/s,
      cmd heading: 276.760003 deg,
      new cmd heading: 276.794372 deg.

2025-06-05T18:37:21.916Z,1749148641.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830973 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:22.097Z,1749148642.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763184
2025-06-05T18:37:22.353Z,1749148642.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019415
2025-06-05T18:37:22.507Z,1749148642.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:22.510Z,1749148642.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:22.512Z,1749148642.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 362.997589 m,
      bearing: 285.676121 deg,
      approach rate: -0.554198 m/s,
      LOS rate: 0.025024 deg/s,
      cmd heading: 276.794372 deg,
      new cmd heading: 276.839193 deg.

2025-06-05T18:37:22.513Z,1749148642.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831756 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:22.603Z,1749148642.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269226
2025-06-05T18:37:22.825Z,1749148642.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:22.844Z,1749148642.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 362.824677 m,
      bearing: 285.683696 deg,
      approach rate: -0.547667 m/s,
      LOS rate: 0.024005 deg/s,
      cmd heading: 276.839206 deg,
      new cmd heading: 276.861943 deg.

2025-06-05T18:37:22.845Z,1749148642.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832152 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:22.853Z,1749148642.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519285
2025-06-05T18:37:23.106Z,1749148643.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772294
2025-06-05T18:37:23.307Z,1749148643.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:23.310Z,1749148643.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 362.552765 m,
      bearing: 285.694404 deg,
      approach rate: -0.564172 m/s,
      LOS rate: 0.022234 deg/s,
      cmd heading: 276.861937 deg,
      new cmd heading: 276.894084 deg.

2025-06-05T18:37:23.311Z,1749148643.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832714 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:23.358Z,1749148643.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024667
2025-06-05T18:37:23.612Z,1749148643.612 [DAT](INFO): DAT read: Rx Time:18:37:22.1288

2025-06-05T18:37:23.613Z,1749148643.613 [DAT](INFO): Rx dataTimestamp_ set to:1749148643.612422
2025-06-05T18:37:23.615Z,1749148643.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281296
2025-06-05T18:37:23.709Z,1749148643.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:23.714Z,1749148643.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 362.331818 m,
      bearing: 285.703117 deg,
      approach rate: -0.550646 m/s,
      LOS rate: 0.021727 deg/s,
      cmd heading: 276.894093 deg,
      new cmd heading: 276.920247 deg.

2025-06-05T18:37:23.716Z,1749148643.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833170 target range: 366.749329 and range: 368.20 m.
2025-06-05T18:37:23.861Z,1749148643.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527531
2025-06-05T18:37:24.113Z,1749148644.113 [DAT](INFO): DAT read: Range 10 to 50 : 375.2 m  (Round-trip  500.3 ms) speed  0.5 m/s

2025-06-05T18:37:24.114Z,1749148644.114 [DAT](INFO): DAT read: user:2703>

2025-06-05T18:37:24.115Z,1749148644.115 [DAT](INFO): DAT read: Tx time:18:37:23.2243

2025-06-05T18:37:24.115Z,1749148644.115 [DAT](INFO): Ping request sent.
2025-06-05T18:37:24.115Z,1749148644.115 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:24.116Z,1749148644.116 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:37:24.116Z,1749148644.116 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:24.116Z,1749148644.116 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:24.159Z,1749148644.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 375.200012 m,
      deltaT: 4.030747 s,
      deltaX: 7.000000 m,
      approachRate: 1.736651 m/s,
      rangeRepo size: 4

2025-06-05T18:37:24.197Z,1749148644.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:24.204Z,1749148644.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 362.073517 m,
      bearing: 285.712355 deg,
      approach rate: -0.573911 m/s,
      LOS rate: 0.020542 deg/s,
      cmd heading: 276.920239 deg,
      new cmd heading: 276.947975 deg.

2025-06-05T18:37:24.206Z,1749148644.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833654 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:24.366Z,1749148644.366 [DAT](INFO): DAT read: TxSync time:18:37:23.2235

2025-06-05T18:37:24.686Z,1749148644.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:24.691Z,1749148644.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:24.715Z,1749148644.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 361.773743 m,
      bearing: 285.722733 deg,
      approach rate: -0.563772 m/s,
      LOS rate: 0.019532 deg/s,
      cmd heading: 276.947970 deg,
      new cmd heading: 276.979127 deg.

2025-06-05T18:37:24.724Z,1749148644.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834198 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:24.868Z,1749148644.868 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:24.869Z,1749148644.869 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:24.869Z,1749148644.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:25.122Z,1749148645.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006512
2025-06-05T18:37:25.258Z,1749148645.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:25.261Z,1749148645.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 361.434875 m,
      bearing: 285.733764 deg,
      approach rate: -0.597028 m/s,
      LOS rate: 0.019454 deg/s,
      cmd heading: 276.979115 deg,
      new cmd heading: 277.012241 deg.

2025-06-05T18:37:25.262Z,1749148645.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834775 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:25.373Z,1749148645.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257399
2025-06-05T18:37:25.581Z,1749148645.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:25.583Z,1749148645.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 361.255371 m,
      bearing: 285.739559 deg,
      approach rate: -0.556275 m/s,
      LOS rate: 0.017966 deg/s,
      cmd heading: 277.012228 deg,
      new cmd heading: 277.029620 deg.

2025-06-05T18:37:25.585Z,1749148645.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835079 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:25.625Z,1749148645.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509402
2025-06-05T18:37:25.877Z,1749148645.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761383
2025-06-05T18:37:25.958Z,1749148645.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:25.977Z,1749148645.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 361.017792 m,
      bearing: 285.747138 deg,
      approach rate: -0.629368 m/s,
      LOS rate: 0.020091 deg/s,
      cmd heading: 277.029631 deg,
      new cmd heading: 277.052383 deg.

2025-06-05T18:37:25.978Z,1749148645.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835476 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:26.130Z,1749148646.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014024
2025-06-05T18:37:26.381Z,1749148646.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265487
2025-06-05T18:37:26.408Z,1749148646.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:26.411Z,1749148646.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 360.755096 m,
      bearing: 285.756088 deg,
      approach rate: -0.589761 m/s,
      LOS rate: 0.020107 deg/s,
      cmd heading: 277.052390 deg,
      new cmd heading: 277.079259 deg.

2025-06-05T18:37:26.416Z,1749148646.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835945 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:26.634Z,1749148646.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518724
2025-06-05T18:37:26.748Z,1749148646.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:26.750Z,1749148646.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:26.754Z,1749148646.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 360.531128 m,
      bearing: 285.763683 deg,
      approach rate: -0.645668 m/s,
      LOS rate: 0.021910 deg/s,
      cmd heading: 277.079246 deg,
      new cmd heading: 277.102047 deg.

2025-06-05T18:37:26.757Z,1749148646.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836343 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:26.885Z,1749148646.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769644
2025-06-05T18:37:27.138Z,1749148647.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022117
2025-06-05T18:37:27.211Z,1749148647.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:27.214Z,1749148647.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 360.246246 m,
      bearing: 285.774244 deg,
      approach rate: -0.618429 m/s,
      LOS rate: 0.022945 deg/s,
      cmd heading: 277.102059 deg,
      new cmd heading: 277.133767 deg.

2025-06-05T18:37:27.215Z,1749148647.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836897 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:27.389Z,1749148647.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274009
2025-06-05T18:37:27.560Z,1749148647.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:27.566Z,1749148647.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 360.032654 m,
      bearing: 285.782090 deg,
      approach rate: -0.614455 m/s,
      LOS rate: 0.022583 deg/s,
      cmd heading: 277.133778 deg,
      new cmd heading: 277.157329 deg.

2025-06-05T18:37:27.567Z,1749148647.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837308 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:27.642Z,1749148647.642 [DAT](INFO): DAT read: Rx Time:18:37:26.1261

2025-06-05T18:37:27.642Z,1749148647.642 [DAT](INFO): Rx dataTimestamp_ set to:1749148647.641734
2025-06-05T18:37:27.643Z,1749148647.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527651
2025-06-05T18:37:27.889Z,1749148647.889 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:37:27.893Z,1749148647.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777408
2025-06-05T18:37:27.973Z,1749148647.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.75 m.
2025-06-05T18:37:27.975Z,1749148647.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.749329 m,
      nav range: 359.770172 m,
      bearing: 285.791709 deg,
      approach rate: -0.633807 m/s,
      LOS rate: 0.023243 deg/s,
      cmd heading: 277.157329 deg,
      new cmd heading: 277.186206 deg.

2025-06-05T18:37:27.977Z,1749148647.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837812 target range: 366.749329 and range: 375.20 m.
2025-06-05T18:37:28.162Z,1749148648.162 [DAT](INFO): DAT read: 18:37:26.1261 LVL= 25584, 28849, 27442, 32755, AGC= 68, IDX= 421, 0.01, 1.578, 0.305, 1.204, 0.578, PHS= 1.089,-0.226, 0.623, RAW= 129.6, -24.5, CAL= 135.1, -30.9, ROT=  14.9,  30.9

2025-06-05T18:37:28.164Z,1749148648.164 [DAT](INFO): got valid direction response:
 18:37:26.1261 LVL= 25584, 28849, 27442, 32755, AGC= 68, IDX= 421, 0.01, 1.578, 0.305, 1.204, 0.578, PHS= 1.089,-0.226, 0.623, RAW= 129.6, -24.5, CAL= 135.1, -30.9, ROT=  14.9,  30.9

2025-06-05T18:37:28.165Z,1749148648.165 [DAT](INFO): DAT read: Bearing  14.9,  30.9 (Local)

2025-06-05T18:37:28.165Z,1749148648.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.9,  30.9 (Local)

2025-06-05T18:37:28.167Z,1749148648.167 [DAT](INFO): DAT read: Range 10 to 50 : 373.2 m  (Round-trip  497.7 ms) speed  0.4 m/s

2025-06-05T18:37:28.168Z,1749148648.168 [DAT](INFO): DAT read: user:2704>

2025-06-05T18:37:28.168Z,1749148648.168 [DAT](INFO): DAT read: Tx time:18:37:27.2243

2025-06-05T18:37:28.169Z,1749148648.169 [DAT](INFO): Ping request sent.
2025-06-05T18:37:28.169Z,1749148648.169 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:28.169Z,1749148648.169 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:28.172Z,1749148648.172 [DAT](INFO): direction in FSK: [0.829213,0.220637,-0.513541]
2025-06-05T18:37:28.172Z,1749148648.172 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:28.176Z,1749148648.176 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:28.179Z,1749148648.179 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:28.179Z,1749148648.179 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:28.409Z,1749148648.409 [DAT](INFO): DAT read: TxSync time:18:37:27.2235

2025-06-05T18:37:28.430Z,1749148648.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 373.200012 m,
      deltaT: 4.044353 s,
      deltaX: -2.000000 m,
      approachRate: -0.494517 m/s,
      rangeRepo size: 4

2025-06-05T18:37:28.436Z,1749148648.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 370.357758 m,
      bearing: 293.856026 deg,
      lat: 36.905983 deg,
      lon: -122.116242 deg,
      deltaT: 11.864151 s,
      deltaX: 3.608429 m,
      approachRate: 0.304146 m/s,
      posRepo size: 4

2025-06-05T18:37:28.438Z,1749148648.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:28.446Z,1749148648.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 350.809113 m,
      bearing: 287.882013 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023243 deg/s,
      cmd heading: 277.186207 deg,
      new cmd heading: 277.218016 deg.

2025-06-05T18:37:28.447Z,1749148648.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838367 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:28.797Z,1749148648.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:28.808Z,1749148648.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:28.811Z,1749148648.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 350.582855 m,
      bearing: 287.893018 deg,
      approach rate: -0.610534 m/s,
      LOS rate: 0.029714 deg/s,
      cmd heading: 277.218008 deg,
      new cmd heading: 277.251043 deg.

2025-06-05T18:37:28.820Z,1749148648.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838943 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:28.892Z,1749148648.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:37:28.913Z,1749148648.913 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:28.913Z,1749148648.913 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:28.913Z,1749148648.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:29.165Z,1749148649.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995728
2025-06-05T18:37:29.306Z,1749148649.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:29.309Z,1749148649.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 350.265167 m,
      bearing: 287.910112 deg,
      approach rate: -0.627629 m/s,
      LOS rate: 0.033802 deg/s,
      cmd heading: 277.251039 deg,
      new cmd heading: 277.302367 deg.

2025-06-05T18:37:29.310Z,1749148649.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839839 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:29.311Z,1749148649.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 57.071533 m.
2025-06-05T18:37:29.422Z,1749148649.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252834
2025-06-05T18:37:29.673Z,1749148649.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504349
2025-06-05T18:37:29.685Z,1749148649.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:29.690Z,1749148649.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 350.037537 m,
      bearing: 287.922383 deg,
      approach rate: -0.601019 m/s,
      LOS rate: 0.032421 deg/s,
      cmd heading: 277.302374 deg,
      new cmd heading: 277.339212 deg.

2025-06-05T18:37:29.693Z,1749148649.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.840482 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:29.925Z,1749148649.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756374
2025-06-05T18:37:30.182Z,1749148650.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012849
2025-06-05T18:37:30.249Z,1749148650.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:30.251Z,1749148650.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 349.710754 m,
      bearing: 287.940462 deg,
      approach rate: -0.579191 m/s,
      LOS rate: 0.032073 deg/s,
      cmd heading: 277.339203 deg,
      new cmd heading: 277.393489 deg.

2025-06-05T18:37:30.257Z,1749148650.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841430 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:30.433Z,1749148650.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263936
2025-06-05T18:37:30.575Z,1749148650.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:30.578Z,1749148650.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 349.504608 m,
      bearing: 287.951768 deg,
      approach rate: -0.631231 m/s,
      LOS rate: 0.034640 deg/s,
      cmd heading: 277.393489 deg,
      new cmd heading: 277.427428 deg.

2025-06-05T18:37:30.579Z,1749148650.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842022 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:30.686Z,1749148650.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517150
2025-06-05T18:37:30.938Z,1749148650.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769055
2025-06-05T18:37:30.999Z,1749148650.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:31.001Z,1749148651.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:31.009Z,1749148651.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 349.257080 m,
      bearing: 287.965257 deg,
      approach rate: -0.580689 m/s,
      LOS rate: 0.031667 deg/s,
      cmd heading: 277.427422 deg,
      new cmd heading: 277.467917 deg.

2025-06-05T18:37:31.010Z,1749148651.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842729 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:31.189Z,1749148651.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020392
2025-06-05T18:37:31.419Z,1749148651.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:31.424Z,1749148651.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 349.007324 m,
      bearing: 287.979683 deg,
      approach rate: -0.597920 m/s,
      LOS rate: 0.034561 deg/s,
      cmd heading: 277.467911 deg,
      new cmd heading: 277.511220 deg.

2025-06-05T18:37:31.425Z,1749148651.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.843484 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:31.441Z,1749148651.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271794
2025-06-05T18:37:31.694Z,1749148651.694 [DAT](INFO): DAT read: Rx Time:18:37:30.1242

2025-06-05T18:37:31.695Z,1749148651.695 [DAT](INFO): Rx dataTimestamp_ set to:1749148651.694277
2025-06-05T18:37:31.696Z,1749148651.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526708
2025-06-05T18:37:31.875Z,1749148651.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.36 m.
2025-06-05T18:37:31.878Z,1749148651.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 370.357758 m,
      nav range: 348.743195 m,
      bearing: 287.994735 deg,
      approach rate: -0.579823 m/s,
      LOS rate: 0.033068 deg/s,
      cmd heading: 277.511214 deg,
      new cmd heading: 277.556405 deg.

2025-06-05T18:37:31.879Z,1749148651.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844273 target range: 370.357758 and range: 373.20 m.
2025-06-05T18:37:31.945Z,1749148651.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776089
2025-06-05T18:37:32.209Z,1749148652.209 [DAT](INFO): DAT read: 18:37:30.1242 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.15, 1.267,-0.401, 0.938, 0.393, PHS= 0.962,-0.746, 0.542, RAW= 136.4,  -9.9, CAL= 142.3, -20.6, ROT=   7.7,  20.6

2025-06-05T18:37:32.210Z,1749148652.210 [DAT](INFO): got valid direction response:
 18:37:30.1242 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.15, 1.267,-0.401, 0.938, 0.393, PHS= 0.962,-0.746, 0.542, RAW= 136.4,  -9.9, CAL= 142.3, -20.6, ROT=   7.7,  20.6

2025-06-05T18:37:32.211Z,1749148652.211 [DAT](INFO): DAT read: Bearing   7.7,  20.6 (Local)

2025-06-05T18:37:32.212Z,1749148652.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.7,  20.6 (Local)

2025-06-05T18:37:32.213Z,1749148652.213 [DAT](INFO): DAT read: Range 10 to 50 : 371.7 m  (Round-trip  495.7 ms) speed  0.6 m/s

2025-06-05T18:37:32.214Z,1749148652.214 [DAT](INFO): DAT read: user:2705>

2025-06-05T18:37:32.214Z,1749148652.214 [DAT](INFO): DAT read: Tx time:18:37:31.2244

2025-06-05T18:37:32.215Z,1749148652.215 [DAT](INFO): Ping request sent.
2025-06-05T18:37:32.215Z,1749148652.215 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:32.215Z,1749148652.215 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:32.218Z,1749148652.218 [DAT](INFO): direction in FSK: [0.927619,0.125419,-0.351842]
2025-06-05T18:37:32.219Z,1749148652.219 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:32.222Z,1749148652.222 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:32.225Z,1749148652.225 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:32.226Z,1749148652.226 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:32.449Z,1749148652.449 [DAT](INFO): DAT read: TxSync time:18:37:31.2236

2025-06-05T18:37:32.465Z,1749148652.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 371.700012 m,
      deltaT: 4.041255 s,
      deltaX: -1.500000 m,
      approachRate: -0.371172 m/s,
      rangeRepo size: 4

2025-06-05T18:37:32.467Z,1749148652.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.864502 m,
      bearing: 287.829498 deg,
      lat: 36.905983 deg,
      lon: -122.116242 deg,
      deltaT: 4.041255 s,
      deltaX: -1.493256 m,
      approachRate: -0.369503 m/s,
      posRepo size: 4

2025-06-05T18:37:32.472Z,1749148652.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:32.475Z,1749148652.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 348.425568 m,
      bearing: 288.011202 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033068 deg/s,
      cmd heading: 277.556403 deg,
      new cmd heading: 277.614925 deg.

2025-06-05T18:37:32.480Z,1749148652.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845294 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:32.794Z,1749148652.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:32.801Z,1749148652.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 348.205566 m,
      bearing: 288.022692 deg,
      approach rate: -0.667534 m/s,
      LOS rate: 0.034886 deg/s,
      cmd heading: 277.614924 deg,
      new cmd heading: 277.649416 deg.

2025-06-05T18:37:32.802Z,1749148652.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845896 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:33.247Z,1749148653.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:33.249Z,1749148653.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:33.273Z,1749148653.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 347.936798 m,
      bearing: 288.036009 deg,
      approach rate: -0.590861 m/s,
      LOS rate: 0.029299 deg/s,
      cmd heading: 277.649403 deg,
      new cmd heading: 277.689386 deg.

2025-06-05T18:37:33.274Z,1749148653.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846594 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:33.456Z,1749148653.456 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:33.457Z,1749148653.457 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:33.457Z,1749148653.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:33.646Z,1749148653.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:33.653Z,1749148653.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 347.722351 m,
      bearing: 288.046642 deg,
      approach rate: -0.540719 m/s,
      LOS rate: 0.026825 deg/s,
      cmd heading: 277.689373 deg,
      new cmd heading: 277.721290 deg.

2025-06-05T18:37:33.655Z,1749148653.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847151 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:33.712Z,1749148653.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496120
2025-06-05T18:37:33.961Z,1749148653.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745746
2025-06-05T18:37:34.127Z,1749148654.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:34.130Z,1749148654.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 347.428040 m,
      bearing: 288.061188 deg,
      approach rate: -0.611517 m/s,
      LOS rate: 0.030249 deg/s,
      cmd heading: 277.721284 deg,
      new cmd heading: 277.764959 deg.

2025-06-05T18:37:34.131Z,1749148654.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847913 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:34.217Z,1749148654.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000114
2025-06-05T18:37:34.465Z,1749148654.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249710
2025-06-05T18:37:34.569Z,1749148654.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:34.573Z,1749148654.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 347.164734 m,
      bearing: 288.072302 deg,
      approach rate: -0.596221 m/s,
      LOS rate: 0.025185 deg/s,
      cmd heading: 277.764970 deg,
      new cmd heading: 277.798337 deg.

2025-06-05T18:37:34.574Z,1749148654.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848495 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:34.718Z,1749148654.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502229
2025-06-05T18:37:34.969Z,1749148654.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753902
2025-06-05T18:37:35.045Z,1749148655.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:35.052Z,1749148655.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 346.897095 m,
      bearing: 288.083577 deg,
      approach rate: -0.561512 m/s,
      LOS rate: 0.023675 deg/s,
      cmd heading: 277.798328 deg,
      new cmd heading: 277.832182 deg.

2025-06-05T18:37:35.054Z,1749148655.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849086 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:35.226Z,1749148655.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010514
2025-06-05T18:37:35.473Z,1749148655.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258171
2025-06-05T18:37:35.529Z,1749148655.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:35.531Z,1749148655.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:35.557Z,1749148655.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 346.592255 m,
      bearing: 288.096266 deg,
      approach rate: -0.627444 m/s,
      LOS rate: 0.026139 deg/s,
      cmd heading: 277.832179 deg,
      new cmd heading: 277.870277 deg.

2025-06-05T18:37:35.558Z,1749148655.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849751 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:35.725Z,1749148655.725 [DAT](INFO): DAT read: Rx Time:18:37:34.1206

2025-06-05T18:37:35.725Z,1749148655.725 [DAT](INFO): Rx dataTimestamp_ set to:1749148655.724874
2025-06-05T18:37:35.726Z,1749148655.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510836
2025-06-05T18:37:35.896Z,1749148655.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.86 m.
2025-06-05T18:37:35.899Z,1749148655.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.864502 m,
      nav range: 346.374268 m,
      bearing: 288.105377 deg,
      approach rate: -0.597644 m/s,
      LOS rate: 0.024995 deg/s,
      cmd heading: 277.870264 deg,
      new cmd heading: 277.897615 deg.

2025-06-05T18:37:35.900Z,1749148655.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850228 target range: 368.864502 and range: 371.70 m.
2025-06-05T18:37:35.977Z,1749148655.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762239
2025-06-05T18:37:36.253Z,1749148656.253 [DAT](INFO): DAT read: 18:37:34.1206 LVL= 24432, 27361, 20882, 29875, AGC= 71, IDX= 411,-0.37,-0.724,-2.444,-1.017,-1.634, PHS= 0.998,-0.763, 0.614, RAW= 138.0, -10.6, CAL= 144.3, -20.9, ROT=   5.7,  20.9

2025-06-05T18:37:36.257Z,1749148656.257 [DAT](INFO): got valid direction response:
 18:37:34.1206 LVL= 24432, 27361, 20882, 29875, AGC= 71, IDX= 411,-0.37,-0.724,-2.444,-1.017,-1.634, PHS= 0.998,-0.763, 0.614, RAW= 138.0, -10.6, CAL= 144.3, -20.9, ROT=   5.7,  20.9

2025-06-05T18:37:36.261Z,1749148656.261 [DAT](INFO): DAT read: Bearing   5.7,  20.9 (Local)

2025-06-05T18:37:36.262Z,1749148656.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.7,  20.9 (Local)

2025-06-05T18:37:36.290Z,1749148656.290 [DAT](INFO): DAT read: Range 10 to 50 : 369.0 m  (Round-trip  492.0 ms) speed  0.5 m/s

2025-06-05T18:37:36.290Z,1749148656.290 [DAT](INFO): DAT read: user:2706>

2025-06-05T18:37:36.291Z,1749148656.291 [DAT](INFO): DAT read: Tx time:18:37:35.2244

2025-06-05T18:37:36.316Z,1749148656.316 [DAT](INFO): Ping request sent.
2025-06-05T18:37:36.316Z,1749148656.316 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:36.317Z,1749148656.317 [DAT](INFO): DAT read: TxSync time:18:37:35.2236

2025-06-05T18:37:36.317Z,1749148656.317 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:36.318Z,1749148656.318 [DAT](INFO): direction in FSK: [0.929585,0.092785,-0.356738]
2025-06-05T18:37:36.318Z,1749148656.318 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:36.319Z,1749148656.319 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:36.334Z,1749148656.334 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:36.334Z,1749148656.334 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:36.444Z,1749148656.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 369.000000 m,
      deltaT: 4.032776 s,
      deltaX: -2.700012 m,
      approachRate: -0.669517 m/s,
      rangeRepo size: 4

2025-06-05T18:37:36.446Z,1749148656.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 366.180206 m,
      bearing: 285.679499 deg,
      lat: 36.905979 deg,
      lon: -122.116266 deg,
      deltaT: 4.032776 s,
      deltaX: -2.684296 m,
      approachRate: -0.665620 m/s,
      posRepo size: 4

2025-06-05T18:37:36.447Z,1749148656.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:36.460Z,1749148656.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 348.011810 m,
      bearing: 287.934940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024995 deg/s,
      cmd heading: 277.897612 deg,
      new cmd heading: 277.938076 deg.

2025-06-05T18:37:36.461Z,1749148656.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850935 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:36.768Z,1749148656.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:36.771Z,1749148656.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 347.791168 m,
      bearing: 287.943194 deg,
      approach rate: -0.662734 m/s,
      LOS rate: 0.024808 deg/s,
      cmd heading: 277.938074 deg,
      new cmd heading: 277.962852 deg.

2025-06-05T18:37:36.772Z,1749148656.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851367 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:37.182Z,1749148657.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:37.189Z,1749148657.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 347.549927 m,
      bearing: 287.952381 deg,
      approach rate: -0.592017 m/s,
      LOS rate: 0.022560 deg/s,
      cmd heading: 277.962854 deg,
      new cmd heading: 277.990433 deg.

2025-06-05T18:37:37.190Z,1749148657.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851848 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:37.599Z,1749148657.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:37.601Z,1749148657.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:37.606Z,1749148657.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 347.272430 m,
      bearing: 287.963514 deg,
      approach rate: -0.652030 m/s,
      LOS rate: 0.026180 deg/s,
      cmd heading: 277.990420 deg,
      new cmd heading: 278.023846 deg.

2025-06-05T18:37:37.607Z,1749148657.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.852431 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:37.748Z,1749148657.748 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:37.748Z,1749148657.748 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:37.748Z,1749148657.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:37.966Z,1749148657.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:37.969Z,1749148657.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 347.044708 m,
      bearing: 287.972659 deg,
      approach rate: -0.624399 m/s,
      LOS rate: 0.025094 deg/s,
      cmd heading: 278.023834 deg,
      new cmd heading: 278.051289 deg.

2025-06-05T18:37:37.971Z,1749148657.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.852911 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:37.997Z,1749148657.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.705266
2025-06-05T18:37:38.251Z,1749148658.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959069
2025-06-05T18:37:38.400Z,1749148658.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:38.402Z,1749148658.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 346.774597 m,
      bearing: 287.983910 deg,
      approach rate: -0.623406 m/s,
      LOS rate: 0.025987 deg/s,
      cmd heading: 278.051291 deg,
      new cmd heading: 278.085071 deg.

2025-06-05T18:37:38.428Z,1749148658.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853500 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:38.502Z,1749148658.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209882
2025-06-05T18:37:38.753Z,1749148658.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461292
2025-06-05T18:37:38.802Z,1749148658.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:38.809Z,1749148658.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 346.534668 m,
      bearing: 287.993917 deg,
      approach rate: -0.595895 m/s,
      LOS rate: 0.024870 deg/s,
      cmd heading: 278.085060 deg,
      new cmd heading: 278.115100 deg.

2025-06-05T18:37:38.810Z,1749148658.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854024 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:39.006Z,1749148659.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714137
2025-06-05T18:37:39.260Z,1749148659.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968334
2025-06-05T18:37:39.278Z,1749148659.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:39.300Z,1749148659.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 346.271393 m,
      bearing: 288.004914 deg,
      approach rate: -0.554664 m/s,
      LOS rate: 0.023185 deg/s,
      cmd heading: 278.115112 deg,
      new cmd heading: 278.148128 deg.

2025-06-05T18:37:39.301Z,1749148659.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854600 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:39.509Z,1749148659.509 [DAT](INFO): DAT read: Rx Time:18:37:38.1181

2025-06-05T18:37:39.509Z,1749148659.509 [DAT](INFO): Rx dataTimestamp_ set to:1749148659.508874
2025-06-05T18:37:39.510Z,1749148659.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218213
2025-06-05T18:37:39.631Z,1749148659.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:39.633Z,1749148659.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:39.637Z,1749148659.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 346.001465 m,
      bearing: 288.017400 deg,
      approach rate: -0.756976 m/s,
      LOS rate: 0.035044 deg/s,
      cmd heading: 278.148116 deg,
      new cmd heading: 278.185605 deg.

2025-06-05T18:37:39.639Z,1749148659.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855255 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:39.761Z,1749148659.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469940
2025-06-05T18:37:40.001Z,1749148660.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.18 m.
2025-06-05T18:37:40.005Z,1749148660.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.180206 m,
      nav range: 345.771057 m,
      bearing: 288.028090 deg,
      approach rate: -0.626787 m/s,
      LOS rate: 0.029098 deg/s,
      cmd heading: 278.185600 deg,
      new cmd heading: 278.217689 deg.

2025-06-05T18:37:40.006Z,1749148660.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855815 target range: 366.180206 and range: 369.00 m.
2025-06-05T18:37:40.017Z,1749148660.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.725883
2025-06-05T18:37:40.309Z,1749148660.309 [DAT](INFO): DAT read: 18:37:38.1181 LVL= 23952, 28369, 25698, 32755, AGC= 71, IDX= 412,-0.00, 2.692, 1.308, 2.498, 1.880, PHS= 0.900,-0.525, 0.615, RAW= 139.1, -15.0, CAL= 145.0, -24.0, ROT=   5.0,  24.0

2025-06-05T18:37:40.330Z,1749148660.330 [DAT](INFO): got valid direction response:
 18:37:38.1181 LVL= 23952, 28369, 25698, 32755, AGC= 71, IDX= 412,-0.00, 2.692, 1.308, 2.498, 1.880, PHS= 0.900,-0.525, 0.615, RAW= 139.1, -15.0, CAL= 145.0, -24.0, ROT=   5.0,  24.0

2025-06-05T18:37:40.331Z,1749148660.331 [DAT](INFO): DAT read: Bearing   5.0,  24.0 (Local)

2025-06-05T18:37:40.331Z,1749148660.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,  24.0 (Local)

2025-06-05T18:37:40.333Z,1749148660.333 [DAT](INFO): DAT read: Range 10 to 50 : 367.2 m  (Round-trip  489.6 ms) speed  0.8 m/s

2025-06-05T18:37:40.334Z,1749148660.334 [DAT](INFO): DAT read: user:2707>

2025-06-05T18:37:40.335Z,1749148660.335 [DAT](INFO): DAT read: Tx time:18:37:39.2244

2025-06-05T18:37:40.335Z,1749148660.335 [DAT](INFO): Ping request sent.
2025-06-05T18:37:40.336Z,1749148660.336 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:40.336Z,1749148660.336 [DAT](INFO): DAT read: TxSync time:18:37:39.2236

2025-06-05T18:37:40.337Z,1749148660.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:40.339Z,1749148660.339 [DAT](INFO): direction in FSK: [0.910069,0.079621,-0.406737]
2025-06-05T18:37:40.339Z,1749148660.339 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:40.360Z,1749148660.360 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:40.363Z,1749148660.363 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:40.363Z,1749148660.363 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:40.533Z,1749148660.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 367.200012 m,
      deltaT: 4.039646 s,
      deltaX: -1.799988 m,
      approachRate: -0.445581 m/s,
      rangeRepo size: 4

2025-06-05T18:37:40.535Z,1749148660.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 364.392303 m,
      bearing: 284.628273 deg,
      lat: 36.905894 deg,
      lon: -122.116266 deg,
      deltaT: 4.039646 s,
      deltaX: -1.787903 m,
      approachRate: -0.442589 m/s,
      posRepo size: 4

2025-06-05T18:37:40.540Z,1749148660.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:40.542Z,1749148660.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 342.679779 m,
      bearing: 286.553254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029098 deg/s,
      cmd heading: 278.217702 deg,
      new cmd heading: 278.263704 deg.

2025-06-05T18:37:40.543Z,1749148660.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.856618 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:40.857Z,1749148660.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:40.864Z,1749148660.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 342.471100 m,
      bearing: 286.562902 deg,
      approach rate: -0.634125 m/s,
      LOS rate: 0.029336 deg/s,
      cmd heading: 278.263710 deg,
      new cmd heading: 278.292672 deg.

2025-06-05T18:37:40.867Z,1749148660.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857123 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:41.274Z,1749148661.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:41.312Z,1749148661.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 342.222748 m,
      bearing: 286.574402 deg,
      approach rate: -0.596964 m/s,
      LOS rate: 0.027662 deg/s,
      cmd heading: 278.292670 deg,
      new cmd heading: 278.327194 deg.

2025-06-05T18:37:41.323Z,1749148661.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857726 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:41.678Z,1749148661.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:41.685Z,1749148661.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:41.702Z,1749148661.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 341.979218 m,
      bearing: 286.586923 deg,
      approach rate: -0.591769 m/s,
      LOS rate: 0.030448 deg/s,
      cmd heading: 278.327203 deg,
      new cmd heading: 278.364794 deg.

2025-06-05T18:37:41.709Z,1749148661.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858382 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:41.782Z,1749148661.782 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:41.782Z,1749148661.782 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:41.782Z,1749148661.782 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:42.033Z,1749148662.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.697259
2025-06-05T18:37:42.053Z,1749148662.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:42.061Z,1749148662.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 341.756683 m,
      bearing: 286.598637 deg,
      approach rate: -0.604056 m/s,
      LOS rate: 0.031818 deg/s,
      cmd heading: 278.364797 deg,
      new cmd heading: 278.399962 deg.

2025-06-05T18:37:42.062Z,1749148662.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858996 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:42.285Z,1749148662.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.949499
2025-06-05T18:37:42.484Z,1749148662.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:42.493Z,1749148662.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 341.498718 m,
      bearing: 286.612410 deg,
      approach rate: -0.628507 m/s,
      LOS rate: 0.033583 deg/s,
      cmd heading: 278.399959 deg,
      new cmd heading: 278.441310 deg.

2025-06-05T18:37:42.494Z,1749148662.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.859718 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:42.537Z,1749148662.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201933
2025-06-05T18:37:42.789Z,1749148662.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453191
2025-06-05T18:37:42.867Z,1749148662.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:42.875Z,1749148662.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 341.273163 m,
      bearing: 286.624416 deg,
      approach rate: -0.558870 m/s,
      LOS rate: 0.029766 deg/s,
      cmd heading: 278.441322 deg,
      new cmd heading: 278.477362 deg.

2025-06-05T18:37:42.881Z,1749148662.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860347 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:43.041Z,1749148663.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705133
2025-06-05T18:37:43.260Z,1749148663.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:43.263Z,1749148663.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 341.028992 m,
      bearing: 286.637371 deg,
      approach rate: -0.647832 m/s,
      LOS rate: 0.034397 deg/s,
      cmd heading: 278.477358 deg,
      new cmd heading: 278.516252 deg.

2025-06-05T18:37:43.264Z,1749148663.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861026 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:43.297Z,1749148663.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960667
2025-06-05T18:37:43.546Z,1749148663.546 [DAT](INFO): DAT read: Rx Time:18:37:42.1149

2025-06-05T18:37:43.546Z,1749148663.546 [DAT](INFO): Rx dataTimestamp_ set to:1749148663.546032
2025-06-05T18:37:43.547Z,1749148663.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211424
2025-06-05T18:37:43.797Z,1749148663.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461510
2025-06-05T18:37:43.804Z,1749148663.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:43.806Z,1749148663.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:43.809Z,1749148663.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 340.691925 m,
      bearing: 286.654487 deg,
      approach rate: -0.599561 m/s,
      LOS rate: 0.030475 deg/s,
      cmd heading: 278.516263 deg,
      new cmd heading: 278.567661 deg.

2025-06-05T18:37:43.810Z,1749148663.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861923 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:44.051Z,1749148664.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.715212
2025-06-05T18:37:44.181Z,1749148664.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.39 m.
2025-06-05T18:37:44.184Z,1749148664.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.392303 m,
      nav range: 340.471039 m,
      bearing: 286.665723 deg,
      approach rate: -0.588431 m/s,
      LOS rate: 0.029952 deg/s,
      cmd heading: 278.567653 deg,
      new cmd heading: 278.601384 deg.

2025-06-05T18:37:44.185Z,1749148664.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862512 target range: 364.392303 and range: 367.20 m.
2025-06-05T18:37:44.310Z,1749148664.310 [DAT](INFO): DAT read: 18:37:42.1149 LVL= 32048, 32753, 32754, 32755, AGC= 69, IDX= 399, 0.11, 0.759,-0.520, 0.523, 0.020, PHS= 0.827,-0.492, 0.501, RAW= 136.3, -13.9, CAL= 142.0, -23.5, ROT=   8.0,  23.5

2025-06-05T18:37:44.311Z,1749148664.311 [DAT](INFO): got valid direction response:
 18:37:42.1149 LVL= 32048, 32753, 32754, 32755, AGC= 69, IDX= 399, 0.11, 0.759,-0.520, 0.523, 0.020, PHS= 0.827,-0.492, 0.501, RAW= 136.3, -13.9, CAL= 142.0, -23.5, ROT=   8.0,  23.5

2025-06-05T18:37:44.313Z,1749148664.313 [DAT](INFO): DAT read: Bearing   8.0,  23.5 (Local)

2025-06-05T18:37:44.313Z,1749148664.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.0,  23.5 (Local)

2025-06-05T18:37:44.314Z,1749148664.314 [DAT](INFO): DAT read: Range 10 to 50 : 364.7 m  (Round-trip  486.3 ms) speed  0.4 m/s

2025-06-05T18:37:44.316Z,1749148664.316 [DAT](INFO): DAT read: user:2708>

2025-06-05T18:37:44.319Z,1749148664.319 [DAT](INFO): DAT read: Tx time:18:37:43.2245

2025-06-05T18:37:44.342Z,1749148664.342 [DAT](INFO): Ping request sent.
2025-06-05T18:37:44.343Z,1749148664.343 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:44.383Z,1749148664.383 [DAT](INFO): DAT read: TxSync time:18:37:43.2237

2025-06-05T18:37:44.388Z,1749148664.388 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:44.389Z,1749148664.389 [DAT](INFO): direction in FSK: [0.908135,0.127630,-0.398749]
2025-06-05T18:37:44.390Z,1749148664.390 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:44.390Z,1749148664.390 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:44.409Z,1749148664.409 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:44.409Z,1749148664.409 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:44.729Z,1749148664.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 364.700012 m,
      deltaT: 4.032681 s,
      deltaX: -2.500000 m,
      approachRate: -0.619935 m/s,
      rangeRepo size: 4

2025-06-05T18:37:44.731Z,1749148664.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 361.910004 m,
      bearing: 287.576284 deg,
      lat: 36.905937 deg,
      lon: -122.116255 deg,
      deltaT: 4.032681 s,
      deltaX: -2.482300 m,
      approachRate: -0.615546 m/s,
      posRepo size: 4

2025-06-05T18:37:44.736Z,1749148664.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:44.739Z,1749148664.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 340.633759 m,
      bearing: 287.500368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029952 deg/s,
      cmd heading: 278.601395 deg,
      new cmd heading: 278.650136 deg.

2025-06-05T18:37:44.744Z,1749148664.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863362 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:45.045Z,1749148665.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:45.048Z,1749148665.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 340.422607 m,
      bearing: 287.511097 deg,
      approach rate: -0.657055 m/s,
      LOS rate: 0.033408 deg/s,
      cmd heading: 278.650135 deg,
      new cmd heading: 278.682342 deg.

2025-06-05T18:37:45.049Z,1749148665.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863925 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:45.480Z,1749148665.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:45.483Z,1749148665.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 340.172028 m,
      bearing: 287.522931 deg,
      approach rate: -0.582191 m/s,
      LOS rate: 0.027516 deg/s,
      cmd heading: 278.682346 deg,
      new cmd heading: 278.717875 deg.

2025-06-05T18:37:45.488Z,1749148665.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864544 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:45.842Z,1749148665.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:45.844Z,1749148665.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:45.847Z,1749148665.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 339.935699 m,
      bearing: 287.534082 deg,
      approach rate: -0.641751 m/s,
      LOS rate: 0.030301 deg/s,
      cmd heading: 278.717863 deg,
      new cmd heading: 278.751339 deg.

2025-06-05T18:37:45.848Z,1749148665.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865129 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:46.065Z,1749148666.065 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:46.066Z,1749148666.066 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:46.066Z,1749148666.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:46.264Z,1749148666.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:46.267Z,1749148666.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 339.689758 m,
      bearing: 287.545619 deg,
      approach rate: -0.584749 m/s,
      LOS rate: 0.027450 deg/s,
      cmd heading: 278.751331 deg,
      new cmd heading: 278.785967 deg.

2025-06-05T18:37:46.273Z,1749148666.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865733 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:46.318Z,1749148666.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976192
2025-06-05T18:37:46.569Z,1749148666.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226423
2025-06-05T18:37:46.672Z,1749148666.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:46.675Z,1749148666.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 339.428009 m,
      bearing: 287.556372 deg,
      approach rate: -0.643258 m/s,
      LOS rate: 0.026446 deg/s,
      cmd heading: 278.785974 deg,
      new cmd heading: 278.818257 deg.

2025-06-05T18:37:46.676Z,1749148666.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866297 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:46.823Z,1749148666.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479946
2025-06-05T18:37:47.074Z,1749148667.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731022
2025-06-05T18:37:47.086Z,1749148667.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:47.092Z,1749148667.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 339.181061 m,
      bearing: 287.566493 deg,
      approach rate: -0.595698 m/s,
      LOS rate: 0.024431 deg/s,
      cmd heading: 278.818267 deg,
      new cmd heading: 278.848650 deg.

2025-06-05T18:37:47.093Z,1749148667.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866827 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:47.324Z,1749148667.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982328
2025-06-05T18:37:47.507Z,1749148667.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:47.514Z,1749148667.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 338.923706 m,
      bearing: 287.576607 deg,
      approach rate: -0.611867 m/s,
      LOS rate: 0.024065 deg/s,
      cmd heading: 278.848647 deg,
      new cmd heading: 278.879013 deg.

2025-06-05T18:37:47.515Z,1749148667.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867357 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:47.578Z,1749148667.578 [DAT](INFO): DAT read: Rx Time:18:37:46.1114

2025-06-05T18:37:47.578Z,1749148667.578 [DAT](INFO): Rx dataTimestamp_ set to:1749148667.578178
2025-06-05T18:37:47.580Z,1749148667.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237183
2025-06-05T18:37:47.829Z,1749148667.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486480
2025-06-05T18:37:47.880Z,1749148667.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:47.882Z,1749148667.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.91 m.
2025-06-05T18:37:47.889Z,1749148667.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.910004 m,
      nav range: 338.684265 m,
      bearing: 287.586024 deg,
      approach rate: -0.637486 m/s,
      LOS rate: 0.025089 deg/s,
      cmd heading: 278.879001 deg,
      new cmd heading: 278.907271 deg.

2025-06-05T18:37:47.890Z,1749148667.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867850 target range: 361.910004 and range: 364.70 m.
2025-06-05T18:37:48.094Z,1749148668.094 [DAT](INFO): DAT read: 18:37:46.1114 LVL= 32688, 32753, 30994, 32755, AGC= 69, IDX= 411,-0.32, 2.628, 1.115, 2.300, 1.849, PHS= 0.867,-0.687, 0.448, RAW= 134.9,  -9.1, CAL= 140.7, -20.4, ROT=   9.3,  20.4

2025-06-05T18:37:48.102Z,1749148668.102 [DAT](INFO): got valid direction response:
 18:37:46.1114 LVL= 32688, 32753, 30994, 32755, AGC= 69, IDX= 411,-0.32, 2.628, 1.115, 2.300, 1.849, PHS= 0.867,-0.687, 0.448, RAW= 134.9,  -9.1, CAL= 140.7, -20.4, ROT=   9.3,  20.4

2025-06-05T18:37:48.105Z,1749148668.105 [DAT](INFO): DAT read: Bearing   9.3,  20.4 (Local)

2025-06-05T18:37:48.106Z,1749148668.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.3,  20.4 (Local)

2025-06-05T18:37:48.107Z,1749148668.107 [DAT](INFO): DAT read: Range 10 to 50 : 362.1 m  (Round-trip  482.8 ms) speed  0.4 m/s

2025-06-05T18:37:48.108Z,1749148668.108 [DAT](INFO): DAT read: user:2709>

2025-06-05T18:37:48.109Z,1749148668.109 [DAT](INFO): DAT read: Tx time:18:37:47.2245

2025-06-05T18:37:48.109Z,1749148668.109 [DAT](INFO): Ping request sent.
2025-06-05T18:37:48.109Z,1749148668.109 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:48.109Z,1749148668.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:48.110Z,1749148668.110 [DAT](INFO): direction in FSK: [0.924962,0.151468,-0.348572]
2025-06-05T18:37:48.111Z,1749148668.111 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:48.111Z,1749148668.111 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:48.122Z,1749148668.122 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:48.122Z,1749148668.122 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:48.323Z,1749148668.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 362.100006 m,
      deltaT: 3.778745 s,
      deltaX: -2.600006 m,
      approachRate: -0.688061 m/s,
      rangeRepo size: 4

2025-06-05T18:37:48.333Z,1749148668.333 [DAT](INFO): DAT read: TxSync time:18:37:47.2237

2025-06-05T18:37:48.340Z,1749148668.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 359.331848 m,
      bearing: 288.895689 deg,
      lat: 36.905937 deg,
      lon: -122.116266 deg,
      deltaT: 3.778745 s,
      deltaX: -2.578156 m,
      approachRate: -0.682278 m/s,
      posRepo size: 4

2025-06-05T18:37:48.340Z,1749148668.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:48.343Z,1749148668.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 339.355896 m,
      bearing: 287.546359 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025089 deg/s,
      cmd heading: 278.907278 deg,
      new cmd heading: 278.940421 deg.

2025-06-05T18:37:48.348Z,1749148668.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868429 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:48.728Z,1749148668.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:48.730Z,1749148668.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 339.065399 m,
      bearing: 287.557310 deg,
      approach rate: -0.717218 m/s,
      LOS rate: 0.027060 deg/s,
      cmd heading: 278.940418 deg,
      new cmd heading: 278.973299 deg.

2025-06-05T18:37:48.731Z,1749148668.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869003 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:49.093Z,1749148669.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:49.096Z,1749148669.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 338.828644 m,
      bearing: 287.566275 deg,
      approach rate: -0.647177 m/s,
      LOS rate: 0.024524 deg/s,
      cmd heading: 278.973312 deg,
      new cmd heading: 279.000227 deg.

2025-06-05T18:37:49.097Z,1749148669.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869473 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:49.480Z,1749148669.480 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +1.0  +3.12,        +0.23,  20.00, 64.96
2025-06-05T18:37:49.497Z,1749148669.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:49.500Z,1749148669.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 338.566650 m,
      bearing: 287.576227 deg,
      approach rate: -0.648534 m/s,
      LOS rate: 0.024654 deg/s,
      cmd heading: 279.000223 deg,
      new cmd heading: 279.030102 deg.

2025-06-05T18:37:49.501Z,1749148669.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869994 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:49.895Z,1749148669.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:49.908Z,1749148669.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:49.910Z,1749148669.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 338.314484 m,
      bearing: 287.585815 deg,
      approach rate: -0.620987 m/s,
      LOS rate: 0.023630 deg/s,
      cmd heading: 279.030112 deg,
      new cmd heading: 279.058898 deg.

2025-06-05T18:37:49.911Z,1749148669.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870497 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:50.096Z,1749148670.096 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:50.097Z,1749148670.097 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:50.097Z,1749148670.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:50.289Z,1749148670.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:50.292Z,1749148670.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 338.056000 m,
      bearing: 287.595570 deg,
      approach rate: -0.669486 m/s,
      LOS rate: 0.025285 deg/s,
      cmd heading: 279.058908 deg,
      new cmd heading: 279.088195 deg.

2025-06-05T18:37:50.293Z,1749148670.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871008 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:50.350Z,1749148670.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240509
2025-06-05T18:37:50.601Z,1749148670.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491507
2025-06-05T18:37:50.779Z,1749148670.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:50.782Z,1749148670.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 337.750519 m,
      bearing: 287.607963 deg,
      approach rate: -0.623800 m/s,
      LOS rate: 0.025329 deg/s,
      cmd heading: 279.088196 deg,
      new cmd heading: 279.125408 deg.

2025-06-05T18:37:50.783Z,1749148670.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871657 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:50.853Z,1749148670.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743707
2025-06-05T18:37:51.107Z,1749148671.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997119
2025-06-05T18:37:51.151Z,1749148671.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:51.154Z,1749148671.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 337.513733 m,
      bearing: 287.617525 deg,
      approach rate: -0.637242 m/s,
      LOS rate: 0.025752 deg/s,
      cmd heading: 279.125407 deg,
      new cmd heading: 279.154113 deg.

2025-06-05T18:37:51.156Z,1749148671.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872159 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:51.357Z,1749148671.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247758
2025-06-05T18:37:51.609Z,1749148671.609 [DAT](INFO): DAT read: Rx Time:18:37:50.1089

2025-06-05T18:37:51.609Z,1749148671.609 [DAT](INFO): Rx dataTimestamp_ set to:1749148671.608944
2025-06-05T18:37:51.610Z,1749148671.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500657
2025-06-05T18:37:51.640Z,1749148671.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:51.643Z,1749148671.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 337.211365 m,
      bearing: 287.630119 deg,
      approach rate: -0.618704 m/s,
      LOS rate: 0.025792 deg/s,
      cmd heading: 279.154121 deg,
      new cmd heading: 279.191936 deg.

2025-06-05T18:37:51.656Z,1749148671.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872818 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:51.861Z,1749148671.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751550
2025-06-05T18:37:52.012Z,1749148672.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:52.014Z,1749148672.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:52.017Z,1749148672.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 336.979919 m,
      bearing: 287.639717 deg,
      approach rate: -0.617393 m/s,
      LOS rate: 0.025621 deg/s,
      cmd heading: 279.191933 deg,
      new cmd heading: 279.220747 deg.

2025-06-05T18:37:52.018Z,1749148672.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873322 target range: 359.331848 and range: 362.10 m.
2025-06-05T18:37:52.117Z,1749148672.117 [DAT](INFO): DAT read: Range 10 to 50 : 360.2 m  (Round-trip  480.3 ms) speed  0.4 m/s

2025-06-05T18:37:52.117Z,1749148672.117 [DAT](INFO): DAT read: user:2710>

2025-06-05T18:37:52.118Z,1749148672.118 [DAT](INFO): DAT read: Tx time:18:37:51.2245

2025-06-05T18:37:52.118Z,1749148672.118 [DAT](INFO): Ping request sent.
2025-06-05T18:37:52.119Z,1749148672.119 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:52.119Z,1749148672.119 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:37:52.119Z,1749148672.119 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:52.120Z,1749148672.120 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:52.365Z,1749148672.365 [DAT](INFO): DAT read: TxSync time:18:37:51.2237

2025-06-05T18:37:52.416Z,1749148672.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 360.200012 m,
      deltaT: 4.032078 s,
      deltaX: -1.899994 m,
      approachRate: -0.471220 m/s,
      rangeRepo size: 4

2025-06-05T18:37:52.416Z,1749148672.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:52.424Z,1749148672.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 336.728455 m,
      bearing: 287.650160 deg,
      approach rate: -0.627771 m/s,
      LOS rate: 0.026091 deg/s,
      cmd heading: 279.220756 deg,
      new cmd heading: 279.252110 deg.

2025-06-05T18:37:52.425Z,1749148672.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873869 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:52.814Z,1749148672.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:52.839Z,1749148672.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 336.484070 m,
      bearing: 287.661012 deg,
      approach rate: -0.611766 m/s,
      LOS rate: 0.027185 deg/s,
      cmd heading: 279.252120 deg,
      new cmd heading: 279.284700 deg.

2025-06-05T18:37:52.844Z,1749148672.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874437 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:53.195Z,1749148673.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:53.218Z,1749148673.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 336.252319 m,
      bearing: 287.671243 deg,
      approach rate: -0.609400 m/s,
      LOS rate: 0.026919 deg/s,
      cmd heading: 279.284687 deg,
      new cmd heading: 279.315398 deg.

2025-06-05T18:37:53.219Z,1749148673.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874973 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:53.673Z,1749148673.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:53.675Z,1749148673.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 335.972778 m,
      bearing: 287.683722 deg,
      approach rate: -0.590711 m/s,
      LOS rate: 0.026392 deg/s,
      cmd heading: 279.315395 deg,
      new cmd heading: 279.352864 deg.

2025-06-05T18:37:53.681Z,1749148673.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875627 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:54.015Z,1749148674.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:54.032Z,1749148674.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:54.035Z,1749148674.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 335.760681 m,
      bearing: 287.693077 deg,
      approach rate: -0.596731 m/s,
      LOS rate: 0.026337 deg/s,
      cmd heading: 279.352852 deg,
      new cmd heading: 279.380935 deg.

2025-06-05T18:37:54.041Z,1749148674.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876117 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:54.129Z,1749148674.129 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:54.129Z,1749148674.129 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:54.130Z,1749148674.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:54.380Z,1749148674.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261881
2025-06-05T18:37:54.417Z,1749148674.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:54.420Z,1749148674.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 335.518341 m,
      bearing: 287.703643 deg,
      approach rate: -0.615927 m/s,
      LOS rate: 0.026873 deg/s,
      cmd heading: 279.380938 deg,
      new cmd heading: 279.412658 deg.

2025-06-05T18:37:54.422Z,1749148674.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876671 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:54.633Z,1749148674.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514108
2025-06-05T18:37:54.885Z,1749148674.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765957
2025-06-05T18:37:54.935Z,1749148674.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:54.943Z,1749148674.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 335.241760 m,
      bearing: 287.716783 deg,
      approach rate: -0.533998 m/s,
      LOS rate: 0.025392 deg/s,
      cmd heading: 279.412657 deg,
      new cmd heading: 279.452112 deg.

2025-06-05T18:37:54.945Z,1749148674.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.877359 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:55.137Z,1749148675.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017933
2025-06-05T18:37:55.263Z,1749148675.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:55.266Z,1749148675.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 335.007538 m,
      bearing: 287.727824 deg,
      approach rate: -0.713527 m/s,
      LOS rate: 0.033659 deg/s,
      cmd heading: 279.452108 deg,
      new cmd heading: 279.485255 deg.

2025-06-05T18:37:55.267Z,1749148675.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.877938 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:55.390Z,1749148675.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270968
2025-06-05T18:37:55.641Z,1749148675.641 [DAT](INFO): DAT read: Rx Time:18:37:54.1062

2025-06-05T18:37:55.641Z,1749148675.641 [DAT](INFO): Rx dataTimestamp_ set to:1749148675.640994
2025-06-05T18:37:55.642Z,1749148675.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523230
2025-06-05T18:37:55.755Z,1749148675.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:55.766Z,1749148675.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 334.714447 m,
      bearing: 287.741316 deg,
      approach rate: -0.597355 m/s,
      LOS rate: 0.027521 deg/s,
      cmd heading: 279.485248 deg,
      new cmd heading: 279.525758 deg.

2025-06-05T18:37:55.767Z,1749148675.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878645 target range: 359.331848 and range: 360.20 m.
2025-06-05T18:37:55.893Z,1749148675.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774080
2025-06-05T18:37:56.143Z,1749148676.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:56.150Z,1749148676.150 [DAT](INFO): DAT read: 18:37:54.1062 LVL= 24816, 32753, 26738, 32755, AGC= 68, IDX= 406,-0.49, 0.871,-0.658, 0.566, 0.018, PHS= 0.941,-0.629, 0.544, RAW= 135.9, -12.1, CAL= 141.7, -22.3, ROT=   8.3,  22.3

2025-06-05T18:37:56.152Z,1749148676.152 [DAT](INFO): got valid direction response:
 18:37:54.1062 LVL= 24816, 32753, 26738, 32755, AGC= 68, IDX= 406,-0.49, 0.871,-0.658, 0.566, 0.018, PHS= 0.941,-0.629, 0.544, RAW= 135.9, -12.1, CAL= 141.7, -22.3, ROT=   8.3,  22.3

2025-06-05T18:37:56.153Z,1749148676.153 [DAT](INFO): DAT read: Bearing   8.3,  22.3 (Local)

2025-06-05T18:37:56.153Z,1749148676.153 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  22.3 (Local)

2025-06-05T18:37:56.154Z,1749148676.154 [DAT](INFO): DAT read: Range 10 to 50 : 358.1 m  (Round-trip  477.5 ms) speed  0.4 m/s

2025-06-05T18:37:56.155Z,1749148676.155 [DAT](INFO): DAT read: user:2711>

2025-06-05T18:37:56.157Z,1749148676.157 [DAT](INFO): DAT read: Tx time:18:37:55.2246

2025-06-05T18:37:56.157Z,1749148676.157 [DAT](INFO): Ping request sent.
2025-06-05T18:37:56.157Z,1749148676.157 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:37:56.157Z,1749148676.157 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:37:56.158Z,1749148676.158 [DAT](INFO): direction in FSK: [0.915519,0.133560,-0.379456]
2025-06-05T18:37:56.159Z,1749148676.159 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:56.164Z,1749148676.164 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:56.198Z,1749148676.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 358.100006 m,
      deltaT: 4.030731 s,
      deltaX: -2.100006 m,
      approachRate: -0.520999 m/s,
      rangeRepo size: 4

2025-06-05T18:37:56.199Z,1749148676.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:56.205Z,1749148676.205 [DAT](INFO): publishing transmit ping time
2025-06-05T18:37:56.205Z,1749148676.205 [DAT](INFO): publishing direction and range info
2025-06-05T18:37:56.210Z,1749148676.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 334.464294 m,
      bearing: 287.752710 deg,
      approach rate: -0.563530 m/s,
      LOS rate: 0.025687 deg/s,
      cmd heading: 279.525765 deg,
      new cmd heading: 279.559972 deg.

2025-06-05T18:37:56.211Z,1749148676.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.879242 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:56.397Z,1749148676.397 [DAT](INFO): DAT read: TxSync time:18:37:55.2238

2025-06-05T18:37:56.699Z,1749148676.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:56.717Z,1749148676.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 334.134064 m,
      bearing: 287.768558 deg,
      approach rate: -0.659047 m/s,
      LOS rate: 0.031659 deg/s,
      cmd heading: 279.559971 deg,
      new cmd heading: 279.607562 deg.

2025-06-05T18:37:56.719Z,1749148676.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880073 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:57.108Z,1749148677.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:57.110Z,1749148677.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 333.879547 m,
      bearing: 287.780880 deg,
      approach rate: -0.628667 m/s,
      LOS rate: 0.030461 deg/s,
      cmd heading: 279.607563 deg,
      new cmd heading: 279.644560 deg.

2025-06-05T18:37:57.111Z,1749148677.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880718 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:57.516Z,1749148677.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:57.534Z,1749148677.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 333.628021 m,
      bearing: 287.793098 deg,
      approach rate: -0.619141 m/s,
      LOS rate: 0.030097 deg/s,
      cmd heading: 279.644556 deg,
      new cmd heading: 279.681236 deg.

2025-06-05T18:37:57.543Z,1749148677.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881359 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:57.917Z,1749148677.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:57.922Z,1749148677.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 333.356018 m,
      bearing: 287.804897 deg,
      approach rate: -0.667397 m/s,
      LOS rate: 0.028973 deg/s,
      cmd heading: 279.681247 deg,
      new cmd heading: 279.716672 deg.

2025-06-05T18:37:57.923Z,1749148677.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881977 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:58.299Z,1749148678.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:37:58.302Z,1749148678.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:58.306Z,1749148678.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 333.113312 m,
      bearing: 287.815360 deg,
      approach rate: -0.631676 m/s,
      LOS rate: 0.027252 deg/s,
      cmd heading: 279.716682 deg,
      new cmd heading: 279.748096 deg.

2025-06-05T18:37:58.307Z,1749148678.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882525 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:58.413Z,1749148678.413 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:37:58.413Z,1749148678.413 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:37:58.413Z,1749148678.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:37:58.667Z,1749148678.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509571
2025-06-05T18:37:58.746Z,1749148678.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:58.765Z,1749148678.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 332.831451 m,
      bearing: 287.827217 deg,
      approach rate: -0.633975 m/s,
      LOS rate: 0.026691 deg/s,
      cmd heading: 279.748101 deg,
      new cmd heading: 279.783701 deg.

2025-06-05T18:37:58.766Z,1749148678.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883147 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:58.917Z,1749148678.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759908
2025-06-05T18:37:59.024Z,1749148679.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:37:59.088Z,1749148679.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:59.090Z,1749148679.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 332.612976 m,
      bearing: 287.836422 deg,
      approach rate: -0.639610 m/s,
      LOS rate: 0.026966 deg/s,
      cmd heading: 279.783700 deg,
      new cmd heading: 279.811333 deg.

2025-06-05T18:37:59.092Z,1749148679.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883629 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:59.169Z,1749148679.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011764
2025-06-05T18:37:59.422Z,1749148679.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264979
2025-06-05T18:37:59.541Z,1749148679.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:59.551Z,1749148679.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 332.332916 m,
      bearing: 287.848132 deg,
      approach rate: -0.620679 m/s,
      LOS rate: 0.025975 deg/s,
      cmd heading: 279.811322 deg,
      new cmd heading: 279.846482 deg.

2025-06-05T18:37:59.555Z,1749148679.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884243 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:37:59.673Z,1749148679.673 [DAT](INFO): DAT read: Rx Time:18:37:58.1037

2025-06-05T18:37:59.674Z,1749148679.674 [DAT](INFO): Rx dataTimestamp_ set to:1749148679.673320
2025-06-05T18:37:59.674Z,1749148679.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517071
2025-06-05T18:37:59.925Z,1749148679.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767705
2025-06-05T18:37:59.945Z,1749148679.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.33 m.
2025-06-05T18:37:59.952Z,1749148679.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 359.331848 m,
      nav range: 332.078583 m,
      bearing: 287.858706 deg,
      approach rate: -0.626055 m/s,
      LOS rate: 0.026049 deg/s,
      cmd heading: 279.846483 deg,
      new cmd heading: 279.878231 deg.

2025-06-05T18:37:59.953Z,1749148679.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884797 target range: 359.331848 and range: 358.10 m.
2025-06-05T18:38:00.029Z,1749148680.029 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:38:00.184Z,1749148680.184 [DAT](INFO): DAT read: 18:37:58.1037 LVL= 26944, 32753, 29074, 32755, AGC= 69, IDX= 411,-0.08,-1.243,-2.640,-1.588,-2.072, PHS= 0.917,-0.521, 0.481, RAW= 132.8, -13.6, CAL= 138.1, -23.7, ROT=  11.9,  23.7

2025-06-05T18:38:00.185Z,1749148680.185 [DAT](INFO): got valid direction response:
 18:37:58.1037 LVL= 26944, 32753, 29074, 32755, AGC= 69, IDX= 411,-0.08,-1.243,-2.640,-1.588,-2.072, PHS= 0.917,-0.521, 0.481, RAW= 132.8, -13.6, CAL= 138.1, -23.7, ROT=  11.9,  23.7

2025-06-05T18:38:00.186Z,1749148680.186 [DAT](INFO): DAT read: Bearing  11.9,  23.7 (Local)

2025-06-05T18:38:00.186Z,1749148680.186 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.9,  23.7 (Local)

2025-06-05T18:38:00.192Z,1749148680.192 [DAT](INFO): DAT read: Range 10 to 50 : 356.2 m  (Round-trip  475.0 ms) speed  0.2 m/s

2025-06-05T18:38:00.193Z,1749148680.193 [DAT](INFO): DAT read: user:2712>

2025-06-05T18:38:00.193Z,1749148680.193 [DAT](INFO): DAT read: Tx time:18:37:59.2246

2025-06-05T18:38:00.194Z,1749148680.194 [DAT](INFO): Ping request sent.
2025-06-05T18:38:00.194Z,1749148680.194 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:00.194Z,1749148680.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:00.195Z,1749148680.195 [DAT](INFO): direction in FSK: [0.895984,0.188813,-0.401948]
2025-06-05T18:38:00.195Z,1749148680.195 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:00.204Z,1749148680.204 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:00.208Z,1749148680.208 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:00.208Z,1749148680.208 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:00.429Z,1749148680.429 [DAT](INFO): DAT read: TxSync time:18:37:59.2238

2025-06-05T18:38:00.469Z,1749148680.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 356.200012 m,
      deltaT: 4.032900 s,
      deltaX: -1.899994 m,
      approachRate: -0.471123 m/s,
      rangeRepo size: 4

2025-06-05T18:38:00.490Z,1749148680.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 353.467102 m,
      bearing: 293.592484 deg,
      lat: 36.906019 deg,
      lon: -122.116247 deg,
      deltaT: 12.095709 s,
      deltaX: -5.864746 m,
      approachRate: -0.484862 m/s,
      posRepo size: 4

2025-06-05T18:38:00.490Z,1749148680.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:00.497Z,1749148680.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 333.048889 m,
      bearing: 289.455502 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026049 deg/s,
      cmd heading: 279.878230 deg,
      new cmd heading: 279.919140 deg.

2025-06-05T18:38:00.498Z,1749148680.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885510 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:00.849Z,1749148680.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:00.851Z,1749148680.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:00.858Z,1749148680.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 332.800659 m,
      bearing: 289.465802 deg,
      approach rate: -0.649640 m/s,
      LOS rate: 0.026975 deg/s,
      cmd heading: 279.919129 deg,
      new cmd heading: 279.950051 deg.

2025-06-05T18:38:00.859Z,1749148680.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.886050 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:00.933Z,1749148680.933 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:00.933Z,1749148680.933 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:00.934Z,1749148680.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:01.184Z,1749148681.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990814
2025-06-05T18:38:01.231Z,1749148681.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:01.234Z,1749148681.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 332.561401 m,
      bearing: 289.475724 deg,
      approach rate: -0.629546 m/s,
      LOS rate: 0.026127 deg/s,
      cmd heading: 279.950056 deg,
      new cmd heading: 279.979844 deg.

2025-06-05T18:38:01.235Z,1749148681.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.886570 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:01.437Z,1749148681.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243359
2025-06-05T18:38:01.669Z,1749148681.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:01.674Z,1749148681.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 332.273560 m,
      bearing: 289.487690 deg,
      approach rate: -0.656659 m/s,
      LOS rate: 0.027321 deg/s,
      cmd heading: 279.979836 deg,
      new cmd heading: 280.015764 deg.

2025-06-05T18:38:01.674Z,1749148681.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.887197 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:01.689Z,1749148681.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495422
2025-06-05T18:38:01.941Z,1749148681.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746996
2025-06-05T18:38:02.039Z,1749148682.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:02.042Z,1749148682.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 332.042694 m,
      bearing: 289.497286 deg,
      approach rate: -0.624079 m/s,
      LOS rate: 0.025960 deg/s,
      cmd heading: 280.015763 deg,
      new cmd heading: 280.044573 deg.

2025-06-05T18:38:02.043Z,1749148682.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.887700 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:02.194Z,1749148682.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000259
2025-06-05T18:38:02.423Z,1749148682.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:02.426Z,1749148682.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 331.801788 m,
      bearing: 289.507263 deg,
      approach rate: -0.627413 m/s,
      LOS rate: 0.026003 deg/s,
      cmd heading: 280.044586 deg,
      new cmd heading: 280.074538 deg.

2025-06-05T18:38:02.427Z,1749148682.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888223 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:02.447Z,1749148682.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252893
2025-06-05T18:38:02.698Z,1749148682.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503810
2025-06-05T18:38:02.906Z,1749148682.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:02.908Z,1749148682.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:02.911Z,1749148682.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 331.513611 m,
      bearing: 289.519406 deg,
      approach rate: -0.594617 m/s,
      LOS rate: 0.025077 deg/s,
      cmd heading: 280.074530 deg,
      new cmd heading: 280.110991 deg.

2025-06-05T18:38:02.912Z,1749148682.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888859 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:02.949Z,1749148682.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755063
2025-06-05T18:38:03.200Z,1749148683.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006769
2025-06-05T18:38:03.263Z,1749148683.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:03.266Z,1749148683.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 331.271729 m,
      bearing: 289.529616 deg,
      approach rate: -0.681313 m/s,
      LOS rate: 0.028778 deg/s,
      cmd heading: 280.111003 deg,
      new cmd heading: 280.141653 deg.

2025-06-05T18:38:03.266Z,1749148683.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.889394 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:03.453Z,1749148683.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258904
2025-06-05T18:38:03.706Z,1749148683.706 [DAT](INFO): DAT read: Rx Time:18:38:02.0999

2025-06-05T18:38:03.707Z,1749148683.707 [DAT](INFO): Rx dataTimestamp_ set to:1749148683.706486
2025-06-05T18:38:03.708Z,1749148683.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514425
2025-06-05T18:38:03.758Z,1749148683.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:03.765Z,1749148683.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 330.975128 m,
      bearing: 289.541840 deg,
      approach rate: -0.598860 m/s,
      LOS rate: 0.024704 deg/s,
      cmd heading: 280.141657 deg,
      new cmd heading: 280.178363 deg.

2025-06-05T18:38:03.766Z,1749148683.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890035 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:03.957Z,1749148683.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763176
2025-06-05T18:38:04.129Z,1749148684.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.47 m.
2025-06-05T18:38:04.131Z,1749148684.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.467102 m,
      nav range: 330.743225 m,
      bearing: 289.551367 deg,
      approach rate: -0.625522 m/s,
      LOS rate: 0.025716 deg/s,
      cmd heading: 280.178376 deg,
      new cmd heading: 280.206978 deg.

2025-06-05T18:38:04.139Z,1749148684.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890534 target range: 353.467102 and range: 356.20 m.
2025-06-05T18:38:04.214Z,1749148684.214 [DAT](INFO): DAT read: 18:38:02.0999 LVL= 28880, 29521, 29074, 32755, AGC= 70, IDX= 404, 0.32, 2.680, 1.348, 2.427, 1.978, PHS= 0.790,-0.583, 0.446, RAW= 136.1, -10.6, CAL= 142.0, -21.2, ROT=   8.0,  21.2

2025-06-05T18:38:04.215Z,1749148684.215 [DAT](INFO): got valid direction response:
 18:38:02.0999 LVL= 28880, 29521, 29074, 32755, AGC= 70, IDX= 404, 0.32, 2.680, 1.348, 2.427, 1.978, PHS= 0.790,-0.583, 0.446, RAW= 136.1, -10.6, CAL= 142.0, -21.2, ROT=   8.0,  21.2

2025-06-05T18:38:04.217Z,1749148684.217 [DAT](INFO): DAT read: Bearing   8.0,  21.2 (Local)

2025-06-05T18:38:04.217Z,1749148684.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.0,  21.2 (Local)

2025-06-05T18:38:04.219Z,1749148684.219 [DAT](INFO): DAT read: Range 10 to 50 : 353.3 m  (Round-trip  471.1 ms) speed  0.4 m/s

2025-06-05T18:38:04.220Z,1749148684.220 [DAT](INFO): DAT read: user:2713>

2025-06-05T18:38:04.221Z,1749148684.221 [DAT](INFO): DAT read: Tx time:18:38:03.2246

2025-06-05T18:38:04.222Z,1749148684.222 [DAT](INFO): Ping request sent.
2025-06-05T18:38:04.222Z,1749148684.222 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:04.222Z,1749148684.222 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:04.228Z,1749148684.228 [DAT](INFO): direction in FSK: [0.923250,0.129754,-0.361625]
2025-06-05T18:38:04.229Z,1749148684.229 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:04.229Z,1749148684.229 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:04.245Z,1749148684.245 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:04.246Z,1749148684.246 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:04.461Z,1749148684.461 [DAT](INFO): DAT read: TxSync time:18:38:03.2238

2025-06-05T18:38:04.506Z,1749148684.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 353.299988 m,
      deltaT: 4.031060 s,
      deltaX: -2.900024 m,
      approachRate: -0.719420 m/s,
      rangeRepo size: 4

2025-06-05T18:38:04.513Z,1749148684.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.588806 m,
      bearing: 289.981796 deg,
      lat: 36.906038 deg,
      lon: -122.116247 deg,
      deltaT: 4.031060 s,
      deltaX: -2.878296 m,
      approachRate: -0.714030 m/s,
      posRepo size: 4

2025-06-05T18:38:04.513Z,1749148684.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:04.521Z,1749148684.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 331.216431 m,
      bearing: 289.906228 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025716 deg/s,
      cmd heading: 280.206981 deg,
      new cmd heading: 280.236029 deg.

2025-06-05T18:38:04.523Z,1749148684.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.891041 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:04.895Z,1749148684.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:04.898Z,1749148684.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 330.960449 m,
      bearing: 289.918755 deg,
      approach rate: -0.656779 m/s,
      LOS rate: 0.032165 deg/s,
      cmd heading: 280.236023 deg,
      new cmd heading: 280.273632 deg.

2025-06-05T18:38:04.899Z,1749148684.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.891698 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:05.287Z,1749148685.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:05.293Z,1749148685.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:05.300Z,1749148685.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 330.725403 m,
      bearing: 289.930307 deg,
      approach rate: -0.590582 m/s,
      LOS rate: 0.029045 deg/s,
      cmd heading: 280.273643 deg,
      new cmd heading: 280.308322 deg.

2025-06-05T18:38:05.301Z,1749148685.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892303 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:05.469Z,1749148685.469 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:05.469Z,1749148685.469 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:05.470Z,1749148685.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:05.722Z,1749148685.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499543
2025-06-05T18:38:05.759Z,1749148685.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:05.762Z,1749148685.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 330.419037 m,
      bearing: 289.946122 deg,
      approach rate: -0.657294 m/s,
      LOS rate: 0.033963 deg/s,
      cmd heading: 280.308313 deg,
      new cmd heading: 280.355803 deg.

2025-06-05T18:38:05.763Z,1749148685.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893132 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:05.974Z,1749148685.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751752
2025-06-05T18:38:06.086Z,1749148686.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:06.090Z,1749148686.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 330.213074 m,
      bearing: 289.956714 deg,
      approach rate: -0.630252 m/s,
      LOS rate: 0.032434 deg/s,
      cmd heading: 280.355797 deg,
      new cmd heading: 280.387595 deg.

2025-06-05T18:38:06.091Z,1749148686.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893687 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:06.226Z,1749148686.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003826
2025-06-05T18:38:06.477Z,1749148686.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254725
2025-06-05T18:38:06.484Z,1749148686.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:06.488Z,1749148686.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 329.964050 m,
      bearing: 289.969488 deg,
      approach rate: -0.625635 m/s,
      LOS rate: 0.032117 deg/s,
      cmd heading: 280.387598 deg,
      new cmd heading: 280.425949 deg.

2025-06-05T18:38:06.489Z,1749148686.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894356 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:06.729Z,1749148686.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506690
2025-06-05T18:38:06.908Z,1749148686.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:06.911Z,1749148686.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 329.696655 m,
      bearing: 289.984048 deg,
      approach rate: -0.630857 m/s,
      LOS rate: 0.034379 deg/s,
      cmd heading: 280.425957 deg,
      new cmd heading: 280.469673 deg.

2025-06-05T18:38:06.928Z,1749148686.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895119 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:06.982Z,1749148686.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759994
2025-06-05T18:38:07.233Z,1749148687.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010503
2025-06-05T18:38:07.304Z,1749148687.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:07.313Z,1749148687.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 329.457184 m,
      bearing: 289.997104 deg,
      approach rate: -0.611341 m/s,
      LOS rate: 0.033354 deg/s,
      cmd heading: 280.469670 deg,
      new cmd heading: 280.508865 deg.

2025-06-05T18:38:07.314Z,1749148687.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895803 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:07.485Z,1749148687.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262644
2025-06-05T18:38:07.737Z,1749148687.737 [DAT](INFO): DAT read: Rx Time:18:38:06.0966

2025-06-05T18:38:07.738Z,1749148687.738 [DAT](INFO): Rx dataTimestamp_ set to:1749148687.737475
2025-06-05T18:38:07.739Z,1749148687.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516767
2025-06-05T18:38:07.801Z,1749148687.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:07.803Z,1749148687.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:07.810Z,1749148687.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 329.144775 m,
      bearing: 290.013021 deg,
      approach rate: -0.620520 m/s,
      LOS rate: 0.031645 deg/s,
      cmd heading: 280.508875 deg,
      new cmd heading: 280.556671 deg.

2025-06-05T18:38:07.811Z,1749148687.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896637 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:07.989Z,1749148687.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767314
2025-06-05T18:38:08.128Z,1749148688.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.59 m.
2025-06-05T18:38:08.131Z,1749148688.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.588806 m,
      nav range: 328.927826 m,
      bearing: 290.024120 deg,
      approach rate: -0.666522 m/s,
      LOS rate: 0.034121 deg/s,
      cmd heading: 280.556659 deg,
      new cmd heading: 280.589978 deg.

2025-06-05T18:38:08.133Z,1749148688.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897219 target range: 350.588806 and range: 353.30 m.
2025-06-05T18:38:08.252Z,1749148688.252 [DAT](INFO): DAT read: 18:38:06.0967 LVL= 31408, 31985, 31730, 32755, AGC= 69, IDX= 403,-0.09, 1.768, 0.450, 1.526, 1.102, PHS= 0.754,-0.605, 0.420, RAW= 136.4,  -9.3, CAL= 142.4, -20.2, ROT=   7.6,  20.2

2025-06-05T18:38:08.254Z,1749148688.254 [DAT](INFO): got valid direction response:
 18:38:06.0967 LVL= 31408, 31985, 31730, 32755, AGC= 69, IDX= 403,-0.09, 1.768, 0.450, 1.526, 1.102, PHS= 0.754,-0.605, 0.420, RAW= 136.4,  -9.3, CAL= 142.4, -20.2, ROT=   7.6,  20.2

2025-06-05T18:38:08.258Z,1749148688.258 [DAT](INFO): DAT read: Bearing   7.6,  20.2 (Local)

2025-06-05T18:38:08.258Z,1749148688.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.6,  20.2 (Local)

2025-06-05T18:38:08.261Z,1749148688.261 [DAT](INFO): DAT read: Range 10 to 50 : 350.9 m  (Round-trip  467.9 ms) speed  0.5 m/s

2025-06-05T18:38:08.261Z,1749148688.261 [DAT](INFO): DAT read: user:2714>

2025-06-05T18:38:08.262Z,1749148688.262 [DAT](INFO): DAT read: Tx time:18:38:07.1747

2025-06-05T18:38:08.262Z,1749148688.262 [DAT](INFO): Ping request sent.
2025-06-05T18:38:08.263Z,1749148688.263 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:08.263Z,1749148688.263 [DAT](INFO): DAT read: TxSync time:18:38:07.1739

2025-06-05T18:38:08.264Z,1749148688.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:08.265Z,1749148688.265 [DAT](INFO): direction in FSK: [0.930249,0.124122,-0.345298]
2025-06-05T18:38:08.265Z,1749148688.265 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:08.265Z,1749148688.265 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:08.273Z,1749148688.273 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:08.273Z,1749148688.273 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:08.569Z,1749148688.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 350.899994 m,
      deltaT: 4.032442 s,
      deltaX: -2.399994 m,
      approachRate: -0.595171 m/s,
      rangeRepo size: 4

2025-06-05T18:38:08.576Z,1749148688.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 348.209167 m,
      bearing: 289.455363 deg,
      lat: 36.906038 deg,
      lon: -122.116253 deg,
      deltaT: 4.032442 s,
      deltaX: -2.379639 m,
      approachRate: -0.590123 m/s,
      posRepo size: 4

2025-06-05T18:38:08.577Z,1749148688.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:08.584Z,1749148688.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 329.136383 m,
      bearing: 290.007723 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034121 deg/s,
      cmd heading: 280.589990 deg,
      new cmd heading: 280.634562 deg.

2025-06-05T18:38:08.585Z,1749148688.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897997 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:08.993Z,1749148688.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:09.001Z,1749148689.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 328.874146 m,
      bearing: 290.021954 deg,
      approach rate: -0.610868 m/s,
      LOS rate: 0.033177 deg/s,
      cmd heading: 280.634551 deg,
      new cmd heading: 280.677278 deg.

2025-06-05T18:38:09.002Z,1749148689.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898743 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:09.361Z,1749148689.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:09.368Z,1749148689.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 328.636597 m,
      bearing: 290.034896 deg,
      approach rate: -0.646275 m/s,
      LOS rate: 0.035234 deg/s,
      cmd heading: 280.677280 deg,
      new cmd heading: 280.716133 deg.

2025-06-05T18:38:09.369Z,1749148689.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.899421 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:09.823Z,1749148689.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:09.825Z,1749148689.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:09.828Z,1749148689.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 328.345306 m,
      bearing: 290.049291 deg,
      approach rate: -0.627089 m/s,
      LOS rate: 0.031017 deg/s,
      cmd heading: 280.716130 deg,
      new cmd heading: 280.759354 deg.

2025-06-05T18:38:09.829Z,1749148689.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900175 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:10.006Z,1749148690.006 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:10.006Z,1749148690.006 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:10.006Z,1749148690.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:10.158Z,1749148690.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:10.161Z,1749148690.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 328.140869 m,
      bearing: 290.059366 deg,
      approach rate: -0.614385 m/s,
      LOS rate: 0.030299 deg/s,
      cmd heading: 280.759352 deg,
      new cmd heading: 280.789598 deg.

2025-06-05T18:38:10.162Z,1749148690.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900703 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:10.257Z,1749148690.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994388
2025-06-05T18:38:10.518Z,1749148690.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255842
2025-06-05T18:38:10.641Z,1749148690.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:10.644Z,1749148690.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 327.854370 m,
      bearing: 290.073455 deg,
      approach rate: -0.592975 m/s,
      LOS rate: 0.029185 deg/s,
      cmd heading: 280.789596 deg,
      new cmd heading: 280.831898 deg.

2025-06-05T18:38:10.645Z,1749148690.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901441 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:10.765Z,1749148690.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501800
2025-06-05T18:38:11.013Z,1749148691.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750077
2025-06-05T18:38:11.029Z,1749148691.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:11.036Z,1749148691.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 327.631561 m,
      bearing: 290.084363 deg,
      approach rate: -0.574743 m/s,
      LOS rate: 0.028156 deg/s,
      cmd heading: 280.831888 deg,
      new cmd heading: 280.864634 deg.

2025-06-05T18:38:11.038Z,1749148691.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.902013 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:11.265Z,1749148691.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002072
2025-06-05T18:38:11.402Z,1749148691.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:11.406Z,1749148691.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 327.401123 m,
      bearing: 290.095637 deg,
      approach rate: -0.618258 m/s,
      LOS rate: 0.030271 deg/s,
      cmd heading: 280.864646 deg,
      new cmd heading: 280.898494 deg.

2025-06-05T18:38:11.408Z,1749148691.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.902604 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:11.518Z,1749148691.518 [DAT](INFO): DAT read: Rx Time:18:38:10.0436

2025-06-05T18:38:11.520Z,1749148691.520 [DAT](INFO): Rx dataTimestamp_ set to:1749148691.518636
2025-06-05T18:38:11.520Z,1749148691.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257745
2025-06-05T18:38:11.772Z,1749148691.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508876
2025-06-05T18:38:11.852Z,1749148691.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:11.856Z,1749148691.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.21 m.
2025-06-05T18:38:11.859Z,1749148691.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.209167 m,
      nav range: 327.113586 m,
      bearing: 290.107788 deg,
      approach rate: -0.633025 m/s,
      LOS rate: 0.026774 deg/s,
      cmd heading: 280.898496 deg,
      new cmd heading: 280.934981 deg.

2025-06-05T18:38:11.860Z,1749148691.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903240 target range: 348.209167 and range: 350.90 m.
2025-06-05T18:38:12.036Z,1749148692.036 [DAT](INFO): DAT read: 18:38:10.0436 LVL= 27840, 32481, 32498, 32755, AGC= 70, IDX= 403, 0.17, 1.937, 0.587, 1.686, 1.152, PHS= 0.873,-0.517, 0.531, RAW= 136.3, -14.0, CAL= 142.1, -23.6, ROT=   7.9,  23.6

2025-06-05T18:38:12.039Z,1749148692.039 [DAT](INFO): got valid direction response:
 18:38:10.0436 LVL= 27840, 32481, 32498, 32755, AGC= 70, IDX= 403, 0.17, 1.937, 0.587, 1.686, 1.152, PHS= 0.873,-0.517, 0.531, RAW= 136.3, -14.0, CAL= 142.1, -23.6, ROT=   7.9,  23.6

2025-06-05T18:38:12.041Z,1749148692.041 [DAT](INFO): DAT read: Bearing   7.9,  23.6 (Local)

2025-06-05T18:38:12.042Z,1749148692.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  23.6 (Local)

2025-06-05T18:38:12.043Z,1749148692.043 [DAT](INFO): DAT read: Range 10 to 50 : 348.6 m  (Round-trip  464.8 ms) speed  0.3 m/s

2025-06-05T18:38:12.044Z,1749148692.044 [DAT](INFO): DAT read: user:2715>

2025-06-05T18:38:12.045Z,1749148692.045 [DAT](INFO): DAT read: Tx time:18:38:11.1247

2025-06-05T18:38:12.045Z,1749148692.045 [DAT](INFO): Ping request sent.
2025-06-05T18:38:12.045Z,1749148692.045 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:12.045Z,1749148692.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:12.046Z,1749148692.046 [DAT](INFO): direction in FSK: [0.907666,0.125949,-0.400349]
2025-06-05T18:38:12.047Z,1749148692.047 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:12.047Z,1749148692.047 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:12.051Z,1749148692.051 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:12.052Z,1749148692.052 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:12.246Z,1749148692.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 348.600006 m,
      deltaT: 3.781565 s,
      deltaX: -2.299988 m,
      approachRate: -0.608211 m/s,
      rangeRepo size: 4

2025-06-05T18:38:12.252Z,1749148692.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 345.927917 m,
      bearing: 290.145135 deg,
      lat: 36.906038 deg,
      lon: -122.116247 deg,
      deltaT: 3.781565 s,
      deltaX: -2.281250 m,
      approachRate: -0.603256 m/s,
      posRepo size: 4

2025-06-05T18:38:12.254Z,1749148692.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:12.261Z,1749148692.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 326.421051 m,
      bearing: 290.147372 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026774 deg/s,
      cmd heading: 280.934970 deg,
      new cmd heading: 280.966266 deg.

2025-06-05T18:38:12.262Z,1749148692.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903787 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:12.273Z,1749148692.273 [DAT](INFO): DAT read: TxSync time:18:38:11.1239

2025-06-05T18:38:12.610Z,1749148692.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:12.617Z,1749148692.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 326.191223 m,
      bearing: 290.157198 deg,
      approach rate: -0.630527 m/s,
      LOS rate: 0.026976 deg/s,
      cmd heading: 280.966279 deg,
      new cmd heading: 280.995778 deg.

2025-06-05T18:38:12.618Z,1749148692.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904302 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:13.062Z,1749148693.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:13.069Z,1749148693.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 325.921234 m,
      bearing: 290.168388 deg,
      approach rate: -0.597334 m/s,
      LOS rate: 0.024776 deg/s,
      cmd heading: 280.995786 deg,
      new cmd heading: 281.029381 deg.

2025-06-05T18:38:13.070Z,1749148693.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904888 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:13.401Z,1749148693.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:13.403Z,1749148693.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 325.703247 m,
      bearing: 290.177403 deg,
      approach rate: -0.643633 m/s,
      LOS rate: 0.026636 deg/s,
      cmd heading: 281.029390 deg,
      new cmd heading: 281.056454 deg.

2025-06-05T18:38:13.404Z,1749148693.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.905361 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:13.853Z,1749148693.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:13.857Z,1749148693.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:13.860Z,1749148693.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 325.420624 m,
      bearing: 290.188283 deg,
      approach rate: -0.619469 m/s,
      LOS rate: 0.023869 deg/s,
      cmd heading: 281.056465 deg,
      new cmd heading: 281.089135 deg.

2025-06-05T18:38:13.861Z,1749148693.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.905931 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:14.036Z,1749148694.036 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:14.036Z,1749148694.036 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:14.037Z,1749148694.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:14.212Z,1749148694.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:14.215Z,1749148694.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 325.208893 m,
      bearing: 290.196393 deg,
      approach rate: -0.624798 m/s,
      LOS rate: 0.023947 deg/s,
      cmd heading: 281.089141 deg,
      new cmd heading: 281.113487 deg.

2025-06-05T18:38:14.216Z,1749148694.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.906356 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:14.290Z,1749148694.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244574
2025-06-05T18:38:14.541Z,1749148694.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495487
2025-06-05T18:38:14.613Z,1749148694.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:14.615Z,1749148694.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 324.948792 m,
      bearing: 290.206353 deg,
      approach rate: -0.623873 m/s,
      LOS rate: 0.023908 deg/s,
      cmd heading: 281.113483 deg,
      new cmd heading: 281.143387 deg.

2025-06-05T18:38:14.616Z,1749148694.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.906878 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:14.796Z,1749148694.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749689
2025-06-05T18:38:15.045Z,1749148695.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999479
2025-06-05T18:38:15.060Z,1749148695.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:15.063Z,1749148695.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 324.680511 m,
      bearing: 290.216803 deg,
      approach rate: -0.606661 m/s,
      LOS rate: 0.023651 deg/s,
      cmd heading: 281.143400 deg,
      new cmd heading: 281.174777 deg.

2025-06-05T18:38:15.068Z,1749148695.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907425 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:15.297Z,1749148695.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251489
2025-06-05T18:38:15.430Z,1749148695.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:15.437Z,1749148695.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 324.430450 m,
      bearing: 290.226553 deg,
      approach rate: -0.666133 m/s,
      LOS rate: 0.025992 deg/s,
      cmd heading: 281.174764 deg,
      new cmd heading: 281.204035 deg.

2025-06-05T18:38:15.438Z,1749148695.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907936 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:15.549Z,1749148695.549 [DAT](INFO): DAT read: Rx Time:18:38:13.9912

2025-06-05T18:38:15.549Z,1749148695.549 [DAT](INFO): Rx dataTimestamp_ set to:1749148695.548945
2025-06-05T18:38:15.550Z,1749148695.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504679
2025-06-05T18:38:15.804Z,1749148695.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758250
2025-06-05T18:38:15.893Z,1749148695.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:15.895Z,1749148695.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:15.898Z,1749148695.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 324.123260 m,
      bearing: 290.239754 deg,
      approach rate: -0.660722 m/s,
      LOS rate: 0.028420 deg/s,
      cmd heading: 281.204024 deg,
      new cmd heading: 281.243664 deg.

2025-06-05T18:38:15.899Z,1749148695.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.908628 target range: 345.927917 and range: 348.60 m.
2025-06-05T18:38:16.054Z,1749148696.054 [DAT](INFO): DAT read: Range 10 to 50 : 346.8 m  (Round-trip  462.4 ms) speed  0.5 m/s

2025-06-05T18:38:16.055Z,1749148696.055 [DAT](INFO): DAT read: user:2716>

2025-06-05T18:38:16.056Z,1749148696.056 [DAT](INFO): DAT read: Tx time:18:38:15.0747

2025-06-05T18:38:16.056Z,1749148696.056 [DAT](INFO): Ping request sent.
2025-06-05T18:38:16.057Z,1749148696.057 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:16.057Z,1749148696.057 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:38:16.057Z,1749148696.057 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:16.058Z,1749148696.058 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:16.224Z,1749148696.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 346.799988 m,
      deltaT: 4.029845 s,
      deltaX: -1.800018 m,
      approachRate: -0.446672 m/s,
      rangeRepo size: 4

2025-06-05T18:38:16.224Z,1749148696.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:16.227Z,1749148696.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 323.912903 m,
      bearing: 290.248809 deg,
      approach rate: -0.641816 m/s,
      LOS rate: 0.027646 deg/s,
      cmd heading: 281.243667 deg,
      new cmd heading: 281.270850 deg.

2025-06-05T18:38:16.228Z,1749148696.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909102 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:16.306Z,1749148696.306 [DAT](INFO): DAT read: TxSync time:18:38:15.0739

2025-06-05T18:38:16.639Z,1749148696.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:16.642Z,1749148696.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 323.646637 m,
      bearing: 290.260370 deg,
      approach rate: -0.640455 m/s,
      LOS rate: 0.027831 deg/s,
      cmd heading: 281.270851 deg,
      new cmd heading: 281.305563 deg.

2025-06-05T18:38:16.643Z,1749148696.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909708 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:17.089Z,1749148697.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:17.097Z,1749148697.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 323.369537 m,
      bearing: 290.274236 deg,
      approach rate: -0.622406 m/s,
      LOS rate: 0.031171 deg/s,
      cmd heading: 281.305576 deg,
      new cmd heading: 281.347208 deg.

2025-06-05T18:38:17.098Z,1749148697.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.910435 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:17.528Z,1749148697.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:17.532Z,1749148697.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 323.105316 m,
      bearing: 290.287558 deg,
      approach rate: -0.595311 m/s,
      LOS rate: 0.030041 deg/s,
      cmd heading: 281.347213 deg,
      new cmd heading: 281.387212 deg.

2025-06-05T18:38:17.533Z,1749148697.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911133 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:17.936Z,1749148697.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:17.939Z,1749148697.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:17.946Z,1749148697.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 322.823639 m,
      bearing: 290.302117 deg,
      approach rate: -0.684480 m/s,
      LOS rate: 0.035409 deg/s,
      cmd heading: 281.387210 deg,
      new cmd heading: 281.430925 deg.

2025-06-05T18:38:17.947Z,1749148697.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911896 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:18.069Z,1749148698.069 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:18.070Z,1749148698.070 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:18.070Z,1749148698.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:18.298Z,1749148698.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:18.301Z,1749148698.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 322.584991 m,
      bearing: 290.314399 deg,
      approach rate: -0.665622 m/s,
      LOS rate: 0.034281 deg/s,
      cmd heading: 281.430923 deg,
      new cmd heading: 281.467796 deg.

2025-06-05T18:38:18.302Z,1749148698.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912540 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:18.323Z,1749148698.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266053
2025-06-05T18:38:18.573Z,1749148698.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516243
2025-06-05T18:38:18.727Z,1749148698.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:18.730Z,1749148698.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 322.316101 m,
      bearing: 290.328213 deg,
      approach rate: -0.626845 m/s,
      LOS rate: 0.032230 deg/s,
      cmd heading: 281.467806 deg,
      new cmd heading: 281.509283 deg.

2025-06-05T18:38:18.731Z,1749148698.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.913264 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:18.825Z,1749148698.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768198
2025-06-05T18:38:19.076Z,1749148699.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019819
2025-06-05T18:38:19.160Z,1749148699.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:19.162Z,1749148699.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 322.047211 m,
      bearing: 290.343742 deg,
      approach rate: -0.621506 m/s,
      LOS rate: 0.035925 deg/s,
      cmd heading: 281.509279 deg,
      new cmd heading: 281.555907 deg.

2025-06-05T18:38:19.163Z,1749148699.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.914078 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:19.329Z,1749148699.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271981
2025-06-05T18:38:19.521Z,1749148699.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:19.533Z,1749148699.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 321.833282 m,
      bearing: 290.356077 deg,
      approach rate: -0.592463 m/s,
      LOS rate: 0.034184 deg/s,
      cmd heading: 281.555916 deg,
      new cmd heading: 281.592945 deg.

2025-06-05T18:38:19.534Z,1749148699.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.914724 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:19.581Z,1749148699.581 [DAT](INFO): DAT read: Rx Time:18:38:17.9390

2025-06-05T18:38:19.581Z,1749148699.581 [DAT](INFO): Rx dataTimestamp_ set to:1749148699.581200
2025-06-05T18:38:19.582Z,1749148699.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525420
2025-06-05T18:38:19.835Z,1749148699.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778227
2025-06-05T18:38:19.966Z,1749148699.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:19.968Z,1749148699.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:19.973Z,1749148699.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 321.543945 m,
      bearing: 290.373126 deg,
      approach rate: -0.646676 m/s,
      LOS rate: 0.038139 deg/s,
      cmd heading: 281.592935 deg,
      new cmd heading: 281.644128 deg.

2025-06-05T18:38:19.974Z,1749148699.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915617 target range: 345.927917 and range: 346.80 m.
2025-06-05T18:38:20.089Z,1749148700.089 [DAT](INFO): DAT read: Range 10 to 50 : 345.0 m  (Round-trip  460.1 ms) speed  0.4 m/s

2025-06-05T18:38:20.090Z,1749148700.090 [DAT](INFO): DAT read: user:2717>

2025-06-05T18:38:20.090Z,1749148700.090 [DAT](INFO): DAT read: Tx time:18:38:19.0248

2025-06-05T18:38:20.091Z,1749148700.091 [DAT](INFO): Ping request sent.
2025-06-05T18:38:20.091Z,1749148700.091 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:20.091Z,1749148700.091 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:38:20.091Z,1749148700.091 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:20.092Z,1749148700.092 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:20.338Z,1749148700.338 [DAT](INFO): DAT read: TxSync time:18:38:19.0240

2025-06-05T18:38:20.340Z,1749148700.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 345.000000 m,
      deltaT: 4.033857 s,
      deltaX: -1.799988 m,
      approachRate: -0.446220 m/s,
      rangeRepo size: 4

2025-06-05T18:38:20.340Z,1749148700.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:20.343Z,1749148700.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 321.313660 m,
      bearing: 290.386721 deg,
      approach rate: -0.626836 m/s,
      LOS rate: 0.037031 deg/s,
      cmd heading: 281.644135 deg,
      new cmd heading: 281.684948 deg.

2025-06-05T18:38:20.345Z,1749148700.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.916330 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:20.735Z,1749148700.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:20.740Z,1749148700.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 321.063202 m,
      bearing: 290.401476 deg,
      approach rate: -0.626032 m/s,
      LOS rate: 0.036910 deg/s,
      cmd heading: 281.684952 deg,
      new cmd heading: 281.729252 deg.

2025-06-05T18:38:20.741Z,1749148700.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.917103 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:21.160Z,1749148701.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:21.163Z,1749148701.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 320.805969 m,
      bearing: 290.416870 deg,
      approach rate: -0.606142 m/s,
      LOS rate: 0.036302 deg/s,
      cmd heading: 281.729239 deg,
      new cmd heading: 281.775456 deg.

2025-06-05T18:38:21.164Z,1749148701.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.917910 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:21.539Z,1749148701.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:21.542Z,1749148701.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 320.574768 m,
      bearing: 290.430652 deg,
      approach rate: -0.610012 m/s,
      LOS rate: 0.036390 deg/s,
      cmd heading: 281.775465 deg,
      new cmd heading: 281.816842 deg.

2025-06-05T18:38:21.543Z,1749148701.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918632 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:21.996Z,1749148701.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:21.998Z,1749148701.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:22.001Z,1749148702.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 320.292053 m,
      bearing: 290.446495 deg,
      approach rate: -0.615558 m/s,
      LOS rate: 0.034525 deg/s,
      cmd heading: 281.816829 deg,
      new cmd heading: 281.864399 deg.

2025-06-05T18:38:22.002Z,1749148702.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.919462 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:22.103Z,1749148702.103 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:22.103Z,1749148702.103 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:22.103Z,1749148702.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:22.358Z,1749148702.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266847
2025-06-05T18:38:22.361Z,1749148702.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:22.364Z,1749148702.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 320.072937 m,
      bearing: 290.458794 deg,
      approach rate: -0.603515 m/s,
      LOS rate: 0.033901 deg/s,
      cmd heading: 281.864394 deg,
      new cmd heading: 281.901319 deg.

2025-06-05T18:38:22.365Z,1749148702.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.920106 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:22.609Z,1749148702.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518652
2025-06-05T18:38:22.754Z,1749148702.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:22.758Z,1749148702.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 319.829437 m,
      bearing: 290.472306 deg,
      approach rate: -0.620481 m/s,
      LOS rate: 0.034456 deg/s,
      cmd heading: 281.901332 deg,
      new cmd heading: 281.941897 deg.

2025-06-05T18:38:22.759Z,1749148702.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.920815 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:22.861Z,1749148702.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769934
2025-06-05T18:38:23.113Z,1749148703.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021859
2025-06-05T18:38:23.202Z,1749148703.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:23.206Z,1749148703.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 319.542694 m,
      bearing: 290.486525 deg,
      approach rate: -0.639865 m/s,
      LOS rate: 0.031760 deg/s,
      cmd heading: 281.941903 deg,
      new cmd heading: 281.984601 deg.

2025-06-05T18:38:23.207Z,1749148703.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.921560 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:23.365Z,1749148703.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273880
2025-06-05T18:38:23.559Z,1749148703.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:23.562Z,1749148703.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 319.316162 m,
      bearing: 290.497707 deg,
      approach rate: -0.633335 m/s,
      LOS rate: 0.031282 deg/s,
      cmd heading: 281.984606 deg,
      new cmd heading: 282.018173 deg.

2025-06-05T18:38:23.563Z,1749148703.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922146 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:23.618Z,1749148703.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526953
2025-06-05T18:38:23.872Z,1749148703.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780339
2025-06-05T18:38:24.122Z,1749148704.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031224
2025-06-05T18:38:24.125Z,1749148704.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:24.128Z,1749148704.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:24.130Z,1749148704.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 318.975372 m,
      bearing: 290.513090 deg,
      approach rate: -0.599874 m/s,
      LOS rate: 0.027108 deg/s,
      cmd heading: 282.018183 deg,
      new cmd heading: 282.064383 deg.

2025-06-05T18:38:24.132Z,1749148704.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922952 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:24.373Z,1749148704.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282290
2025-06-05T18:38:24.485Z,1749148704.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:24.493Z,1749148704.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 318.739227 m,
      bearing: 290.523691 deg,
      approach rate: -0.661110 m/s,
      LOS rate: 0.029701 deg/s,
      cmd heading: 282.064382 deg,
      new cmd heading: 282.096209 deg.

2025-06-05T18:38:24.494Z,1749148704.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923508 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:24.627Z,1749148704.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535647
2025-06-05T18:38:24.859Z,1749148704.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:24.864Z,1749148704.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 318.488556 m,
      bearing: 290.534925 deg,
      approach rate: -0.669752 m/s,
      LOS rate: 0.030039 deg/s,
      cmd heading: 282.096211 deg,
      new cmd heading: 282.129939 deg.

2025-06-05T18:38:24.865Z,1749148704.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924097 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:24.877Z,1749148704.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786090
2025-06-05T18:38:25.129Z,1749148705.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038592
2025-06-05T18:38:25.281Z,1749148705.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:25.284Z,1749148705.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 318.218903 m,
      bearing: 290.546982 deg,
      approach rate: -0.639119 m/s,
      LOS rate: 0.028602 deg/s,
      cmd heading: 282.129952 deg,
      new cmd heading: 282.166154 deg.

2025-06-05T18:38:25.285Z,1749148705.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924728 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:25.381Z,1749148705.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290364
2025-06-05T18:38:25.697Z,1749148705.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.606111
2025-06-05T18:38:25.719Z,1749148705.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:25.724Z,1749148705.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 317.940765 m,
      bearing: 290.559410 deg,
      approach rate: -0.634504 m/s,
      LOS rate: 0.028376 deg/s,
      cmd heading: 282.166152 deg,
      new cmd heading: 282.203468 deg.

2025-06-05T18:38:25.726Z,1749148705.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.925380 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:25.885Z,1749148705.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793860
2025-06-05T18:38:26.090Z,1749148706.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:26.093Z,1749148706.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 317.705688 m,
      bearing: 290.569031 deg,
      approach rate: -0.633899 m/s,
      LOS rate: 0.025962 deg/s,
      cmd heading: 282.203472 deg,
      new cmd heading: 282.232355 deg.

2025-06-05T18:38:26.094Z,1749148706.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.925884 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:26.137Z,1749148706.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046200
2025-06-05T18:38:26.390Z,1749148706.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299308
2025-06-05T18:38:26.461Z,1749148706.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:26.463Z,1749148706.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:26.466Z,1749148706.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 317.470337 m,
      bearing: 290.578627 deg,
      approach rate: -0.631188 m/s,
      LOS rate: 0.025755 deg/s,
      cmd heading: 282.232350 deg,
      new cmd heading: 282.261160 deg.

2025-06-05T18:38:26.467Z,1749148706.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926386 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:26.577Z,1749148706.577 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:38:26.643Z,1749148706.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551679
2025-06-05T18:38:26.866Z,1749148706.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:26.869Z,1749148706.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 317.214386 m,
      bearing: 290.589007 deg,
      approach rate: -0.634120 m/s,
      LOS rate: 0.025738 deg/s,
      cmd heading: 282.261146 deg,
      new cmd heading: 282.292312 deg.

2025-06-05T18:38:26.872Z,1749148706.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926930 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:26.893Z,1749148706.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802129
2025-06-05T18:38:27.145Z,1749148707.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054089
2025-06-05T18:38:27.313Z,1749148707.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:27.316Z,1749148707.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 316.939392 m,
      bearing: 290.600728 deg,
      approach rate: -0.615557 m/s,
      LOS rate: 0.026260 deg/s,
      cmd heading: 282.292319 deg,
      new cmd heading: 282.327513 deg.

2025-06-05T18:38:27.317Z,1749148707.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.927545 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:27.397Z,1749148707.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306286
2025-06-05T18:38:27.650Z,1749148707.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559089
2025-06-05T18:38:27.742Z,1749148707.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:27.744Z,1749148707.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 316.683167 m,
      bearing: 290.611608 deg,
      approach rate: -0.598202 m/s,
      LOS rate: 0.025423 deg/s,
      cmd heading: 282.327509 deg,
      new cmd heading: 282.360177 deg.

2025-06-05T18:38:27.745Z,1749148707.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928115 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:27.901Z,1749148707.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809901
2025-06-05T18:38:28.134Z,1749148708.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:28.145Z,1749148708.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 316.454651 m,
      bearing: 290.622063 deg,
      approach rate: -0.581931 m/s,
      LOS rate: 0.026643 deg/s,
      cmd heading: 282.360184 deg,
      new cmd heading: 282.391571 deg.

2025-06-05T18:38:28.146Z,1749148708.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928663 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:28.153Z,1749148708.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062017
2025-06-05T18:38:28.405Z,1749148708.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314671
2025-06-05T18:38:28.486Z,1749148708.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:28.490Z,1749148708.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:28.493Z,1749148708.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 316.211334 m,
      bearing: 290.633211 deg,
      approach rate: -0.683819 m/s,
      LOS rate: 0.031352 deg/s,
      cmd heading: 282.391576 deg,
      new cmd heading: 282.425043 deg.

2025-06-05T18:38:28.494Z,1749148708.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929247 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:28.657Z,1749148708.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566363
2025-06-05T18:38:28.885Z,1749148708.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:28.889Z,1749148708.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 315.965240 m,
      bearing: 290.644368 deg,
      approach rate: -0.622790 m/s,
      LOS rate: 0.028259 deg/s,
      cmd heading: 282.425044 deg,
      new cmd heading: 282.458543 deg.

2025-06-05T18:38:28.890Z,1749148708.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929832 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:28.909Z,1749148708.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817979
2025-06-05T18:38:29.161Z,1749148709.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069867
2025-06-05T18:38:29.331Z,1749148709.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:29.344Z,1749148709.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 315.708862 m,
      bearing: 290.656407 deg,
      approach rate: -0.575137 m/s,
      LOS rate: 0.027030 deg/s,
      cmd heading: 282.458539 deg,
      new cmd heading: 282.494686 deg.

2025-06-05T18:38:29.345Z,1749148709.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.930462 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:29.414Z,1749148709.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323183
2025-06-05T18:38:29.665Z,1749148709.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574011
2025-06-05T18:38:29.748Z,1749148709.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:29.751Z,1749148709.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 315.460236 m,
      bearing: 290.668050 deg,
      approach rate: -0.596686 m/s,
      LOS rate: 0.027963 deg/s,
      cmd heading: 282.494684 deg,
      new cmd heading: 282.529640 deg.

2025-06-05T18:38:29.752Z,1749148709.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.931072 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:29.918Z,1749148709.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827046
2025-06-05T18:38:30.127Z,1749148710.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:30.145Z,1749148710.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 315.204224 m,
      bearing: 290.680476 deg,
      approach rate: -0.675771 m/s,
      LOS rate: 0.032825 deg/s,
      cmd heading: 282.529628 deg,
      new cmd heading: 282.566934 deg.

2025-06-05T18:38:30.146Z,1749148710.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.931724 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:30.148Z,1749148710.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:38:30.168Z,1749148710.168 [DAT](INFO): Reached modem response timeout
2025-06-05T18:38:30.169Z,1749148710.169 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:38:30.169Z,1749148710.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:30.421Z,1749148710.421 [DAT](INFO): Reached modem response timeout
2025-06-05T18:38:30.421Z,1749148710.421 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:38:30.422Z,1749148710.422 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:30.500Z,1749148710.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:30.502Z,1749148710.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:30.523Z,1749148710.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 314.970123 m,
      bearing: 290.691817 deg,
      approach rate: -0.623320 m/s,
      LOS rate: 0.030220 deg/s,
      cmd heading: 282.566948 deg,
      new cmd heading: 282.600996 deg.

2025-06-05T18:38:30.532Z,1749148710.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932318 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:30.672Z,1749148710.672 [DAT](INFO): Reached modem response timeout
2025-06-05T18:38:30.672Z,1749148710.672 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:38:30.673Z,1749148710.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:30.908Z,1749148710.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:30.910Z,1749148710.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 314.720734 m,
      bearing: 290.703895 deg,
      approach rate: -0.615098 m/s,
      LOS rate: 0.029813 deg/s,
      cmd heading: 282.600989 deg,
      new cmd heading: 282.637252 deg.

2025-06-05T18:38:30.911Z,1749148710.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932950 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:30.925Z,1749148710.925 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:38:30.925Z,1749148710.925 [DAT](INFO): response not received
2025-06-05T18:38:30.925Z,1749148710.925 [DAT](INFO): DAT read: user:2718>

2025-06-05T18:38:30.926Z,1749148710.926 [DAT](INFO): DAT read: Tx time:18:38:29.9749

2025-06-05T18:38:30.926Z,1749148710.926 [DAT](INFO): Ping request sent.
2025-06-05T18:38:30.927Z,1749148710.927 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:30.927Z,1749148710.927 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:30.927Z,1749148710.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000709
2025-06-05T18:38:31.152Z,1749148711.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:38:31.177Z,1749148711.177 [DAT](INFO): DAT read: TxSync time:18:38:29.9741

2025-06-05T18:38:31.178Z,1749148711.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251090
2025-06-05T18:38:31.349Z,1749148711.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:31.352Z,1749148711.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 314.444611 m,
      bearing: 290.717738 deg,
      approach rate: -0.625463 m/s,
      LOS rate: 0.031385 deg/s,
      cmd heading: 282.637244 deg,
      new cmd heading: 282.678811 deg.

2025-06-05T18:38:31.353Z,1749148711.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933676 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:31.433Z,1749148711.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505706
2025-06-05T18:38:31.681Z,1749148711.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753904
2025-06-05T18:38:31.755Z,1749148711.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:31.762Z,1749148711.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 314.202057 m,
      bearing: 290.730032 deg,
      approach rate: -0.597099 m/s,
      LOS rate: 0.030286 deg/s,
      cmd heading: 282.678799 deg,
      new cmd heading: 282.715708 deg.

2025-06-05T18:38:31.763Z,1749148711.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934320 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:31.933Z,1749148711.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005983
2025-06-05T18:38:32.185Z,1749148712.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258530
2025-06-05T18:38:32.250Z,1749148712.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:32.261Z,1749148712.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 313.890289 m,
      bearing: 290.746400 deg,
      approach rate: -0.630732 m/s,
      LOS rate: 0.033148 deg/s,
      cmd heading: 282.715709 deg,
      new cmd heading: 282.764864 deg.

2025-06-05T18:38:32.262Z,1749148712.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.935178 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:32.439Z,1749148712.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512081
2025-06-05T18:38:32.649Z,1749148712.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:32.651Z,1749148712.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:32.656Z,1749148712.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 313.629303 m,
      bearing: 290.760063 deg,
      approach rate: -0.649553 m/s,
      LOS rate: 0.034032 deg/s,
      cmd heading: 282.764859 deg,
      new cmd heading: 282.805881 deg.

2025-06-05T18:38:32.657Z,1749148712.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.935894 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:32.690Z,1749148712.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762999
2025-06-05T18:38:32.941Z,1749148712.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014426
2025-06-05T18:38:33.126Z,1749148713.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:33.133Z,1749148713.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 313.360840 m,
      bearing: 290.774055 deg,
      approach rate: -0.565801 m/s,
      LOS rate: 0.029515 deg/s,
      cmd heading: 282.805868 deg,
      new cmd heading: 282.847881 deg.

2025-06-05T18:38:33.134Z,1749148713.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.936627 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:33.194Z,1749148713.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267368
2025-06-05T18:38:33.445Z,1749148713.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518110
2025-06-05T18:38:33.473Z,1749148713.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:33.500Z,1749148713.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 313.108704 m,
      bearing: 290.787018 deg,
      approach rate: -0.726103 m/s,
      LOS rate: 0.037360 deg/s,
      cmd heading: 282.847887 deg,
      new cmd heading: 282.886807 deg.

2025-06-05T18:38:33.501Z,1749148713.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937306 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:33.697Z,1749148713.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770662
2025-06-05T18:38:33.891Z,1749148713.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:33.898Z,1749148713.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 312.864075 m,
      bearing: 290.799554 deg,
      approach rate: -0.585398 m/s,
      LOS rate: 0.030021 deg/s,
      cmd heading: 282.886819 deg,
      new cmd heading: 282.924456 deg.

2025-06-05T18:38:33.899Z,1749148713.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937963 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:33.949Z,1749148713.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022132
2025-06-05T18:38:34.201Z,1749148714.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274125
2025-06-05T18:38:34.395Z,1749148714.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:34.398Z,1749148714.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 312.523102 m,
      bearing: 290.815576 deg,
      approach rate: -0.676564 m/s,
      LOS rate: 0.031826 deg/s,
      cmd heading: 282.924467 deg,
      new cmd heading: 282.972585 deg.

2025-06-05T18:38:34.399Z,1749148714.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938803 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:34.453Z,1749148714.453 [DAT](INFO): DAT read: Rx Time:18:38:32.8269

2025-06-05T18:38:34.454Z,1749148714.454 [DAT](INFO): Rx dataTimestamp_ set to:1749148714.453523
2025-06-05T18:38:34.456Z,1749148714.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529083
2025-06-05T18:38:34.706Z,1749148714.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779319
2025-06-05T18:38:34.757Z,1749148714.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:34.784Z,1749148714.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.93 m.
2025-06-05T18:38:34.810Z,1749148714.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.927917 m,
      nav range: 312.271179 m,
      bearing: 290.827405 deg,
      approach rate: -0.658671 m/s,
      LOS rate: 0.030954 deg/s,
      cmd heading: 282.972579 deg,
      new cmd heading: 283.008096 deg.

2025-06-05T18:38:34.817Z,1749148714.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.939423 target range: 345.927917 and range: 345.00 m.
2025-06-05T18:38:34.962Z,1749148714.962 [DAT](INFO): DAT read: 18:38:32.8269 LVL= 32688, 27633, 32754, 32755, AGC= 68, IDX= 277, 0.21, 3.121, 1.715, 2.901, 2.366, PHS= 0.843,-0.604, 0.532, RAW= 138.2, -11.7, CAL= 144.4, -21.6, ROT=   5.6,  21.6

2025-06-05T18:38:34.963Z,1749148714.963 [DAT](INFO): got valid direction response:
 18:38:32.8269 LVL= 32688, 27633, 32754, 32755, AGC= 68, IDX= 277, 0.21, 3.121, 1.715, 2.901, 2.366, PHS= 0.843,-0.604, 0.532, RAW= 138.2, -11.7, CAL= 144.4, -21.6, ROT=   5.6,  21.6

2025-06-05T18:38:34.964Z,1749148714.964 [DAT](INFO): DAT read: Bearing   5.6,  21.6 (Local)

2025-06-05T18:38:34.965Z,1749148714.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.6,  21.6 (Local)

2025-06-05T18:38:34.966Z,1749148714.966 [DAT](INFO): DAT read: Range 10 to 50 : 335.9 m  (Round-trip  447.9 ms) speed  0.4 m/s

2025-06-05T18:38:34.967Z,1749148714.967 [DAT](INFO): DAT read: user:2719>

2025-06-05T18:38:34.968Z,1749148714.968 [DAT](INFO): DAT read: Tx time:18:38:33.9249

2025-06-05T18:38:34.968Z,1749148714.968 [DAT](INFO): Ping request sent.
2025-06-05T18:38:34.968Z,1749148714.968 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:34.968Z,1749148714.968 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:34.969Z,1749148714.969 [DAT](INFO): direction in FSK: [0.925339,0.090730,-0.368125]
2025-06-05T18:38:34.969Z,1749148714.969 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:34.970Z,1749148714.970 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:35.007Z,1749148715.007 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:35.007Z,1749148715.007 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:35.209Z,1749148715.209 [DAT](INFO): DAT read: TxSync time:18:38:33.9241

2025-06-05T18:38:35.327Z,1749148715.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 335.899994 m,
      deltaT: 14.870222 s,
      deltaX: -9.100006 m,
      approachRate: -0.611962 m/s,
      rangeRepo size: 4

2025-06-05T18:38:35.329Z,1749148715.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 333.326660 m,
      bearing: 290.231674 deg,
      lat: 36.906023 deg,
      lon: -122.116253 deg,
      deltaT: 22.933924 s,
      deltaX: -12.601257 m,
      approachRate: -0.549459 m/s,
      posRepo size: 4

2025-06-05T18:38:35.330Z,1749148715.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:35.339Z,1749148715.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 311.787537 m,
      bearing: 290.521396 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030954 deg/s,
      cmd heading: 283.008096 deg,
      new cmd heading: 283.059083 deg.

2025-06-05T18:38:35.344Z,1749148715.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.940313 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:35.664Z,1749148715.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:35.666Z,1749148715.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 311.569336 m,
      bearing: 290.531710 deg,
      approach rate: -0.679349 m/s,
      LOS rate: 0.032133 deg/s,
      cmd heading: 283.059076 deg,
      new cmd heading: 283.090039 deg.

2025-06-05T18:38:35.667Z,1749148715.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.940853 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:36.054Z,1749148716.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:36.058Z,1749148716.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 311.310852 m,
      bearing: 290.543936 deg,
      approach rate: -0.636887 m/s,
      LOS rate: 0.030150 deg/s,
      cmd heading: 283.090031 deg,
      new cmd heading: 283.126740 deg.

2025-06-05T18:38:36.059Z,1749148716.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941494 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:36.482Z,1749148716.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:36.485Z,1749148716.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 311.035065 m,
      bearing: 290.556275 deg,
      approach rate: -0.643898 m/s,
      LOS rate: 0.028834 deg/s,
      cmd heading: 283.126750 deg,
      new cmd heading: 283.163800 deg.

2025-06-05T18:38:36.486Z,1749148716.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942141 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:36.855Z,1749148716.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:36.861Z,1749148716.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:36.865Z,1749148716.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 310.795471 m,
      bearing: 290.566937 deg,
      approach rate: -0.633021 m/s,
      LOS rate: 0.028192 deg/s,
      cmd heading: 283.163797 deg,
      new cmd heading: 283.195808 deg.

2025-06-05T18:38:36.865Z,1749148716.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942699 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:36.973Z,1749148716.973 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:36.973Z,1749148716.973 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:36.973Z,1749148716.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:37.225Z,1749148717.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256699
2025-06-05T18:38:37.312Z,1749148717.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:37.315Z,1749148717.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 310.519836 m,
      bearing: 290.578883 deg,
      approach rate: -0.609589 m/s,
      LOS rate: 0.026442 deg/s,
      cmd heading: 283.195817 deg,
      new cmd heading: 283.231685 deg.

2025-06-05T18:38:37.321Z,1749148717.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.943326 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:37.477Z,1749148717.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508892
2025-06-05T18:38:37.729Z,1749148717.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760621
2025-06-05T18:38:37.769Z,1749148717.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:37.772Z,1749148717.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 310.221161 m,
      bearing: 290.591816 deg,
      approach rate: -0.653435 m/s,
      LOS rate: 0.028322 deg/s,
      cmd heading: 283.231689 deg,
      new cmd heading: 283.270526 deg.

2025-06-05T18:38:37.773Z,1749148717.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944004 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:37.982Z,1749148717.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013945
2025-06-05T18:38:38.094Z,1749148718.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:38.141Z,1749148718.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 310.015381 m,
      bearing: 290.600706 deg,
      approach rate: -0.634393 m/s,
      LOS rate: 0.027425 deg/s,
      cmd heading: 283.270539 deg,
      new cmd heading: 283.297227 deg.

2025-06-05T18:38:38.154Z,1749148718.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944469 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:38.234Z,1749148718.234 [DAT](INFO): DAT read: Rx Time:18:38:36.7743

2025-06-05T18:38:38.235Z,1749148718.235 [DAT](INFO): Rx dataTimestamp_ set to:1749148718.234104
2025-06-05T18:38:38.236Z,1749148718.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267297
2025-06-05T18:38:38.485Z,1749148718.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516594
2025-06-05T18:38:38.531Z,1749148718.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:38.535Z,1749148718.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 309.736084 m,
      bearing: 290.611995 deg,
      approach rate: -0.639360 m/s,
      LOS rate: 0.025867 deg/s,
      cmd heading: 283.297232 deg,
      new cmd heading: 283.331130 deg.

2025-06-05T18:38:38.556Z,1749148718.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.945061 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:38.740Z,1749148718.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771263
2025-06-05T18:38:38.909Z,1749148718.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:38.911Z,1749148718.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.33 m.
2025-06-05T18:38:38.915Z,1749148718.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.326660 m,
      nav range: 309.493683 m,
      bearing: 290.621729 deg,
      approach rate: -0.638049 m/s,
      LOS rate: 0.025641 deg/s,
      cmd heading: 283.331137 deg,
      new cmd heading: 283.360360 deg.

2025-06-05T18:38:38.919Z,1749148718.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.945571 target range: 333.326660 and range: 335.90 m.
2025-06-05T18:38:38.995Z,1749148718.995 [DAT](INFO): DAT read: 18:38:36.7743 LVL= 29376, 32753, 30658, 32755, AGC= 66, IDX= 410, 0.34,-0.926,-2.389,-1.066,-1.674, PHS= 0.836,-0.668, 0.605, RAW= 141.8, -11.0, CAL= 148.7, -20.5, ROT=   1.3,  20.5

2025-06-05T18:38:38.997Z,1749148718.997 [DAT](INFO): got valid direction response:
 18:38:36.7743 LVL= 29376, 32753, 30658, 32755, AGC= 66, IDX= 410, 0.34,-0.926,-2.389,-1.066,-1.674, PHS= 0.836,-0.668, 0.605, RAW= 141.8, -11.0, CAL= 148.7, -20.5, ROT=   1.3,  20.5

2025-06-05T18:38:38.998Z,1749148718.998 [DAT](INFO): DAT read: Bearing   1.3,  20.5 (Local)

2025-06-05T18:38:38.999Z,1749148718.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  20.5 (Local)

2025-06-05T18:38:39.002Z,1749148719.002 [DAT](INFO): DAT read: Range 10 to 50 : 333.9 m  (Round-trip  445.2 ms) speed  0.4 m/s

2025-06-05T18:38:39.003Z,1749148719.003 [DAT](INFO): DAT read: user:2720>

2025-06-05T18:38:39.007Z,1749148719.007 [DAT](INFO): DAT read: Tx time:18:38:37.8750

2025-06-05T18:38:39.007Z,1749148719.007 [DAT](INFO): Ping request sent.
2025-06-05T18:38:39.008Z,1749148719.008 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:39.009Z,1749148719.009 [DAT](INFO): DAT read: TxSync time:18:38:37.8742

2025-06-05T18:38:39.010Z,1749148719.010 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:39.011Z,1749148719.011 [DAT](INFO): direction in FSK: [0.936431,0.021251,-0.350207]
2025-06-05T18:38:39.019Z,1749148719.019 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:39.025Z,1749148719.025 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:39.033Z,1749148719.033 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:39.033Z,1749148719.033 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:39.374Z,1749148719.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 333.899994 m,
      deltaT: 4.032495 s,
      deltaX: -2.000000 m,
      approachRate: -0.495971 m/s,
      rangeRepo size: 4

2025-06-05T18:38:39.379Z,1749148719.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 331.340027 m,
      bearing: 286.178160 deg,
      lat: 36.906017 deg,
      lon: -122.116270 deg,
      deltaT: 4.032495 s,
      deltaX: -1.986633 m,
      approachRate: -0.492656 m/s,
      posRepo size: 4

2025-06-05T18:38:39.389Z,1749148719.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:39.396Z,1749148719.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 310.435608 m,
      bearing: 290.419786 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025641 deg/s,
      cmd heading: 283.360370 deg,
      new cmd heading: 283.395931 deg.

2025-06-05T18:38:39.397Z,1749148719.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.946192 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:39.844Z,1749148719.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:39.847Z,1749148719.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 310.121857 m,
      bearing: 290.431913 deg,
      approach rate: -0.666409 m/s,
      LOS rate: 0.025784 deg/s,
      cmd heading: 283.395941 deg,
      new cmd heading: 283.432359 deg.

2025-06-05T18:38:39.848Z,1749148719.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.946828 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:40.295Z,1749148720.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:40.298Z,1749148720.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 309.839020 m,
      bearing: 290.442651 deg,
      approach rate: -0.626815 m/s,
      LOS rate: 0.023819 deg/s,
      cmd heading: 283.432360 deg,
      new cmd heading: 283.464603 deg.

2025-06-05T18:38:40.299Z,1749148720.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.947391 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:40.728Z,1749148720.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:40.731Z,1749148720.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 309.564758 m,
      bearing: 290.452992 deg,
      approach rate: -0.633511 m/s,
      LOS rate: 0.023908 deg/s,
      cmd heading: 283.464598 deg,
      new cmd heading: 283.495650 deg.

2025-06-05T18:38:40.752Z,1749148720.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.947933 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:41.109Z,1749148721.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:41.111Z,1749148721.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:41.142Z,1749148721.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 309.322266 m,
      bearing: 290.462101 deg,
      approach rate: -0.633129 m/s,
      LOS rate: 0.023801 deg/s,
      cmd heading: 283.495662 deg,
      new cmd heading: 283.523010 deg.

2025-06-05T18:38:41.152Z,1749148721.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.948410 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:41.264Z,1749148721.264 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:41.265Z,1749148721.265 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:41.265Z,1749148721.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:41.517Z,1749148721.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509554
2025-06-05T18:38:41.577Z,1749148721.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:41.579Z,1749148721.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 309.034027 m,
      bearing: 290.473667 deg,
      approach rate: -0.619017 m/s,
      LOS rate: 0.024863 deg/s,
      cmd heading: 283.523010 deg,
      new cmd heading: 283.557742 deg.

2025-06-05T18:38:41.580Z,1749148721.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.949016 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:41.769Z,1749148721.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761665
2025-06-05T18:38:41.939Z,1749148721.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:41.946Z,1749148721.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 308.808197 m,
      bearing: 290.482739 deg,
      approach rate: -0.623573 m/s,
      LOS rate: 0.025068 deg/s,
      cmd heading: 283.557735 deg,
      new cmd heading: 283.584971 deg.

2025-06-05T18:38:41.947Z,1749148721.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.949492 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:42.022Z,1749148722.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014867
2025-06-05T18:38:42.273Z,1749148722.273 [DAT](INFO): DAT read: Rx Time:18:38:40.6901

2025-06-05T18:38:42.274Z,1749148722.274 [DAT](INFO): Rx dataTimestamp_ set to:1749148722.273310
2025-06-05T18:38:42.274Z,1749148722.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267038
2025-06-05T18:38:42.399Z,1749148722.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:42.401Z,1749148722.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 308.528687 m,
      bearing: 290.494135 deg,
      approach rate: -0.607854 m/s,
      LOS rate: 0.024806 deg/s,
      cmd heading: 283.584974 deg,
      new cmd heading: 283.619193 deg.

2025-06-05T18:38:42.402Z,1749148722.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.950089 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:42.525Z,1749148722.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517666
2025-06-05T18:38:42.782Z,1749148722.782 [DAT](INFO): DAT read: 18:38:40.6901 LVL= 18240, 24561, 19266, 26355, AGC= 72, IDX= 245,-0.17, 1.122,-0.247, 1.027, 0.252, PHS= 0.958,-0.452, 0.772, RAW= 143.0, -18.8, CAL= 148.7, -26.5, ROT=   1.3,  26.5

2025-06-05T18:38:42.784Z,1749148722.784 [DAT](INFO): got valid direction response:
 18:38:40.6901 LVL= 18240, 24561, 19266, 26355, AGC= 72, IDX= 245,-0.17, 1.122,-0.247, 1.027, 0.252, PHS= 0.958,-0.452, 0.772, RAW= 143.0, -18.8, CAL= 148.7, -26.5, ROT=   1.3,  26.5

2025-06-05T18:38:42.785Z,1749148722.785 [DAT](INFO): DAT read: Bearing   1.3,  26.5 (Local)

2025-06-05T18:38:42.785Z,1749148722.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  26.5 (Local)

2025-06-05T18:38:42.786Z,1749148722.786 [DAT](INFO): DAT read: Range 10 to 50 : 308.2 m  (Round-trip  411.0 ms) speed  0.4 m/s

2025-06-05T18:38:42.789Z,1749148722.789 [DAT](INFO): DAT read: user:2721>

2025-06-05T18:38:42.790Z,1749148722.790 [DAT](INFO): DAT read: Tx time:18:38:41.7750

2025-06-05T18:38:42.790Z,1749148722.790 [DAT](INFO): Ping request sent.
2025-06-05T18:38:42.791Z,1749148722.791 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:42.791Z,1749148722.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:42.792Z,1749148722.792 [DAT](INFO): direction in FSK: [0.894704,0.020304,-0.446198]
2025-06-05T18:38:42.792Z,1749148722.792 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:42.792Z,1749148722.792 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:42.800Z,1749148722.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:42.802Z,1749148722.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 308.312103 m,
      bearing: 290.502953 deg,
      approach rate: -0.600136 m/s,
      LOS rate: 0.024450 deg/s,
      cmd heading: 283.619179 deg,
      new cmd heading: 283.645650 deg.

2025-06-05T18:38:42.795Z,1749148722.795 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:42.808Z,1749148722.808 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:42.811Z,1749148722.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.950551 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:43.031Z,1749148723.031 [DAT](INFO): DAT read: TxSync time:18:38:41.7742

2025-06-05T18:38:43.184Z,1749148723.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 308.200012 m,
 deltaT: 3.787794 s,
 deltaX: -25.699982 m,
 approachRate: -6.784947 m/s,
 rangeRepo size: 4
2025-06-05T18:38:43.184Z,1749148723.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:43.194Z,1749148723.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 308.069336 m,
      bearing: 290.512829 deg,
      approach rate: -0.578920 m/s,
      LOS rate: 0.023570 deg/s,
      cmd heading: 283.645653 deg,
      new cmd heading: 283.675305 deg.

2025-06-05T18:38:43.202Z,1749148723.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.951068 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:43.575Z,1749148723.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:43.578Z,1749148723.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:43.600Z,1749148723.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 307.810669 m,
      bearing: 290.523141 deg,
      approach rate: -0.648599 m/s,
      LOS rate: 0.025880 deg/s,
      cmd heading: 283.675296 deg,
      new cmd heading: 283.706260 deg.

2025-06-05T18:38:43.601Z,1749148723.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.951608 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:43.785Z,1749148723.785 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:43.785Z,1749148723.785 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:43.785Z,1749148723.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:43.982Z,1749148723.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:43.984Z,1749148723.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 307.564697 m,
      bearing: 290.532968 deg,
      approach rate: -0.608833 m/s,
      LOS rate: 0.024342 deg/s,
      cmd heading: 283.706251 deg,
      new cmd heading: 283.735754 deg.

2025-06-05T18:38:43.985Z,1749148723.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.952123 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:44.040Z,1749148724.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248458
2025-06-05T18:38:44.289Z,1749148724.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498617
2025-06-05T18:38:44.396Z,1749148724.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:44.398Z,1749148724.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 307.320923 m,
      bearing: 290.543982 deg,
      approach rate: -0.612408 m/s,
      LOS rate: 0.027693 deg/s,
      cmd heading: 283.735757 deg,
      new cmd heading: 283.768827 deg.

2025-06-05T18:38:44.400Z,1749148724.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.952700 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:44.541Z,1749148724.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750098
2025-06-05T18:38:44.793Z,1749148724.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002726
2025-06-05T18:38:44.843Z,1749148724.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:44.856Z,1749148724.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 307.041901 m,
      bearing: 290.556509 deg,
      approach rate: -0.601943 m/s,
      LOS rate: 0.027049 deg/s,
      cmd heading: 283.768815 deg,
      new cmd heading: 283.806430 deg.

2025-06-05T18:38:44.857Z,1749148724.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953357 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:45.045Z,1749148725.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254001
2025-06-05T18:38:45.297Z,1749148725.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506100
2025-06-05T18:38:45.319Z,1749148725.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:45.323Z,1749148725.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 306.775574 m,
      bearing: 290.568488 deg,
      approach rate: -0.559935 m/s,
      LOS rate: 0.025206 deg/s,
      cmd heading: 283.806436 deg,
      new cmd heading: 283.842403 deg.

2025-06-05T18:38:45.324Z,1749148725.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953984 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:45.549Z,1749148725.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758108
2025-06-05T18:38:45.783Z,1749148725.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:45.790Z,1749148725.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:45.797Z,1749148725.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 306.472351 m,
      bearing: 290.582766 deg,
      approach rate: -0.643490 m/s,
      LOS rate: 0.030331 deg/s,
      cmd heading: 283.842390 deg,
      new cmd heading: 283.885267 deg.

2025-06-05T18:38:45.798Z,1749148725.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.954732 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:45.801Z,1749148725.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010128
2025-06-05T18:38:46.053Z,1749148726.053 [DAT](INFO): DAT read: Rx Time:18:38:44.6183

2025-06-05T18:38:46.054Z,1749148726.054 [DAT](INFO): Rx dataTimestamp_ set to:1749148726.053500
2025-06-05T18:38:46.055Z,1749148726.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264537
2025-06-05T18:38:46.159Z,1749148726.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:46.166Z,1749148726.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 306.237793 m,
      bearing: 290.593825 deg,
      approach rate: -0.635611 m/s,
      LOS rate: 0.029990 deg/s,
      cmd heading: 283.885256 deg,
      new cmd heading: 283.918458 deg.

2025-06-05T18:38:46.167Z,1749148726.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955312 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:46.306Z,1749148726.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515629
2025-06-05T18:38:46.558Z,1749148726.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767526
2025-06-05T18:38:46.624Z,1749148726.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m.
2025-06-05T18:38:46.627Z,1749148726.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 331.340027 m,
      nav range: 305.941559 m,
      bearing: 290.607717 deg,
      approach rate: -0.636567 m/s,
      LOS rate: 0.029882 deg/s,
      cmd heading: 283.918451 deg,
      new cmd heading: 283.960168 deg.

2025-06-05T18:38:46.637Z,1749148726.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.956040 target range: 331.340027 and range: 333.90 m.
2025-06-05T18:38:46.833Z,1749148726.833 [DAT](INFO): DAT read: 18:38:44.6183 LVL= 27472, 32753, 24642, 32755, AGC= 65, IDX= 221, 0.26,-2.353, 2.626,-2.472, 3.126, PHS= 0.892,-0.453, 0.682, RAW= 141.7, -17.6, CAL= 147.5, -25.6, ROT=   2.5,  25.6

2025-06-05T18:38:46.836Z,1749148726.836 [DAT](INFO): got valid direction response:
 18:38:44.6183 LVL= 27472, 32753, 24642, 32755, AGC= 65, IDX= 221, 0.26,-2.353, 2.626,-2.472, 3.126, PHS= 0.892,-0.453, 0.682, RAW= 141.7, -17.6, CAL= 147.5, -25.6, ROT=   2.5,  25.6

2025-06-05T18:38:46.839Z,1749148726.839 [DAT](INFO): DAT read: Bearing   2.5,  25.6 (Local)

2025-06-05T18:38:46.839Z,1749148726.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  25.6 (Local)

2025-06-05T18:38:46.842Z,1749148726.842 [DAT](INFO): DAT read: Range 10 to 50 : 329.4 m  (Round-trip  439.2 ms) speed  0.4 m/s

2025-06-05T18:38:46.843Z,1749148726.843 [DAT](INFO): DAT read: user:2722>

2025-06-05T18:38:46.844Z,1749148726.844 [DAT](INFO): DAT read: Tx time:18:38:45.7250

2025-06-05T18:38:46.845Z,1749148726.845 [DAT](INFO): Ping request sent.
2025-06-05T18:38:46.845Z,1749148726.845 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:46.845Z,1749148726.845 [DAT](INFO): DAT read: TxSync time:18:38:45.7242

2025-06-05T18:38:46.846Z,1749148726.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:46.847Z,1749148726.847 [DAT](INFO): direction in FSK: [0.900974,0.039337,-0.432086]
2025-06-05T18:38:46.847Z,1749148726.847 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:46.847Z,1749148726.847 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:46.857Z,1749148726.857 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:46.857Z,1749148726.857 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:47.020Z,1749148727.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 329.399994 m,
      deltaT: 7.820354 s,
      deltaX: -4.500000 m,
      approachRate: -0.575422 m/s,
      rangeRepo size: 4

2025-06-05T18:38:47.022Z,1749148727.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 326.874115 m,
      bearing: 288.233928 deg,
      lat: 36.905895 deg,
      lon: -122.116262 deg,
      deltaT: 7.820354 s,
      deltaX: -4.465912 m,
      approachRate: -0.571063 m/s,
      posRepo size: 4

2025-06-05T18:38:47.023Z,1749148727.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:47.030Z,1749148727.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 300.498230 m,
      bearing: 288.234987 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029882 deg/s,
      cmd heading: 283.960170 deg,
      new cmd heading: 283.995219 deg.

2025-06-05T18:38:47.031Z,1749148727.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.956652 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:47.452Z,1749148727.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:47.460Z,1749148727.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 300.206970 m,
      bearing: 288.246475 deg,
      approach rate: -0.674284 m/s,
      LOS rate: 0.026623 deg/s,
      cmd heading: 283.995222 deg,
      new cmd heading: 284.029722 deg.

2025-06-05T18:38:47.461Z,1749148727.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.957254 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:47.761Z,1749148727.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:47.764Z,1749148727.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 299.998718 m,
      bearing: 288.254715 deg,
      approach rate: -0.663514 m/s,
      LOS rate: 0.026271 deg/s,
      cmd heading: 284.029728 deg,
      new cmd heading: 284.054465 deg.

2025-06-05T18:38:47.765Z,1749148727.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.957685 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:48.188Z,1749148728.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:48.191Z,1749148728.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:48.194Z,1749148728.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 299.719452 m,
      bearing: 288.265782 deg,
      approach rate: -0.650313 m/s,
      LOS rate: 0.025796 deg/s,
      cmd heading: 284.054454 deg,
      new cmd heading: 284.087686 deg.

2025-06-05T18:38:48.194Z,1749148728.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958265 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:48.321Z,1749148728.321 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:48.322Z,1749148728.322 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:48.322Z,1749148728.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:48.573Z,1749148728.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728256
2025-06-05T18:38:48.600Z,1749148728.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:48.602Z,1749148728.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 299.446991 m,
      bearing: 288.275593 deg,
      approach rate: -0.666408 m/s,
      LOS rate: 0.024018 deg/s,
      cmd heading: 284.087676 deg,
      new cmd heading: 284.117135 deg.

2025-06-05T18:38:48.604Z,1749148728.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958779 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:48.825Z,1749148728.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979861
2025-06-05T18:38:48.988Z,1749148728.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:48.991Z,1749148728.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 299.188965 m,
      bearing: 288.284902 deg,
      approach rate: -0.664440 m/s,
      LOS rate: 0.023992 deg/s,
      cmd heading: 284.117127 deg,
      new cmd heading: 284.145079 deg.

2025-06-05T18:38:48.992Z,1749148728.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.959267 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:49.080Z,1749148729.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235661
2025-06-05T18:38:49.336Z,1749148729.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490476
2025-06-05T18:38:49.466Z,1749148729.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:49.474Z,1749148729.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 298.875214 m,
      bearing: 288.295425 deg,
      approach rate: -0.655549 m/s,
      LOS rate: 0.022008 deg/s,
      cmd heading: 284.145077 deg,
      new cmd heading: 284.176677 deg.

2025-06-05T18:38:49.480Z,1749148729.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.959819 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:49.585Z,1749148729.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739973
2025-06-05T18:38:49.838Z,1749148729.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993102
2025-06-05T18:38:49.854Z,1749148729.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:49.866Z,1749148729.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 298.609406 m,
      bearing: 288.304369 deg,
      approach rate: -0.686756 m/s,
      LOS rate: 0.023129 deg/s,
      cmd heading: 284.176687 deg,
      new cmd heading: 284.203543 deg.

2025-06-05T18:38:49.867Z,1749148729.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.960288 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:50.091Z,1749148730.091 [DAT](INFO): DAT read: Rx Time:18:38:48.5647

2025-06-05T18:38:50.093Z,1749148730.093 [DAT](INFO): Rx dataTimestamp_ set to:1749148730.091740
2025-06-05T18:38:50.095Z,1749148730.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249568
2025-06-05T18:38:50.343Z,1749148730.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497695
2025-06-05T18:38:50.429Z,1749148730.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:50.432Z,1749148730.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:50.435Z,1749148730.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 298.215698 m,
      bearing: 288.316417 deg,
      approach rate: -0.681127 m/s,
      LOS rate: 0.020872 deg/s,
      cmd heading: 284.203543 deg,
      new cmd heading: 284.239736 deg.

2025-06-05T18:38:50.436Z,1749148730.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.960919 target range: 326.874115 and range: 329.40 m.
2025-06-05T18:38:50.595Z,1749148730.595 [DAT](INFO): DAT read: Range 10 to 50 : 326.6 m  (Round-trip  435.5 ms) speed  0.4 m/s

2025-06-05T18:38:50.596Z,1749148730.596 [DAT](INFO): DAT read: user:2723>

2025-06-05T18:38:50.597Z,1749148730.597 [DAT](INFO): DAT read: Tx time:18:38:49.6750

2025-06-05T18:38:50.598Z,1749148730.598 [DAT](INFO): Ping request sent.
2025-06-05T18:38:50.598Z,1749148730.598 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:50.598Z,1749148730.598 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:38:50.598Z,1749148730.598 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:50.600Z,1749148730.600 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:50.845Z,1749148730.845 [DAT](INFO): DAT read: TxSync time:18:38:49.6743

2025-06-05T18:38:50.856Z,1749148730.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 326.600006 m,
      deltaT: 3.783457 s,
      deltaX: -2.799988 m,
      approachRate: -0.740061 m/s,
      rangeRepo size: 4

2025-06-05T18:38:50.857Z,1749148730.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:50.864Z,1749148730.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 297.945892 m,
      bearing: 288.324759 deg,
      approach rate: -0.667759 m/s,
      LOS rate: 0.020664 deg/s,
      cmd heading: 284.239743 deg,
      new cmd heading: 284.264791 deg.

2025-06-05T18:38:50.865Z,1749148730.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.961357 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:51.365Z,1749148731.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:51.378Z,1749148731.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 297.629608 m,
      bearing: 288.334602 deg,
      approach rate: -0.613101 m/s,
      LOS rate: 0.019101 deg/s,
      cmd heading: 284.264796 deg,
      new cmd heading: 284.294357 deg.

2025-06-05T18:38:51.379Z,1749148731.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.961873 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:51.762Z,1749148731.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:51.765Z,1749148731.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 297.333954 m,
      bearing: 288.342896 deg,
      approach rate: -0.719353 m/s,
      LOS rate: 0.020199 deg/s,
      cmd heading: 284.294357 deg,
      new cmd heading: 284.319262 deg.

2025-06-05T18:38:51.766Z,1749148731.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.962307 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:52.103Z,1749148732.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:52.107Z,1749148732.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 297.108521 m,
      bearing: 288.349247 deg,
      approach rate: -0.661617 m/s,
      LOS rate: 0.018656 deg/s,
      cmd heading: 284.319274 deg,
      new cmd heading: 284.338344 deg.

2025-06-05T18:38:52.133Z,1749148732.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.962640 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:52.551Z,1749148732.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:52.554Z,1749148732.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:52.558Z,1749148732.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 296.825775 m,
      bearing: 288.356941 deg,
      approach rate: -0.627878 m/s,
      LOS rate: 0.017100 deg/s,
      cmd heading: 284.338344 deg,
      new cmd heading: 284.361445 deg.

2025-06-05T18:38:52.559Z,1749148732.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963044 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:52.609Z,1749148732.609 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:52.609Z,1749148732.609 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:52.609Z,1749148732.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:52.861Z,1749148732.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262926
2025-06-05T18:38:52.909Z,1749148732.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:52.911Z,1749148732.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 296.602936 m,
      bearing: 288.362917 deg,
      approach rate: -0.627225 m/s,
      LOS rate: 0.016834 deg/s,
      cmd heading: 284.361457 deg,
      new cmd heading: 284.379399 deg.

2025-06-05T18:38:52.913Z,1749148732.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963357 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:53.113Z,1749148733.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515045
2025-06-05T18:38:53.296Z,1749148733.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:53.299Z,1749148733.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 296.359802 m,
      bearing: 288.369402 deg,
      approach rate: -0.628098 m/s,
      LOS rate: 0.016767 deg/s,
      cmd heading: 284.379407 deg,
      new cmd heading: 284.398878 deg.

2025-06-05T18:38:53.300Z,1749148733.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963697 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:53.368Z,1749148733.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769164
2025-06-05T18:38:53.617Z,1749148733.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018818
2025-06-05T18:38:53.766Z,1749148733.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:53.769Z,1749148733.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 296.071777 m,
      bearing: 288.377435 deg,
      approach rate: -0.612252 m/s,
      LOS rate: 0.017093 deg/s,
      cmd heading: 284.398886 deg,
      new cmd heading: 284.423010 deg.

2025-06-05T18:38:53.771Z,1749148733.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.964118 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:53.869Z,1749148733.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271061
2025-06-05T18:38:54.105Z,1749148734.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:54.112Z,1749148734.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 295.865326 m,
      bearing: 288.383112 deg,
      approach rate: -0.610160 m/s,
      LOS rate: 0.016788 deg/s,
      cmd heading: 284.423011 deg,
      new cmd heading: 284.440051 deg.

2025-06-05T18:38:54.115Z,1749148734.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.964416 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:54.121Z,1749148734.121 [DAT](INFO): DAT read: Rx Time:18:38:52.5119

2025-06-05T18:38:54.122Z,1749148734.122 [DAT](INFO): Rx dataTimestamp_ set to:1749148734.121282
2025-06-05T18:38:54.124Z,1749148734.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525523
2025-06-05T18:38:54.375Z,1749148734.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776909
2025-06-05T18:38:54.559Z,1749148734.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:54.561Z,1749148734.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.87 m.
2025-06-05T18:38:54.565Z,1749148734.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.874115 m,
      nav range: 295.596069 m,
      bearing: 288.391361 deg,
      approach rate: -0.589831 m/s,
      LOS rate: 0.018087 deg/s,
      cmd heading: 284.440059 deg,
      new cmd heading: 284.464829 deg.

2025-06-05T18:38:54.565Z,1749148734.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.964848 target range: 326.874115 and range: 326.60 m.
2025-06-05T18:38:54.637Z,1749148734.637 [DAT](INFO): DAT read: 18:38:52.5119 LVL= 22960, 32753, 23954, 30707, AGC= 68, IDX= 248, 0.38,-1.546, 2.883,-2.012,-2.427, PHS= 0.969,-0.926, 0.412, RAW= 133.4,  -5.5, CAL= 138.9, -16.2, ROT=  11.1,  16.2

2025-06-05T18:38:54.639Z,1749148734.639 [DAT](INFO): got valid direction response:
 18:38:52.5119 LVL= 22960, 32753, 23954, 30707, AGC= 68, IDX= 248, 0.38,-1.546, 2.883,-2.012,-2.427, PHS= 0.969,-0.926, 0.412, RAW= 133.4,  -5.5, CAL= 138.9, -16.2, ROT=  11.1,  16.2

2025-06-05T18:38:54.641Z,1749148734.641 [DAT](INFO): DAT read: Bearing  11.1,  16.2 (Local)

2025-06-05T18:38:54.642Z,1749148734.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.1,  16.2 (Local)

2025-06-05T18:38:54.652Z,1749148734.652 [DAT](INFO): DAT read: Range 10 to 50 : 324.5 m  (Round-trip  432.7 ms) speed  0.4 m/s

2025-06-05T18:38:54.653Z,1749148734.653 [DAT](INFO): DAT read: user:2724>

2025-06-05T18:38:54.654Z,1749148734.654 [DAT](INFO): DAT read: Tx time:18:38:53.6250

2025-06-05T18:38:54.654Z,1749148734.654 [DAT](INFO): Ping request sent.
2025-06-05T18:38:54.654Z,1749148734.654 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:54.655Z,1749148734.655 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:54.682Z,1749148734.682 [DAT](INFO): direction in FSK: [0.942329,0.184878,-0.278991]
2025-06-05T18:38:54.682Z,1749148734.682 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:54.683Z,1749148734.683 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:54.710Z,1749148734.710 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:54.710Z,1749148734.710 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:54.877Z,1749148734.877 [DAT](INFO): DAT read: TxSync time:18:38:53.6243

2025-06-05T18:38:54.963Z,1749148734.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 324.500000 m,
      deltaT: 4.032456 s,
      deltaX: -2.100006 m,
      approachRate: -0.520776 m/s,
      rangeRepo size: 4

2025-06-05T18:38:54.970Z,1749148734.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 321.998932 m,
      bearing: 296.090416 deg,
      lat: 36.905895 deg,
      lon: -122.116270 deg,
      deltaT: 7.815913 s,
      deltaX: -4.875183 m,
      approachRate: -0.623751 m/s,
      posRepo size: 4

2025-06-05T18:38:54.972Z,1749148734.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:54.975Z,1749148734.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 296.050323 m,
      bearing: 288.354454 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018087 deg/s,
      cmd heading: 284.464839 deg,
      new cmd heading: 284.486621 deg.

2025-06-05T18:38:54.980Z,1749148734.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.965228 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:55.321Z,1749148735.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:55.325Z,1749148735.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 295.825195 m,
      bearing: 288.361253 deg,
      approach rate: -0.629240 m/s,
      LOS rate: 0.019019 deg/s,
      cmd heading: 284.486613 deg,
      new cmd heading: 284.507027 deg.

2025-06-05T18:38:55.326Z,1749148735.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.965584 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:55.760Z,1749148735.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:55.763Z,1749148735.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 295.565460 m,
      bearing: 288.370071 deg,
      approach rate: -0.591322 m/s,
      LOS rate: 0.020091 deg/s,
      cmd heading: 284.507022 deg,
      new cmd heading: 284.533497 deg.

2025-06-05T18:38:55.764Z,1749148735.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.966046 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:56.125Z,1749148736.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:56.128Z,1749148736.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 295.348389 m,
      bearing: 288.377358 deg,
      approach rate: -0.594059 m/s,
      LOS rate: 0.019956 deg/s,
      cmd heading: 284.533496 deg,
      new cmd heading: 284.555372 deg.

2025-06-05T18:38:56.129Z,1749148736.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.966428 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:56.551Z,1749148736.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:56.576Z,1749148736.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 295.096924 m,
      bearing: 288.387054 deg,
      approach rate: -0.590294 m/s,
      LOS rate: 0.022780 deg/s,
      cmd heading: 284.555380 deg,
      new cmd heading: 284.584493 deg.

2025-06-05T18:38:56.577Z,1749148736.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.966937 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:56.942Z,1749148736.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:56.944Z,1749148736.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:56.946Z,1749148736.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 294.866241 m,
      bearing: 288.395864 deg,
      approach rate: -0.587609 m/s,
      LOS rate: 0.022459 deg/s,
      cmd heading: 284.584504 deg,
      new cmd heading: 284.610954 deg.

2025-06-05T18:38:56.948Z,1749148736.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967398 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:57.146Z,1749148737.146 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:57.146Z,1749148737.146 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:57.146Z,1749148737.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:57.341Z,1749148737.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:57.344Z,1749148737.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 294.631470 m,
      bearing: 288.404775 deg,
      approach rate: -0.590769 m/s,
      LOS rate: 0.022443 deg/s,
      cmd heading: 284.610950 deg,
      new cmd heading: 284.637706 deg.

2025-06-05T18:38:57.345Z,1749148737.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967865 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:57.400Z,1749148737.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745439
2025-06-05T18:38:57.649Z,1749148737.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994669
2025-06-05T18:38:57.781Z,1749148737.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:57.784Z,1749148737.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 294.358521 m,
      bearing: 288.416603 deg,
      approach rate: -0.620324 m/s,
      LOS rate: 0.026905 deg/s,
      cmd heading: 284.637697 deg,
      new cmd heading: 284.673212 deg.

2025-06-05T18:38:57.785Z,1749148737.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.968485 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:57.901Z,1749148737.901 [DAT](INFO): DAT read: Rx Time:18:38:56.4594

2025-06-05T18:38:57.901Z,1749148737.901 [DAT](INFO): Rx dataTimestamp_ set to:1749148737.900928
2025-06-05T18:38:57.902Z,1749148737.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247794
2025-06-05T18:38:58.146Z,1749148738.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:58.148Z,1749148738.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 294.133240 m,
      bearing: 288.426365 deg,
      approach rate: -0.617851 m/s,
      LOS rate: 0.026794 deg/s,
      cmd heading: 284.673214 deg,
      new cmd heading: 284.702523 deg.

2025-06-05T18:38:58.149Z,1749148738.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.968997 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:58.161Z,1749148738.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506945
2025-06-05T18:38:58.428Z,1749148738.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761479
2025-06-05T18:38:58.598Z,1749148738.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.00 m.
2025-06-05T18:38:58.606Z,1749148738.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.998932 m,
      nav range: 293.844238 m,
      bearing: 288.438721 deg,
      approach rate: -0.638645 m/s,
      LOS rate: 0.027331 deg/s,
      cmd heading: 284.702529 deg,
      new cmd heading: 284.739633 deg.

2025-06-05T18:38:58.607Z,1749148738.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.969644 target range: 321.998932 and range: 324.50 m.
2025-06-05T18:38:58.676Z,1749148738.676 [DAT](INFO): DAT read: 18:38:56.4594 LVL= 32752, 32753, 29170, 32755, AGC= 62, IDX= 416, 0.36, 1.533, 0.353, 1.365, 0.606, PHS= 1.015,-0.206, 0.756, RAW= 138.4, -26.4, CAL= 143.2, -32.3, ROT=   6.8,  32.3

2025-06-05T18:38:58.677Z,1749148738.677 [DAT](INFO): got valid direction response:
 18:38:56.4594 LVL= 32752, 32753, 29170, 32755, AGC= 62, IDX= 416, 0.36, 1.533, 0.353, 1.365, 0.606, PHS= 1.015,-0.206, 0.756, RAW= 138.4, -26.4, CAL= 143.2, -32.3, ROT=   6.8,  32.3

2025-06-05T18:38:58.678Z,1749148738.678 [DAT](INFO): DAT read: Bearing   6.8,  32.3 (Local)

2025-06-05T18:38:58.678Z,1749148738.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,  32.3 (Local)

2025-06-05T18:38:58.680Z,1749148738.680 [DAT](INFO): DAT read: Range 10 to 50 : 322.6 m  (Round-trip  430.2 ms) speed  0.8 m/s

2025-06-05T18:38:58.681Z,1749148738.681 [DAT](INFO): DAT read: user:2725>

2025-06-05T18:38:58.682Z,1749148738.682 [DAT](INFO): DAT read: Tx time:18:38:57.5750

2025-06-05T18:38:58.682Z,1749148738.682 [DAT](INFO): Ping request sent.
2025-06-05T18:38:58.682Z,1749148738.682 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:38:58.683Z,1749148738.683 [DAT](INFO): DAT read: TxSync time:18:38:57.5744

2025-06-05T18:38:58.684Z,1749148738.684 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:38:58.686Z,1749148738.686 [DAT](INFO): direction in FSK: [0.839316,0.100082,-0.534352]
2025-06-05T18:38:58.686Z,1749148738.686 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:58.687Z,1749148738.687 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:58.692Z,1749148738.692 [DAT](INFO): publishing transmit ping time
2025-06-05T18:38:58.693Z,1749148738.693 [DAT](INFO): publishing direction and range info
2025-06-05T18:38:59.031Z,1749148739.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 322.600006 m,
      deltaT: 4.039802 s,
      deltaX: -1.899994 m,
      approachRate: -0.470319 m/s,
      rangeRepo size: 4

2025-06-05T18:38:59.038Z,1749148739.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 320.105835 m,
      bearing: 293.471138 deg,
      lat: 36.905895 deg,
      lon: -122.116262 deg,
      deltaT: 4.039802 s,
      deltaX: -1.893097 m,
      approachRate: -0.468611 m/s,
      posRepo size: 4

2025-06-05T18:38:59.039Z,1749148739.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:38:59.046Z,1749148739.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 292.896973 m,
      bearing: 288.494542 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027331 deg/s,
      cmd heading: 284.739631 deg,
      new cmd heading: 284.775046 deg.

2025-06-05T18:38:59.047Z,1749148739.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970262 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:38:59.393Z,1749148739.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:38:59.421Z,1749148739.421 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:38:59.421Z,1749148739.421 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:38:59.422Z,1749148739.422 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:38:59.416Z,1749148739.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:38:59.435Z,1749148739.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 292.646667 m,
      bearing: 288.505378 deg,
      approach rate: -0.685069 m/s,
      LOS rate: 0.029682 deg/s,
      cmd heading: 284.775039 deg,
      new cmd heading: 284.807574 deg.

2025-06-05T18:38:59.443Z,1749148739.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970830 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:38:59.674Z,1749148739.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991715
2025-06-05T18:38:59.838Z,1749148739.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:38:59.842Z,1749148739.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 292.352234 m,
      bearing: 288.518598 deg,
      approach rate: -0.666596 m/s,
      LOS rate: 0.029961 deg/s,
      cmd heading: 284.807578 deg,
      new cmd heading: 284.847278 deg.

2025-06-05T18:38:59.843Z,1749148739.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.971523 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:38:59.926Z,1749148739.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243596
2025-06-05T18:39:00.176Z,1749148740.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494547
2025-06-05T18:39:00.251Z,1749148740.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:39:00.255Z,1749148740.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 292.080200 m,
      bearing: 288.530837 deg,
      approach rate: -0.658172 m/s,
      LOS rate: 0.029640 deg/s,
      cmd heading: 284.847275 deg,
      new cmd heading: 284.884027 deg.

2025-06-05T18:39:00.256Z,1749148740.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972164 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:39:00.432Z,1749148740.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749195
2025-06-05T18:39:00.655Z,1749148740.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:39:00.662Z,1749148740.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 291.822296 m,
      bearing: 288.541616 deg,
      approach rate: -0.639538 m/s,
      LOS rate: 0.026752 deg/s,
      cmd heading: 284.884021 deg,
      new cmd heading: 284.916385 deg.

2025-06-05T18:39:00.663Z,1749148740.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972729 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:39:00.681Z,1749148740.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998749
2025-06-05T18:39:00.933Z,1749148740.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250585
2025-06-05T18:39:01.018Z,1749148741.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:39:01.022Z,1749148741.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 291.556580 m,
      bearing: 288.552783 deg,
      approach rate: -0.729477 m/s,
      LOS rate: 0.030686 deg/s,
      cmd heading: 284.916396 deg,
      new cmd heading: 284.949929 deg.

2025-06-05T18:39:01.023Z,1749148741.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.973314 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:39:01.185Z,1749148741.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502810
2025-06-05T18:39:01.284Z,1749148741.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:39:01.419Z,1749148741.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:01.423Z,1749148741.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:39:01.438Z,1749148741.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755312
2025-06-05T18:39:01.446Z,1749148741.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 291.283142 m,
      bearing: 288.564334 deg,
      approach rate: -0.675108 m/s,
      LOS rate: 0.028546 deg/s,
      cmd heading: 284.949919 deg,
      new cmd heading: 284.984605 deg.

2025-06-05T18:39:01.447Z,1749148741.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.973920 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:39:01.690Z,1749148741.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007345
2025-06-05T18:39:01.870Z,1749148741.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:39:01.874Z,1749148741.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 290.995728 m,
      bearing: 288.575967 deg,
      approach rate: -0.643194 m/s,
      LOS rate: 0.026057 deg/s,
      cmd heading: 284.984616 deg,
      new cmd heading: 285.019548 deg.

2025-06-05T18:39:01.875Z,1749148741.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.974530 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:39:01.941Z,1749148741.941 [DAT](INFO): DAT read: Rx Time:18:39:00.4065

2025-06-05T18:39:01.942Z,1749148741.942 [DAT](INFO): Rx dataTimestamp_ set to:1749148741.941311
2025-06-05T18:39:01.942Z,1749148741.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260196
2025-06-05T18:39:02.193Z,1749148742.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510637
2025-06-05T18:39:02.266Z,1749148742.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.11 m.
2025-06-05T18:39:02.273Z,1749148742.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 320.105835 m,
      nav range: 290.751099 m,
      bearing: 288.585922 deg,
      approach rate: -0.617083 m/s,
      LOS rate: 0.025134 deg/s,
      cmd heading: 285.019559 deg,
      new cmd heading: 285.049451 deg.

2025-06-05T18:39:02.280Z,1749148742.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.975051 target range: 320.105835 and range: 322.60 m.
2025-06-05T18:39:02.288Z,1749148742.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:39:02.451Z,1749148742.451 [DAT](INFO): DAT read: 18:39:00.4065 LVL= 30192, 32753, 31138, 32755, AGC= 67, IDX= 233, 0.28, 0.836,-1.025, 0.429,-0.006, PHS= 0.929,-0.972, 0.432, RAW= 135.4,  -4.6, CAL= 140.9, -14.8, ROT=   9.1,  14.8

2025-06-05T18:39:02.452Z,1749148742.452 [DAT](INFO): got valid direction response:
 18:39:00.4065 LVL= 30192, 32753, 31138, 32755, AGC= 67, IDX= 233, 0.28, 0.836,-1.025, 0.429,-0.006, PHS= 0.929,-0.972, 0.432, RAW= 135.4,  -4.6, CAL= 140.9, -14.8, ROT=   9.1,  14.8

2025-06-05T18:39:02.453Z,1749148742.453 [DAT](INFO): DAT read: Bearing   9.1,  14.8 (Local)

2025-06-05T18:39:02.453Z,1749148742.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.1,  14.8 (Local)

2025-06-05T18:39:02.463Z,1749148742.463 [DAT](INFO): DAT read: Range 10 to 50 : 320.4 m  (Round-trip  427.2 ms) speed  0.4 m/s

2025-06-05T18:39:02.465Z,1749148742.465 [DAT](INFO): DAT read: user:2726>

2025-06-05T18:39:02.469Z,1749148742.469 [DAT](INFO): DAT read: Tx time:18:39:01.5251

2025-06-05T18:39:02.470Z,1749148742.470 [DAT](INFO): Ping request sent.
2025-06-05T18:39:02.471Z,1749148742.471 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:02.472Z,1749148742.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:02.476Z,1749148742.476 [DAT](INFO): direction in FSK: [0.954655,0.152911,-0.255446]
2025-06-05T18:39:02.477Z,1749148742.477 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:02.478Z,1749148742.478 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:02.541Z,1749148742.541 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:02.541Z,1749148742.541 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:02.698Z,1749148742.698 [DAT](INFO): DAT read: TxSync time:18:39:01.5244

2025-06-05T18:39:02.786Z,1749148742.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 320.399994 m,
      deltaT: 3.779823 s,
      deltaX: -2.200012 m,
      approachRate: -0.582041 m/s,
      rangeRepo size: 4

2025-06-05T18:39:02.793Z,1749148742.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 317.922089 m,
      bearing: 294.085668 deg,
      lat: 36.906109 deg,
      lon: -122.116262 deg,
      deltaT: 3.779823 s,
      deltaX: -2.183746 m,
      approachRate: -0.577738 m/s,
      posRepo size: 4

2025-06-05T18:39:02.794Z,1749148742.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:02.801Z,1749148742.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 298.842438 m,
      bearing: 292.926880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025134 deg/s,
      cmd heading: 285.049448 deg,
      new cmd heading: 285.088576 deg.

2025-06-05T18:39:02.802Z,1749148742.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.975734 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:03.239Z,1749148743.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:03.242Z,1749148743.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 298.537781 m,
      bearing: 292.941281 deg,
      approach rate: -0.671204 m/s,
      LOS rate: 0.031760 deg/s,
      cmd heading: 285.088572 deg,
      new cmd heading: 285.131819 deg.

2025-06-05T18:39:03.243Z,1749148743.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976489 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:03.659Z,1749148743.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:03.706Z,1749148743.706 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:03.706Z,1749148743.706 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:03.706Z,1749148743.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:03.728Z,1749148743.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:03.752Z,1749148743.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 298.273865 m,
      bearing: 292.952210 deg,
      approach rate: -0.619601 m/s,
      LOS rate: 0.025682 deg/s,
      cmd heading: 285.131820 deg,
      new cmd heading: 285.164637 deg.

2025-06-05T18:39:03.753Z,1749148743.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977062 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:03.957Z,1749148743.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486717
2025-06-05T18:39:04.186Z,1749148744.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:04.190Z,1749148744.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 297.943085 m,
      bearing: 292.965902 deg,
      approach rate: -0.635373 m/s,
      LOS rate: 0.026328 deg/s,
      cmd heading: 285.164633 deg,
      new cmd heading: 285.205752 deg.

2025-06-05T18:39:04.191Z,1749148744.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977779 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:04.209Z,1749148744.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738649
2025-06-05T18:39:04.461Z,1749148744.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990565
2025-06-05T18:39:04.690Z,1749148744.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:04.695Z,1749148744.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 297.635040 m,
      bearing: 292.976107 deg,
      approach rate: -0.610864 m/s,
      LOS rate: 0.020258 deg/s,
      cmd heading: 285.205750 deg,
      new cmd heading: 285.236397 deg.

2025-06-05T18:39:04.697Z,1749148744.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978314 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:04.729Z,1749148744.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258809
2025-06-05T18:39:04.981Z,1749148744.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510598
2025-06-05T18:39:05.002Z,1749148745.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:05.006Z,1749148745.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 297.440460 m,
      bearing: 292.982488 deg,
      approach rate: -0.622594 m/s,
      LOS rate: 0.020432 deg/s,
      cmd heading: 285.236404 deg,
      new cmd heading: 285.255561 deg.

2025-06-05T18:39:05.007Z,1749148745.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978649 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:05.233Z,1749148745.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762722
2025-06-05T18:39:05.430Z,1749148745.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:05.438Z,1749148745.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 297.191498 m,
      bearing: 292.990594 deg,
      approach rate: -0.582316 m/s,
      LOS rate: 0.018976 deg/s,
      cmd heading: 285.255556 deg,
      new cmd heading: 285.279894 deg.

2025-06-05T18:39:05.444Z,1749148745.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979074 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:05.485Z,1749148745.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014659
2025-06-05T18:39:05.737Z,1749148745.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266526
2025-06-05T18:39:05.844Z,1749148745.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:05.846Z,1749148745.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:05.849Z,1749148745.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 296.929413 m,
      bearing: 292.997575 deg,
      approach rate: -0.629386 m/s,
      LOS rate: 0.016778 deg/s,
      cmd heading: 285.279899 deg,
      new cmd heading: 285.300858 deg.

2025-06-05T18:39:05.850Z,1749148745.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979439 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:05.991Z,1749148745.991 [DAT](INFO): DAT read: Rx Time:18:39:04.3533

2025-06-05T18:39:05.993Z,1749148745.993 [DAT](INFO): Rx dataTimestamp_ set to:1749148745.992464
2025-06-05T18:39:05.993Z,1749148745.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523227
2025-06-05T18:39:06.214Z,1749148746.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:06.217Z,1749148746.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 296.708801 m,
      bearing: 293.003460 deg,
      approach rate: -0.600379 m/s,
      LOS rate: 0.016030 deg/s,
      cmd heading: 285.300854 deg,
      new cmd heading: 285.318524 deg.

2025-06-05T18:39:06.218Z,1749148746.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979748 target range: 317.922089 and range: 320.40 m.
2025-06-05T18:39:06.242Z,1749148746.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771736
2025-06-05T18:39:06.494Z,1749148746.494 [DAT](INFO): DAT read: Range 10 to 50 : 318.0 m  (Round-trip  424.0 ms) speed  0.2 m/s

2025-06-05T18:39:06.494Z,1749148746.494 [DAT](INFO): DAT read: user:2727>

2025-06-05T18:39:06.495Z,1749148746.495 [DAT](INFO): DAT read: Tx time:18:39:05.4751

2025-06-05T18:39:06.497Z,1749148746.497 [DAT](INFO): Ping request sent.
2025-06-05T18:39:06.497Z,1749148746.497 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:06.499Z,1749148746.499 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:39:06.499Z,1749148746.499 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:06.501Z,1749148746.501 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:06.720Z,1749148746.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 318.000000 m,
      deltaT: 4.047737 s,
      deltaX: -2.399994 m,
      approachRate: -0.592922 m/s,
      rangeRepo size: 4

2025-06-05T18:39:06.724Z,1749148746.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:06.727Z,1749148746.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 296.423279 m,
      bearing: 293.010676 deg,
      approach rate: -0.570659 m/s,
      LOS rate: 0.014435 deg/s,
      cmd heading: 285.318530 deg,
      new cmd heading: 285.340198 deg.

2025-06-05T18:39:06.728Z,1749148746.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980126 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:06.745Z,1749148746.745 [DAT](INFO): DAT read: TxSync time:18:39:05.4744

2025-06-05T18:39:07.055Z,1749148747.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:07.058Z,1749148747.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 296.206024 m,
      bearing: 293.015888 deg,
      approach rate: -0.639959 m/s,
      LOS rate: 0.015363 deg/s,
      cmd heading: 285.340196 deg,
      new cmd heading: 285.355842 deg.

2025-06-05T18:39:07.059Z,1749148747.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980399 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:07.473Z,1749148747.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:07.497Z,1749148747.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 295.958130 m,
      bearing: 293.021776 deg,
      approach rate: -0.590599 m/s,
      LOS rate: 0.014041 deg/s,
      cmd heading: 285.355851 deg,
      new cmd heading: 285.373531 deg.

2025-06-05T18:39:07.501Z,1749148747.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980708 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:07.886Z,1749148747.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:07.890Z,1749148747.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:07.893Z,1749148747.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 295.704071 m,
      bearing: 293.028704 deg,
      approach rate: -0.610371 m/s,
      LOS rate: 0.016658 deg/s,
      cmd heading: 285.373527 deg,
      new cmd heading: 285.394329 deg.

2025-06-05T18:39:07.894Z,1749148747.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981071 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:08.006Z,1749148748.006 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:08.006Z,1749148748.006 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:08.007Z,1749148748.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:08.258Z,1749148748.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760490
2025-06-05T18:39:08.305Z,1749148748.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:08.308Z,1749148748.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 295.450317 m,
      bearing: 293.035522 deg,
      approach rate: -0.610651 m/s,
      LOS rate: 0.016422 deg/s,
      cmd heading: 285.394318 deg,
      new cmd heading: 285.414791 deg.

2025-06-05T18:39:08.309Z,1749148748.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981428 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:08.508Z,1749148748.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011091
2025-06-05T18:39:08.743Z,1749148748.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:08.746Z,1749148748.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 295.182587 m,
      bearing: 293.044277 deg,
      approach rate: -0.612122 m/s,
      LOS rate: 0.020033 deg/s,
      cmd heading: 285.414781 deg,
      new cmd heading: 285.441068 deg.

2025-06-05T18:39:08.747Z,1749148748.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981886 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:08.761Z,1749148748.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263300
2025-06-05T18:39:09.013Z,1749148749.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515261
2025-06-05T18:39:09.080Z,1749148749.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:09.083Z,1749148749.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 294.974670 m,
      bearing: 293.051022 deg,
      approach rate: -0.616423 m/s,
      LOS rate: 0.020014 deg/s,
      cmd heading: 285.441064 deg,
      new cmd heading: 285.461316 deg.

2025-06-05T18:39:09.084Z,1749148749.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982240 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:09.267Z,1749148749.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769927
2025-06-05T18:39:09.512Z,1749148749.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:09.515Z,1749148749.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 294.731628 m,
      bearing: 293.058851 deg,
      approach rate: -0.562005 m/s,
      LOS rate: 0.018119 deg/s,
      cmd heading: 285.461309 deg,
      new cmd heading: 285.484815 deg.

2025-06-05T18:39:09.517Z,1749148749.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019603
2025-06-05T18:39:09.521Z,1749148749.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982650 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:09.769Z,1749148749.769 [DAT](INFO): DAT read: Rx Time:18:39:08.3012

2025-06-05T18:39:09.770Z,1749148749.770 [DAT](INFO): Rx dataTimestamp_ set to:1749148749.768833
2025-06-05T18:39:09.770Z,1749148749.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272685
2025-06-05T18:39:09.912Z,1749148749.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:09.914Z,1749148749.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.92 m.
2025-06-05T18:39:09.917Z,1749148749.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.922089 m,
      nav range: 294.457764 m,
      bearing: 293.069626 deg,
      approach rate: -0.681848 m/s,
      LOS rate: 0.026852 deg/s,
      cmd heading: 285.484805 deg,
      new cmd heading: 285.517159 deg.

2025-06-05T18:39:09.918Z,1749148749.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983214 target range: 317.922089 and range: 318.00 m.
2025-06-05T18:39:10.022Z,1749148750.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524303
2025-06-05T18:39:10.287Z,1749148750.287 [DAT](INFO): DAT read: 18:39:08.3012 LVL= 22736, 27217, 21858, 32115, AGC= 62, IDX= 412,-0.10,-2.913, 2.125,-3.086, 2.340, PHS= 1.118,-0.168, 0.854, RAW= 138.8, -28.5, CAL= 143.4, -33.8, ROT=   6.6,  33.8

2025-06-05T18:39:10.309Z,1749148750.309 [DAT](INFO): got valid direction response:
 18:39:08.3012 LVL= 22736, 27217, 21858, 32115, AGC= 62, IDX= 412,-0.10,-2.913, 2.125,-3.086, 2.340, PHS= 1.118,-0.168, 0.854, RAW= 138.8, -28.5, CAL= 143.4, -33.8, ROT=   6.6,  33.8

2025-06-05T18:39:10.310Z,1749148750.310 [DAT](INFO): DAT read: Bearing   6.6,  33.8 (Local)

2025-06-05T18:39:10.311Z,1749148750.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  33.8 (Local)

2025-06-05T18:39:10.317Z,1749148750.317 [DAT](INFO): DAT read: Range 10 to 50 : 316.4 m  (Round-trip  421.9 ms) speed  0.5 m/s

2025-06-05T18:39:10.317Z,1749148750.317 [DAT](INFO): DAT read: user:2728>

2025-06-05T18:39:10.318Z,1749148750.318 [DAT](INFO): DAT read: Tx time:18:39:09.4251

2025-06-05T18:39:10.318Z,1749148750.318 [DAT](INFO): Ping request sent.
2025-06-05T18:39:10.318Z,1749148750.318 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:10.319Z,1749148750.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:10.324Z,1749148750.324 [DAT](INFO): direction in FSK: [0.825477,0.095511,-0.556296]
2025-06-05T18:39:10.324Z,1749148750.324 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:10.324Z,1749148750.324 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:10.327Z,1749148750.327 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:10.332Z,1749148750.332 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:10.429Z,1749148750.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 316.399994 m,
      deltaT: 3.781495 s,
      deltaX: -1.600006 m,
      approachRate: -0.423115 m/s,
      rangeRepo size: 4

2025-06-05T18:39:10.431Z,1749148750.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 313.923859 m,
      bearing: 294.200809 deg,
      lat: 36.906142 deg,
      lon: -122.116262 deg,
      deltaT: 7.829232 s,
      deltaX: -3.998230 m,
      approachRate: -0.510680 m/s,
      posRepo size: 4

2025-06-05T18:39:10.432Z,1749148750.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:10.434Z,1749148750.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 295.604767 m,
      bearing: 293.725783 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026852 deg/s,
      cmd heading: 285.517152 deg,
      new cmd heading: 285.558101 deg.

2025-06-05T18:39:10.435Z,1749148750.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983929 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:10.526Z,1749148750.526 [DAT](INFO): DAT read: TxSync time:18:39:09.4244

2025-06-05T18:39:10.929Z,1749148750.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:10.936Z,1749148750.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 295.262054 m,
      bearing: 293.742695 deg,
      approach rate: -0.675867 m/s,
      LOS rate: 0.033393 deg/s,
      cmd heading: 285.558106 deg,
      new cmd heading: 285.608903 deg.

2025-06-05T18:39:10.939Z,1749148750.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.984816 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:11.249Z,1749148751.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:11.252Z,1749148751.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 295.043701 m,
      bearing: 293.753492 deg,
      approach rate: -0.682655 m/s,
      LOS rate: 0.033781 deg/s,
      cmd heading: 285.608895 deg,
      new cmd heading: 285.641311 deg.

2025-06-05T18:39:11.253Z,1749148751.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985381 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:11.762Z,1749148751.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:11.766Z,1749148751.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 294.729248 m,
      bearing: 293.771501 deg,
      approach rate: -0.631108 m/s,
      LOS rate: 0.036181 deg/s,
      cmd heading: 285.641298 deg,
      new cmd heading: 285.695380 deg.

2025-06-05T18:39:11.767Z,1749148751.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986325 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:12.044Z,1749148752.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:12.046Z,1749148752.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:12.049Z,1749148752.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 294.542114 m,
      bearing: 293.782285 deg,
      approach rate: -0.626280 m/s,
      LOS rate: 0.036114 deg/s,
      cmd heading: 285.695393 deg,
      new cmd heading: 285.727766 deg.

2025-06-05T18:39:12.050Z,1749148752.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986890 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:12.290Z,1749148752.290 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:12.290Z,1749148752.290 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:12.290Z,1749148752.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:12.489Z,1749148752.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:12.496Z,1749148752.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 294.271301 m,
      bearing: 293.797917 deg,
      approach rate: -0.636421 m/s,
      LOS rate: 0.036770 deg/s,
      cmd heading: 285.727768 deg,
      new cmd heading: 285.774707 deg.

2025-06-05T18:39:12.497Z,1749148752.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.987710 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:12.541Z,1749148752.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222328
2025-06-05T18:39:12.793Z,1749148752.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474248
2025-06-05T18:39:12.895Z,1749148752.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:12.902Z,1749148752.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 294.015503 m,
      bearing: 293.814046 deg,
      approach rate: -0.604912 m/s,
      LOS rate: 0.038176 deg/s,
      cmd heading: 285.774705 deg,
      new cmd heading: 285.823135 deg.

2025-06-05T18:39:12.903Z,1749148752.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988555 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:13.045Z,1749148753.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726135
2025-06-05T18:39:13.280Z,1749148753.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:13.283Z,1749148753.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 293.775879 m,
      bearing: 293.829094 deg,
      approach rate: -0.623261 m/s,
      LOS rate: 0.039172 deg/s,
      cmd heading: 285.823145 deg,
      new cmd heading: 285.868326 deg.

2025-06-05T18:39:13.284Z,1749148753.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989344 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:13.297Z,1749148753.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978298
2025-06-05T18:39:13.551Z,1749148753.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232364
2025-06-05T18:39:13.735Z,1749148753.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:13.739Z,1749148753.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 293.473236 m,
      bearing: 293.848137 deg,
      approach rate: -0.663529 m/s,
      LOS rate: 0.041792 deg/s,
      cmd heading: 285.868333 deg,
      new cmd heading: 285.925519 deg.

2025-06-05T18:39:13.757Z,1749148753.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.990342 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:13.801Z,1749148753.801 [DAT](INFO): DAT read: Rx Time:18:39:12.2475

2025-06-05T18:39:13.802Z,1749148753.802 [DAT](INFO): Rx dataTimestamp_ set to:1749148753.801112
2025-06-05T18:39:13.803Z,1749148753.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483980
2025-06-05T18:39:14.053Z,1749148754.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734102
2025-06-05T18:39:14.099Z,1749148754.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:14.101Z,1749148754.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.92 m.
2025-06-05T18:39:14.108Z,1749148754.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.923859 m,
      nav range: 293.247253 m,
      bearing: 293.862384 deg,
      approach rate: -0.617220 m/s,
      LOS rate: 0.038943 deg/s,
      cmd heading: 285.925516 deg,
      new cmd heading: 285.968290 deg.

2025-06-05T18:39:14.109Z,1749148754.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991088 target range: 313.923859 and range: 316.40 m.
2025-06-05T18:39:14.311Z,1749148754.311 [DAT](INFO): DAT read: 18:39:12.2475 LVL= 32752, 32753, 30962, 32755, AGC= 65, IDX= 405, 0.02,-0.865,-2.168,-1.029,-1.837, PHS= 1.061,-0.283, 0.805, RAW= 139.7, -24.3, CAL= 144.6, -30.9, ROT=   5.4,  30.9

2025-06-05T18:39:14.312Z,1749148754.312 [DAT](INFO): got valid direction response:
 18:39:12.2475 LVL= 32752, 32753, 30962, 32755, AGC= 65, IDX= 405, 0.02,-0.865,-2.168,-1.029,-1.837, PHS= 1.061,-0.283, 0.805, RAW= 139.7, -24.3, CAL= 144.6, -30.9, ROT=   5.4,  30.9

2025-06-05T18:39:14.313Z,1749148754.313 [DAT](INFO): DAT read: Bearing   5.4,  30.9 (Local)

2025-06-05T18:39:14.314Z,1749148754.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,  30.9 (Local)

2025-06-05T18:39:14.315Z,1749148754.315 [DAT](INFO): DAT read: Range 10 to 50 : 313.5 m  (Round-trip  418.1 ms) speed  0.4 m/s

2025-06-05T18:39:14.316Z,1749148754.316 [DAT](INFO): DAT read: user:2729>

2025-06-05T18:39:14.317Z,1749148754.317 [DAT](INFO): DAT read: Tx time:18:39:13.3752

2025-06-05T18:39:14.317Z,1749148754.317 [DAT](INFO): Ping request sent.
2025-06-05T18:39:14.317Z,1749148754.317 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:14.318Z,1749148754.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:14.319Z,1749148754.319 [DAT](INFO): direction in FSK: [0.854257,0.080751,-0.513541]
2025-06-05T18:39:14.319Z,1749148754.319 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:14.319Z,1749148754.319 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:14.334Z,1749148754.334 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:14.335Z,1749148754.335 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:14.536Z,1749148754.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 313.500000 m,
      deltaT: 4.030879 s,
      deltaX: -2.899994 m,
      approachRate: -0.719445 m/s,
      rangeRepo size: 4

2025-06-05T18:39:14.538Z,1749148754.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 311.019989 m,
      bearing: 293.371575 deg,
      lat: 36.906142 deg,
      lon: -122.116280 deg,
      deltaT: 4.030879 s,
      deltaX: -2.903870 m,
      approachRate: -0.720406 m/s,
      posRepo size: 4

2025-06-05T18:39:14.538Z,1749148754.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:14.545Z,1749148754.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 294.402344 m,
      bearing: 293.756667 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038943 deg/s,
      cmd heading: 285.968300 deg,
      new cmd heading: 286.018474 deg.

2025-06-05T18:39:14.546Z,1749148754.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991964 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:14.559Z,1749148754.559 [DAT](INFO): DAT read: TxSync time:18:39:13.3745

2025-06-05T18:39:14.925Z,1749148754.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:14.928Z,1749148754.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 294.140961 m,
      bearing: 293.772936 deg,
      approach rate: -0.662939 m/s,
      LOS rate: 0.041299 deg/s,
      cmd heading: 286.018461 deg,
      new cmd heading: 286.067311 deg.

2025-06-05T18:39:14.929Z,1749148754.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.992816 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:15.292Z,1749148755.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:15.294Z,1749148755.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 293.909027 m,
      bearing: 293.787367 deg,
      approach rate: -0.632796 m/s,
      LOS rate: 0.039405 deg/s,
      cmd heading: 286.067310 deg,
      new cmd heading: 286.110638 deg.

2025-06-05T18:39:15.296Z,1749148755.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993573 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:15.748Z,1749148755.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:15.751Z,1749148755.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 293.633362 m,
      bearing: 293.804535 deg,
      approach rate: -0.604362 m/s,
      LOS rate: 0.037673 deg/s,
      cmd heading: 286.110641 deg,
      new cmd heading: 286.162193 deg.

2025-06-05T18:39:15.760Z,1749148755.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994473 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:16.191Z,1749148756.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:16.202Z,1749148756.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:16.206Z,1749148756.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 293.357208 m,
      bearing: 293.819253 deg,
      approach rate: -0.607785 m/s,
      LOS rate: 0.032425 deg/s,
      cmd heading: 286.162195 deg,
      new cmd heading: 286.206393 deg.

2025-06-05T18:39:16.207Z,1749148756.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995244 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:16.325Z,1749148756.325 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:16.325Z,1749148756.325 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:16.325Z,1749148756.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:16.412Z,1749148756.412 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:39:16.577Z,1749148756.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259335
2025-06-05T18:39:16.577Z,1749148756.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:16.581Z,1749148756.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 293.129120 m,
      bearing: 293.831346 deg,
      approach rate: -0.611004 m/s,
      LOS rate: 0.032418 deg/s,
      cmd heading: 286.206400 deg,
      new cmd heading: 286.242706 deg.

2025-06-05T18:39:16.584Z,1749148756.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995878 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:16.832Z,1749148756.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514313
2025-06-05T18:39:16.981Z,1749148756.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:16.984Z,1749148756.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 292.891937 m,
      bearing: 293.841369 deg,
      approach rate: -0.584418 m/s,
      LOS rate: 0.024717 deg/s,
      cmd heading: 286.242710 deg,
      new cmd heading: 286.272803 deg.

2025-06-05T18:39:16.985Z,1749148756.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996403 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:17.082Z,1749148757.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764116
2025-06-05T18:39:17.333Z,1749148757.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015305
2025-06-05T18:39:17.381Z,1749148757.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:17.384Z,1749148757.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 292.655060 m,
      bearing: 293.851394 deg,
      approach rate: -0.592155 m/s,
      LOS rate: 0.025082 deg/s,
      cmd heading: 286.272790 deg,
      new cmd heading: 286.302890 deg.

2025-06-05T18:39:17.385Z,1749148757.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996928 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:17.585Z,1749148757.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267969
2025-06-05T18:39:17.828Z,1749148757.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:17.830Z,1749148757.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 292.391083 m,
      bearing: 293.860610 deg,
      approach rate: -0.591838 m/s,
      LOS rate: 0.020681 deg/s,
      cmd heading: 286.302897 deg,
      new cmd heading: 286.330570 deg.

2025-06-05T18:39:17.831Z,1749148757.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997411 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:17.842Z,1749148757.842 [DAT](INFO): DAT read: Rx Time:18:39:16.1963

2025-06-05T18:39:17.842Z,1749148757.842 [DAT](INFO): Rx dataTimestamp_ set to:1749148757.842076
2025-06-05T18:39:17.843Z,1749148757.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525464
2025-06-05T18:39:18.093Z,1749148758.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775911
2025-06-05T18:39:18.287Z,1749148758.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:18.319Z,1749148758.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.02 m.
2025-06-05T18:39:18.324Z,1749148758.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.019989 m,
      nav range: 292.116211 m,
      bearing: 293.870200 deg,
      approach rate: -0.558781 m/s,
      LOS rate: 0.019514 deg/s,
      cmd heading: 286.330573 deg,
      new cmd heading: 286.359371 deg.

2025-06-05T18:39:18.325Z,1749148758.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997914 target range: 311.019989 and range: 313.50 m.
2025-06-05T18:39:18.394Z,1749148758.394 [DAT](INFO): DAT read: 18:39:16.1963 LVL= 25904, 26097, 26610, 32755, AGC= 64, IDX= 417, 0.38, 0.445,-0.954, 0.250,-0.664, PHS= 1.197,-0.243, 0.910, RAW= 139.2, -26.5, CAL= 143.9, -32.4, ROT=   6.1,  32.4

2025-06-05T18:39:18.415Z,1749148758.415 [DAT](INFO): got valid direction response:
 18:39:16.1963 LVL= 25904, 26097, 26610, 32755, AGC= 64, IDX= 417, 0.38, 0.445,-0.954, 0.250,-0.664, PHS= 1.197,-0.243, 0.910, RAW= 139.2, -26.5, CAL= 143.9, -32.4, ROT=   6.1,  32.4

2025-06-05T18:39:18.422Z,1749148758.422 [DAT](INFO): DAT read: Bearing   6.1,  32.4 (Local)

2025-06-05T18:39:18.422Z,1749148758.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.1,  32.4 (Local)

2025-06-05T18:39:18.428Z,1749148758.428 [DAT](INFO): DAT read: Range 10 to 50 : 312.6 m  (Round-trip  416.9 ms) speed  0.4 m/s

2025-06-05T18:39:18.429Z,1749148758.429 [DAT](INFO): DAT read: user:2730>

2025-06-05T18:39:18.430Z,1749148758.430 [DAT](INFO): DAT read: Tx time:18:39:17.3252

2025-06-05T18:39:18.430Z,1749148758.430 [DAT](INFO): Ping request sent.
2025-06-05T18:39:18.430Z,1749148758.430 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:18.431Z,1749148758.431 [DAT](INFO): DAT read: TxSync time:18:39:17.3245

2025-06-05T18:39:18.431Z,1749148758.431 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:18.438Z,1749148758.438 [DAT](INFO): direction in FSK: [0.839547,0.089722,-0.535827]
2025-06-05T18:39:18.439Z,1749148758.439 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:18.439Z,1749148758.439 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:18.453Z,1749148758.453 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:18.453Z,1749148758.453 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:18.766Z,1749148758.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 312.600006 m,
      deltaT: 4.072736 s,
      deltaX: -0.899994 m,
      approachRate: -0.220980 m/s,
      rangeRepo size: 4

2025-06-05T18:39:18.777Z,1749148758.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 310.127228 m,
      bearing: 294.456851 deg,
      lat: 36.906142 deg,
      lon: -122.116245 deg,
      deltaT: 4.072736 s,
      deltaX: -0.892761 m,
      approachRate: -0.219204 m/s,
      posRepo size: 4

2025-06-05T18:39:18.778Z,1749148758.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.13 m.
2025-06-05T18:39:18.784Z,1749148758.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.127228 m,
      nav range: 289.122192 m,
      bearing: 294.121162 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019514 deg/s,
      cmd heading: 286.359369 deg,
      new cmd heading: 286.385106 deg.

2025-06-05T18:39:18.785Z,1749148758.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998363 target range: 310.127228 and range: 312.60 m.
2025-06-05T18:39:19.086Z,1749148759.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.13 m.
2025-06-05T18:39:19.102Z,1749148759.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.127228 m,
      nav range: 288.874329 m,
      bearing: 294.130229 deg,
      approach rate: -0.756926 m/s,
      LOS rate: 0.027715 deg/s,
      cmd heading: 286.385105 deg,
      new cmd heading: 286.412332 deg.

2025-06-05T18:39:19.103Z,1749148759.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998838 target range: 310.127228 and range: 312.60 m.
2025-06-05T18:39:19.642Z,1749148759.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.13 m.
2025-06-05T18:39:19.657Z,1749148759.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.127228 m,
      nav range: 288.552277 m,
      bearing: 294.142088 deg,
      approach rate: -0.580825 m/s,
      LOS rate: 0.021412 deg/s,
      cmd heading: 286.412344 deg,
      new cmd heading: 286.447961 deg.

2025-06-05T18:39:19.658Z,1749148759.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999460 target range: 310.127228 and range: 312.60 m.
2025-06-05T18:39:20.130Z,1749148760.130 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060510403480,35.0, +10.7,   0.0,1492.7,A,  0.00,  98.86,  89.69,  85.11, 105.49
2025-06-05T18:39:20.167Z,1749148760.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.13 m.
2025-06-05T18:39:20.175Z,1749148760.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.127228 m,
      nav range: 288.246216 m,
      bearing: 294.153449 deg,
      approach rate: -0.581482 m/s,
      LOS rate: 0.021607 deg/s,
      cmd heading: 286.447970 deg,
      new cmd heading: 286.482089 deg.

2025-06-05T18:39:20.180Z,1749148760.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000056 target range: 310.127228 and range: 312.60 m.
2025-06-05T18:39:20.598Z,1749148760.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:20.600Z,1749148760.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.13 m.
2025-06-05T18:39:20.603Z,1749148760.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.127228 m,
      nav range: 287.980469 m,
      bearing: 294.163395 deg,
      approach rate: -0.613783 m/s,
      LOS rate: 0.022993 deg/s,
      cmd heading: 286.482094 deg,
      new cmd heading: 286.511960 deg.

2025-06-05T18:39:20.604Z,1749148760.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000577 target range: 310.127228 and range: 312.60 m.
2025-06-05T18:39:20.646Z,1749148760.646 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:20.647Z,1749148760.647 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:20.647Z,1749148760.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:20.897Z,1749148760.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466657
2025-06-05T18:39:21.019Z,1749148761.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.13 m.
2025-06-05T18:39:21.044Z,1749148761.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.127228 m,
      nav range: 287.711487 m,
      bearing: 294.169299 deg,
      approach rate: -0.642064 m/s,
      LOS rate: 0.014106 deg/s,
      cmd heading: 286.511956 deg,
      new cmd heading: 286.529684 deg.

2025-06-05T18:39:21.045Z,1749148761.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000886 target range: 310.127228 and range: 312.60 m.
2025-06-05T18:39:21.149Z,1749148761.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718599
2025-06-05T18:39:21.401Z,1749148761.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970690
2025-06-05T18:39:21.408Z,1749148761.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.13 m.
2025-06-05T18:39:21.411Z,1749148761.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.127228 m,
      nav range: 287.466187 m,
      bearing: 294.174771 deg,
      approach rate: -0.630850 m/s,
      LOS rate: 0.014085 deg/s,
      cmd heading: 286.529687 deg,
      new cmd heading: 286.546117 deg.

2025-06-05T18:39:21.432Z,1749148761.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001173 target range: 310.127228 and range: 312.60 m.
2025-06-05T18:39:21.653Z,1749148761.653 [DAT](INFO): DAT read: Rx Time:18:39:20.1426

2025-06-05T18:39:21.653Z,1749148761.653 [DAT](INFO): Rx dataTimestamp_ set to:1749148761.652802
2025-06-05T18:39:21.654Z,1749148761.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223488
2025-06-05T18:39:21.871Z,1749148761.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.13 m.
2025-06-05T18:39:21.874Z,1749148761.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.127228 m,
      nav range: 287.164520 m,
      bearing: 294.182660 deg,
      approach rate: -0.652479 m/s,
      LOS rate: 0.017081 deg/s,
      cmd heading: 286.546107 deg,
      new cmd heading: 286.569799 deg.

2025-06-05T18:39:21.875Z,1749148761.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001586 target range: 310.127228 and range: 312.60 m.
2025-06-05T18:39:21.906Z,1749148761.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475470
2025-06-05T18:39:22.162Z,1749148762.162 [DAT](INFO): DAT read: 18:39:20.1426 LVL= 29312, 32753, 28850, 32755, AGC= 65, IDX= 404,-0.39, 2.570, 1.318, 2.367, 1.515, PHS= 1.143,-0.150, 0.849, RAW= 137.5, -29.0, CAL= 142.2, -34.1, ROT=   7.8,  34.1

2025-06-05T18:39:22.163Z,1749148762.163 [DAT](INFO): got valid direction response:
 18:39:20.1426 LVL= 29312, 32753, 28850, 32755, AGC= 65, IDX= 404,-0.39, 2.570, 1.318, 2.367, 1.515, PHS= 1.143,-0.150, 0.849, RAW= 137.5, -29.0, CAL= 142.2, -34.1, ROT=   7.8,  34.1

2025-06-05T18:39:22.165Z,1749148762.165 [DAT](INFO): DAT read: Bearing   7.8,  34.1 (Local)

2025-06-05T18:39:22.165Z,1749148762.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.8,  34.1 (Local)

2025-06-05T18:39:22.166Z,1749148762.166 [DAT](INFO): DAT read: Range 10 to 50 : 309.9 m  (Round-trip  413.2 ms) speed  0.4 m/s

2025-06-05T18:39:22.167Z,1749148762.167 [DAT](INFO): DAT read: user:2731>

2025-06-05T18:39:22.168Z,1749148762.168 [DAT](INFO): DAT read: Tx time:18:39:21.2252

2025-06-05T18:39:22.168Z,1749148762.168 [DAT](INFO): Ping request sent.
2025-06-05T18:39:22.168Z,1749148762.168 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:22.169Z,1749148762.169 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:22.170Z,1749148762.170 [DAT](INFO): direction in FSK: [0.820399,0.112381,-0.560639]
2025-06-05T18:39:22.170Z,1749148762.170 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:22.171Z,1749148762.171 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:22.192Z,1749148762.192 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:22.192Z,1749148762.192 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:22.264Z,1749148762.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.899994 m,
      deltaT: 3.778824 s,
      deltaX: -2.700012 m,
      approachRate: -0.714511 m/s,
      rangeRepo size: 4

2025-06-05T18:39:22.266Z,1749148762.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 307.457458 m,
      bearing: 295.422294 deg,
      lat: 36.906158 deg,
      lon: -122.116245 deg,
      deltaT: 3.778824 s,
      deltaX: -2.669769 m,
      approachRate: -0.706508 m/s,
      posRepo size: 4

2025-06-05T18:39:22.267Z,1749148762.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:22.298Z,1749148762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 287.692749 m,
      bearing: 294.528192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017081 deg/s,
      cmd heading: 286.569794 deg,
      new cmd heading: 286.589717 deg.

2025-06-05T18:39:22.299Z,1749148762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001934 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:22.410Z,1749148762.410 [DAT](INFO): DAT read: TxSync time:18:39:21.2245

2025-06-05T18:39:22.646Z,1749148762.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:22.653Z,1749148762.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:22.661Z,1749148762.661 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:22.661Z,1749148762.661 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:22.661Z,1749148762.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:22.669Z,1749148762.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 287.435089 m,
      bearing: 294.535382 deg,
      approach rate: -0.653760 m/s,
      LOS rate: 0.018258 deg/s,
      cmd heading: 286.589711 deg,
      new cmd heading: 286.611298 deg.

2025-06-05T18:39:22.670Z,1749148762.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002311 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:22.913Z,1749148762.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744966
2025-06-05T18:39:23.042Z,1749148763.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:23.045Z,1749148763.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 287.176971 m,
      bearing: 294.543506 deg,
      approach rate: -0.663153 m/s,
      LOS rate: 0.020891 deg/s,
      cmd heading: 286.611294 deg,
      new cmd heading: 286.635688 deg.

2025-06-05T18:39:23.046Z,1749148763.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002737 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:23.166Z,1749148763.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996732
2025-06-05T18:39:23.417Z,1749148763.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248361
2025-06-05T18:39:23.424Z,1749148763.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:23.427Z,1749148763.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 286.933044 m,
      bearing: 294.551251 deg,
      approach rate: -0.638325 m/s,
      LOS rate: 0.020286 deg/s,
      cmd heading: 286.635691 deg,
      new cmd heading: 286.658947 deg.

2025-06-05T18:39:23.429Z,1749148763.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003142 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:23.669Z,1749148763.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500749
2025-06-05T18:39:23.903Z,1749148763.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:23.907Z,1749148763.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 286.629944 m,
      bearing: 294.563918 deg,
      approach rate: -0.633275 m/s,
      LOS rate: 0.026493 deg/s,
      cmd heading: 286.658941 deg,
      new cmd heading: 286.696981 deg.

2025-06-05T18:39:23.909Z,1749148763.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003806 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:23.922Z,1749148763.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753114
2025-06-05T18:39:24.173Z,1749148764.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004948
2025-06-05T18:39:24.231Z,1749148764.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:24.250Z,1749148764.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 286.424500 m,
      bearing: 294.572483 deg,
      approach rate: -0.626907 m/s,
      LOS rate: 0.026154 deg/s,
      cmd heading: 286.696972 deg,
      new cmd heading: 286.722685 deg.

2025-06-05T18:39:24.251Z,1749148764.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004255 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:24.425Z,1749148764.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256233
2025-06-05T18:39:24.643Z,1749148764.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:24.646Z,1749148764.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 286.165009 m,
      bearing: 294.583251 deg,
      approach rate: -0.630022 m/s,
      LOS rate: 0.026167 deg/s,
      cmd heading: 286.722681 deg,
      new cmd heading: 286.755014 deg.

2025-06-05T18:39:24.647Z,1749148764.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004819 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:24.678Z,1749148764.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509955
2025-06-05T18:39:24.929Z,1749148764.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760256
2025-06-05T18:39:25.062Z,1749148765.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:25.065Z,1749148765.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:25.068Z,1749148765.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 285.906219 m,
      bearing: 294.595818 deg,
      approach rate: -0.613154 m/s,
      LOS rate: 0.029804 deg/s,
      cmd heading: 286.755001 deg,
      new cmd heading: 286.792738 deg.

2025-06-05T18:39:25.069Z,1749148765.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.005477 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:25.181Z,1749148765.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012683
2025-06-05T18:39:25.433Z,1749148765.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264581
2025-06-05T18:39:25.465Z,1749148765.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:25.473Z,1749148765.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 285.672729 m,
      bearing: 294.607085 deg,
      approach rate: -0.583225 m/s,
      LOS rate: 0.028165 deg/s,
      cmd heading: 286.792731 deg,
      new cmd heading: 286.826558 deg.

2025-06-05T18:39:25.474Z,1749148765.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006068 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:25.686Z,1749148765.686 [DAT](INFO): DAT read: Rx Time:18:39:24.0408

2025-06-05T18:39:25.686Z,1749148765.686 [DAT](INFO): Rx dataTimestamp_ set to:1749148765.685730
2025-06-05T18:39:25.687Z,1749148765.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518569
2025-06-05T18:39:25.903Z,1749148765.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:25.917Z,1749148765.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 285.388885 m,
      bearing: 294.620664 deg,
      approach rate: -0.648028 m/s,
      LOS rate: 0.031032 deg/s,
      cmd heading: 286.826554 deg,
      new cmd heading: 286.867331 deg.

2025-06-05T18:39:25.918Z,1749148765.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006780 target range: 307.457458 and range: 309.90 m.
2025-06-05T18:39:25.937Z,1749148765.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768293
2025-06-05T18:39:26.190Z,1749148766.190 [DAT](INFO): DAT read: Range 10 to 50 : 308.4 m  (Round-trip  411.3 ms) speed  0.2 m/s

2025-06-05T18:39:26.191Z,1749148766.191 [DAT](INFO): DAT read: user:2732>

2025-06-05T18:39:26.192Z,1749148766.192 [DAT](INFO): DAT read: Tx time:18:39:25.1253

2025-06-05T18:39:26.192Z,1749148766.192 [DAT](INFO): Ping request sent.
2025-06-05T18:39:26.192Z,1749148766.192 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:26.193Z,1749148766.193 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:39:26.193Z,1749148766.193 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:26.193Z,1749148766.193 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:26.376Z,1749148766.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 308.399994 m,
      deltaT: 4.032649 s,
      deltaX: -1.500000 m,
      approachRate: -0.371964 m/s,
      rangeRepo size: 4

2025-06-05T18:39:26.377Z,1749148766.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:26.385Z,1749148766.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 285.119049 m,
      bearing: 294.636545 deg,
      approach rate: -0.577641 m/s,
      LOS rate: 0.034029 deg/s,
      cmd heading: 286.867344 deg,
      new cmd heading: 286.915033 deg.

2025-06-05T18:39:26.386Z,1749148766.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007612 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:26.441Z,1749148766.441 [DAT](INFO): DAT read: TxSync time:18:39:25.1246

2025-06-05T18:39:26.745Z,1749148766.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:26.750Z,1749148766.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 284.892273 m,
      bearing: 294.649741 deg,
      approach rate: -0.605801 m/s,
      LOS rate: 0.035280 deg/s,
      cmd heading: 286.915046 deg,
      new cmd heading: 286.954666 deg.

2025-06-05T18:39:26.753Z,1749148766.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.008304 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:27.154Z,1749148767.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:27.177Z,1749148767.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:27.184Z,1749148767.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 284.657257 m,
      bearing: 294.664632 deg,
      approach rate: -0.543275 m/s,
      LOS rate: 0.034452 deg/s,
      cmd heading: 286.954661 deg,
      new cmd heading: 286.999371 deg.

2025-06-05T18:39:27.185Z,1749148767.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.009084 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:27.197Z,1749148767.197 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:27.197Z,1749148767.197 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:27.197Z,1749148767.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:27.449Z,1749148767.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256362
2025-06-05T18:39:27.550Z,1749148767.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:27.553Z,1749148767.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 284.430847 m,
      bearing: 294.678893 deg,
      approach rate: -0.607067 m/s,
      LOS rate: 0.038269 deg/s,
      cmd heading: 286.999358 deg,
      new cmd heading: 287.042176 deg.

2025-06-05T18:39:27.556Z,1749148767.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.009831 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:27.701Z,1749148767.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509157
2025-06-05T18:39:27.953Z,1749148767.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760408
2025-06-05T18:39:27.993Z,1749148767.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:27.000Z,1749148768.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 284.188904 m,
      bearing: 294.694918 deg,
      approach rate: -0.546345 m/s,
      LOS rate: 0.036216 deg/s,
      cmd heading: 287.042170 deg,
      new cmd heading: 287.090283 deg.

2025-06-05T18:39:28.001Z,1749148768.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010671 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:28.207Z,1749148768.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014248
2025-06-05T18:39:28.363Z,1749148768.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:28.365Z,1749148768.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 283.965485 m,
      bearing: 294.709565 deg,
      approach rate: -0.604591 m/s,
      LOS rate: 0.039667 deg/s,
      cmd heading: 287.090281 deg,
      new cmd heading: 287.134257 deg.

2025-06-05T18:39:28.366Z,1749148768.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.011438 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:28.457Z,1749148768.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264585
2025-06-05T18:39:28.710Z,1749148768.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517141
2025-06-05T18:39:28.812Z,1749148768.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:28.814Z,1749148768.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 283.723114 m,
      bearing: 294.725338 deg,
      approach rate: -0.544788 m/s,
      LOS rate: 0.035484 deg/s,
      cmd heading: 287.134268 deg,
      new cmd heading: 287.181627 deg.

2025-06-05T18:39:28.815Z,1749148768.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012265 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:28.962Z,1749148768.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769919
2025-06-05T18:39:29.209Z,1749148769.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:29.211Z,1749148769.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:29.213Z,1749148769.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020348
2025-06-05T18:39:29.220Z,1749148769.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 283.489685 m,
      bearing: 294.740134 deg,
      approach rate: -0.578083 m/s,
      LOS rate: 0.036674 deg/s,
      cmd heading: 287.181615 deg,
      new cmd heading: 287.226042 deg.

2025-06-05T18:39:29.223Z,1749148769.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.013040 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:29.465Z,1749148769.465 [DAT](INFO): DAT read: Rx Time:18:39:27.9395

2025-06-05T18:39:29.466Z,1749148769.466 [DAT](INFO): Rx dataTimestamp_ set to:1749148769.465630
2025-06-05T18:39:29.467Z,1749148769.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274548
2025-06-05T18:39:29.585Z,1749148769.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.46 m.
2025-06-05T18:39:29.589Z,1749148769.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.457458 m,
      nav range: 283.263550 m,
      bearing: 294.754495 deg,
      approach rate: -0.604192 m/s,
      LOS rate: 0.038399 deg/s,
      cmd heading: 287.226038 deg,
      new cmd heading: 287.269154 deg.

2025-06-05T18:39:29.590Z,1749148769.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.013793 target range: 307.457458 and range: 308.40 m.
2025-06-05T18:39:29.718Z,1749148769.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525856
2025-06-05T18:39:29.976Z,1749148769.976 [DAT](INFO): DAT read: 18:39:27.9395 LVL= 26192, 25521, 25426, 32243, AGC= 64, IDX= 434,-0.05, 1.793, 0.290, 1.635, 0.916, PHS= 0.965,-0.579, 0.716, RAW= 141.4, -15.2, CAL= 147.6, -23.8, ROT=   2.4,  23.8

2025-06-05T18:39:29.977Z,1749148769.977 [DAT](INFO): got valid direction response:
 18:39:27.9395 LVL= 26192, 25521, 25426, 32243, AGC= 64, IDX= 434,-0.05, 1.793, 0.290, 1.635, 0.916, PHS= 0.965,-0.579, 0.716, RAW= 141.4, -15.2, CAL= 147.6, -23.8, ROT=   2.4,  23.8

2025-06-05T18:39:29.978Z,1749148769.978 [DAT](INFO): DAT read: Bearing   2.4,  23.8 (Local)

2025-06-05T18:39:29.978Z,1749148769.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  23.8 (Local)

2025-06-05T18:39:29.979Z,1749148769.979 [DAT](INFO): DAT read: Range 10 to 50 : 307.5 m  (Round-trip  410.0 ms) speed  0.2 m/s

2025-06-05T18:39:29.980Z,1749148769.980 [DAT](INFO): DAT read: user:2733>

2025-06-05T18:39:29.981Z,1749148769.981 [DAT](INFO): DAT read: Tx time:18:39:29.0253

2025-06-05T18:39:29.981Z,1749148769.981 [DAT](INFO): Ping request sent.
2025-06-05T18:39:29.981Z,1749148769.981 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:29.982Z,1749148769.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:29.982Z,1749148769.982 [DAT](INFO): direction in FSK: [0.914157,0.038315,-0.403545]
2025-06-05T18:39:29.983Z,1749148769.983 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:29.983Z,1749148769.983 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:30.014Z,1749148770.014 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:30.014Z,1749148770.014 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:30.137Z,1749148770.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 307.500000 m,
      deltaT: 3.779387 s,
      deltaX: -0.899994 m,
      approachRate: -0.238132 m/s,
      rangeRepo size: 4

2025-06-05T18:39:30.145Z,1749148770.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.036011 m,
      bearing: 291.743034 deg,
      lat: 36.906142 deg,
      lon: -122.116245 deg,
      deltaT: 7.812036 s,
      deltaX: -2.421448 m,
      approachRate: -0.309964 m/s,
      posRepo size: 4

2025-06-05T18:39:30.146Z,1749148770.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:30.153Z,1749148770.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 282.179047 m,
      bearing: 294.427732 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038399 deg/s,
      cmd heading: 287.269150 deg,
      new cmd heading: 287.332583 deg.

2025-06-05T18:39:30.154Z,1749148770.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.014900 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:30.222Z,1749148770.222 [DAT](INFO): DAT read: TxSync time:18:39:29.0246

2025-06-05T18:39:30.463Z,1749148770.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:30.470Z,1749148770.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 281.967224 m,
      bearing: 294.439470 deg,
      approach rate: -0.647787 m/s,
      LOS rate: 0.035922 deg/s,
      cmd heading: 287.332589 deg,
      new cmd heading: 287.367828 deg.

2025-06-05T18:39:30.476Z,1749148770.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.015515 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:30.870Z,1749148770.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:30.874Z,1749148770.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 281.720276 m,
      bearing: 294.453260 deg,
      approach rate: -0.607375 m/s,
      LOS rate: 0.033947 deg/s,
      cmd heading: 287.367833 deg,
      new cmd heading: 287.409240 deg.

2025-06-05T18:39:30.875Z,1749148770.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016238 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:31.300Z,1749148771.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:31.302Z,1749148771.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:31.306Z,1749148771.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 281.466736 m,
      bearing: 294.466179 deg,
      approach rate: -0.586879 m/s,
      LOS rate: 0.029932 deg/s,
      cmd heading: 287.409251 deg,
      new cmd heading: 287.448045 deg.

2025-06-05T18:39:31.307Z,1749148771.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016915 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:31.480Z,1749148771.480 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:31.480Z,1749148771.480 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:31.481Z,1749148771.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:31.733Z,1749148771.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751887
2025-06-05T18:39:31.764Z,1749148771.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:31.767Z,1749148771.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 281.185516 m,
      bearing: 294.480598 deg,
      approach rate: -0.635997 m/s,
      LOS rate: 0.032641 deg/s,
      cmd heading: 287.448047 deg,
      new cmd heading: 287.491345 deg.

2025-06-05T18:39:31.768Z,1749148771.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.017671 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:31.985Z,1749148771.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003226
2025-06-05T18:39:32.133Z,1749148772.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:32.152Z,1749148772.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 280.934692 m,
      bearing: 294.491089 deg,
      approach rate: -0.644462 m/s,
      LOS rate: 0.026980 deg/s,
      cmd heading: 287.491350 deg,
      new cmd heading: 287.522852 deg.

2025-06-05T18:39:32.157Z,1749148772.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.018220 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:32.237Z,1749148772.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255933
2025-06-05T18:39:32.408Z,1749148772.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:39:32.486Z,1749148772.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:32.490Z,1749148772.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508546
2025-06-05T18:39:32.493Z,1749148772.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 280.702637 m,
      bearing: 294.500811 deg,
      approach rate: -0.657285 m/s,
      LOS rate: 0.027560 deg/s,
      cmd heading: 287.522851 deg,
      new cmd heading: 287.552042 deg.

2025-06-05T18:39:32.494Z,1749148772.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.018730 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:32.743Z,1749148772.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761030
2025-06-05T18:39:32.886Z,1749148772.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:32.894Z,1749148772.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 280.445801 m,
      bearing: 294.511566 deg,
      approach rate: -0.641618 m/s,
      LOS rate: 0.026893 deg/s,
      cmd heading: 287.552030 deg,
      new cmd heading: 287.584325 deg.

2025-06-05T18:39:32.896Z,1749148772.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019293 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:32.993Z,1749148772.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011939
2025-06-05T18:39:33.245Z,1749148773.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263426
2025-06-05T18:39:33.316Z,1749148773.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:33.318Z,1749148773.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:33.325Z,1749148773.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 280.171387 m,
      bearing: 294.520585 deg,
      approach rate: -0.635462 m/s,
      LOS rate: 0.020905 deg/s,
      cmd heading: 287.584323 deg,
      new cmd heading: 287.611406 deg.

2025-06-05T18:39:33.326Z,1749148773.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019766 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:33.412Z,1749148773.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:39:33.497Z,1749148773.497 [DAT](INFO): DAT read: Rx Time:18:39:31.8345

2025-06-05T18:39:33.497Z,1749148773.497 [DAT](INFO): Rx dataTimestamp_ set to:1749148773.496756
2025-06-05T18:39:33.498Z,1749148773.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516271
2025-06-05T18:39:33.745Z,1749148773.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:33.749Z,1749148773.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767422
2025-06-05T18:39:33.752Z,1749148773.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 279.925018 m,
      bearing: 294.528697 deg,
      approach rate: -0.577633 m/s,
      LOS rate: 0.019036 deg/s,
      cmd heading: 287.611398 deg,
      new cmd heading: 287.635755 deg.

2025-06-05T18:39:33.753Z,1749148773.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020191 target range: 305.036011 and range: 307.50 m.
2025-06-05T18:39:34.007Z,1749148774.007 [DAT](INFO): DAT read: Range 10 to 50 : 303.7 m  (Round-trip  405.0 ms) speed  0.2 m/s

2025-06-05T18:39:34.009Z,1749148774.009 [DAT](INFO): DAT read: user:2734>

2025-06-05T18:39:34.010Z,1749148774.010 [DAT](INFO): DAT read: Tx time:18:39:32.9253

2025-06-05T18:39:34.010Z,1749148774.010 [DAT](INFO): Ping request sent.
2025-06-05T18:39:34.010Z,1749148774.010 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:34.011Z,1749148774.011 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:39:34.011Z,1749148774.011 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:34.011Z,1749148774.011 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:34.175Z,1749148774.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 303.700012 m,
      deltaT: 4.033436 s,
      deltaX: -3.799988 m,
      approachRate: -0.942122 m/s,
      rangeRepo size: 4

2025-06-05T18:39:34.183Z,1749148774.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:34.191Z,1749148774.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 279.624237 m,
      bearing: 294.536671 deg,
      approach rate: -0.708724 m/s,
      LOS rate: 0.018808 deg/s,
      cmd heading: 287.635768 deg,
      new cmd heading: 287.659715 deg.

2025-06-05T18:39:34.202Z,1749148774.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020609 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:34.254Z,1749148774.254 [DAT](INFO): DAT read: TxSync time:18:39:32.9246

2025-06-05T18:39:34.491Z,1749148774.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:34.510Z,1749148774.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 279.398254 m,
      bearing: 294.542709 deg,
      approach rate: -0.702680 m/s,
      LOS rate: 0.018790 deg/s,
      cmd heading: 287.659728 deg,
      new cmd heading: 287.677857 deg.

2025-06-05T18:39:34.511Z,1749148774.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020926 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:34.928Z,1749148774.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:34.931Z,1749148774.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 279.134766 m,
      bearing: 294.549951 deg,
      approach rate: -0.602355 m/s,
      LOS rate: 0.016571 deg/s,
      cmd heading: 287.677869 deg,
      new cmd heading: 287.699615 deg.

2025-06-05T18:39:34.937Z,1749148774.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.021306 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:35.362Z,1749148775.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:35.384Z,1749148775.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:35.392Z,1749148775.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 278.830933 m,
      bearing: 294.557865 deg,
      approach rate: -0.666229 m/s,
      LOS rate: 0.017373 deg/s,
      cmd heading: 287.699616 deg,
      new cmd heading: 287.723385 deg.

2025-06-05T18:39:35.393Z,1749148775.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.021720 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:35.512Z,1749148775.512 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:35.513Z,1749148775.513 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:35.513Z,1749148775.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:35.745Z,1749148775.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:35.752Z,1749148775.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 278.592163 m,
      bearing: 294.564017 deg,
      approach rate: -0.661954 m/s,
      LOS rate: 0.017071 deg/s,
      cmd heading: 287.723385 deg,
      new cmd heading: 287.741859 deg.

2025-06-05T18:39:35.753Z,1749148775.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022043 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:35.765Z,1749148775.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754282
2025-06-05T18:39:36.020Z,1749148776.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008512
2025-06-05T18:39:36.156Z,1749148776.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:36.159Z,1749148776.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 278.329529 m,
      bearing: 294.569293 deg,
      approach rate: -0.646133 m/s,
      LOS rate: 0.012990 deg/s,
      cmd heading: 287.741854 deg,
      new cmd heading: 287.757695 deg.

2025-06-05T18:39:36.164Z,1749148776.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022319 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:36.269Z,1749148776.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258237
2025-06-05T18:39:36.512Z,1749148776.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:36.515Z,1749148776.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 278.101471 m,
      bearing: 294.573841 deg,
      approach rate: -0.632340 m/s,
      LOS rate: 0.012621 deg/s,
      cmd heading: 287.757700 deg,
      new cmd heading: 287.771356 deg.

2025-06-05T18:39:36.516Z,1749148776.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022558 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:36.522Z,1749148776.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511255
2025-06-05T18:39:36.773Z,1749148776.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762163
2025-06-05T18:39:36.918Z,1749148776.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:36.925Z,1749148776.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 277.848541 m,
      bearing: 294.578858 deg,
      approach rate: -0.624800 m/s,
      LOS rate: 0.012405 deg/s,
      cmd heading: 287.771361 deg,
      new cmd heading: 287.786426 deg.

2025-06-05T18:39:36.928Z,1749148776.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022820 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:37.027Z,1749148777.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016115
2025-06-05T18:39:37.277Z,1749148777.277 [DAT](INFO): DAT read: Rx Time:18:39:35.7322

2025-06-05T18:39:37.277Z,1749148777.277 [DAT](INFO): Rx dataTimestamp_ set to:1749148777.276773
2025-06-05T18:39:37.278Z,1749148777.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267236
2025-06-05T18:39:37.475Z,1749148777.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:37.477Z,1749148777.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.04 m.
2025-06-05T18:39:37.480Z,1749148777.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.036011 m,
      nav range: 277.504608 m,
      bearing: 294.586771 deg,
      approach rate: -0.614110 m/s,
      LOS rate: 0.014147 deg/s,
      cmd heading: 287.786414 deg,
      new cmd heading: 287.810183 deg.

2025-06-05T18:39:37.481Z,1749148777.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023235 target range: 305.036011 and range: 303.70 m.
2025-06-05T18:39:37.530Z,1749148777.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519745
2025-06-05T18:39:37.786Z,1749148777.786 [DAT](INFO): DAT read: 18:39:35.7322 LVL= 28720, 32753, 32754, 32755, AGC= 64, IDX= 228,-0.06,-2.203, 2.397,-2.570,-2.979, PHS= 0.864,-0.860, 0.406, RAW= 135.2,  -5.3, CAL= 140.8, -15.8, ROT=   9.2,  15.8

2025-06-05T18:39:37.787Z,1749148777.787 [DAT](INFO): got valid direction response:
 18:39:35.7322 LVL= 28720, 32753, 32754, 32755, AGC= 64, IDX= 228,-0.06,-2.203, 2.397,-2.570,-2.979, PHS= 0.864,-0.860, 0.406, RAW= 135.2,  -5.3, CAL= 140.8, -15.8, ROT=   9.2,  15.8

2025-06-05T18:39:37.788Z,1749148777.788 [DAT](INFO): DAT read: Bearing   9.2,  15.8 (Local)

2025-06-05T18:39:37.789Z,1749148777.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  15.8 (Local)

2025-06-05T18:39:37.790Z,1749148777.790 [DAT](INFO): DAT read: Range 10 to 50 : 301.9 m  (Round-trip  402.6 ms) speed  0.5 m/s

2025-06-05T18:39:37.791Z,1749148777.791 [DAT](INFO): DAT read: user:2735>

2025-06-05T18:39:37.791Z,1749148777.791 [DAT](INFO): DAT read: Tx time:18:39:36.8254

2025-06-05T18:39:37.792Z,1749148777.792 [DAT](INFO): Ping request sent.
2025-06-05T18:39:37.792Z,1749148777.792 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:37.792Z,1749148777.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:37.793Z,1749148777.793 [DAT](INFO): direction in FSK: [0.949840,0.153841,-0.272280]
2025-06-05T18:39:37.793Z,1749148777.793 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:37.794Z,1749148777.794 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:37.797Z,1749148777.797 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:37.797Z,1749148777.797 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:37.961Z,1749148777.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 301.899994 m,
      deltaT: 3.778429 s,
      deltaX: -1.800018 m,
      approachRate: -0.476393 m/s,
      rangeRepo size: 4

2025-06-05T18:39:37.968Z,1749148777.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.470001 m,
      bearing: 297.788289 deg,
      lat: 36.906158 deg,
      lon: -122.116280 deg,
      deltaT: 7.811865 s,
      deltaX: -5.566010 m,
      approachRate: -0.712507 m/s,
      posRepo size: 4

2025-06-05T18:39:37.968Z,1749148777.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:37.976Z,1749148777.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 280.762573 m,
      bearing: 294.682068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014147 deg/s,
      cmd heading: 287.810183 deg,
      new cmd heading: 287.830715 deg.

2025-06-05T18:39:37.977Z,1749148777.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023594 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:38.036Z,1749148778.036 [DAT](INFO): DAT read: TxSync time:18:39:36.8247

2025-06-05T18:39:38.512Z,1749148778.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:38.515Z,1749148778.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 280.425507 m,
      bearing: 294.691639 deg,
      approach rate: -0.616614 m/s,
      LOS rate: 0.017530 deg/s,
      cmd heading: 287.830729 deg,
      new cmd heading: 287.859476 deg.

2025-06-05T18:39:38.520Z,1749148778.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024096 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:38.882Z,1749148778.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:38.889Z,1749148778.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 280.192993 m,
      bearing: 294.698313 deg,
      approach rate: -0.620869 m/s,
      LOS rate: 0.017836 deg/s,
      cmd heading: 287.859470 deg,
      new cmd heading: 287.879508 deg.

2025-06-05T18:39:38.898Z,1749148778.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024445 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:39.286Z,1749148779.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:39.289Z,1749148779.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 279.950439 m,
      bearing: 294.707074 deg,
      approach rate: -0.600598 m/s,
      LOS rate: 0.021714 deg/s,
      cmd heading: 287.879496 deg,
      new cmd heading: 287.905804 deg.

2025-06-05T18:39:39.290Z,1749148779.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024904 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:39.666Z,1749148779.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:39.668Z,1749148779.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:39.673Z,1749148779.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 279.725494 m,
      bearing: 294.715106 deg,
      approach rate: -0.588915 m/s,
      LOS rate: 0.021045 deg/s,
      cmd heading: 287.905806 deg,
      new cmd heading: 287.929921 deg.

2025-06-05T18:39:39.674Z,1749148779.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025325 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:39.798Z,1749148779.798 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:39.798Z,1749148779.798 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:39.798Z,1749148779.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:40.052Z,1749148780.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259243
2025-06-05T18:39:40.157Z,1749148780.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:40.160Z,1749148780.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 279.438049 m,
      bearing: 294.727314 deg,
      approach rate: -0.587471 m/s,
      LOS rate: 0.024975 deg/s,
      cmd heading: 287.929930 deg,
      new cmd heading: 287.966591 deg.

2025-06-05T18:39:40.161Z,1749148780.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025965 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:40.301Z,1749148780.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508902
2025-06-05T18:39:40.486Z,1749148780.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:40.491Z,1749148780.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 279.249817 m,
      bearing: 294.735219 deg,
      approach rate: -0.571662 m/s,
      LOS rate: 0.024025 deg/s,
      cmd heading: 287.966595 deg,
      new cmd heading: 287.990327 deg.

2025-06-05T18:39:40.500Z,1749148780.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026380 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:40.553Z,1749148780.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761149
2025-06-05T18:39:40.806Z,1749148780.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013983
2025-06-05T18:39:40.895Z,1749148780.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:40.902Z,1749148780.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 279.013092 m,
      bearing: 294.745059 deg,
      approach rate: -0.579550 m/s,
      LOS rate: 0.024110 deg/s,
      cmd heading: 287.990336 deg,
      new cmd heading: 288.019880 deg.

2025-06-05T18:39:40.903Z,1749148780.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026895 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:41.060Z,1749148781.060 [DAT](INFO): DAT read: Rx Time:18:39:39.6105

2025-06-05T18:39:41.062Z,1749148781.062 [DAT](INFO): Rx dataTimestamp_ set to:1749148781.060849
2025-06-05T18:39:41.064Z,1749148781.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271233
2025-06-05T18:39:41.309Z,1749148781.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517106
2025-06-05T18:39:41.318Z,1749148781.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:41.322Z,1749148781.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 278.746552 m,
      bearing: 294.759205 deg,
      approach rate: -0.629865 m/s,
      LOS rate: 0.033460 deg/s,
      cmd heading: 288.019870 deg,
      new cmd heading: 288.062348 deg.

2025-06-05T18:39:41.323Z,1749148781.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027637 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:41.563Z,1749148781.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771065
2025-06-05T18:39:41.687Z,1749148781.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:41.691Z,1749148781.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.47 m.
2025-06-05T18:39:41.716Z,1749148781.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.470001 m,
      nav range: 278.522949 m,
      bearing: 294.771004 deg,
      approach rate: -0.600439 m/s,
      LOS rate: 0.031710 deg/s,
      cmd heading: 288.062354 deg,
      new cmd heading: 288.097780 deg.

2025-06-05T18:39:41.718Z,1749148781.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.028255 target range: 299.470001 and range: 301.90 m.
2025-06-05T18:39:41.823Z,1749148781.823 [DAT](INFO): DAT read: 18:39:39.6105 LVL= 25776, 24529, 24722, 32755, AGC= 68, IDX= 217,-0.41,-2.850, 2.004,-2.950, 2.411, PHS= 1.110,-0.359, 0.920, RAW= 143.2, -23.1, CAL= 148.1, -30.0, ROT=   1.9,  30.0

2025-06-05T18:39:41.824Z,1749148781.824 [DAT](INFO): got valid direction response:
 18:39:39.6105 LVL= 25776, 24529, 24722, 32755, AGC= 68, IDX= 217,-0.41,-2.850, 2.004,-2.950, 2.411, PHS= 1.110,-0.359, 0.920, RAW= 143.2, -23.1, CAL= 148.1, -30.0, ROT=   1.9,  30.0

2025-06-05T18:39:41.826Z,1749148781.826 [DAT](INFO): DAT read: Bearing   1.9,  30.0 (Local)

2025-06-05T18:39:41.826Z,1749148781.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  30.0 (Local)

2025-06-05T18:39:41.834Z,1749148781.834 [DAT](INFO): DAT read: Range 10 to 50 : 285.6 m  (Round-trip  380.9 ms) speed  0.4 m/s

2025-06-05T18:39:41.835Z,1749148781.835 [DAT](INFO): DAT read: user:2736>

2025-06-05T18:39:41.840Z,1749148781.840 [DAT](INFO): DAT read: Tx time:18:39:40.7254

2025-06-05T18:39:41.840Z,1749148781.840 [DAT](INFO): Ping request sent.
2025-06-05T18:39:41.840Z,1749148781.840 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:41.841Z,1749148781.841 [DAT](INFO): DAT read: TxSync time:18:39:40.7247

2025-06-05T18:39:41.842Z,1749148781.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:41.843Z,1749148781.843 [DAT](INFO): direction in FSK: [0.865549,0.028713,-0.500000]
2025-06-05T18:39:41.843Z,1749148781.843 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:41.843Z,1749148781.843 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:41.850Z,1749148781.850 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:41.851Z,1749148781.851 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:42.193Z,1749148782.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.600006 m,
      deltaT: 4.032165 s,
      deltaX: -16.299988 m,
      approachRate: -4.042490 m/s,
      rangeRepo size: 4

2025-06-05T18:39:42.195Z,1749148782.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 283.296753 m,
      bearing: 292.569040 deg,
      lat: 36.906158 deg,
      lon: -122.116245 deg,
      deltaT: 4.032165 s,
      deltaX: -16.173248 m,
      approachRate: -4.011058 m/s,
      posRepo size: 4

2025-06-05T18:39:42.196Z,1749148782.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:42.199Z,1749148782.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 275.460571 m,
      bearing: 295.052435 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031710 deg/s,
      cmd heading: 288.097789 deg,
      new cmd heading: 288.145564 deg.

2025-06-05T18:39:42.220Z,1749148782.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029089 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:42.542Z,1749148782.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:42.545Z,1749148782.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 275.238556 m,
      bearing: 295.064974 deg,
      approach rate: -0.634652 m/s,
      LOS rate: 0.035871 deg/s,
      cmd heading: 288.145573 deg,
      new cmd heading: 288.183219 deg.

2025-06-05T18:39:42.546Z,1749148782.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029746 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:42.964Z,1749148782.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:42.967Z,1749148782.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 274.983398 m,
      bearing: 295.079399 deg,
      approach rate: -0.604525 m/s,
      LOS rate: 0.034208 deg/s,
      cmd heading: 288.183221 deg,
      new cmd heading: 288.226537 deg.

2025-06-05T18:39:42.972Z,1749148782.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.030502 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:43.403Z,1749148783.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:43.410Z,1749148783.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 274.712189 m,
      bearing: 295.095695 deg,
      approach rate: -0.618707 m/s,
      LOS rate: 0.037213 deg/s,
      cmd heading: 288.226524 deg,
      new cmd heading: 288.275461 deg.

2025-06-05T18:39:43.411Z,1749148783.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.031356 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:43.770Z,1749148783.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:43.773Z,1749148783.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:43.776Z,1749148783.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 274.458740 m,
      bearing: 295.110852 deg,
      approach rate: -0.683996 m/s,
      LOS rate: 0.040943 deg/s,
      cmd heading: 288.275456 deg,
      new cmd heading: 288.320969 deg.

2025-06-05T18:39:43.777Z,1749148783.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032150 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:43.833Z,1749148783.833 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:43.834Z,1749148783.834 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:43.834Z,1749148783.834 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:44.085Z,1749148784.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244012
2025-06-05T18:39:44.217Z,1749148784.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:44.219Z,1749148784.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 274.171722 m,
      bearing: 295.125822 deg,
      approach rate: -0.647511 m/s,
      LOS rate: 0.033808 deg/s,
      cmd heading: 288.320972 deg,
      new cmd heading: 288.365930 deg.

2025-06-05T18:39:44.221Z,1749148784.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032935 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:44.337Z,1749148784.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496281
2025-06-05T18:39:44.561Z,1749148784.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:44.564Z,1749148784.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 273.950775 m,
      bearing: 295.137319 deg,
      approach rate: -0.641694 m/s,
      LOS rate: 0.033417 deg/s,
      cmd heading: 288.365942 deg,
      new cmd heading: 288.400461 deg.

2025-06-05T18:39:44.565Z,1749148784.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.033537 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:44.589Z,1749148784.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748676
2025-06-05T18:39:44.841Z,1749148784.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000000
2025-06-05T18:39:45.047Z,1749148785.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:45.054Z,1749148785.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 273.636414 m,
      bearing: 295.153704 deg,
      approach rate: -0.647067 m/s,
      LOS rate: 0.033764 deg/s,
      cmd heading: 288.400448 deg,
      new cmd heading: 288.449658 deg.

2025-06-05T18:39:45.057Z,1749148785.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.034396 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:45.096Z,1749148785.096 [DAT](INFO): DAT read: Rx Time:18:39:43.5258

2025-06-05T18:39:45.098Z,1749148785.098 [DAT](INFO): Rx dataTimestamp_ set to:1749148785.096627
2025-06-05T18:39:45.100Z,1749148785.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258737
2025-06-05T18:39:45.346Z,1749148785.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504826
2025-06-05T18:39:45.553Z,1749148785.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.30 m.
2025-06-05T18:39:45.557Z,1749148785.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.296753 m,
      nav range: 273.316956 m,
      bearing: 295.171377 deg,
      approach rate: -0.631288 m/s,
      LOS rate: 0.034966 deg/s,
      cmd heading: 288.449653 deg,
      new cmd heading: 288.502736 deg.

2025-06-05T18:39:45.558Z,1749148785.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.035323 target range: 283.296753 and range: 285.60 m.
2025-06-05T18:39:45.607Z,1749148785.607 [DAT](INFO): DAT read: 18:39:43.5258 LVL= 20320, 23857, 19154, 23603, AGC= 65, IDX= 103,-0.39, 0.020,-1.629,-0.167,-0.852, PHS= 0.960,-0.730, 0.682, RAW= 141.2, -11.6, CAL= 147.9, -21.0, ROT=   2.1,  21.0

2025-06-05T18:39:45.611Z,1749148785.611 [DAT](INFO): got valid direction response:
 18:39:43.5258 LVL= 20320, 23857, 19154, 23603, AGC= 65, IDX= 103,-0.39, 0.020,-1.629,-0.167,-0.852, PHS= 0.960,-0.730, 0.682, RAW= 141.2, -11.6, CAL= 147.9, -21.0, ROT=   2.1,  21.0

2025-06-05T18:39:45.613Z,1749148785.613 [DAT](INFO): DAT read: Bearing   2.1,  21.0 (Local)

2025-06-05T18:39:45.613Z,1749148785.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  21.0 (Local)

2025-06-05T18:39:45.620Z,1749148785.620 [DAT](INFO): DAT read: Range 10 to 50 : 297.1 m  (Round-trip  396.2 ms) speed  0.4 m/s

2025-06-05T18:39:45.622Z,1749148785.622 [DAT](INFO): DAT read: user:2737>

2025-06-05T18:39:45.623Z,1749148785.623 [DAT](INFO): DAT read: Tx time:18:39:44.6254

2025-06-05T18:39:45.623Z,1749148785.623 [DAT](INFO): Ping request sent.
2025-06-05T18:39:45.623Z,1749148785.623 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:45.630Z,1749148785.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:45.638Z,1749148785.638 [DAT](INFO): direction in FSK: [0.932953,0.034210,-0.358368]
2025-06-05T18:39:45.639Z,1749148785.639 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:45.639Z,1749148785.639 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:45.664Z,1749148785.664 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:45.665Z,1749148785.665 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:45.849Z,1749148785.849 [DAT](INFO): DAT read: TxSync time:18:39:44.6248

2025-06-05T18:39:45.899Z,1749148785.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.100006 m,
      deltaT: 3.784755 s,
      deltaX: 11.500000 m,
      approachRate: 3.038506 m/s,
      rangeRepo size: 4

2025-06-05T18:39:45.905Z,1749148785.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.696838 m,
      bearing: 292.324165 deg,
      lat: 36.906088 deg,
      lon: -122.116368 deg,
      deltaT: 3.784755 s,
      deltaX: 11.400085 m,
      approachRate: 3.012107 m/s,
      posRepo size: 4

2025-06-05T18:39:45.906Z,1749148785.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:45.912Z,1749148785.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 279.924805 m,
      bearing: 292.789960 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034966 deg/s,
      cmd heading: 288.502737 deg,
      new cmd heading: 288.538941 deg.

2025-06-05T18:39:45.913Z,1749148785.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.035954 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:46.310Z,1749148786.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:46.312Z,1749148786.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:46.315Z,1749148786.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 279.642181 m,
      bearing: 292.799343 deg,
      approach rate: -0.683122 m/s,
      LOS rate: 0.022703 deg/s,
      cmd heading: 288.538937 deg,
      new cmd heading: 288.567115 deg.

2025-06-05T18:39:46.316Z,1749148786.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.036446 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:46.353Z,1749148786.353 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:46.353Z,1749148786.353 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:46.354Z,1749148786.354 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:46.606Z,1749148786.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983010
2025-06-05T18:39:46.649Z,1749148786.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:46.651Z,1749148786.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 279.426239 m,
      bearing: 292.806730 deg,
      approach rate: -0.642709 m/s,
      LOS rate: 0.022001 deg/s,
      cmd heading: 288.567105 deg,
      new cmd heading: 288.589281 deg.

2025-06-05T18:39:46.653Z,1749148786.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.036833 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:46.857Z,1749148786.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233720
2025-06-05T18:39:47.043Z,1749148787.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:47.046Z,1749148787.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 279.171478 m,
      bearing: 292.815499 deg,
      approach rate: -0.644163 m/s,
      LOS rate: 0.022193 deg/s,
      cmd heading: 288.589289 deg,
      new cmd heading: 288.615621 deg.

2025-06-05T18:39:47.048Z,1749148787.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.037293 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:47.110Z,1749148787.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486452
2025-06-05T18:39:47.361Z,1749148787.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737462
2025-06-05T18:39:47.503Z,1749148787.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:47.508Z,1749148787.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 278.888306 m,
      bearing: 292.822907 deg,
      approach rate: -0.615286 m/s,
      LOS rate: 0.016112 deg/s,
      cmd heading: 288.615627 deg,
      new cmd heading: 288.637872 deg.

2025-06-05T18:39:47.509Z,1749148787.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.037681 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:47.614Z,1749148787.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990357
2025-06-05T18:39:47.863Z,1749148787.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:47.865Z,1749148787.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241774
2025-06-05T18:39:47.870Z,1749148787.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 278.666016 m,
      bearing: 292.828625 deg,
      approach rate: -0.617986 m/s,
      LOS rate: 0.015910 deg/s,
      cmd heading: 288.637866 deg,
      new cmd heading: 288.655034 deg.

2025-06-05T18:39:47.876Z,1749148787.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.037981 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:48.120Z,1749148788.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496126
2025-06-05T18:39:48.294Z,1749148788.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:48.297Z,1749148788.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 278.396088 m,
      bearing: 292.832990 deg,
      approach rate: -0.626357 m/s,
      LOS rate: 0.010139 deg/s,
      cmd heading: 288.655023 deg,
      new cmd heading: 288.668131 deg.

2025-06-05T18:39:48.298Z,1749148788.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038209 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:48.369Z,1749148788.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745814
2025-06-05T18:39:48.621Z,1749148788.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997778
2025-06-05T18:39:48.678Z,1749148788.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:48.686Z,1749148788.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:48.695Z,1749148788.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 278.169067 m,
      bearing: 292.836632 deg,
      approach rate: -0.580073 m/s,
      LOS rate: 0.009314 deg/s,
      cmd heading: 288.668137 deg,
      new cmd heading: 288.679072 deg.

2025-06-05T18:39:48.730Z,1749148788.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038400 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:48.873Z,1749148788.873 [DAT](INFO): DAT read: Rx Time:18:39:47.4236

2025-06-05T18:39:48.874Z,1749148788.874 [DAT](INFO): Rx dataTimestamp_ set to:1749148788.873530
2025-06-05T18:39:48.874Z,1749148788.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251211
2025-06-05T18:39:49.083Z,1749148789.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:49.088Z,1749148789.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 277.907593 m,
      bearing: 292.840834 deg,
      approach rate: -0.659078 m/s,
      LOS rate: 0.010602 deg/s,
      cmd heading: 288.679065 deg,
      new cmd heading: 288.691684 deg.

2025-06-05T18:39:49.090Z,1749148789.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038620 target range: 294.696838 and range: 297.10 m.
2025-06-05T18:39:49.126Z,1749148789.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502553
2025-06-05T18:39:49.377Z,1749148789.377 [DAT](INFO): DAT read: Range 10 to 50 : 295.4 m  (Round-trip  393.9 ms) speed  0.4 m/s

2025-06-05T18:39:49.378Z,1749148789.378 [DAT](INFO): DAT read: user:2738>

2025-06-05T18:39:49.379Z,1749148789.379 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:39:49.379Z,1749148789.379 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:49.380Z,1749148789.380 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:49.380Z,1749148789.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:49.563Z,1749148789.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.399994 m,
      deltaT: 3.779131 s,
      deltaX: -1.700012 m,
      approachRate: -0.449842 m/s,
      rangeRepo size: 4

2025-06-05T18:39:49.564Z,1749148789.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:49.566Z,1749148789.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 277.611115 m,
      bearing: 292.843288 deg,
      approach rate: -0.617506 m/s,
      LOS rate: 0.005116 deg/s,
      cmd heading: 288.691688 deg,
      new cmd heading: 288.699057 deg.

2025-06-05T18:39:49.567Z,1749148789.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038749 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:49.630Z,1749148789.630 [DAT](INFO): DAT read: Tx time:18:39:48.5255

2025-06-05T18:39:49.630Z,1749148789.630 [DAT](INFO): Ping request sent.
2025-06-05T18:39:49.630Z,1749148789.630 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:49.632Z,1749148789.632 [DAT](INFO): DAT read: TxSync time:18:39:48.5248

2025-06-05T18:39:49.632Z,1749148789.632 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:49.633Z,1749148789.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002470
2025-06-05T18:39:49.881Z,1749148789.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250155
2025-06-05T18:39:49.924Z,1749148789.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:49.926Z,1749148789.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 277.387787 m,
      bearing: 292.845039 deg,
      approach rate: -0.618222 m/s,
      LOS rate: 0.004850 deg/s,
      cmd heading: 288.699064 deg,
      new cmd heading: 288.704320 deg.

2025-06-05T18:39:49.927Z,1749148789.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038841 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:50.134Z,1749148790.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502957
2025-06-05T18:39:50.353Z,1749148790.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:50.357Z,1749148790.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 277.120972 m,
      bearing: 292.846022 deg,
      approach rate: -0.621700 m/s,
      LOS rate: 0.002292 deg/s,
      cmd heading: 288.704310 deg,
      new cmd heading: 288.707261 deg.

2025-06-05T18:39:50.358Z,1749148790.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038892 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:50.385Z,1749148790.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754345
2025-06-05T18:39:50.637Z,1749148790.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006177
2025-06-05T18:39:50.736Z,1749148790.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:50.740Z,1749148790.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:50.743Z,1749148790.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 276.882690 m,
      bearing: 292.846962 deg,
      approach rate: -0.615518 m/s,
      LOS rate: 0.002431 deg/s,
      cmd heading: 288.707260 deg,
      new cmd heading: 288.710084 deg.

2025-06-05T18:39:50.744Z,1749148790.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038941 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:50.889Z,1749148790.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258556
2025-06-05T18:39:51.141Z,1749148791.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510219
2025-06-05T18:39:51.147Z,1749148791.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:51.155Z,1749148791.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 276.630096 m,
      bearing: 292.847960 deg,
      approach rate: -0.620479 m/s,
      LOS rate: 0.002455 deg/s,
      cmd heading: 288.710074 deg,
      new cmd heading: 288.713073 deg.

2025-06-05T18:39:51.160Z,1749148791.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038994 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:51.393Z,1749148791.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762248
2025-06-05T18:39:51.592Z,1749148791.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:51.594Z,1749148791.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 276.367401 m,
      bearing: 292.849438 deg,
      approach rate: -0.618986 m/s,
      LOS rate: 0.003485 deg/s,
      cmd heading: 288.713080 deg,
      new cmd heading: 288.717517 deg.

2025-06-05T18:39:51.600Z,1749148791.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039071 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:51.645Z,1749148791.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014264
2025-06-05T18:39:51.897Z,1749148791.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266393
2025-06-05T18:39:51.949Z,1749148791.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:51.952Z,1749148791.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 276.127472 m,
      bearing: 292.850675 deg,
      approach rate: -0.635133 m/s,
      LOS rate: 0.003278 deg/s,
      cmd heading: 288.717506 deg,
      new cmd heading: 288.721220 deg.

2025-06-05T18:39:51.953Z,1749148791.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039136 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:52.149Z,1749148792.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518261
2025-06-05T18:39:52.400Z,1749148792.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769965
2025-06-05T18:39:52.546Z,1749148792.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:52.549Z,1749148792.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 275.759918 m,
      bearing: 292.854861 deg,
      approach rate: -0.616028 m/s,
      LOS rate: 0.007024 deg/s,
      cmd heading: 288.721221 deg,
      new cmd heading: 288.733795 deg.

2025-06-05T18:39:52.549Z,1749148792.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039355 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:52.653Z,1749148792.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022285
2025-06-05T18:39:52.837Z,1749148792.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:52.857Z,1749148792.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:52.860Z,1749148792.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 275.563232 m,
      bearing: 292.856753 deg,
      approach rate: -0.631628 m/s,
      LOS rate: 0.006081 deg/s,
      cmd heading: 288.733789 deg,
      new cmd heading: 288.739470 deg.

2025-06-05T18:39:52.861Z,1749148792.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039454 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:52.907Z,1749148792.907 [DAT](INFO): DAT read: Rx Time:18:39:51.3211

2025-06-05T18:39:52.907Z,1749148792.907 [DAT](INFO): Rx dataTimestamp_ set to:1749148792.906768
2025-06-05T18:39:52.908Z,1749148792.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277647
2025-06-05T18:39:53.008Z,1749148793.008 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:39:53.157Z,1749148793.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526370
2025-06-05T18:39:53.349Z,1749148793.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:53.351Z,1749148793.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 275.255005 m,
      bearing: 292.860480 deg,
      approach rate: -0.626923 m/s,
      LOS rate: 0.007589 deg/s,
      cmd heading: 288.739472 deg,
      new cmd heading: 288.750665 deg.

2025-06-05T18:39:53.359Z,1749148793.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039650 target range: 294.696838 and range: 295.40 m.
2025-06-05T18:39:53.418Z,1749148793.418 [DAT](INFO): DAT read: Range 10 to 50 : 293.6 m  (Round-trip  391.5 ms) speed  0.4 m/s

2025-06-05T18:39:53.419Z,1749148793.419 [DAT](INFO): DAT read: user:2739>

2025-06-05T18:39:53.420Z,1749148793.420 [DAT](INFO): DAT read: Tx time:18:39:52.4255

2025-06-05T18:39:53.421Z,1749148793.421 [DAT](INFO): Ping request sent.
2025-06-05T18:39:53.421Z,1749148793.421 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:53.422Z,1749148793.422 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:39:53.422Z,1749148793.422 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:53.423Z,1749148793.423 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:53.652Z,1749148793.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.600006 m,
      deltaT: 4.033415 s,
      deltaX: -1.799988 m,
      approachRate: -0.446269 m/s,
      rangeRepo size: 4

2025-06-05T18:39:53.653Z,1749148793.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:53.657Z,1749148793.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 275.033997 m,
      bearing: 292.863098 deg,
      approach rate: -0.729607 m/s,
      LOS rate: 0.008651 deg/s,
      cmd heading: 288.750673 deg,
      new cmd heading: 288.758535 deg.

2025-06-05T18:39:53.658Z,1749148793.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039787 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:53.661Z,1749148793.661 [DAT](INFO): DAT read: TxSync time:18:39:52.4248

2025-06-05T18:39:54.057Z,1749148794.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:54.060Z,1749148794.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 274.770752 m,
      bearing: 292.866489 deg,
      approach rate: -0.651546 m/s,
      LOS rate: 0.008400 deg/s,
      cmd heading: 288.758542 deg,
      new cmd heading: 288.768723 deg.

2025-06-05T18:39:54.061Z,1749148794.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039965 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:54.510Z,1749148794.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:54.513Z,1749148794.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 274.475342 m,
      bearing: 292.873619 deg,
      approach rate: -0.649880 m/s,
      LOS rate: 0.015704 deg/s,
      cmd heading: 288.768732 deg,
      new cmd heading: 288.790147 deg.

2025-06-05T18:39:54.514Z,1749148794.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040339 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:54.857Z,1749148794.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:54.859Z,1749148794.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:54.862Z,1749148794.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 274.251007 m,
      bearing: 292.878995 deg,
      approach rate: -0.642561 m/s,
      LOS rate: 0.015412 deg/s,
      cmd heading: 288.790152 deg,
      new cmd heading: 288.806293 deg.

2025-06-05T18:39:54.863Z,1749148794.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040621 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:54.923Z,1749148794.923 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:54.923Z,1749148794.923 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:54.923Z,1749148794.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:55.173Z,1749148795.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751393
2025-06-05T18:39:55.326Z,1749148795.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:55.328Z,1749148795.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 273.943848 m,
      bearing: 292.886274 deg,
      approach rate: -0.658804 m/s,
      LOS rate: 0.015628 deg/s,
      cmd heading: 288.806298 deg,
      new cmd heading: 288.828157 deg.

2025-06-05T18:39:55.329Z,1749148795.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041002 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:55.425Z,1749148795.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003471
2025-06-05T18:39:55.677Z,1749148795.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255470
2025-06-05T18:39:55.736Z,1749148795.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:55.744Z,1749148795.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 273.703033 m,
      bearing: 292.893877 deg,
      approach rate: -0.592873 m/s,
      LOS rate: 0.018737 deg/s,
      cmd heading: 288.828155 deg,
      new cmd heading: 288.850986 deg.

2025-06-05T18:39:55.745Z,1749148795.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041401 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:55.931Z,1749148795.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510126
2025-06-05T18:39:56.067Z,1749148796.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:56.070Z,1749148796.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 273.457611 m,
      bearing: 292.901640 deg,
      approach rate: -0.732444 m/s,
      LOS rate: 0.023189 deg/s,
      cmd heading: 288.850995 deg,
      new cmd heading: 288.874305 deg.

2025-06-05T18:39:56.071Z,1749148796.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041808 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:56.181Z,1749148796.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760069
2025-06-05T18:39:56.433Z,1749148796.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011304
2025-06-05T18:39:56.539Z,1749148796.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:56.543Z,1749148796.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 273.161407 m,
      bearing: 292.914116 deg,
      approach rate: -0.629305 m/s,
      LOS rate: 0.026534 deg/s,
      cmd heading: 288.874300 deg,
      new cmd heading: 288.911767 deg.

2025-06-05T18:39:56.544Z,1749148796.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.042461 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:56.686Z,1749148796.686 [DAT](INFO): DAT read: Rx Time:18:39:55.2183

2025-06-05T18:39:56.687Z,1749148796.687 [DAT](INFO): Rx dataTimestamp_ set to:1749148796.685892
2025-06-05T18:39:56.688Z,1749148796.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266299
2025-06-05T18:39:56.877Z,1749148796.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:56.879Z,1749148796.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-06-05T18:39:56.882Z,1749148796.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.696838 m,
      nav range: 272.931213 m,
      bearing: 292.923851 deg,
      approach rate: -0.674445 m/s,
      LOS rate: 0.028547 deg/s,
      cmd heading: 288.911756 deg,
      new cmd heading: 288.940986 deg.

2025-06-05T18:39:56.883Z,1749148796.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.042972 target range: 294.696838 and range: 293.60 m.
2025-06-05T18:39:56.937Z,1749148796.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515438
2025-06-05T18:39:57.209Z,1749148797.209 [DAT](INFO): DAT read: 18:39:55.2183 LVL= 32752, 32753, 30034, 32755, AGC= 64, IDX= 406,-0.29,-0.010,-1.380,-0.080,-0.914, PHS= 0.992,-0.420, 0.830, RAW= 144.0, -20.3, CAL= 149.4, -27.7, ROT=   0.6,  27.7

2025-06-05T18:39:57.211Z,1749148797.211 [DAT](INFO): got valid direction response:
 18:39:55.2183 LVL= 32752, 32753, 30034, 32755, AGC= 64, IDX= 406,-0.29,-0.010,-1.380,-0.080,-0.914, PHS= 0.992,-0.420, 0.830, RAW= 144.0, -20.3, CAL= 149.4, -27.7, ROT=   0.6,  27.7

2025-06-05T18:39:57.212Z,1749148797.212 [DAT](INFO): DAT read: Bearing   0.6,  27.7 (Local)

2025-06-05T18:39:57.212Z,1749148797.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  27.7 (Local)

2025-06-05T18:39:57.214Z,1749148797.214 [DAT](INFO): DAT read: Range 10 to 50 : 291.3 m  (Round-trip  388.5 ms) speed  1.0 m/s

2025-06-05T18:39:57.232Z,1749148797.232 [DAT](INFO): DAT read: user:2740>

2025-06-05T18:39:57.233Z,1749148797.233 [DAT](INFO): DAT read: Tx time:18:39:56.3256

2025-06-05T18:39:57.233Z,1749148797.233 [DAT](INFO): Ping request sent.
2025-06-05T18:39:57.233Z,1749148797.233 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:39:57.233Z,1749148797.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:39:57.234Z,1749148797.234 [DAT](INFO): direction in FSK: [0.885345,0.009272,-0.464842]
2025-06-05T18:39:57.234Z,1749148797.234 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:57.235Z,1749148797.235 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:57.276Z,1749148797.276 [DAT](INFO): publishing transmit ping time
2025-06-05T18:39:57.277Z,1749148797.277 [DAT](INFO): publishing direction and range info
2025-06-05T18:39:57.441Z,1749148797.441 [DAT](INFO): DAT read: TxSync time:18:39:56.3249

2025-06-05T18:39:57.499Z,1749148797.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 291.299988 m,
      deltaT: 3.780950 s,
      deltaX: -2.300018 m,
      approachRate: -0.608318 m/s,
      rangeRepo size: 4

2025-06-05T18:39:57.507Z,1749148797.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.943176 m,
      bearing: 292.120893 deg,
      lat: 36.906076 deg,
      lon: -122.116368 deg,
      deltaT: 11.593496 s,
      deltaX: -5.753662 m,
      approachRate: -0.496284 m/s,
      posRepo size: 4

2025-06-05T18:39:57.507Z,1749148797.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:39:57.514Z,1749148797.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 272.001068 m,
      bearing: 292.666713 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028547 deg/s,
      cmd heading: 288.940990 deg,
      new cmd heading: 288.994032 deg.

2025-06-05T18:39:57.515Z,1749148797.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.043897 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:39:57.813Z,1749148797.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:39:57.816Z,1749148797.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 271.780823 m,
      bearing: 292.677593 deg,
      approach rate: -0.699085 m/s,
      LOS rate: 0.034560 deg/s,
      cmd heading: 288.994019 deg,
      new cmd heading: 289.026683 deg.

2025-06-05T18:39:57.817Z,1749148797.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044467 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:39:58.236Z,1749148798.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:39:58.240Z,1749148798.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 271.513916 m,
      bearing: 292.691154 deg,
      approach rate: -0.630847 m/s,
      LOS rate: 0.032085 deg/s,
      cmd heading: 289.026695 deg,
      new cmd heading: 289.067420 deg.

2025-06-05T18:39:58.241Z,1749148798.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045178 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:39:58.780Z,1749148798.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:39:58.782Z,1749148798.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 271.178680 m,
      bearing: 292.710445 deg,
      approach rate: -0.617079 m/s,
      LOS rate: 0.035553 deg/s,
      cmd heading: 289.067430 deg,
      new cmd heading: 289.125373 deg.

2025-06-05T18:39:58.783Z,1749148798.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046190 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:39:59.139Z,1749148799.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:39:59.141Z,1749148799.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:39:59.149Z,1749148799.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 270.960938 m,
      bearing: 292.722938 deg,
      approach rate: -0.601576 m/s,
      LOS rate: 0.034543 deg/s,
      cmd heading: 289.125377 deg,
      new cmd heading: 289.162886 deg.

2025-06-05T18:39:59.149Z,1749148799.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046844 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:39:59.205Z,1749148799.205 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:39:59.205Z,1749148799.205 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:39:59.206Z,1749148799.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:39:59.459Z,1749148799.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225583
2025-06-05T18:39:59.526Z,1749148799.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:39:59.529Z,1749148799.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 270.726318 m,
      bearing: 292.735642 deg,
      approach rate: -0.609864 m/s,
      LOS rate: 0.033051 deg/s,
      cmd heading: 289.162889 deg,
      new cmd heading: 289.201034 deg.

2025-06-05T18:39:59.530Z,1749148799.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.047510 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:39:59.710Z,1749148799.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476145
2025-06-05T18:39:59.915Z,1749148799.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:39:59.918Z,1749148799.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 270.483643 m,
      bearing: 292.748733 deg,
      approach rate: -0.624675 m/s,
      LOS rate: 0.033728 deg/s,
      cmd heading: 289.201028 deg,
      new cmd heading: 289.240337 deg.

2025-06-05T18:39:59.919Z,1749148799.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048196 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:39:59.961Z,1749148799.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728486
2025-06-05T18:40:00.213Z,1749148800.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979645
2025-06-05T18:40:00.297Z,1749148800.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:00.307Z,1749148800.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 270.250153 m,
      bearing: 292.761329 deg,
      approach rate: -0.611462 m/s,
      LOS rate: 0.033016 deg/s,
      cmd heading: 289.240343 deg,
      new cmd heading: 289.278165 deg.

2025-06-05T18:40:00.312Z,1749148800.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048856 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:40:00.465Z,1749148800.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231833
2025-06-05T18:40:00.717Z,1749148800.717 [DAT](INFO): DAT read: Rx Time:18:39:59.0947

2025-06-05T18:40:00.718Z,1749148800.718 [DAT](INFO): Rx dataTimestamp_ set to:1749148800.717801
2025-06-05T18:40:00.719Z,1749148800.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486068
2025-06-05T18:40:00.777Z,1749148800.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:00.779Z,1749148800.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 269.968109 m,
      bearing: 292.774352 deg,
      approach rate: -0.587449 m/s,
      LOS rate: 0.027151 deg/s,
      cmd heading: 289.278155 deg,
      new cmd heading: 289.317262 deg.

2025-06-05T18:40:00.785Z,1749148800.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.049539 target range: 288.943176 and range: 291.30 m.
2025-06-05T18:40:00.969Z,1749148800.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735928
2025-06-05T18:40:01.224Z,1749148801.224 [DAT](INFO): DAT read: Range 10 to 50 : 273.6 m  (Round-trip  364.9 ms) speed  0.4 m/s

2025-06-05T18:40:01.226Z,1749148801.226 [DAT](INFO): DAT read: user:2741>

2025-06-05T18:40:01.229Z,1749148801.229 [DAT](INFO): DAT read: Tx time:18:40:00.1756

2025-06-05T18:40:01.229Z,1749148801.229 [DAT](INFO): Ping request sent.
2025-06-05T18:40:01.229Z,1749148801.229 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:01.230Z,1749148801.230 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:40:01.230Z,1749148801.230 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:01.231Z,1749148801.231 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:01.297Z,1749148801.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:01.316Z,1749148801.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.600006 m,
      deltaT: 4.029926 s,
      deltaX: -17.699982 m,
      approachRate: -4.392136 m/s,
      rangeRepo size: 4

2025-06-05T18:40:01.318Z,1749148801.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:01.353Z,1749148801.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 269.662109 m,
      bearing: 292.788512 deg,
      approach rate: -0.586144 m/s,
      LOS rate: 0.027156 deg/s,
      cmd heading: 289.317251 deg,
      new cmd heading: 289.359781 deg.

2025-06-05T18:40:01.366Z,1749148801.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050281 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:01.474Z,1749148801.474 [DAT](INFO): DAT read: TxSync time:18:40:00.1749

2025-06-05T18:40:01.475Z,1749148801.475 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:01.476Z,1749148801.476 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:01.476Z,1749148801.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:01.725Z,1749148801.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495396
2025-06-05T18:40:01.820Z,1749148801.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:01.825Z,1749148801.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 269.329651 m,
      bearing: 292.798280 deg,
      approach rate: -0.637953 m/s,
      LOS rate: 0.018766 deg/s,
      cmd heading: 289.359789 deg,
      new cmd heading: 289.389128 deg.

2025-06-05T18:40:01.847Z,1749148801.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050793 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:01.977Z,1749148801.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747225
2025-06-05T18:40:02.231Z,1749148802.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001009
2025-06-05T18:40:02.319Z,1749148802.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:02.326Z,1749148802.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 269.030853 m,
      bearing: 292.807210 deg,
      approach rate: -0.599827 m/s,
      LOS rate: 0.017948 deg/s,
      cmd heading: 289.389132 deg,
      new cmd heading: 289.415953 deg.

2025-06-05T18:40:02.327Z,1749148802.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051261 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:02.481Z,1749148802.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251475
2025-06-05T18:40:02.733Z,1749148802.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503308
2025-06-05T18:40:02.745Z,1749148802.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:02.747Z,1749148802.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 268.759918 m,
      bearing: 292.812537 deg,
      approach rate: -0.635269 m/s,
      LOS rate: 0.012502 deg/s,
      cmd heading: 289.415961 deg,
      new cmd heading: 289.431957 deg.

2025-06-05T18:40:02.749Z,1749148802.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051540 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:02.985Z,1749148802.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755729
2025-06-05T18:40:03.114Z,1749148803.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:03.117Z,1749148803.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 268.533325 m,
      bearing: 292.816888 deg,
      approach rate: -0.612606 m/s,
      LOS rate: 0.011773 deg/s,
      cmd heading: 289.431944 deg,
      new cmd heading: 289.445007 deg.

2025-06-05T18:40:03.118Z,1749148803.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051768 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:03.237Z,1749148803.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007369
2025-06-05T18:40:03.491Z,1749148803.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261111
2025-06-05T18:40:03.540Z,1749148803.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:40:03.567Z,1749148803.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:03.574Z,1749148803.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:03.581Z,1749148803.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 268.248169 m,
      bearing: 292.818628 deg,
      approach rate: -0.620010 m/s,
      LOS rate: 0.003788 deg/s,
      cmd heading: 289.445003 deg,
      new cmd heading: 289.450229 deg.

2025-06-05T18:40:03.582Z,1749148803.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051859 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:03.741Z,1749148803.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511243
2025-06-05T18:40:03.935Z,1749148803.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:03.940Z,1749148803.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 268.018555 m,
      bearing: 292.820032 deg,
      approach rate: -0.636696 m/s,
      LOS rate: 0.003896 deg/s,
      cmd heading: 289.450221 deg,
      new cmd heading: 289.454436 deg.

2025-06-05T18:40:03.941Z,1749148803.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051933 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:03.993Z,1749148803.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763306
2025-06-05T18:40:04.245Z,1749148804.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015173
2025-06-05T18:40:04.328Z,1749148804.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:04.331Z,1749148804.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 267.770233 m,
      bearing: 292.821050 deg,
      approach rate: -0.633325 m/s,
      LOS rate: 0.002601 deg/s,
      cmd heading: 289.454428 deg,
      new cmd heading: 289.457487 deg.

2025-06-05T18:40:04.333Z,1749148804.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051986 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:04.498Z,1749148804.498 [DAT](INFO): DAT read: Rx Time:18:40:02.9623

2025-06-05T18:40:04.498Z,1749148804.498 [DAT](INFO): Rx dataTimestamp_ set to:1749148804.498117
2025-06-05T18:40:04.499Z,1749148804.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269916
2025-06-05T18:40:04.545Z,1749148804.545 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:40:04.757Z,1749148804.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527093
2025-06-05T18:40:04.776Z,1749148804.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.94 m.
2025-06-05T18:40:04.779Z,1749148804.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.943176 m,
      nav range: 267.482483 m,
      bearing: 292.819775 deg,
      approach rate: -0.641491 m/s,
      LOS rate: -0.002847 deg/s,
      cmd heading: 289.457488 deg,
      new cmd heading: 289.453658 deg.

2025-06-05T18:40:04.781Z,1749148804.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051919 target range: 288.943176 and range: 273.60 m.
2025-06-05T18:40:05.014Z,1749148805.014 [DAT](INFO): DAT read: 18:40:02.9623 LVL= 21136, 22209, 19570, 21779, AGC= 66, IDX= 104, 0.05,-0.089,-1.455,-0.172,-0.960, PHS= 0.960,-0.447, 0.786, RAW= 143.5, -19.1, CAL= 149.2, -26.7, ROT=   0.8,  26.7

2025-06-05T18:40:05.016Z,1749148805.016 [DAT](INFO): got valid direction response:
 18:40:02.9623 LVL= 21136, 22209, 19570, 21779, AGC= 66, IDX= 104, 0.05,-0.089,-1.455,-0.172,-0.960, PHS= 0.960,-0.447, 0.786, RAW= 143.5, -19.1, CAL= 149.2, -26.7, ROT=   0.8,  26.7

2025-06-05T18:40:05.017Z,1749148805.017 [DAT](INFO): DAT read: Bearing   0.8,  26.7 (Local)

2025-06-05T18:40:05.017Z,1749148805.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  26.7 (Local)

2025-06-05T18:40:05.018Z,1749148805.018 [DAT](INFO): DAT read: Range 10 to 50 : 286.8 m  (Round-trip  382.5 ms) speed  0.5 m/s

2025-06-05T18:40:05.019Z,1749148805.019 [DAT](INFO): DAT read: user:2742>

2025-06-05T18:40:05.020Z,1749148805.020 [DAT](INFO): DAT read: Tx time:18:40:04.0756

2025-06-05T18:40:05.020Z,1749148805.020 [DAT](INFO): Ping request sent.
2025-06-05T18:40:05.020Z,1749148805.020 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:05.022Z,1749148805.022 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:05.023Z,1749148805.023 [DAT](INFO): direction in FSK: [0.893284,0.012473,-0.449319]
2025-06-05T18:40:05.023Z,1749148805.023 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:05.023Z,1749148805.023 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:05.027Z,1749148805.027 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:05.027Z,1749148805.027 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:05.176Z,1749148805.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 286.799988 m,
      deltaT: 3.787953 s,
      deltaX: 13.199982 m,
      approachRate: 3.484727 m/s,
      rangeRepo size: 4

2025-06-05T18:40:05.178Z,1749148805.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 284.468872 m,
      bearing: 293.194143 deg,
      lat: 36.906059 deg,
      lon: -122.116304 deg,
      deltaT: 7.817879 s,
      deltaX: -4.474304 m,
      approachRate: -0.572317 m/s,
      posRepo size: 4

2025-06-05T18:40:05.179Z,1749148805.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:05.186Z,1749148805.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 261.242004 m,
      bearing: 292.923444 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002847 deg/s,
      cmd heading: 289.453664 deg,
      new cmd heading: 289.450317 deg.

2025-06-05T18:40:05.192Z,1749148805.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051861 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:05.261Z,1749148805.261 [DAT](INFO): DAT read: TxSync time:18:40:04.0749

2025-06-05T18:40:05.644Z,1749148805.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:05.646Z,1749148805.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:05.649Z,1749148805.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 260.920380 m,
      bearing: 292.920762 deg,
      approach rate: -0.671375 m/s,
      LOS rate: -0.005605 deg/s,
      cmd heading: 289.450330 deg,
      new cmd heading: 289.442275 deg.

2025-06-05T18:40:05.650Z,1749148805.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051721 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:05.765Z,1749148805.765 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:05.765Z,1749148805.765 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:05.765Z,1749148805.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:06.017Z,1749148806.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996385
2025-06-05T18:40:06.030Z,1749148806.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:06.033Z,1749148806.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 260.666931 m,
      bearing: 292.918776 deg,
      approach rate: -0.660020 m/s,
      LOS rate: -0.005178 deg/s,
      cmd heading: 289.442271 deg,
      new cmd heading: 289.436306 deg.

2025-06-05T18:40:06.034Z,1749148806.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051617 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:06.270Z,1749148806.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249650
2025-06-05T18:40:06.494Z,1749148806.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:06.501Z,1749148806.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 260.400146 m,
      bearing: 292.916611 deg,
      approach rate: -0.575600 m/s,
      LOS rate: -0.004675 deg/s,
      cmd heading: 289.436315 deg,
      new cmd heading: 289.429814 deg.

2025-06-05T18:40:06.502Z,1749148806.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051503 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:06.522Z,1749148806.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501357
2025-06-05T18:40:06.773Z,1749148806.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752866
2025-06-05T18:40:06.893Z,1749148806.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:06.895Z,1749148806.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 260.099091 m,
      bearing: 292.915168 deg,
      approach rate: -0.755315 m/s,
      LOS rate: -0.003624 deg/s,
      cmd heading: 289.429812 deg,
      new cmd heading: 289.425479 deg.

2025-06-05T18:40:06.896Z,1749148806.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051427 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:07.025Z,1749148807.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005073
2025-06-05T18:40:07.231Z,1749148807.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:07.234Z,1749148807.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 259.876648 m,
      bearing: 292.914033 deg,
      approach rate: -0.657799 m/s,
      LOS rate: -0.003360 deg/s,
      cmd heading: 289.425468 deg,
      new cmd heading: 289.422059 deg.

2025-06-05T18:40:07.235Z,1749148807.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051368 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:07.277Z,1749148807.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256495
2025-06-05T18:40:07.533Z,1749148807.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512328
2025-06-05T18:40:07.665Z,1749148807.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:07.667Z,1749148807.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:07.676Z,1749148807.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 259.587982 m,
      bearing: 292.912842 deg,
      approach rate: -0.661548 m/s,
      LOS rate: -0.002732 deg/s,
      cmd heading: 289.422053 deg,
      new cmd heading: 289.418477 deg.

2025-06-05T18:40:07.677Z,1749148807.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051305 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:07.787Z,1749148807.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766472
2025-06-05T18:40:08.041Z,1749148808.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020987
2025-06-05T18:40:08.044Z,1749148808.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:08.047Z,1749148808.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 259.341553 m,
      bearing: 292.911812 deg,
      approach rate: -0.653371 m/s,
      LOS rate: -0.002733 deg/s,
      cmd heading: 289.418474 deg,
      new cmd heading: 289.415382 deg.

2025-06-05T18:40:08.048Z,1749148808.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051251 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:08.293Z,1749148808.293 [DAT](INFO): DAT read: Rx Time:18:40:06.8603

2025-06-05T18:40:08.294Z,1749148808.294 [DAT](INFO): Rx dataTimestamp_ set to:1749148808.293690
2025-06-05T18:40:08.295Z,1749148808.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274614
2025-06-05T18:40:08.457Z,1749148808.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:08.521Z,1749148808.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 259.073029 m,
      bearing: 292.910693 deg,
      approach rate: -0.654372 m/s,
      LOS rate: -0.002730 deg/s,
      cmd heading: 289.415387 deg,
      new cmd heading: 289.412027 deg.

2025-06-05T18:40:08.523Z,1749148808.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051193 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:08.545Z,1749148808.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524455
2025-06-05T18:40:08.799Z,1749148808.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778160
2025-06-05T18:40:08.913Z,1749148808.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.47 m.
2025-06-05T18:40:08.916Z,1749148808.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.468872 m,
      nav range: 258.769684 m,
      bearing: 292.915055 deg,
      approach rate: -0.661093 m/s,
      LOS rate: 0.009517 deg/s,
      cmd heading: 289.412027 deg,
      new cmd heading: 289.425128 deg.

2025-06-05T18:40:08.917Z,1749148808.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051422 target range: 284.468872 and range: 286.80 m.
2025-06-05T18:40:09.057Z,1749148809.057 [DAT](INFO): DAT read: 18:40:06.8602 LVL= 22752, 30129, 19618, 32755, AGC= 64, IDX= 419, 0.13,-2.487, 2.468,-2.547, 2.948, PHS= 0.936,-0.433, 0.784, RAW= 144.2, -19.3, CAL= 149.8, -26.8, ROT=   0.2,  26.8

2025-06-05T18:40:09.060Z,1749148809.060 [DAT](INFO): got valid direction response:
 18:40:06.8602 LVL= 22752, 30129, 19618, 32755, AGC= 64, IDX= 419, 0.13,-2.487, 2.468,-2.547, 2.948, PHS= 0.936,-0.433, 0.784, RAW= 144.2, -19.3, CAL= 149.8, -26.8, ROT=   0.2,  26.8

2025-06-05T18:40:09.061Z,1749148809.061 [DAT](INFO): DAT read: Bearing   0.2,  26.8 (Local)

2025-06-05T18:40:09.062Z,1749148809.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  26.8 (Local)

2025-06-05T18:40:09.063Z,1749148809.063 [DAT](INFO): DAT read: Range 10 to 50 : 285.3 m  (Round-trip  380.4 ms) speed  1.2 m/s

2025-06-05T18:40:09.064Z,1749148809.064 [DAT](INFO): DAT read: user:2743>

2025-06-05T18:40:09.065Z,1749148809.065 [DAT](INFO): DAT read: Tx time:18:40:07.9756

2025-06-05T18:40:09.065Z,1749148809.065 [DAT](INFO): Ping request sent.
2025-06-05T18:40:09.065Z,1749148809.065 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:09.066Z,1749148809.066 [DAT](INFO): DAT read: TxSync time:18:40:07.9749

2025-06-05T18:40:09.066Z,1749148809.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:09.067Z,1749148809.067 [DAT](INFO): direction in FSK: [0.892580,0.003116,-0.450878]
2025-06-05T18:40:09.073Z,1749148809.073 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:09.073Z,1749148809.073 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:09.080Z,1749148809.080 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:09.080Z,1749148809.080 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:09.291Z,1749148809.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.299988 m,
      deltaT: 4.040038 s,
      deltaX: -1.500000 m,
      approachRate: -0.371284 m/s,
      rangeRepo size: 4

2025-06-05T18:40:09.304Z,1749148809.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 282.987915 m,
      bearing: 292.570060 deg,
      lat: 36.906030 deg,
      lon: -122.116269 deg,
      deltaT: 4.040038 s,
      deltaX: -1.480957 m,
      approachRate: -0.366570 m/s,
      posRepo size: 4

2025-06-05T18:40:09.305Z,1749148809.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:09.307Z,1749148809.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 254.385498 m,
      bearing: 292.524331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009517 deg/s,
      cmd heading: 289.425141 deg,
      new cmd heading: 289.435912 deg.

2025-06-05T18:40:09.313Z,1749148809.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051610 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:09.730Z,1749148809.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:09.736Z,1749148809.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:09.745Z,1749148809.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 254.116119 m,
      bearing: 292.531374 deg,
      approach rate: -0.604500 m/s,
      LOS rate: 0.015822 deg/s,
      cmd heading: 289.435905 deg,
      new cmd heading: 289.457057 deg.

2025-06-05T18:40:09.746Z,1749148809.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051979 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:09.806Z,1749148809.806 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:09.806Z,1749148809.806 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:09.806Z,1749148809.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:10.057Z,1749148810.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991653
2025-06-05T18:40:10.070Z,1749148810.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:10.074Z,1749148810.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 253.875961 m,
      bearing: 292.537816 deg,
      approach rate: -0.719489 m/s,
      LOS rate: 0.019317 deg/s,
      cmd heading: 289.457051 deg,
      new cmd heading: 289.476394 deg.

2025-06-05T18:40:10.075Z,1749148810.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.052316 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:10.309Z,1749148810.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243406
2025-06-05T18:40:10.547Z,1749148810.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:10.554Z,1749148810.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 253.613678 m,
      bearing: 292.544893 deg,
      approach rate: -0.552196 m/s,
      LOS rate: 0.014914 deg/s,
      cmd heading: 289.476394 deg,
      new cmd heading: 289.497646 deg.

2025-06-05T18:40:10.561Z,1749148810.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495346
2025-06-05T18:40:10.561Z,1749148810.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.052687 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:10.813Z,1749148810.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747512
2025-06-05T18:40:10.943Z,1749148810.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:10.947Z,1749148810.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 253.348007 m,
      bearing: 292.556361 deg,
      approach rate: -0.669788 m/s,
      LOS rate: 0.028944 deg/s,
      cmd heading: 289.497650 deg,
      new cmd heading: 289.532092 deg.

2025-06-05T18:40:10.948Z,1749148810.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053288 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:11.065Z,1749148811.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999537
2025-06-05T18:40:11.308Z,1749148811.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:11.311Z,1749148811.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 253.121841 m,
      bearing: 292.566090 deg,
      approach rate: -0.626246 m/s,
      LOS rate: 0.026962 deg/s,
      cmd heading: 289.532101 deg,
      new cmd heading: 289.561313 deg.

2025-06-05T18:40:11.312Z,1749148811.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053798 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:11.317Z,1749148811.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251606
2025-06-05T18:40:11.569Z,1749148811.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503360
2025-06-05T18:40:11.752Z,1749148811.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:11.755Z,1749148811.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:11.763Z,1749148811.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 252.848267 m,
      bearing: 292.581190 deg,
      approach rate: -0.606361 m/s,
      LOS rate: 0.033504 deg/s,
      cmd heading: 289.561307 deg,
      new cmd heading: 289.606656 deg.

2025-06-05T18:40:11.768Z,1749148811.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.054590 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:11.822Z,1749148811.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757159
2025-06-05T18:40:12.073Z,1749148812.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007993
2025-06-05T18:40:12.245Z,1749148812.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:12.248Z,1749148812.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 252.533371 m,
      bearing: 292.598612 deg,
      approach rate: -0.641372 m/s,
      LOS rate: 0.035528 deg/s,
      cmd heading: 289.606660 deg,
      new cmd heading: 289.658990 deg.

2025-06-05T18:40:12.249Z,1749148812.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055503 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:12.326Z,1749148812.326 [DAT](INFO): DAT read: Rx Time:18:40:10.7558

2025-06-05T18:40:12.326Z,1749148812.326 [DAT](INFO): Rx dataTimestamp_ set to:1749148812.326190
2025-06-05T18:40:12.328Z,1749148812.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262085
2025-06-05T18:40:12.578Z,1749148812.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512217
2025-06-05T18:40:12.738Z,1749148812.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:12.746Z,1749148812.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 252.247665 m,
      bearing: 292.615681 deg,
      approach rate: -0.580609 m/s,
      LOS rate: 0.034728 deg/s,
      cmd heading: 289.658979 deg,
      new cmd heading: 289.710246 deg.

2025-06-05T18:40:12.746Z,1749148812.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056397 target range: 282.987915 and range: 285.30 m.
2025-06-05T18:40:12.831Z,1749148812.831 [DAT](INFO): DAT read: Range 10 to 50 : 281.9 m  (Round-trip  375.9 ms) speed  0.4 m/s

2025-06-05T18:40:12.832Z,1749148812.832 [DAT](INFO): DAT read: user:2744>

2025-06-05T18:40:12.833Z,1749148812.833 [DAT](INFO): DAT read: Tx time:18:40:11.8757

2025-06-05T18:40:12.833Z,1749148812.833 [DAT](INFO): Ping request sent.
2025-06-05T18:40:12.833Z,1749148812.833 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:12.833Z,1749148812.833 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:40:12.834Z,1749148812.834 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:12.834Z,1749148812.834 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:13.081Z,1749148813.081 [DAT](INFO): DAT read: TxSync time:18:40:11.8750

2025-06-05T18:40:13.101Z,1749148813.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 281.899994 m,
      deltaT: 3.780456 s,
      deltaX: -3.399994 m,
      approachRate: -0.899361 m/s,
      rangeRepo size: 4

2025-06-05T18:40:13.102Z,1749148813.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:13.107Z,1749148813.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 252.034363 m,
      bearing: 292.628283 deg,
      approach rate: -0.587222 m/s,
      LOS rate: 0.034721 deg/s,
      cmd heading: 289.710233 deg,
      new cmd heading: 289.748069 deg.

2025-06-05T18:40:13.112Z,1749148813.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057058 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:13.556Z,1749148813.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:13.580Z,1749148813.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 251.783325 m,
      bearing: 292.643293 deg,
      approach rate: -0.587374 m/s,
      LOS rate: 0.035156 deg/s,
      cmd heading: 289.748072 deg,
      new cmd heading: 289.793148 deg.

2025-06-05T18:40:13.581Z,1749148813.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057845 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:13.911Z,1749148813.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:13.913Z,1749148813.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:13.916Z,1749148813.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 251.537704 m,
      bearing: 292.657606 deg,
      approach rate: -0.637403 m/s,
      LOS rate: 0.037179 deg/s,
      cmd heading: 289.793151 deg,
      new cmd heading: 289.836132 deg.

2025-06-05T18:40:13.917Z,1749148813.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058595 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:14.089Z,1749148814.089 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:14.089Z,1749148814.089 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:14.090Z,1749148814.090 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:14.303Z,1749148814.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:14.307Z,1749148814.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 251.301544 m,
      bearing: 292.671379 deg,
      approach rate: -0.606013 m/s,
      LOS rate: 0.035376 deg/s,
      cmd heading: 289.836127 deg,
      new cmd heading: 289.877484 deg.

2025-06-05T18:40:14.308Z,1749148814.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059317 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:14.342Z,1749148814.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507985
2025-06-05T18:40:14.595Z,1749148814.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761542
2025-06-05T18:40:14.761Z,1749148814.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:14.769Z,1749148814.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 251.037796 m,
      bearing: 292.685400 deg,
      approach rate: -0.576288 m/s,
      LOS rate: 0.030669 deg/s,
      cmd heading: 289.877490 deg,
      new cmd heading: 289.919598 deg.

2025-06-05T18:40:14.770Z,1749148814.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060051 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:14.845Z,1749148814.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011640
2025-06-05T18:40:15.097Z,1749148815.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263460
2025-06-05T18:40:15.184Z,1749148815.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:15.187Z,1749148815.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 250.766357 m,
      bearing: 292.699862 deg,
      approach rate: -0.641199 m/s,
      LOS rate: 0.034200 deg/s,
      cmd heading: 289.919592 deg,
      new cmd heading: 289.963025 deg.

2025-06-05T18:40:15.188Z,1749148815.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060810 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:15.349Z,1749148815.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515441
2025-06-05T18:40:15.577Z,1749148815.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:15.607Z,1749148815.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772732
2025-06-05T18:40:15.612Z,1749148815.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 250.553101 m,
      bearing: 292.711018 deg,
      approach rate: -0.551122 m/s,
      LOS rate: 0.028856 deg/s,
      cmd heading: 289.963032 deg,
      new cmd heading: 289.996529 deg.

2025-06-05T18:40:15.613Z,1749148815.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061394 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:15.858Z,1749148815.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024817
2025-06-05T18:40:15.982Z,1749148815.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:15.985Z,1749148815.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:15.988Z,1749148815.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 250.272705 m,
      bearing: 292.722019 deg,
      approach rate: -0.677539 m/s,
      LOS rate: 0.026611 deg/s,
      cmd heading: 289.996527 deg,
      new cmd heading: 290.029566 deg.

2025-06-05T18:40:15.990Z,1749148815.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061971 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:16.110Z,1749148816.110 [DAT](INFO): DAT read: Rx Time:18:40:14.6542

2025-06-05T18:40:16.110Z,1749148816.110 [DAT](INFO): Rx dataTimestamp_ set to:1749148816.109924
2025-06-05T18:40:16.111Z,1749148816.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277976
2025-06-05T18:40:16.357Z,1749148816.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:16.361Z,1749148816.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527663
2025-06-05T18:40:16.361Z,1749148816.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 250.040985 m,
      bearing: 292.731089 deg,
      approach rate: -0.622573 m/s,
      LOS rate: 0.024391 deg/s,
      cmd heading: 290.029558 deg,
      new cmd heading: 290.056792 deg.

2025-06-05T18:40:16.362Z,1749148816.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062446 target range: 282.987915 and range: 281.90 m.
2025-06-05T18:40:16.625Z,1749148816.625 [DAT](INFO): DAT read: Range 10 to 50 : 280.8 m  (Round-trip  374.4 ms) speed  0.6 m/s

2025-06-05T18:40:16.628Z,1749148816.628 [DAT](INFO): DAT read: user:2745>

2025-06-05T18:40:16.630Z,1749148816.630 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:40:16.632Z,1749148816.632 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:16.633Z,1749148816.633 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:16.634Z,1749148816.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:16.794Z,1749148816.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 280.799988 m,
      deltaT: 3.791614 s,
      deltaX: -1.100006 m,
      approachRate: -0.290116 m/s,
      rangeRepo size: 4

2025-06-05T18:40:16.794Z,1749148816.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:16.801Z,1749148816.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 249.761337 m,
      bearing: 292.736275 deg,
      approach rate: -0.640827 m/s,
      LOS rate: 0.011898 deg/s,
      cmd heading: 290.056797 deg,
      new cmd heading: 290.072373 deg.

2025-06-05T18:40:16.802Z,1749148816.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062718 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:16.870Z,1749148816.870 [DAT](INFO): DAT read: Tx time:18:40:15.7757

2025-06-05T18:40:16.871Z,1749148816.871 [DAT](INFO): Ping request sent.
2025-06-05T18:40:16.871Z,1749148816.871 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:16.873Z,1749148816.873 [DAT](INFO): DAT read: TxSync time:18:40:15.7750

2025-06-05T18:40:16.873Z,1749148816.873 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:16.874Z,1749148816.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003076
2025-06-05T18:40:17.122Z,1749148817.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250695
2025-06-05T18:40:17.167Z,1749148817.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:17.174Z,1749148817.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 249.517776 m,
      bearing: 292.740813 deg,
      approach rate: -0.652172 m/s,
      LOS rate: 0.012163 deg/s,
      cmd heading: 290.072369 deg,
      new cmd heading: 290.085997 deg.

2025-06-05T18:40:17.175Z,1749148817.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062956 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:17.376Z,1749148817.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505229
2025-06-05T18:40:17.628Z,1749148817.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756155
2025-06-05T18:40:17.646Z,1749148817.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:17.653Z,1749148817.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 249.243500 m,
      bearing: 292.746217 deg,
      approach rate: -0.571592 m/s,
      LOS rate: 0.011273 deg/s,
      cmd heading: 290.086002 deg,
      new cmd heading: 290.102231 deg.

2025-06-05T18:40:17.660Z,1749148817.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063239 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:17.878Z,1749148817.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006547
2025-06-05T18:40:18.017Z,1749148818.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:18.019Z,1749148818.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:18.029Z,1749148818.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 248.947403 m,
      bearing: 292.749812 deg,
      approach rate: -0.794426 m/s,
      LOS rate: 0.009657 deg/s,
      cmd heading: 290.102231 deg,
      new cmd heading: 290.113028 deg.

2025-06-05T18:40:18.030Z,1749148818.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063427 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:18.132Z,1749148818.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260898
2025-06-05T18:40:18.377Z,1749148818.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:18.381Z,1749148818.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509910
2025-06-05T18:40:18.381Z,1749148818.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 248.704987 m,
      bearing: 292.752848 deg,
      approach rate: -0.677921 m/s,
      LOS rate: 0.008500 deg/s,
      cmd heading: 290.113023 deg,
      new cmd heading: 290.122141 deg.

2025-06-05T18:40:18.382Z,1749148818.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063587 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:18.643Z,1749148818.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771801
2025-06-05T18:40:18.817Z,1749148818.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:18.820Z,1749148818.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 248.405151 m,
      bearing: 292.751387 deg,
      approach rate: -0.680724 m/s,
      LOS rate: -0.003321 deg/s,
      cmd heading: 290.122148 deg,
      new cmd heading: 290.117760 deg.

2025-06-05T18:40:18.823Z,1749148818.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063510 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:18.885Z,1749148818.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014342
2025-06-05T18:40:19.137Z,1749148819.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266036
2025-06-05T18:40:19.186Z,1749148819.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:19.191Z,1749148819.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 248.155457 m,
      bearing: 292.750106 deg,
      approach rate: -0.676625 m/s,
      LOS rate: -0.003477 deg/s,
      cmd heading: 290.117749 deg,
      new cmd heading: 290.113900 deg.

2025-06-05T18:40:19.205Z,1749148819.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063443 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:19.390Z,1749148819.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894
2025-06-05T18:40:19.650Z,1749148819.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777905
2025-06-05T18:40:19.676Z,1749148819.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:19.679Z,1749148819.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 247.875671 m,
      bearing: 292.748620 deg,
      approach rate: -0.571618 m/s,
      LOS rate: -0.003038 deg/s,
      cmd heading: 290.113897 deg,
      new cmd heading: 290.109435 deg.

2025-06-05T18:40:19.689Z,1749148819.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063365 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:19.897Z,1749148819.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025745
2025-06-05T18:40:20.075Z,1749148820.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:20.077Z,1749148820.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:20.080Z,1749148820.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 247.566803 m,
      bearing: 292.746500 deg,
      approach rate: -0.769144 m/s,
      LOS rate: -0.005287 deg/s,
      cmd heading: 290.109444 deg,
      new cmd heading: 290.103074 deg.

2025-06-05T18:40:20.081Z,1749148820.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063254 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:20.149Z,1749148820.149 [DAT](INFO): DAT read: Rx Time:18:40:18.5511

2025-06-05T18:40:20.149Z,1749148820.149 [DAT](INFO): Rx dataTimestamp_ set to:1749148820.149069
2025-06-05T18:40:20.150Z,1749148820.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279076
2025-06-05T18:40:20.402Z,1749148820.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530606
2025-06-05T18:40:20.431Z,1749148820.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.99 m.
2025-06-05T18:40:20.434Z,1749148820.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.987915 m,
      nav range: 247.336960 m,
      bearing: 292.744923 deg,
      approach rate: -0.650397 m/s,
      LOS rate: -0.004465 deg/s,
      cmd heading: 290.103078 deg,
      new cmd heading: 290.098344 deg.

2025-06-05T18:40:20.435Z,1749148820.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063171 target range: 282.987915 and range: 280.80 m.
2025-06-05T18:40:20.700Z,1749148820.700 [DAT](INFO): DAT read: 18:40:18.5511 LVL= 29328, 32753, 27506, 32755, AGC= 66, IDX= 404,-0.24, 0.097,-1.099, 0.037,-0.635, PHS= 0.820,-0.417, 0.669, RAW= 143.6, -18.0, CAL= 149.4, -25.8, ROT=   0.6,  25.8

2025-06-05T18:40:20.702Z,1749148820.702 [DAT](INFO): got valid direction response:
 18:40:18.5511 LVL= 29328, 32753, 27506, 32755, AGC= 66, IDX= 404,-0.24, 0.097,-1.099, 0.037,-0.635, PHS= 0.820,-0.417, 0.669, RAW= 143.6, -18.0, CAL= 149.4, -25.8, ROT=   0.6,  25.8

2025-06-05T18:40:20.703Z,1749148820.703 [DAT](INFO): DAT read: Bearing   0.6,  25.8 (Local)

2025-06-05T18:40:20.705Z,1749148820.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  25.8 (Local)

2025-06-05T18:40:20.716Z,1749148820.716 [DAT](INFO): DAT read: Range 10 to 50 : 278.3 m  (Round-trip  371.1 ms) speed  0.4 m/s

2025-06-05T18:40:20.718Z,1749148820.718 [DAT](INFO): DAT read: user:2746>

2025-06-05T18:40:20.719Z,1749148820.719 [DAT](INFO): DAT read: Tx time:18:40:19.6758

2025-06-05T18:40:20.719Z,1749148820.719 [DAT](INFO): Ping request sent.
2025-06-05T18:40:20.719Z,1749148820.719 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:20.720Z,1749148820.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:20.722Z,1749148820.722 [DAT](INFO): direction in FSK: [0.900269,0.009428,-0.435231]
2025-06-05T18:40:20.723Z,1749148820.723 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:20.723Z,1749148820.723 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:20.726Z,1749148820.726 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:20.726Z,1749148820.726 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:20.906Z,1749148820.906 [DAT](INFO): DAT read: TxSync time:18:40:19.6750

2025-06-05T18:40:20.933Z,1749148820.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 278.299988 m,
      deltaT: 4.033975 s,
      deltaX: -2.500000 m,
      approachRate: -0.619736 m/s,
      rangeRepo size: 4

2025-06-05T18:40:20.935Z,1749148820.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 276.041748 m,
      bearing: 293.219585 deg,
      lat: 36.906030 deg,
      lon: -122.116269 deg,
      deltaT: 11.606045 s,
      deltaX: -6.946167 m,
      approachRate: -0.598496 m/s,
      posRepo size: 4

2025-06-05T18:40:20.940Z,1749148820.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:20.942Z,1749148820.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 247.023010 m,
      bearing: 292.743389 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004465 deg/s,
      cmd heading: 290.098351 deg,
      new cmd heading: 290.091693 deg.

2025-06-05T18:40:20.948Z,1749148820.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063055 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:21.234Z,1749148821.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:21.253Z,1749148821.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 246.812515 m,
      bearing: 292.742094 deg,
      approach rate: -0.687041 m/s,
      LOS rate: -0.004228 deg/s,
      cmd heading: 290.091685 deg,
      new cmd heading: 290.087799 deg.

2025-06-05T18:40:21.255Z,1749148821.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062987 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:21.727Z,1749148821.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:21.734Z,1749148821.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 246.503830 m,
      bearing: 292.740200 deg,
      approach rate: -0.626149 m/s,
      LOS rate: -0.003848 deg/s,
      cmd heading: 290.087806 deg,
      new cmd heading: 290.082115 deg.

2025-06-05T18:40:21.735Z,1749148821.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062888 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:22.068Z,1749148822.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:22.074Z,1749148822.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 246.276764 m,
      bearing: 292.740534 deg,
      approach rate: -0.666784 m/s,
      LOS rate: 0.000984 deg/s,
      cmd heading: 290.082123 deg,
      new cmd heading: 290.083128 deg.

2025-06-05T18:40:22.075Z,1749148822.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062906 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:22.449Z,1749148822.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:22.451Z,1749148822.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:22.456Z,1749148822.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 246.035202 m,
      bearing: 292.740790 deg,
      approach rate: -0.629893 m/s,
      LOS rate: 0.000667 deg/s,
      cmd heading: 290.083134 deg,
      new cmd heading: 290.083901 deg.

2025-06-05T18:40:22.457Z,1749148822.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062919 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:22.674Z,1749148822.674 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:22.675Z,1749148822.675 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:22.676Z,1749148822.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:22.866Z,1749148822.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:22.869Z,1749148822.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 245.777023 m,
      bearing: 292.743951 deg,
      approach rate: -0.622236 m/s,
      LOS rate: 0.007626 deg/s,
      cmd heading: 290.083899 deg,
      new cmd heading: 290.093392 deg.

2025-06-05T18:40:22.870Z,1749148822.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063085 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:22.925Z,1749148822.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205567
2025-06-05T18:40:23.177Z,1749148823.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457424
2025-06-05T18:40:23.256Z,1749148823.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:23.259Z,1749148823.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 245.535553 m,
      bearing: 292.746845 deg,
      approach rate: -0.621691 m/s,
      LOS rate: 0.007459 deg/s,
      cmd heading: 290.093379 deg,
      new cmd heading: 290.102070 deg.

2025-06-05T18:40:23.260Z,1749148823.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063236 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:23.429Z,1749148823.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709347
2025-06-05T18:40:23.684Z,1749148823.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963868
2025-06-05T18:40:23.717Z,1749148823.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:23.765Z,1749148823.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 245.283737 m,
      bearing: 292.749854 deg,
      approach rate: -0.551940 m/s,
      LOS rate: 0.006601 deg/s,
      cmd heading: 290.102067 deg,
      new cmd heading: 290.111102 deg.

2025-06-05T18:40:23.772Z,1749148823.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063394 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:23.937Z,1749148823.937 [DAT](INFO): DAT read: Rx Time:18:40:22.4477

2025-06-05T18:40:23.939Z,1749148823.939 [DAT](INFO): Rx dataTimestamp_ set to:1749148823.937934
2025-06-05T18:40:23.940Z,1749148823.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220499
2025-06-05T18:40:24.111Z,1749148824.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:24.118Z,1749148824.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 245.021988 m,
      bearing: 292.755044 deg,
      approach rate: -0.653532 m/s,
      LOS rate: 0.012972 deg/s,
      cmd heading: 290.111110 deg,
      new cmd heading: 290.126697 deg.

2025-06-05T18:40:24.119Z,1749148824.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063666 target range: 276.041748 and range: 278.30 m.
2025-06-05T18:40:24.186Z,1749148824.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466481
2025-06-05T18:40:24.439Z,1749148824.439 [DAT](INFO): DAT read: Range 10 to 50 : 275.7 m  (Round-trip  367.7 ms) speed  0.4 m/s

2025-06-05T18:40:24.440Z,1749148824.440 [DAT](INFO): DAT read: user:2747>

2025-06-05T18:40:24.441Z,1749148824.441 [DAT](INFO): DAT read: Tx time:18:40:23.5258

2025-06-05T18:40:24.441Z,1749148824.441 [DAT](INFO): Ping request sent.
2025-06-05T18:40:24.441Z,1749148824.441 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:24.441Z,1749148824.441 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:40:24.442Z,1749148824.442 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:24.442Z,1749148824.442 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:24.511Z,1749148824.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:24.518Z,1749148824.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 275.700012 m,
      deltaT: 3.781747 s,
      deltaX: -2.599976 m,
      approachRate: -0.687506 m/s,
      rangeRepo size: 4

2025-06-05T18:40:24.518Z,1749148824.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:24.529Z,1749148824.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 244.769272 m,
      bearing: 292.760054 deg,
      approach rate: -0.622917 m/s,
      LOS rate: 0.012362 deg/s,
      cmd heading: 290.126710 deg,
      new cmd heading: 290.141756 deg.

2025-06-05T18:40:24.530Z,1749148824.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063929 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:24.693Z,1749148824.693 [DAT](INFO): DAT read: TxSync time:18:40:23.5250

2025-06-05T18:40:24.695Z,1749148824.695 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:24.695Z,1749148824.695 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:24.699Z,1749148824.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:24.935Z,1749148824.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:24.939Z,1749148824.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 244.504456 m,
      bearing: 292.768805 deg,
      approach rate: -0.633351 m/s,
      LOS rate: 0.020954 deg/s,
      cmd heading: 290.141764 deg,
      new cmd heading: 290.168048 deg.

2025-06-05T18:40:24.941Z,1749148824.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499583
2025-06-05T18:40:24.942Z,1749148824.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064388 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:25.193Z,1749148825.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751353
2025-06-05T18:40:25.275Z,1749148825.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:25.278Z,1749148825.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 244.298630 m,
      bearing: 292.775756 deg,
      approach rate: -0.605489 m/s,
      LOS rate: 0.020466 deg/s,
      cmd heading: 290.168047 deg,
      new cmd heading: 290.188917 deg.

2025-06-05T18:40:25.279Z,1749148825.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064752 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:25.445Z,1749148825.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003534
2025-06-05T18:40:25.701Z,1749148825.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259045
2025-06-05T18:40:25.838Z,1749148825.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:25.842Z,1749148825.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 243.956573 m,
      bearing: 292.791473 deg,
      approach rate: -0.608380 m/s,
      LOS rate: 0.027993 deg/s,
      cmd heading: 290.188920 deg,
      new cmd heading: 290.236136 deg.

2025-06-05T18:40:25.843Z,1749148825.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065576 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:25.950Z,1749148825.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508270
2025-06-05T18:40:26.095Z,1749148826.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:26.102Z,1749148826.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 243.805328 m,
      bearing: 292.798469 deg,
      approach rate: -0.587435 m/s,
      LOS rate: 0.027190 deg/s,
      cmd heading: 290.236130 deg,
      new cmd heading: 290.257132 deg.

2025-06-05T18:40:26.103Z,1749148826.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065943 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:26.202Z,1749148826.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760684
2025-06-05T18:40:26.453Z,1749148826.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011499
2025-06-05T18:40:26.524Z,1749148826.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:26.526Z,1749148826.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:26.545Z,1749148826.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 243.541077 m,
      bearing: 292.810715 deg,
      approach rate: -0.612549 m/s,
      LOS rate: 0.028416 deg/s,
      cmd heading: 290.257140 deg,
      new cmd heading: 290.293915 deg.

2025-06-05T18:40:26.549Z,1749148826.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.066585 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:26.706Z,1749148826.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264747
2025-06-05T18:40:26.932Z,1749148826.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:26.935Z,1749148826.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 243.292358 m,
      bearing: 292.824365 deg,
      approach rate: -0.613223 m/s,
      LOS rate: 0.033690 deg/s,
      cmd heading: 290.293913 deg,
      new cmd heading: 290.334907 deg.

2025-06-05T18:40:26.936Z,1749148826.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.067300 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:26.957Z,1749148826.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516004
2025-06-05T18:40:27.209Z,1749148827.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767496
2025-06-05T18:40:27.310Z,1749148827.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:27.317Z,1749148827.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 243.075058 m,
      bearing: 292.836271 deg,
      approach rate: -0.574963 m/s,
      LOS rate: 0.031531 deg/s,
      cmd heading: 290.334895 deg,
      new cmd heading: 290.370644 deg.

2025-06-05T18:40:27.318Z,1749148827.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.067924 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:27.461Z,1749148827.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019445
2025-06-05T18:40:27.714Z,1749148827.714 [DAT](INFO): DAT read: Rx Time:18:40:26.2947

2025-06-05T18:40:27.715Z,1749148827.715 [DAT](INFO): Rx dataTimestamp_ set to:1749148827.714079
2025-06-05T18:40:27.716Z,1749148827.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274160
2025-06-05T18:40:27.814Z,1749148827.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:27.822Z,1749148827.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 242.780029 m,
      bearing: 292.852470 deg,
      approach rate: -0.585371 m/s,
      LOS rate: 0.032181 deg/s,
      cmd heading: 290.370657 deg,
      new cmd heading: 290.419315 deg.

2025-06-05T18:40:27.823Z,1749148827.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.068773 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:27.965Z,1749148827.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523383
2025-06-05T18:40:28.145Z,1749148828.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.04 m.
2025-06-05T18:40:28.173Z,1749148828.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.041748 m,
      nav range: 242.556686 m,
      bearing: 292.863428 deg,
      approach rate: -0.673578 m/s,
      LOS rate: 0.033076 deg/s,
      cmd heading: 290.419316 deg,
      new cmd heading: 290.452217 deg.

2025-06-05T18:40:28.173Z,1749148828.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.069347 target range: 276.041748 and range: 275.70 m.
2025-06-05T18:40:28.217Z,1749148828.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775750
2025-06-05T18:40:28.476Z,1749148828.476 [DAT](INFO): DAT read: 18:40:26.2947 LVL= 30960, 31601, 29266, 32755, AGC= 65, IDX= 402,-0.19, 0.624,-0.649, 0.460,-0.030, PHS= 0.742,-0.572, 0.487, RAW= 139.4, -10.9, CAL= 145.9, -20.8, ROT=   4.1,  20.8

2025-06-05T18:40:28.477Z,1749148828.477 [DAT](INFO): got valid direction response:
 18:40:26.2947 LVL= 30960, 31601, 29266, 32755, AGC= 65, IDX= 402,-0.19, 0.624,-0.649, 0.460,-0.030, PHS= 0.742,-0.572, 0.487, RAW= 139.4, -10.9, CAL= 145.9, -20.8, ROT=   4.1,  20.8

2025-06-05T18:40:28.478Z,1749148828.478 [DAT](INFO): DAT read: Bearing   4.1,  20.8 (Local)

2025-06-05T18:40:28.478Z,1749148828.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.1,  20.8 (Local)

2025-06-05T18:40:28.484Z,1749148828.484 [DAT](INFO): DAT read: Range 10 to 50 : 273.5 m  (Round-trip  364.7 ms) speed  0.4 m/s

2025-06-05T18:40:28.485Z,1749148828.485 [DAT](INFO): DAT read: user:2748>

2025-06-05T18:40:28.485Z,1749148828.485 [DAT](INFO): DAT read: Tx time:18:40:27.3758

2025-06-05T18:40:28.486Z,1749148828.486 [DAT](INFO): Ping request sent.
2025-06-05T18:40:28.486Z,1749148828.486 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:28.486Z,1749148828.486 [DAT](INFO): DAT read: TxSync time:18:40:27.3750

2025-06-05T18:40:28.487Z,1749148828.487 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:28.489Z,1749148828.489 [DAT](INFO): direction in FSK: [0.932433,0.066838,-0.355107]
2025-06-05T18:40:28.489Z,1749148828.489 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:28.490Z,1749148828.490 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:28.497Z,1749148828.497 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:28.497Z,1749148828.497 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:28.848Z,1749148828.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.500000 m,
      deltaT: 4.031857 s,
      deltaX: -2.200012 m,
      approachRate: -0.545657 m/s,
      rangeRepo size: 4

2025-06-05T18:40:28.850Z,1749148828.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 271.289490 m,
      bearing: 296.252290 deg,
      lat: 36.906030 deg,
      lon: -122.116258 deg,
      deltaT: 7.813604 s,
      deltaX: -4.752258 m,
      approachRate: -0.608203 m/s,
      posRepo size: 4

2025-06-05T18:40:28.851Z,1749148828.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:28.858Z,1749148828.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 241.298325 m,
      bearing: 292.967723 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033076 deg/s,
      cmd heading: 290.452210 deg,
      new cmd heading: 290.521468 deg.

2025-06-05T18:40:28.859Z,1749148828.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070556 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:29.157Z,1749148829.157 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS0414485,35.0, +10.6,  2.0,  0
2025-06-05T18:40:29.172Z,1749148829.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:29.175Z,1749148829.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:29.178Z,1749148829.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 241.084366 m,
      bearing: 292.978539 deg,
      approach rate: -0.645788 m/s,
      LOS rate: 0.032675 deg/s,
      cmd heading: 290.521468 deg,
      new cmd heading: 290.553945 deg.

2025-06-05T18:40:29.179Z,1749148829.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071123 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:29.224Z,1749148829.224 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:29.225Z,1749148829.225 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:29.225Z,1749148829.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:29.477Z,1749148829.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990767
2025-06-05T18:40:29.602Z,1749148829.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:29.609Z,1749148829.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 240.821625 m,
      bearing: 292.991829 deg,
      approach rate: -0.614310 m/s,
      LOS rate: 0.031107 deg/s,
      cmd heading: 290.553952 deg,
      new cmd heading: 290.593866 deg.

2025-06-05T18:40:29.610Z,1749148829.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071820 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:29.732Z,1749148829.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245091
2025-06-05T18:40:29.981Z,1749148829.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494853
2025-06-05T18:40:29.994Z,1749148829.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:29.997Z,1749148829.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 240.566452 m,
      bearing: 293.001537 deg,
      approach rate: -0.651099 m/s,
      LOS rate: 0.024798 deg/s,
      cmd heading: 290.593868 deg,
      new cmd heading: 290.623024 deg.

2025-06-05T18:40:29.998Z,1749148829.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.072329 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:30.233Z,1749148830.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746654
2025-06-05T18:40:30.395Z,1749148830.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:30.398Z,1749148830.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 240.308487 m,
      bearing: 293.011284 deg,
      approach rate: -0.643552 m/s,
      LOS rate: 0.024342 deg/s,
      cmd heading: 290.623019 deg,
      new cmd heading: 290.652291 deg.

2025-06-05T18:40:30.399Z,1749148830.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.072839 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:30.485Z,1749148830.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998860
2025-06-05T18:40:30.737Z,1749148830.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250757
2025-06-05T18:40:30.860Z,1749148830.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:30.863Z,1749148830.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 240.038605 m,
      bearing: 293.021437 deg,
      approach rate: -0.585550 m/s,
      LOS rate: 0.022054 deg/s,
      cmd heading: 290.652280 deg,
      new cmd heading: 290.682774 deg.

2025-06-05T18:40:30.872Z,1749148830.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.073371 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:30.989Z,1749148830.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503266
2025-06-05T18:40:31.201Z,1749148831.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:31.203Z,1749148831.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:31.207Z,1749148831.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 239.788422 m,
      bearing: 293.028380 deg,
      approach rate: -0.721386 m/s,
      LOS rate: 0.020039 deg/s,
      cmd heading: 290.682770 deg,
      new cmd heading: 290.703619 deg.

2025-06-05T18:40:31.208Z,1749148831.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.073735 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:31.241Z,1749148831.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754884
2025-06-05T18:40:31.493Z,1749148831.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006805
2025-06-05T18:40:31.590Z,1749148831.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:31.613Z,1749148831.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 239.542755 m,
      bearing: 293.035170 deg,
      approach rate: -0.634491 m/s,
      LOS rate: 0.017555 deg/s,
      cmd heading: 290.703615 deg,
      new cmd heading: 290.724006 deg.

2025-06-05T18:40:31.614Z,1749148831.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074091 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:31.745Z,1749148831.745 [DAT](INFO): DAT read: Rx Time:18:40:30.1432

2025-06-05T18:40:31.745Z,1749148831.745 [DAT](INFO): Rx dataTimestamp_ set to:1749148831.745074
2025-06-05T18:40:31.746Z,1749148831.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260030
2025-06-05T18:40:31.997Z,1749148831.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510854
2025-06-05T18:40:32.010Z,1749148832.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.29 m.
2025-06-05T18:40:32.013Z,1749148832.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.289490 m,
      nav range: 239.267166 m,
      bearing: 293.040174 deg,
      approach rate: -0.655878 m/s,
      LOS rate: 0.011922 deg/s,
      cmd heading: 290.723997 deg,
      new cmd heading: 290.739025 deg.

2025-06-05T18:40:32.014Z,1749148832.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074353 target range: 271.289490 and range: 273.50 m.
2025-06-05T18:40:32.257Z,1749148832.257 [DAT](INFO): DAT read: 18:40:30.1432 LVL= 24784, 32753, 26066, 32755, AGC= 63, IDX= 418,-0.04, 1.381, 0.085, 1.272, 0.569, PHS= 0.900,-0.437, 0.700, RAW= 142.0, -18.2, CAL= 147.8, -26.1, ROT=   2.2,  26.1

2025-06-05T18:40:32.258Z,1749148832.258 [DAT](INFO): got valid direction response:
 18:40:30.1432 LVL= 24784, 32753, 26066, 32755, AGC= 63, IDX= 418,-0.04, 1.381, 0.085, 1.272, 0.569, PHS= 0.900,-0.437, 0.700, RAW= 142.0, -18.2, CAL= 147.8, -26.1, ROT=   2.2,  26.1

2025-06-05T18:40:32.259Z,1749148832.259 [DAT](INFO): DAT read: Bearing   2.2,  26.1 (Local)

2025-06-05T18:40:32.260Z,1749148832.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  26.1 (Local)

2025-06-05T18:40:32.261Z,1749148832.261 [DAT](INFO): DAT read: Range 10 to 50 : 272.3 m  (Round-trip  363.1 ms) speed  0.2 m/s

2025-06-05T18:40:32.262Z,1749148832.262 [DAT](INFO): DAT read: user:2749>

2025-06-05T18:40:32.263Z,1749148832.263 [DAT](INFO): DAT read: Tx time:18:40:31.2259

2025-06-05T18:40:32.263Z,1749148832.263 [DAT](INFO): Ping request sent.
2025-06-05T18:40:32.263Z,1749148832.263 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:32.267Z,1749148832.267 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:32.316Z,1749148832.316 [DAT](INFO): direction in FSK: [0.897366,0.034473,-0.439939]
2025-06-05T18:40:32.316Z,1749148832.316 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:32.317Z,1749148832.317 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:32.328Z,1749148832.328 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:32.328Z,1749148832.328 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:32.445Z,1749148832.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 272.299988 m,
      deltaT: 3.780399 s,
      deltaX: -1.200012 m,
      approachRate: -0.317430 m/s,
      rangeRepo size: 4

2025-06-05T18:40:32.447Z,1749148832.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 270.102203 m,
      bearing: 295.058503 deg,
      lat: 36.906059 deg,
      lon: -122.116256 deg,
      deltaT: 3.780399 s,
      deltaX: -1.187286 m,
      approachRate: -0.314064 m/s,
      posRepo size: 4

2025-06-05T18:40:32.447Z,1749148832.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:32.467Z,1749148832.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 240.106445 m,
      bearing: 293.771699 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011922 deg/s,
      cmd heading: 290.739023 deg,
      new cmd heading: 290.754387 deg.

2025-06-05T18:40:32.469Z,1749148832.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074621 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:32.501Z,1749148832.501 [DAT](INFO): DAT read: TxSync time:18:40:31.2251

2025-06-05T18:40:32.881Z,1749148832.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:32.883Z,1749148832.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 239.844818 m,
      bearing: 293.777325 deg,
      approach rate: -0.593173 m/s,
      LOS rate: 0.012771 deg/s,
      cmd heading: 290.754377 deg,
      new cmd heading: 290.771276 deg.

2025-06-05T18:40:32.890Z,1749148832.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074916 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:33.240Z,1749148833.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:33.242Z,1749148833.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:33.246Z,1749148833.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 239.568680 m,
      bearing: 293.781659 deg,
      approach rate: -0.763849 m/s,
      LOS rate: 0.012002 deg/s,
      cmd heading: 290.771289 deg,
      new cmd heading: 290.784305 deg.

2025-06-05T18:40:33.247Z,1749148833.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075143 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:33.257Z,1749148833.257 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:33.257Z,1749148833.257 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:33.257Z,1749148833.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:33.509Z,1749148833.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245460
2025-06-05T18:40:33.607Z,1749148833.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:33.610Z,1749148833.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 239.330795 m,
      bearing: 293.785309 deg,
      approach rate: -0.652580 m/s,
      LOS rate: 0.010023 deg/s,
      cmd heading: 290.784294 deg,
      new cmd heading: 290.795255 deg.

2025-06-05T18:40:33.611Z,1749148833.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075335 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:33.766Z,1749148833.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502189
2025-06-05T18:40:34.013Z,1749148834.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749560
2025-06-05T18:40:34.068Z,1749148834.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:34.078Z,1749148834.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 239.050415 m,
      bearing: 293.788710 deg,
      approach rate: -0.607553 m/s,
      LOS rate: 0.007377 deg/s,
      cmd heading: 290.795249 deg,
      new cmd heading: 290.805463 deg.

2025-06-05T18:40:34.079Z,1749148834.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075513 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:34.265Z,1749148834.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001521
2025-06-05T18:40:34.424Z,1749148834.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:34.427Z,1749148834.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 238.816986 m,
      bearing: 293.791237 deg,
      approach rate: -0.687395 m/s,
      LOS rate: 0.007451 deg/s,
      cmd heading: 290.805467 deg,
      new cmd heading: 290.813058 deg.

2025-06-05T18:40:34.432Z,1749148834.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075645 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:34.517Z,1749148834.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253760
2025-06-05T18:40:34.689Z,1749148834.689 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:40:34.769Z,1749148834.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505497
2025-06-05T18:40:34.832Z,1749148834.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:34.835Z,1749148834.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 238.549805 m,
      bearing: 293.793993 deg,
      approach rate: -0.630048 m/s,
      LOS rate: 0.006504 deg/s,
      cmd heading: 290.813062 deg,
      new cmd heading: 290.821337 deg.

2025-06-05T18:40:34.837Z,1749148834.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075790 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:35.022Z,1749148835.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758489
2025-06-05T18:40:35.263Z,1749148835.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:35.269Z,1749148835.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:35.273Z,1749148835.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010349
2025-06-05T18:40:35.277Z,1749148835.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 238.291122 m,
      bearing: 293.795733 deg,
      approach rate: -0.591952 m/s,
      LOS rate: 0.003986 deg/s,
      cmd heading: 290.821341 deg,
      new cmd heading: 290.826566 deg.

2025-06-05T18:40:35.278Z,1749148835.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075881 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:35.525Z,1749148835.525 [DAT](INFO): DAT read: Rx Time:18:40:33.9906

2025-06-05T18:40:35.525Z,1749148835.525 [DAT](INFO): Rx dataTimestamp_ set to:1749148835.524789
2025-06-05T18:40:35.526Z,1749148835.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262528
2025-06-05T18:40:35.648Z,1749148835.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:35.651Z,1749148835.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 238.046295 m,
      bearing: 293.797275 deg,
      approach rate: -0.645413 m/s,
      LOS rate: 0.004070 deg/s,
      cmd heading: 290.826559 deg,
      new cmd heading: 290.831190 deg.

2025-06-05T18:40:35.656Z,1749148835.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075962 target range: 270.102203 and range: 272.30 m.
2025-06-05T18:40:35.693Z,1749148835.693 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:40:35.780Z,1749148835.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516876
2025-06-05T18:40:36.030Z,1749148836.030 [DAT](INFO): DAT read: Range 10 to 50 : 270.3 m  (Round-trip  360.5 ms) speed  0.4 m/s

2025-06-05T18:40:36.030Z,1749148836.030 [DAT](INFO): DAT read: user:2750>

2025-06-05T18:40:36.031Z,1749148836.031 [DAT](INFO): DAT read: Tx time:18:40:35.0759

2025-06-05T18:40:36.031Z,1749148836.031 [DAT](INFO): Ping request sent.
2025-06-05T18:40:36.032Z,1749148836.032 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:36.032Z,1749148836.032 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:40:36.032Z,1749148836.032 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:36.033Z,1749148836.033 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:36.082Z,1749148836.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 270.299988 m,
      deltaT: 3.779720 s,
      deltaX: -2.000000 m,
      approachRate: -0.529140 m/s,
      rangeRepo size: 4

2025-06-05T18:40:36.082Z,1749148836.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:36.090Z,1749148836.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 237.772980 m,
      bearing: 293.800336 deg,
      approach rate: -0.631467 m/s,
      LOS rate: 0.007081 deg/s,
      cmd heading: 290.831203 deg,
      new cmd heading: 290.840398 deg.

2025-06-05T18:40:36.091Z,1749148836.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076123 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:36.281Z,1749148836.281 [DAT](INFO): DAT read: TxSync time:18:40:35.0751

2025-06-05T18:40:36.444Z,1749148836.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:36.446Z,1749148836.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 237.543549 m,
      bearing: 293.802912 deg,
      approach rate: -0.632961 m/s,
      LOS rate: 0.007112 deg/s,
      cmd heading: 290.840410 deg,
      new cmd heading: 290.848144 deg.

2025-06-05T18:40:36.448Z,1749148836.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076258 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:36.844Z,1749148836.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:36.847Z,1749148836.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 237.293930 m,
      bearing: 293.805809 deg,
      approach rate: -0.622661 m/s,
      LOS rate: 0.007234 deg/s,
      cmd heading: 290.848142 deg,
      new cmd heading: 290.856842 deg.

2025-06-05T18:40:36.850Z,1749148836.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076409 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:37.266Z,1749148837.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:37.268Z,1749148837.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:37.273Z,1749148837.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 237.035065 m,
      bearing: 293.809760 deg,
      approach rate: -0.610507 m/s,
      LOS rate: 0.009329 deg/s,
      cmd heading: 290.856830 deg,
      new cmd heading: 290.868697 deg.

2025-06-05T18:40:37.274Z,1749148837.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076616 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:37.290Z,1749148837.290 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:37.291Z,1749148837.291 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:37.291Z,1749148837.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:37.541Z,1749148837.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509303
2025-06-05T18:40:37.680Z,1749148837.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:37.689Z,1749148837.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 236.790024 m,
      bearing: 293.813508 deg,
      approach rate: -0.601832 m/s,
      LOS rate: 0.009215 deg/s,
      cmd heading: 290.868687 deg,
      new cmd heading: 290.879944 deg.

2025-06-05T18:40:37.694Z,1749148837.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076813 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:37.794Z,1749148837.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762152
2025-06-05T18:40:38.045Z,1749148838.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013162
2025-06-05T18:40:38.082Z,1749148838.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:38.085Z,1749148838.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 236.538971 m,
      bearing: 293.819378 deg,
      approach rate: -0.617329 m/s,
      LOS rate: 0.014450 deg/s,
      cmd heading: 290.879944 deg,
      new cmd heading: 290.897573 deg.

2025-06-05T18:40:38.086Z,1749148838.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077120 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:38.297Z,1749148838.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265853
2025-06-05T18:40:38.465Z,1749148838.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:38.468Z,1749148838.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 236.307617 m,
      bearing: 293.824670 deg,
      approach rate: -0.604221 m/s,
      LOS rate: 0.013833 deg/s,
      cmd heading: 290.897566 deg,
      new cmd heading: 290.913456 deg.

2025-06-05T18:40:38.469Z,1749148838.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077398 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:38.549Z,1749148838.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517664
2025-06-05T18:40:38.801Z,1749148838.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769272
2025-06-05T18:40:39.033Z,1749148839.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:39.042Z,1749148839.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 235.969955 m,
      bearing: 293.836341 deg,
      approach rate: -0.594707 m/s,
      LOS rate: 0.020585 deg/s,
      cmd heading: 290.913466 deg,
      new cmd heading: 290.948530 deg.

2025-06-05T18:40:39.043Z,1749148839.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078010 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:39.053Z,1749148839.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021389
2025-06-05T18:40:39.306Z,1749148839.306 [DAT](INFO): DAT read: Rx Time:18:40:37.8360

2025-06-05T18:40:39.307Z,1749148839.307 [DAT](INFO): Rx dataTimestamp_ set to:1749148839.306424
2025-06-05T18:40:39.307Z,1749148839.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275734
2025-06-05T18:40:39.396Z,1749148839.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:39.398Z,1749148839.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:39.407Z,1749148839.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 235.743256 m,
      bearing: 293.844196 deg,
      approach rate: -0.620572 m/s,
      LOS rate: 0.021523 deg/s,
      cmd heading: 290.948519 deg,
      new cmd heading: 290.972106 deg.

2025-06-05T18:40:39.412Z,1749148839.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078421 target range: 270.102203 and range: 270.30 m.
2025-06-05T18:40:39.558Z,1749148839.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526312
2025-06-05T18:40:39.823Z,1749148839.823 [DAT](INFO): DAT read: 18:40:37.8360 LVL= 22304, 27793, 20466, 26723, AGC= 59, IDX= 392,-0.47,-1.427,-2.749,-1.481,-2.153, PHS= 0.815,-0.549, 0.669, RAW= 144.4, -14.3, CAL= 151.0, -22.7, ROT= 359.0,  22.7

2025-06-05T18:40:39.826Z,1749148839.826 [DAT](INFO): got valid direction response:
 18:40:37.8360 LVL= 22304, 27793, 20466, 26723, AGC= 59, IDX= 392,-0.47,-1.427,-2.749,-1.481,-2.153, PHS= 0.815,-0.549, 0.669, RAW= 144.4, -14.3, CAL= 151.0, -22.7, ROT= 359.0,  22.7

2025-06-05T18:40:39.840Z,1749148839.840 [DAT](INFO): DAT read: Bearing 359.0,  22.7 (Local)

2025-06-05T18:40:39.840Z,1749148839.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  22.7 (Local)

2025-06-05T18:40:39.842Z,1749148839.842 [DAT](INFO): DAT read: Range 10 to 50 : 266.9 m  (Round-trip  355.9 ms) speed  0.4 m/s

2025-06-05T18:40:39.842Z,1749148839.842 [DAT](INFO): DAT read: user:2751>

2025-06-05T18:40:39.843Z,1749148839.843 [DAT](INFO): DAT read: Tx time:18:40:38.9259

2025-06-05T18:40:39.843Z,1749148839.843 [DAT](INFO): Ping request sent.
2025-06-05T18:40:39.852Z,1749148839.852 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:39.852Z,1749148839.852 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:39.853Z,1749148839.853 [DAT](INFO): direction in FSK: [0.922398,-0.016101,-0.385906]
2025-06-05T18:40:39.853Z,1749148839.853 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:39.853Z,1749148839.853 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:39.868Z,1749148839.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 266.899994 m,
      deltaT: 3.781290 s,
      deltaX: -3.399994 m,
      approachRate: -0.899162 m/s,
      rangeRepo size: 4

2025-06-05T18:40:39.868Z,1749148839.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:39.871Z,1749148839.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 235.488495 m,
      bearing: 293.852956 deg,
      approach rate: -0.555749 m/s,
      LOS rate: 0.019130 deg/s,
      cmd heading: 290.972097 deg,
      new cmd heading: 290.998404 deg.

2025-06-05T18:40:39.876Z,1749148839.876 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:39.876Z,1749148839.876 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:39.883Z,1749148839.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078880 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:40.062Z,1749148840.062 [DAT](INFO): DAT read: TxSync time:18:40:38.9251

2025-06-05T18:40:40.333Z,1749148840.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:40.336Z,1749148840.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 235.163269 m,
      bearing: 293.865029 deg,
      approach rate: -0.682984 m/s,
      LOS rate: 0.025389 deg/s,
      cmd heading: 290.998406 deg,
      new cmd heading: 291.034675 deg.

2025-06-05T18:40:40.337Z,1749148840.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079514 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:40.661Z,1749148840.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:40.689Z,1749148840.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 234.956802 m,
      bearing: 293.872893 deg,
      approach rate: -0.628944 m/s,
      LOS rate: 0.023977 deg/s,
      cmd heading: 291.034688 deg,
      new cmd heading: 291.058302 deg.

2025-06-05T18:40:40.691Z,1749148840.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079926 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:41.110Z,1749148841.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:41.117Z,1749148841.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 234.679855 m,
      bearing: 293.884955 deg,
      approach rate: -0.616449 m/s,
      LOS rate: 0.026879 deg/s,
      cmd heading: 291.058294 deg,
      new cmd heading: 291.094521 deg.

2025-06-05T18:40:41.118Z,1749148841.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.080558 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:41.463Z,1749148841.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:41.481Z,1749148841.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:41.484Z,1749148841.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 234.443756 m,
      bearing: 293.895249 deg,
      approach rate: -0.636239 m/s,
      LOS rate: 0.027769 deg/s,
      cmd heading: 291.094521 deg,
      new cmd heading: 291.125435 deg.

2025-06-05T18:40:41.485Z,1749148841.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.081098 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:41.574Z,1749148841.574 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:41.574Z,1749148841.574 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:41.574Z,1749148841.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:41.825Z,1749148841.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981156
2025-06-05T18:40:41.884Z,1749148841.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:41.887Z,1749148841.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 234.178070 m,
      bearing: 293.906777 deg,
      approach rate: -0.660459 m/s,
      LOS rate: 0.028691 deg/s,
      cmd heading: 291.125448 deg,
      new cmd heading: 291.160073 deg.

2025-06-05T18:40:41.891Z,1749148841.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.081702 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:42.077Z,1749148842.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233297
2025-06-05T18:40:42.329Z,1749148842.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485181
2025-06-05T18:40:42.382Z,1749148842.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:42.385Z,1749148842.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 233.852570 m,
      bearing: 293.920806 deg,
      approach rate: -0.653761 m/s,
      LOS rate: 0.028215 deg/s,
      cmd heading: 291.160063 deg,
      new cmd heading: 291.202207 deg.

2025-06-05T18:40:42.386Z,1749148842.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.082438 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:42.581Z,1749148842.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737197
2025-06-05T18:40:42.698Z,1749148842.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:42.701Z,1749148842.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 233.645981 m,
      bearing: 293.929729 deg,
      approach rate: -0.652354 m/s,
      LOS rate: 0.028203 deg/s,
      cmd heading: 291.202219 deg,
      new cmd heading: 291.229013 deg.

2025-06-05T18:40:42.702Z,1749148842.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.082905 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:42.833Z,1749148842.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989457
2025-06-05T18:40:43.085Z,1749148843.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241245
2025-06-05T18:40:43.135Z,1749148843.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:43.139Z,1749148843.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 233.356506 m,
      bearing: 293.943069 deg,
      approach rate: -0.663204 m/s,
      LOS rate: 0.030601 deg/s,
      cmd heading: 291.229021 deg,
      new cmd heading: 291.269091 deg.

2025-06-05T18:40:43.152Z,1749148843.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.083605 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:43.337Z,1749148843.337 [DAT](INFO): DAT read: Rx Time:18:40:41.6833

2025-06-05T18:40:43.338Z,1749148843.338 [DAT](INFO): Rx dataTimestamp_ set to:1749148843.336957
2025-06-05T18:40:43.339Z,1749148843.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495535
2025-06-05T18:40:43.508Z,1749148843.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:43.510Z,1749148843.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-06-05T18:40:43.513Z,1749148843.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.102203 m,
      nav range: 233.121521 m,
      bearing: 293.953968 deg,
      approach rate: -0.626414 m/s,
      LOS rate: 0.029081 deg/s,
      cmd heading: 291.269100 deg,
      new cmd heading: 291.301828 deg.

2025-06-05T18:40:43.514Z,1749148843.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084176 target range: 270.102203 and range: 266.90 m.
2025-06-05T18:40:43.591Z,1749148843.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746803
2025-06-05T18:40:43.846Z,1749148843.846 [DAT](INFO): DAT read: 18:40:41.6833 LVL= 27632, 32753, 27810, 32755, AGC= 65, IDX= 412,-0.06,-0.279,-1.543,-0.358,-0.930, PHS= 0.739,-0.566, 0.569, RAW= 143.1, -12.1, CAL= 150.1, -21.0, ROT= 359.9,  21.0

2025-06-05T18:40:43.849Z,1749148843.849 [DAT](INFO): got valid direction response:
 18:40:41.6833 LVL= 27632, 32753, 27810, 32755, AGC= 65, IDX= 412,-0.06,-0.279,-1.543,-0.358,-0.930, PHS= 0.739,-0.566, 0.569, RAW= 143.1, -12.1, CAL= 150.1, -21.0, ROT= 359.9,  21.0

2025-06-05T18:40:43.851Z,1749148843.851 [DAT](INFO): DAT read: Bearing 359.9,  21.0 (Local)

2025-06-05T18:40:43.862Z,1749148843.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  21.0 (Local)

2025-06-05T18:40:43.864Z,1749148843.864 [DAT](INFO): DAT read: Range 10 to 50 : 264.9 m  (Round-trip  353.2 ms) speed  0.4 m/s

2025-06-05T18:40:43.865Z,1749148843.865 [DAT](INFO): DAT read: user:2752>

2025-06-05T18:40:43.865Z,1749148843.865 [DAT](INFO): DAT read: Tx time:18:40:42.7760

2025-06-05T18:40:43.866Z,1749148843.866 [DAT](INFO): Ping request sent.
2025-06-05T18:40:43.866Z,1749148843.866 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:43.866Z,1749148843.866 [DAT](INFO): DAT read: TxSync time:18:40:42.7752

2025-06-05T18:40:43.867Z,1749148843.867 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:43.898Z,1749148843.898 [DAT](INFO): direction in FSK: [0.933579,-0.001630,-0.358368]
2025-06-05T18:40:43.898Z,1749148843.898 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:43.899Z,1749148843.899 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:43.913Z,1749148843.913 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:43.913Z,1749148843.913 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:44.084Z,1749148844.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.899994 m,
      deltaT: 4.030656 s,
      deltaX: -2.000000 m,
      approachRate: -0.496197 m/s,
      rangeRepo size: 4

2025-06-05T18:40:44.086Z,1749148844.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 262.770050 m,
      bearing: 293.181037 deg,
      lat: 36.906049 deg,
      lon: -122.116256 deg,
      deltaT: 11.591666 s,
      deltaX: -7.332153 m,
      approachRate: -0.632537 m/s,
      posRepo size: 4

2025-06-05T18:40:44.087Z,1749148844.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:44.099Z,1749148844.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 232.361420 m,
      bearing: 293.734241 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029081 deg/s,
      cmd heading: 291.301831 deg,
      new cmd heading: 291.351524 deg.

2025-06-05T18:40:44.105Z,1749148844.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085043 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:44.432Z,1749148844.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:44.435Z,1749148844.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 232.075653 m,
      bearing: 293.745483 deg,
      approach rate: -0.811376 m/s,
      LOS rate: 0.031960 deg/s,
      cmd heading: 291.351527 deg,
      new cmd heading: 291.385296 deg.

2025-06-05T18:40:44.436Z,1749148844.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085633 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:44.790Z,1749148844.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:44.793Z,1749148844.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 231.839478 m,
      bearing: 293.754889 deg,
      approach rate: -0.658742 m/s,
      LOS rate: 0.026260 deg/s,
      cmd heading: 291.385296 deg,
      new cmd heading: 291.413540 deg.

2025-06-05T18:40:44.794Z,1749148844.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086126 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:45.233Z,1749148845.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:45.236Z,1749148845.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 231.553925 m,
      bearing: 293.763037 deg,
      approach rate: -0.645298 m/s,
      LOS rate: 0.018437 deg/s,
      cmd heading: 291.413545 deg,
      new cmd heading: 291.438021 deg.

2025-06-05T18:40:45.237Z,1749148845.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086553 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:45.589Z,1749148845.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:45.591Z,1749148845.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:45.594Z,1749148845.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 231.323959 m,
      bearing: 293.769658 deg,
      approach rate: -0.641338 m/s,
      LOS rate: 0.018482 deg/s,
      cmd heading: 291.438025 deg,
      new cmd heading: 291.457906 deg.

2025-06-05T18:40:45.595Z,1749148845.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086900 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:45.606Z,1749148845.606 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:45.606Z,1749148845.606 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:45.606Z,1749148845.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:45.857Z,1749148845.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991035
2025-06-05T18:40:46.090Z,1749148846.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:46.097Z,1749148846.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 231.018250 m,
      bearing: 293.778432 deg,
      approach rate: -0.612947 m/s,
      LOS rate: 0.017616 deg/s,
      cmd heading: 291.457914 deg,
      new cmd heading: 291.484272 deg.

2025-06-05T18:40:46.098Z,1749148846.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087360 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:46.109Z,1749148846.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243053
2025-06-05T18:40:46.361Z,1749148846.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494922
2025-06-05T18:40:46.452Z,1749148846.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:46.455Z,1749148846.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 230.775116 m,
      bearing: 293.784257 deg,
      approach rate: -0.672572 m/s,
      LOS rate: 0.016129 deg/s,
      cmd heading: 291.484279 deg,
      new cmd heading: 291.501771 deg.

2025-06-05T18:40:46.456Z,1749148846.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087666 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:46.613Z,1749148846.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746910
2025-06-05T18:40:46.803Z,1749148846.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:46.808Z,1749148846.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 230.553955 m,
      bearing: 293.789483 deg,
      approach rate: -0.629711 m/s,
      LOS rate: 0.014894 deg/s,
      cmd heading: 291.501764 deg,
      new cmd heading: 291.517457 deg.

2025-06-05T18:40:46.809Z,1749148846.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087939 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:46.865Z,1749148846.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999051
2025-06-05T18:40:47.117Z,1749148847.117 [DAT](INFO): DAT read: Rx Time:18:40:45.5304

2025-06-05T18:40:47.117Z,1749148847.117 [DAT](INFO): Rx dataTimestamp_ set to:1749148847.117044
2025-06-05T18:40:47.118Z,1749148847.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252184
2025-06-05T18:40:47.250Z,1749148847.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.77 m.
2025-06-05T18:40:47.253Z,1749148847.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.770050 m,
      nav range: 230.268845 m,
      bearing: 293.792447 deg,
      approach rate: -0.637456 m/s,
      LOS rate: 0.006636 deg/s,
      cmd heading: 291.517446 deg,
      new cmd heading: 291.526350 deg.

2025-06-05T18:40:47.255Z,1749148847.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088095 target range: 262.770050 and range: 264.90 m.
2025-06-05T18:40:47.370Z,1749148847.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503829
2025-06-05T18:40:47.628Z,1749148847.628 [DAT](INFO): DAT read: 18:40:45.5304 LVL= 24912, 30161, 25026, 30899, AGC= 63, IDX= 414, 0.01, 1.468, 0.168, 1.408, 0.682, PHS= 0.875,-0.466, 0.723, RAW= 144.1, -17.5, CAL= 150.1, -25.3, ROT= 359.9,  25.3

2025-06-05T18:40:47.629Z,1749148847.629 [DAT](INFO): got valid direction response:
 18:40:45.5304 LVL= 24912, 30161, 25026, 30899, AGC= 63, IDX= 414, 0.01, 1.468, 0.168, 1.408, 0.682, PHS= 0.875,-0.466, 0.723, RAW= 144.1, -17.5, CAL= 150.1, -25.3, ROT= 359.9,  25.3

2025-06-05T18:40:47.630Z,1749148847.630 [DAT](INFO): DAT read: Bearing 359.9,  25.3 (Local)

2025-06-05T18:40:47.630Z,1749148847.630 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  25.3 (Local)

2025-06-05T18:40:47.632Z,1749148847.632 [DAT](INFO): DAT read: Range 10 to 50 : 262.6 m  (Round-trip  350.2 ms) speed  0.0 m/s

2025-06-05T18:40:47.633Z,1749148847.633 [DAT](INFO): DAT read: user:2753>

2025-06-05T18:40:47.633Z,1749148847.633 [DAT](INFO): DAT read: Tx time:18:40:46.6260

2025-06-05T18:40:47.634Z,1749148847.634 [DAT](INFO): Ping request sent.
2025-06-05T18:40:47.634Z,1749148847.634 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:47.634Z,1749148847.634 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:47.635Z,1749148847.635 [DAT](INFO): direction in FSK: [0.904081,-0.001578,-0.427358]
2025-06-05T18:40:47.635Z,1749148847.635 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:47.637Z,1749148847.637 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:47.641Z,1749148847.641 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:47.642Z,1749148847.642 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:47.682Z,1749148847.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.600006 m,
      deltaT: 3.781731 s,
      deltaX: -2.299988 m,
      approachRate: -0.608184 m/s,
      rangeRepo size: 4

2025-06-05T18:40:47.690Z,1749148847.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 260.490753 m,
      bearing: 293.588283 deg,
      lat: 36.906049 deg,
      lon: -122.116256 deg,
      deltaT: 3.781731 s,
      deltaX: -2.279297 m,
      approachRate: -0.602713 m/s,
      posRepo size: 4

2025-06-05T18:40:47.691Z,1749148847.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:47.710Z,1749148847.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 230.039322 m,
      bearing: 293.794796 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006636 deg/s,
      cmd heading: 291.526353 deg,
      new cmd heading: 291.534930 deg.

2025-06-05T18:40:47.711Z,1749148847.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088244 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:47.873Z,1749148847.873 [DAT](INFO): DAT read: TxSync time:18:40:46.6252

2025-06-05T18:40:48.127Z,1749148848.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:48.133Z,1749148848.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:48.140Z,1749148848.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 229.725189 m,
      bearing: 293.798026 deg,
      approach rate: -0.694302 m/s,
      LOS rate: 0.007149 deg/s,
      cmd heading: 291.534931 deg,
      new cmd heading: 291.544635 deg.

2025-06-05T18:40:48.141Z,1749148848.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088414 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:48.376Z,1749148848.376 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:48.377Z,1749148848.377 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:48.377Z,1749148848.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:48.484Z,1749148848.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:48.487Z,1749148848.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 229.493652 m,
      bearing: 293.798989 deg,
      approach rate: -0.659629 m/s,
      LOS rate: 0.002745 deg/s,
      cmd heading: 291.544630 deg,
      new cmd heading: 291.547521 deg.

2025-06-05T18:40:48.490Z,1749148848.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088464 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:48.629Z,1749148848.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995024
2025-06-05T18:40:48.848Z,1749148848.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:48.851Z,1749148848.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 229.272186 m,
      bearing: 293.799893 deg,
      approach rate: -0.608346 m/s,
      LOS rate: 0.002486 deg/s,
      cmd heading: 291.547526 deg,
      new cmd heading: 291.550242 deg.

2025-06-05T18:40:48.858Z,1749148848.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088511 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:48.881Z,1749148848.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246818
2025-06-05T18:40:49.134Z,1749148849.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500039
2025-06-05T18:40:49.262Z,1749148849.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:49.265Z,1749148849.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 229.022400 m,
      bearing: 293.799221 deg,
      approach rate: -0.604662 m/s,
      LOS rate: -0.001630 deg/s,
      cmd heading: 291.550231 deg,
      new cmd heading: 291.548211 deg.

2025-06-05T18:40:49.266Z,1749148849.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088476 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:49.385Z,1749148849.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750964
2025-06-05T18:40:49.637Z,1749148849.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002872
2025-06-05T18:40:49.646Z,1749148849.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:49.649Z,1749148849.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 228.789474 m,
      bearing: 293.798438 deg,
      approach rate: -0.605242 m/s,
      LOS rate: -0.002037 deg/s,
      cmd heading: 291.548209 deg,
      new cmd heading: 291.545858 deg.

2025-06-05T18:40:49.650Z,1749148849.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088435 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:49.890Z,1749148849.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255685
2025-06-05T18:40:50.143Z,1749148850.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508463
2025-06-05T18:40:50.209Z,1749148850.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:50.211Z,1749148850.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:50.218Z,1749148850.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 228.447250 m,
      bearing: 293.797753 deg,
      approach rate: -0.606431 m/s,
      LOS rate: -0.001214 deg/s,
      cmd heading: 291.545860 deg,
      new cmd heading: 291.543804 deg.

2025-06-05T18:40:50.219Z,1749148850.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088399 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:50.393Z,1749148850.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759490
2025-06-05T18:40:50.645Z,1749148850.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010852
2025-06-05T18:40:50.655Z,1749148850.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:50.662Z,1749148850.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 228.176559 m,
      bearing: 293.797104 deg,
      approach rate: -0.610460 m/s,
      LOS rate: -0.001466 deg/s,
      cmd heading: 291.543811 deg,
      new cmd heading: 291.541861 deg.

2025-06-05T18:40:50.663Z,1749148850.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088366 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:50.897Z,1749148850.897 [DAT](INFO): DAT read: Rx Time:18:40:49.3786

2025-06-05T18:40:50.897Z,1749148850.897 [DAT](INFO): Rx dataTimestamp_ set to:1749148850.897086
2025-06-05T18:40:50.898Z,1749148850.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264080
2025-06-05T18:40:51.151Z,1749148851.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517023
2025-06-05T18:40:51.283Z,1749148851.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:51.289Z,1749148851.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 227.803375 m,
      bearing: 293.799407 deg,
      approach rate: -0.593802 m/s,
      LOS rate: 0.003669 deg/s,
      cmd heading: 291.541871 deg,
      new cmd heading: 291.548789 deg.

2025-06-05T18:40:51.290Z,1749148851.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088486 target range: 260.490753 and range: 262.60 m.
2025-06-05T18:40:51.402Z,1749148851.402 [DAT](INFO): DAT read: Range 10 to 50 : 261.3 m  (Round-trip  348.4 ms) speed  0.9 m/s

2025-06-05T18:40:51.403Z,1749148851.403 [DAT](INFO): DAT read: user:2754>

2025-06-05T18:40:51.403Z,1749148851.403 [DAT](INFO): DAT read: Tx time:18:40:50.4760

2025-06-05T18:40:51.404Z,1749148851.404 [DAT](INFO): Ping request sent.
2025-06-05T18:40:51.404Z,1749148851.404 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:51.404Z,1749148851.404 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:40:51.405Z,1749148851.405 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:51.405Z,1749148851.405 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:51.616Z,1749148851.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.299988 m,
      deltaT: 3.778453 s,
      deltaX: -1.300018 m,
      approachRate: -0.344061 m/s,
      rangeRepo size: 4

2025-06-05T18:40:51.616Z,1749148851.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:51.619Z,1749148851.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 227.586182 m,
      bearing: 293.800604 deg,
      approach rate: -0.653377 m/s,
      LOS rate: 0.003605 deg/s,
      cmd heading: 291.548783 deg,
      new cmd heading: 291.552379 deg.

2025-06-05T18:40:51.620Z,1749148851.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088549 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:51.654Z,1749148851.654 [DAT](INFO): DAT read: TxSync time:18:40:50.4752

2025-06-05T18:40:52.007Z,1749148852.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:52.010Z,1749148852.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 227.346176 m,
      bearing: 293.802055 deg,
      approach rate: -0.612064 m/s,
      LOS rate: 0.003706 deg/s,
      cmd heading: 291.552389 deg,
      new cmd heading: 291.556749 deg.

2025-06-05T18:40:52.011Z,1749148852.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088625 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:52.527Z,1749148852.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:52.530Z,1749148852.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:52.533Z,1749148852.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 227.019547 m,
      bearing: 293.807874 deg,
      approach rate: -0.624832 m/s,
      LOS rate: 0.011147 deg/s,
      cmd heading: 291.556761 deg,
      new cmd heading: 291.574242 deg.

2025-06-05T18:40:52.534Z,1749148852.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088931 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:52.661Z,1749148852.661 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:52.661Z,1749148852.661 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:52.661Z,1749148852.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:52.822Z,1749148852.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:52.825Z,1749148852.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 226.835297 m,
      bearing: 293.811169 deg,
      approach rate: -0.632859 m/s,
      LOS rate: 0.011328 deg/s,
      cmd heading: 291.574246 deg,
      new cmd heading: 291.584140 deg.

2025-06-05T18:40:52.826Z,1749148852.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089103 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:52.918Z,1749148852.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513773
2025-06-05T18:40:53.171Z,1749148853.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766829
2025-06-05T18:40:53.293Z,1749148853.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:53.296Z,1749148853.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 226.535980 m,
      bearing: 293.819455 deg,
      approach rate: -0.634041 m/s,
      LOS rate: 0.017574 deg/s,
      cmd heading: 291.584136 deg,
      new cmd heading: 291.609025 deg.

2025-06-05T18:40:53.297Z,1749148853.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089538 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:53.422Z,1749148853.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017412
2025-06-05T18:40:53.642Z,1749148853.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:53.645Z,1749148853.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 226.314285 m,
      bearing: 293.825365 deg,
      approach rate: -0.634397 m/s,
      LOS rate: 0.016930 deg/s,
      cmd heading: 291.609025 deg,
      new cmd heading: 291.626774 deg.

2025-06-05T18:40:53.646Z,1749148853.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089848 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:53.673Z,1749148853.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269512
2025-06-05T18:40:53.925Z,1749148853.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520969
2025-06-05T18:40:54.066Z,1749148854.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:54.077Z,1749148854.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 226.053375 m,
      bearing: 293.832228 deg,
      approach rate: -0.615822 m/s,
      LOS rate: 0.016218 deg/s,
      cmd heading: 291.626784 deg,
      new cmd heading: 291.647397 deg.

2025-06-05T18:40:54.078Z,1749148854.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090207 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:54.177Z,1749148854.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773613
2025-06-05T18:40:54.429Z,1749148854.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024757
2025-06-05T18:40:54.518Z,1749148854.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:54.523Z,1749148854.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 225.753433 m,
      bearing: 293.843543 deg,
      approach rate: -0.663954 m/s,
      LOS rate: 0.025080 deg/s,
      cmd heading: 291.647384 deg,
      new cmd heading: 291.681373 deg.

2025-06-05T18:40:54.524Z,1749148854.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090800 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:54.682Z,1749148854.682 [DAT](INFO): DAT read: Rx Time:18:40:53.2242

2025-06-05T18:40:54.683Z,1749148854.683 [DAT](INFO): Rx dataTimestamp_ set to:1749148854.682335
2025-06-05T18:40:54.685Z,1749148854.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281065
2025-06-05T18:40:54.878Z,1749148854.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:54.880Z,1749148854.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:54.883Z,1749148854.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 225.520981 m,
      bearing: 293.852291 deg,
      approach rate: -0.642389 m/s,
      LOS rate: 0.024198 deg/s,
      cmd heading: 291.681371 deg,
      new cmd heading: 291.707640 deg.

2025-06-05T18:40:54.884Z,1749148854.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091259 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:54.934Z,1749148854.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530242
2025-06-05T18:40:55.189Z,1749148855.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784480
2025-06-05T18:40:55.316Z,1749148855.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.49 m.
2025-06-05T18:40:55.325Z,1749148855.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.490753 m,
      nav range: 225.236389 m,
      bearing: 293.866059 deg,
      approach rate: -0.653406 m/s,
      LOS rate: 0.031650 deg/s,
      cmd heading: 291.707653 deg,
      new cmd heading: 291.749009 deg.

2025-06-05T18:40:55.326Z,1749148855.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091981 target range: 260.490753 and range: 261.30 m.
2025-06-05T18:40:55.449Z,1749148855.449 [DAT](INFO): DAT read: 18:40:53.2242 LVL= 21440, 24673, 21202, 29043, AGC= 63, IDX= 397,-0.16, 2.423, 0.564, 2.341, 1.442, PHS= 1.069,-0.831, 0.896, RAW= 145.3, -12.4, CAL= 152.3, -21.0, ROT= 357.7,  21.0

2025-06-05T18:40:55.450Z,1749148855.450 [DAT](INFO): got valid direction response:
 18:40:53.2242 LVL= 21440, 24673, 21202, 29043, AGC= 63, IDX= 397,-0.16, 2.423, 0.564, 2.341, 1.442, PHS= 1.069,-0.831, 0.896, RAW= 145.3, -12.4, CAL= 152.3, -21.0, ROT= 357.7,  21.0

2025-06-05T18:40:55.452Z,1749148855.452 [DAT](INFO): DAT read: Bearing 357.7,  21.0 (Local)

2025-06-05T18:40:55.452Z,1749148855.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  21.0 (Local)

2025-06-05T18:40:55.455Z,1749148855.455 [DAT](INFO): DAT read: Range 10 to 50 : 257.9 m  (Round-trip  343.9 ms) speed  0.4 m/s

2025-06-05T18:40:55.462Z,1749148855.462 [DAT](INFO): DAT read: user:2755>

2025-06-05T18:40:55.463Z,1749148855.463 [DAT](INFO): DAT read: Tx time:18:40:54.3261

2025-06-05T18:40:55.463Z,1749148855.463 [DAT](INFO): Ping request sent.
2025-06-05T18:40:55.463Z,1749148855.463 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:55.465Z,1749148855.465 [DAT](INFO): DAT read: TxSync time:18:40:54.3253

2025-06-05T18:40:55.465Z,1749148855.465 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:40:55.466Z,1749148855.466 [DAT](INFO): direction in FSK: [0.932828,-0.037466,-0.358368]
2025-06-05T18:40:55.466Z,1749148855.466 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:55.467Z,1749148855.467 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:55.470Z,1749148855.470 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:55.470Z,1749148855.470 [DAT](INFO): publishing direction and range info
2025-06-05T18:40:55.814Z,1749148855.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 257.899994 m,
      deltaT: 4.041260 s,
      deltaX: -3.399994 m,
      approachRate: -0.841320 m/s,
      rangeRepo size: 4

2025-06-05T18:40:55.816Z,1749148855.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 255.828003 m,
      bearing: 292.039410 deg,
      lat: 36.906029 deg,
      lon: -122.116281 deg,
      deltaT: 7.819713 s,
      deltaX: -4.662750 m,
      approachRate: -0.596282 m/s,
      posRepo size: 4

2025-06-05T18:40:55.817Z,1749148855.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:55.820Z,1749148855.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 226.053238 m,
      bearing: 293.142133 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031650 deg/s,
      cmd heading: 291.749017 deg,
      new cmd heading: 291.796282 deg.

2025-06-05T18:40:55.821Z,1749148855.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.092806 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:56.153Z,1749148856.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:56.184Z,1749148856.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 225.846558 m,
      bearing: 293.151628 deg,
      approach rate: -0.640891 m/s,
      LOS rate: 0.029472 deg/s,
      cmd heading: 291.796282 deg,
      new cmd heading: 291.824795 deg.

2025-06-05T18:40:56.192Z,1749148856.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093304 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:56.557Z,1749148856.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:56.560Z,1749148856.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 225.563980 m,
      bearing: 293.165647 deg,
      approach rate: -0.669920 m/s,
      LOS rate: 0.033277 deg/s,
      cmd heading: 291.824805 deg,
      new cmd heading: 291.866915 deg.

2025-06-05T18:40:56.561Z,1749148856.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094038 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:56.968Z,1749148856.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:56.970Z,1749148856.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:56.978Z,1749148856.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 225.302795 m,
      bearing: 293.178515 deg,
      approach rate: -0.632571 m/s,
      LOS rate: 0.031200 deg/s,
      cmd heading: 291.866906 deg,
      new cmd heading: 291.905553 deg.

2025-06-05T18:40:56.979Z,1749148856.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094713 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:57.208Z,1749148857.208 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:57.208Z,1749148857.208 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:57.209Z,1749148857.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:57.373Z,1749148857.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:57.380Z,1749148857.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 225.049408 m,
      bearing: 293.190950 deg,
      approach rate: -0.637719 m/s,
      LOS rate: 0.031332 deg/s,
      cmd heading: 291.905565 deg,
      new cmd heading: 291.942912 deg.

2025-06-05T18:40:57.381Z,1749148857.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.095365 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:57.457Z,1749148857.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993904
2025-06-05T18:40:57.710Z,1749148857.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246641
2025-06-05T18:40:57.747Z,1749148857.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:57.750Z,1749148857.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 224.789810 m,
      bearing: 293.203539 deg,
      approach rate: -0.683960 m/s,
      LOS rate: 0.033207 deg/s,
      cmd heading: 291.942912 deg,
      new cmd heading: 291.980724 deg.

2025-06-05T18:40:57.751Z,1749148857.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.096025 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:57.961Z,1749148857.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497458
2025-06-05T18:40:58.143Z,1749148858.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:58.146Z,1749148858.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 224.531708 m,
      bearing: 293.215971 deg,
      approach rate: -0.652212 m/s,
      LOS rate: 0.031451 deg/s,
      cmd heading: 291.980724 deg,
      new cmd heading: 292.018063 deg.

2025-06-05T18:40:58.147Z,1749148858.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.096677 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:58.217Z,1749148858.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752152
2025-06-05T18:40:58.465Z,1749148858.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001335
2025-06-05T18:40:58.599Z,1749148858.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:58.602Z,1749148858.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 224.262070 m,
      bearing: 293.227953 deg,
      approach rate: -0.591117 m/s,
      LOS rate: 0.026299 deg/s,
      cmd heading: 292.018072 deg,
      new cmd heading: 292.054060 deg.

2025-06-05T18:40:58.603Z,1749148858.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097305 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:58.724Z,1749148858.724 [DAT](INFO): DAT read: Rx Time:18:40:57.0727

2025-06-05T18:40:58.726Z,1749148858.726 [DAT](INFO): Rx dataTimestamp_ set to:1749148858.724871
2025-06-05T18:40:58.727Z,1749148858.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263745
2025-06-05T18:40:58.973Z,1749148858.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509915
2025-06-05T18:40:58.980Z,1749148858.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:58.983Z,1749148858.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 224.010101 m,
      bearing: 293.239138 deg,
      approach rate: -0.669578 m/s,
      LOS rate: 0.029756 deg/s,
      cmd heading: 292.054053 deg,
      new cmd heading: 292.087646 deg.

2025-06-05T18:40:58.985Z,1749148858.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097891 target range: 255.828003 and range: 257.90 m.
2025-06-05T18:40:59.233Z,1749148859.233 [DAT](INFO): DAT read: Range 10 to 50 : 256.8 m  (Round-trip  342.4 ms) speed  0.5 m/s

2025-06-05T18:40:59.236Z,1749148859.236 [DAT](INFO): DAT read: user:2756>

2025-06-05T18:40:59.238Z,1749148859.238 [DAT](INFO): DAT read: Tx time:18:40:58.1761

2025-06-05T18:40:59.239Z,1749148859.239 [DAT](INFO): Ping request sent.
2025-06-05T18:40:59.245Z,1749148859.245 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:40:59.247Z,1749148859.247 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:40:59.248Z,1749148859.248 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:59.251Z,1749148859.251 [DAT](INFO): publishing transmit ping time
2025-06-05T18:40:59.400Z,1749148859.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:40:59.403Z,1749148859.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 256.799988 m,
      deltaT: 3.785274 s,
      deltaX: -1.100006 m,
      approachRate: -0.290601 m/s,
      rangeRepo size: 4

2025-06-05T18:40:59.405Z,1749148859.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:59.408Z,1749148859.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 223.737015 m,
      bearing: 293.248896 deg,
      approach rate: -0.639298 m/s,
      LOS rate: 0.022872 deg/s,
      cmd heading: 292.087658 deg,
      new cmd heading: 292.116968 deg.

2025-06-05T18:40:59.409Z,1749148859.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.098403 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:40:59.477Z,1749148859.477 [DAT](INFO): DAT read: TxSync time:18:40:58.1753

2025-06-05T18:40:59.478Z,1749148859.478 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:40:59.478Z,1749148859.478 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:40:59.478Z,1749148859.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:40:59.729Z,1749148859.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490286
2025-06-05T18:40:59.877Z,1749148859.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:40:59.884Z,1749148859.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 223.454407 m,
      bearing: 293.259092 deg,
      approach rate: -0.595518 m/s,
      LOS rate: 0.021513 deg/s,
      cmd heading: 292.116973 deg,
      new cmd heading: 292.147600 deg.

2025-06-05T18:40:59.885Z,1749148859.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.098938 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:40:59.982Z,1749148859.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742148
2025-06-05T18:41:00.236Z,1749148860.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996104
2025-06-05T18:41:00.357Z,1749148860.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:00.359Z,1749148860.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 223.158997 m,
      bearing: 293.268254 deg,
      approach rate: -0.622199 m/s,
      LOS rate: 0.019323 deg/s,
      cmd heading: 292.147599 deg,
      new cmd heading: 292.175122 deg.

2025-06-05T18:41:00.364Z,1749148860.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.099418 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:41:00.485Z,1749148860.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245499
2025-06-05T18:41:00.737Z,1749148860.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497651
2025-06-05T18:41:00.802Z,1749148860.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:00.809Z,1749148860.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 222.875900 m,
      bearing: 293.277075 deg,
      approach rate: -0.629500 m/s,
      LOS rate: 0.019639 deg/s,
      cmd heading: 292.175111 deg,
      new cmd heading: 292.201608 deg.

2025-06-05T18:41:00.812Z,1749148860.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.099880 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:41:00.989Z,1749148860.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750320
2025-06-05T18:41:01.187Z,1749148861.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:01.190Z,1749148861.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 222.630692 m,
      bearing: 293.284646 deg,
      approach rate: -0.636855 m/s,
      LOS rate: 0.019684 deg/s,
      cmd heading: 292.201613 deg,
      new cmd heading: 292.224349 deg.

2025-06-05T18:41:01.190Z,1749148861.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100277 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:41:01.244Z,1749148861.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004252
2025-06-05T18:41:01.493Z,1749148861.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253594
2025-06-05T18:41:01.613Z,1749148861.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:01.615Z,1749148861.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:01.618Z,1749148861.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 222.371368 m,
      bearing: 293.288523 deg,
      approach rate: -0.604935 m/s,
      LOS rate: 0.009054 deg/s,
      cmd heading: 292.224343 deg,
      new cmd heading: 292.235987 deg.

2025-06-05T18:41:01.619Z,1749148861.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100480 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:41:01.745Z,1749148861.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505780
2025-06-05T18:41:01.997Z,1749148861.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757597
2025-06-05T18:41:02.031Z,1749148862.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:02.045Z,1749148862.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 222.131943 m,
      bearing: 293.292110 deg,
      approach rate: -0.575614 m/s,
      LOS rate: 0.008634 deg/s,
      cmd heading: 292.235982 deg,
      new cmd heading: 292.246755 deg.

2025-06-05T18:41:02.046Z,1749148862.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100668 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:41:02.253Z,1749148862.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012413
2025-06-05T18:41:02.422Z,1749148862.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:02.425Z,1749148862.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 221.880600 m,
      bearing: 293.294796 deg,
      approach rate: -0.643906 m/s,
      LOS rate: 0.006889 deg/s,
      cmd heading: 292.246746 deg,
      new cmd heading: 292.254814 deg.

2025-06-05T18:41:02.426Z,1749148862.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100809 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:41:02.502Z,1749148862.502 [DAT](INFO): DAT read: Rx Time:18:41:00.9199

2025-06-05T18:41:02.503Z,1749148862.503 [DAT](INFO): Rx dataTimestamp_ set to:1749148862.502235
2025-06-05T18:41:02.504Z,1749148862.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264396
2025-06-05T18:41:02.753Z,1749148862.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513466
2025-06-05T18:41:02.813Z,1749148862.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:02.816Z,1749148862.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 221.642685 m,
      bearing: 293.297370 deg,
      approach rate: -0.608015 m/s,
      LOS rate: 0.006586 deg/s,
      cmd heading: 292.254806 deg,
      new cmd heading: 292.262537 deg.

2025-06-05T18:41:02.817Z,1749148862.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100944 target range: 255.828003 and range: 256.80 m.
2025-06-05T18:41:03.007Z,1749148863.007 [DAT](INFO): DAT read: Range 10 to 50 : 254.7 m  (Round-trip  339.6 ms) speed  0.4 m/s

2025-06-05T18:41:03.009Z,1749148863.009 [DAT](INFO): DAT read: user:2757>

2025-06-05T18:41:03.010Z,1749148863.010 [DAT](INFO): DAT read: Tx time:18:41:02.0262

2025-06-05T18:41:03.011Z,1749148863.011 [DAT](INFO): Ping request sent.
2025-06-05T18:41:03.012Z,1749148863.012 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:03.013Z,1749148863.013 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:41:03.014Z,1749148863.013 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:03.019Z,1749148863.019 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:03.233Z,1749148863.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 254.699997 m,
      deltaT: 3.777730 s,
      deltaX: -2.099991 m,
      approachRate: -0.555887 m/s,
      rangeRepo size: 4

2025-06-05T18:41:03.235Z,1749148863.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:03.251Z,1749148863.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 221.402924 m,
      bearing: 293.299977 deg,
      approach rate: -0.578312 m/s,
      LOS rate: 0.006294 deg/s,
      cmd heading: 292.262538 deg,
      new cmd heading: 292.270366 deg.

2025-06-05T18:41:03.261Z,1749148863.261 [DAT](INFO): DAT read: TxSync time:18:41:02.0254

2025-06-05T18:41:03.268Z,1749148863.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101080 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:03.649Z,1749148863.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:03.652Z,1749148863.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:03.656Z,1749148863.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 221.128601 m,
      bearing: 293.301113 deg,
      approach rate: -0.647186 m/s,
      LOS rate: 0.002685 deg/s,
      cmd heading: 292.270379 deg,
      new cmd heading: 292.273793 deg.

2025-06-05T18:41:03.657Z,1749148863.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101140 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:03.761Z,1749148863.761 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:03.761Z,1749148863.761 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:03.762Z,1749148863.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:04.013Z,1749148864.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001716
2025-06-05T18:41:04.040Z,1749148864.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:04.043Z,1749148864.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 220.890625 m,
      bearing: 293.302102 deg,
      approach rate: -0.611778 m/s,
      LOS rate: 0.002544 deg/s,
      cmd heading: 292.273794 deg,
      new cmd heading: 292.276763 deg.

2025-06-05T18:41:04.044Z,1749148864.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101192 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:04.268Z,1749148864.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256591
2025-06-05T18:41:04.447Z,1749148864.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:04.450Z,1749148864.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 220.639465 m,
      bearing: 293.302847 deg,
      approach rate: -0.617170 m/s,
      LOS rate: 0.001833 deg/s,
      cmd heading: 292.276772 deg,
      new cmd heading: 292.279010 deg.

2025-06-05T18:41:04.451Z,1749148864.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101231 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:04.517Z,1749148864.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505846
2025-06-05T18:41:04.774Z,1749148864.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763206
2025-06-05T18:41:04.847Z,1749148864.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:04.855Z,1749148864.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 220.404648 m,
      bearing: 293.303394 deg,
      approach rate: -0.587277 m/s,
      LOS rate: 0.001370 deg/s,
      cmd heading: 292.279012 deg,
      new cmd heading: 292.280655 deg.

2025-06-05T18:41:04.858Z,1749148864.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101260 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:05.025Z,1749148865.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013731
2025-06-05T18:41:05.237Z,1749148865.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:05.241Z,1749148865.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 220.151871 m,
      bearing: 293.303869 deg,
      approach rate: -0.648454 m/s,
      LOS rate: 0.001219 deg/s,
      cmd heading: 292.280651 deg,
      new cmd heading: 292.282078 deg.

2025-06-05T18:41:05.241Z,1749148865.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101285 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:05.280Z,1749148865.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269058
2025-06-05T18:41:05.529Z,1749148865.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517720
2025-06-05T18:41:05.776Z,1749148865.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:05.781Z,1749148865.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770165
2025-06-05T18:41:05.783Z,1749148865.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:05.786Z,1749148865.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 219.816498 m,
      bearing: 293.303963 deg,
      approach rate: -0.614366 m/s,
      LOS rate: 0.000173 deg/s,
      cmd heading: 292.282072 deg,
      new cmd heading: 292.282356 deg.

2025-06-05T18:41:05.787Z,1749148865.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101289 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:05.812Z,1749148865.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:41:06.033Z,1749148866.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021997
2025-06-05T18:41:06.165Z,1749148866.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:06.167Z,1749148866.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 219.583420 m,
      bearing: 293.304054 deg,
      approach rate: -0.610684 m/s,
      LOS rate: 0.000239 deg/s,
      cmd heading: 292.282345 deg,
      new cmd heading: 292.282619 deg.

2025-06-05T18:41:06.175Z,1749148866.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101294 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:06.285Z,1749148866.285 [DAT](INFO): DAT read: Rx Time:18:41:04.7672

2025-06-05T18:41:06.285Z,1749148866.285 [DAT](INFO): Rx dataTimestamp_ set to:1749148866.284980
2025-06-05T18:41:06.286Z,1749148866.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274884
2025-06-05T18:41:06.537Z,1749148866.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525648
2025-06-05T18:41:06.690Z,1749148866.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:06.695Z,1749148866.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 219.238495 m,
      bearing: 293.306375 deg,
      approach rate: -0.657186 m/s,
      LOS rate: 0.004428 deg/s,
      cmd heading: 292.282619 deg,
      new cmd heading: 292.289591 deg.

2025-06-05T18:41:06.717Z,1749148866.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101416 target range: 255.828003 and range: 254.70 m.
2025-06-05T18:41:06.791Z,1749148866.791 [DAT](INFO): DAT read: Range 10 to 50 : 252.6 m  (Round-trip  336.9 ms) speed  0.4 m/s

2025-06-05T18:41:06.792Z,1749148866.792 [DAT](INFO): DAT read: user:2758>

2025-06-05T18:41:06.793Z,1749148866.793 [DAT](INFO): DAT read: Tx time:18:41:05.8762

2025-06-05T18:41:06.793Z,1749148866.793 [DAT](INFO): Ping request sent.
2025-06-05T18:41:06.793Z,1749148866.793 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:06.793Z,1749148866.793 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:41:06.793Z,1749148866.793 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:06.794Z,1749148866.794 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:06.817Z,1749148866.817 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:41:07.041Z,1749148867.041 [DAT](INFO): DAT read: TxSync time:18:41:05.8754

2025-06-05T18:41:07.200Z,1749148867.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.600006 m,
      deltaT: 3.784850 s,
      deltaX: -2.099991 m,
      approachRate: -0.554841 m/s,
      rangeRepo size: 4

2025-06-05T18:41:07.200Z,1749148867.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:07.203Z,1749148867.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 218.909393 m,
      bearing: 293.308687 deg,
      approach rate: -0.646060 m/s,
      LOS rate: 0.004546 deg/s,
      cmd heading: 292.289585 deg,
      new cmd heading: 292.296532 deg.

2025-06-05T18:41:07.205Z,1749148867.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101537 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:07.668Z,1749148867.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:07.670Z,1749148867.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 218.620056 m,
      bearing: 293.313250 deg,
      approach rate: -0.622521 m/s,
      LOS rate: 0.009830 deg/s,
      cmd heading: 292.296525 deg,
      new cmd heading: 292.310231 deg.

2025-06-05T18:41:07.674Z,1749148867.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101776 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:08.026Z,1749148868.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:08.048Z,1749148868.048 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:08.048Z,1749148868.048 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:08.049Z,1749148868.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:08.052Z,1749148868.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:08.060Z,1749148868.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 218.364273 m,
      bearing: 293.317328 deg,
      approach rate: -0.660928 m/s,
      LOS rate: 0.010549 deg/s,
      cmd heading: 292.310240 deg,
      new cmd heading: 292.322487 deg.

2025-06-05T18:41:08.061Z,1749148868.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101990 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:08.304Z,1749148868.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511330
2025-06-05T18:41:08.476Z,1749148868.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:08.478Z,1749148868.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 218.068451 m,
      bearing: 293.324866 deg,
      approach rate: -0.696134 m/s,
      LOS rate: 0.017765 deg/s,
      cmd heading: 292.322480 deg,
      new cmd heading: 292.345127 deg.

2025-06-05T18:41:08.496Z,1749148868.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.102385 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:08.553Z,1749148868.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759813
2025-06-05T18:41:08.806Z,1749148868.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012764
2025-06-05T18:41:08.871Z,1749148868.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:08.891Z,1749148868.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 217.812576 m,
      bearing: 293.331348 deg,
      approach rate: -0.648536 m/s,
      LOS rate: 0.016447 deg/s,
      cmd heading: 292.345128 deg,
      new cmd heading: 292.364595 deg.

2025-06-05T18:41:08.896Z,1749148868.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.102725 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:09.057Z,1749148869.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263598
2025-06-05T18:41:09.309Z,1749148869.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515657
2025-06-05T18:41:09.315Z,1749148869.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:09.318Z,1749148869.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 217.513306 m,
      bearing: 293.338935 deg,
      approach rate: -0.672993 m/s,
      LOS rate: 0.017086 deg/s,
      cmd heading: 292.364608 deg,
      new cmd heading: 292.387402 deg.

2025-06-05T18:41:09.319Z,1749148869.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.103123 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:09.561Z,1749148869.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767449
2025-06-05T18:41:09.742Z,1749148869.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:09.749Z,1749148869.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 217.249695 m,
      bearing: 293.347928 deg,
      approach rate: -0.617254 m/s,
      LOS rate: 0.021084 deg/s,
      cmd heading: 292.387394 deg,
      new cmd heading: 292.414407 deg.

2025-06-05T18:41:09.750Z,1749148869.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.103594 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:09.814Z,1749148869.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020705
2025-06-05T18:41:10.065Z,1749148870.065 [DAT](INFO): DAT read: Rx Time:18:41:08.6132

2025-06-05T18:41:10.065Z,1749148870.065 [DAT](INFO): Rx dataTimestamp_ set to:1749148870.064939
2025-06-05T18:41:10.066Z,1749148870.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272701
2025-06-05T18:41:10.145Z,1749148870.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:10.156Z,1749148870.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:10.159Z,1749148870.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 216.967056 m,
      bearing: 293.357678 deg,
      approach rate: -0.696818 m/s,
      LOS rate: 0.024068 deg/s,
      cmd heading: 292.414414 deg,
      new cmd heading: 292.443701 deg.

2025-06-05T18:41:10.164Z,1749148870.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104105 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:10.317Z,1749148870.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523664
2025-06-05T18:41:10.539Z,1749148870.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.83 m.
2025-06-05T18:41:10.549Z,1749148870.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.828003 m,
      nav range: 216.702225 m,
      bearing: 293.369193 deg,
      approach rate: -0.678839 m/s,
      LOS rate: 0.029552 deg/s,
      cmd heading: 292.443702 deg,
      new cmd heading: 292.478289 deg.

2025-06-05T18:41:10.552Z,1749148870.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104709 target range: 255.828003 and range: 252.60 m.
2025-06-05T18:41:10.608Z,1749148870.608 [DAT](INFO): DAT read: 18:41:08.6132 LVL= 23408, 30033, 26546, 28771, AGC= 62, IDX= 396, 0.11,-3.048, 1.740,-3.087, 2.479, PHS= 0.844,-0.692, 0.714, RAW= 145.6, -11.7, CAL= 152.7, -20.4, ROT= 357.3,  20.4

2025-06-05T18:41:10.609Z,1749148870.609 [DAT](INFO): got valid direction response:
 18:41:08.6132 LVL= 23408, 30033, 26546, 28771, AGC= 62, IDX= 396, 0.11,-3.048, 1.740,-3.087, 2.479, PHS= 0.844,-0.692, 0.714, RAW= 145.6, -11.7, CAL= 152.7, -20.4, ROT= 357.3,  20.4

2025-06-05T18:41:10.610Z,1749148870.610 [DAT](INFO): DAT read: Bearing 357.3,  20.4 (Local)

2025-06-05T18:41:10.610Z,1749148870.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  20.4 (Local)

2025-06-05T18:41:10.616Z,1749148870.616 [DAT](INFO): DAT read: Range 10 to 50 : 249.6 m  (Round-trip  332.9 ms) speed  0.5 m/s

2025-06-05T18:41:10.617Z,1749148870.617 [DAT](INFO): DAT read: user:2759>

2025-06-05T18:41:10.617Z,1749148870.617 [DAT](INFO): DAT read: Tx time:18:41:09.7262

2025-06-05T18:41:10.618Z,1749148870.618 [DAT](INFO): Ping request sent.
2025-06-05T18:41:10.618Z,1749148870.618 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:10.618Z,1749148870.618 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:10.619Z,1749148870.619 [DAT](INFO): direction in FSK: [0.936241,-0.044152,-0.348572]
2025-06-05T18:41:10.619Z,1749148870.619 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:10.624Z,1749148870.624 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:10.627Z,1749148870.627 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:10.627Z,1749148870.627 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:10.837Z,1749148870.837 [DAT](INFO): DAT read: TxSync time:18:41:09.7254

2025-06-05T18:41:10.946Z,1749148870.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.600006 m,
      deltaT: 3.796933 s,
      deltaX: -3.000000 m,
      approachRate: -0.790111 m/s,
      rangeRepo size: 4

2025-06-05T18:41:10.952Z,1749148870.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 247.609436 m,
      bearing: 291.316730 deg,
      lat: 36.906018 deg,
      lon: -122.116320 deg,
      deltaT: 15.144787 s,
      deltaX: -8.218567 m,
      approachRate: -0.542666 m/s,
      posRepo size: 4

2025-06-05T18:41:10.953Z,1749148870.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:10.961Z,1749148870.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 219.191727 m,
      bearing: 292.726968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029552 deg/s,
      cmd heading: 292.478290 deg,
      new cmd heading: 292.514425 deg.

2025-06-05T18:41:10.962Z,1749148870.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105340 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:11.466Z,1749148871.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:11.473Z,1749148871.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 218.835907 m,
      bearing: 292.741468 deg,
      approach rate: -0.683178 m/s,
      LOS rate: 0.027886 deg/s,
      cmd heading: 292.514435 deg,
      new cmd heading: 292.558006 deg.

2025-06-05T18:41:11.474Z,1749148871.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106101 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:11.969Z,1749148871.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:11.976Z,1749148871.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 218.514191 m,
      bearing: 292.756928 deg,
      approach rate: -0.639899 m/s,
      LOS rate: 0.030796 deg/s,
      cmd heading: 292.558012 deg,
      new cmd heading: 292.604461 deg.

2025-06-05T18:41:11.977Z,1749148871.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106911 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:12.584Z,1749148872.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:12.586Z,1749148872.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:12.590Z,1749148872.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 218.120544 m,
      bearing: 292.777226 deg,
      approach rate: -0.637955 m/s,
      LOS rate: 0.032955 deg/s,
      cmd heading: 292.604457 deg,
      new cmd heading: 292.665460 deg.

2025-06-05T18:41:12.591Z,1749148872.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107976 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:12.600Z,1749148872.600 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:12.601Z,1749148872.601 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:12.601Z,1749148872.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:12.853Z,1749148872.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234931
2025-06-05T18:41:12.897Z,1749148872.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:12.900Z,1749148872.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 217.926941 m,
      bearing: 292.787236 deg,
      approach rate: -0.621820 m/s,
      LOS rate: 0.032180 deg/s,
      cmd heading: 292.665464 deg,
      new cmd heading: 292.695522 deg.

2025-06-05T18:41:12.901Z,1749148872.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108500 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:13.108Z,1749148873.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490690
2025-06-05T18:41:13.285Z,1749148873.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:13.290Z,1749148873.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 217.687943 m,
      bearing: 292.799481 deg,
      approach rate: -0.616676 m/s,
      LOS rate: 0.031629 deg/s,
      cmd heading: 292.695517 deg,
      new cmd heading: 292.732291 deg.

2025-06-05T18:41:13.291Z,1749148873.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.109142 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:13.359Z,1749148873.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740575
2025-06-05T18:41:13.609Z,1749148873.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990907
2025-06-05T18:41:13.734Z,1749148873.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:13.736Z,1749148873.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 217.413071 m,
      bearing: 292.811981 deg,
      approach rate: -0.612398 m/s,
      LOS rate: 0.027884 deg/s,
      cmd heading: 292.732291 deg,
      new cmd heading: 292.769838 deg.

2025-06-05T18:41:13.738Z,1749148873.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.109797 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:13.861Z,1749148873.861 [DAT](INFO): DAT read: Rx Time:18:41:12.4602

2025-06-05T18:41:13.861Z,1749148873.861 [DAT](INFO): Rx dataTimestamp_ set to:1749148873.861032
2025-06-05T18:41:13.862Z,1749148873.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244096
2025-06-05T18:41:14.098Z,1749148874.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:14.101Z,1749148874.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 217.192932 m,
      bearing: 292.821855 deg,
      approach rate: -0.603390 m/s,
      LOS rate: 0.027092 deg/s,
      cmd heading: 292.769830 deg,
      new cmd heading: 292.799482 deg.

2025-06-05T18:41:14.102Z,1749148874.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110315 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:14.113Z,1749148874.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494879
2025-06-05T18:41:14.366Z,1749148874.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748575
2025-06-05T18:41:14.602Z,1749148874.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:14.609Z,1749148874.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.61 m.
2025-06-05T18:41:14.611Z,1749148874.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.609436 m,
      nav range: 216.900116 m,
      bearing: 292.832924 deg,
      approach rate: -0.573921 m/s,
      LOS rate: 0.021724 deg/s,
      cmd heading: 292.799473 deg,
      new cmd heading: 292.832723 deg.

2025-06-05T18:41:14.624Z,1749148874.624 [DAT](INFO): DAT read: 18:41:12.4602 LVL= 30240, 32753, 31442, 32755, AGC= 61, IDX= 413, 0.07,-1.510,-2.832,-1.586,-2.391, PHS= 0.968,-0.394, 0.801, RAW= 143.5, -20.7, CAL= 148.9, -28.0, ROT=   1.1,  28.0

2025-06-05T18:41:14.625Z,1749148874.625 [DAT](INFO): got valid direction response:
 18:41:12.4602 LVL= 30240, 32753, 31442, 32755, AGC= 61, IDX= 413, 0.07,-1.510,-2.832,-1.586,-2.391, PHS= 0.968,-0.394, 0.801, RAW= 143.5, -20.7, CAL= 148.9, -28.0, ROT=   1.1,  28.0

2025-06-05T18:41:14.626Z,1749148874.626 [DAT](INFO): DAT read: Bearing   1.1,  28.0 (Local)

2025-06-05T18:41:14.626Z,1749148874.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  28.0 (Local)

2025-06-05T18:41:14.628Z,1749148874.628 [DAT](INFO): DAT read: Range 10 to 50 : 247.3 m  (Round-trip  329.8 ms) speed  0.1 m/s

2025-06-05T18:41:14.629Z,1749148874.629 [DAT](INFO): DAT read: user:2760>

2025-06-05T18:41:14.629Z,1749148874.629 [DAT](INFO): DAT read: Tx time:18:41:13.5762

2025-06-05T18:41:14.630Z,1749148874.630 [DAT](INFO): Ping request sent.
2025-06-05T18:41:14.630Z,1749148874.630 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:14.630Z,1749148874.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:14.631Z,1749148874.631 [DAT](INFO): direction in FSK: [0.882785,0.016950,-0.469472]
2025-06-05T18:41:14.631Z,1749148874.631 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:14.632Z,1749148874.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110895 target range: 247.609436 and range: 249.60 m.
2025-06-05T18:41:14.638Z,1749148874.638 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:14.661Z,1749148874.661 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:14.661Z,1749148874.661 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:14.869Z,1749148874.869 [DAT](INFO): DAT read: TxSync time:18:41:13.5754

2025-06-05T18:41:14.986Z,1749148874.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.300003 m,
      deltaT: 4.029872 s,
      deltaX: -2.300003 m,
      approachRate: -0.570738 m/s,
      rangeRepo size: 4

2025-06-05T18:41:14.993Z,1749148874.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.344971 m,
      bearing: 296.807748 deg,
      lat: 36.906029 deg,
      lon: -122.116320 deg,
      deltaT: 4.029872 s,
      deltaX: -2.264465 m,
      approachRate: -0.561920 m/s,
      posRepo size: 4

2025-06-05T18:41:14.994Z,1749148874.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:15.001Z,1749148875.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 217.146179 m,
      bearing: 293.136603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021724 deg/s,
      cmd heading: 292.832722 deg,
      new cmd heading: 292.857311 deg.

2025-06-05T18:41:15.002Z,1749148875.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111324 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:15.346Z,1749148875.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:15.350Z,1749148875.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 216.921707 m,
      bearing: 293.145531 deg,
      approach rate: -0.622553 m/s,
      LOS rate: 0.024787 deg/s,
      cmd heading: 292.857311 deg,
      new cmd heading: 292.884122 deg.

2025-06-05T18:41:15.351Z,1749148875.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111792 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:15.797Z,1749148875.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:15.800Z,1749148875.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 216.644409 m,
      bearing: 293.152793 deg,
      approach rate: -0.615751 m/s,
      LOS rate: 0.016146 deg/s,
      cmd heading: 292.884112 deg,
      new cmd heading: 292.905926 deg.

2025-06-05T18:41:15.801Z,1749148875.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112173 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:16.160Z,1749148876.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:16.163Z,1749148876.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 216.425812 m,
      bearing: 293.158547 deg,
      approach rate: -0.602049 m/s,
      LOS rate: 0.015863 deg/s,
      cmd heading: 292.905914 deg,
      new cmd heading: 292.923193 deg.

2025-06-05T18:41:16.168Z,1749148876.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112474 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:16.608Z,1749148876.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:16.610Z,1749148876.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 216.151001 m,
      bearing: 293.162199 deg,
      approach rate: -0.619469 m/s,
      LOS rate: 0.008241 deg/s,
      cmd heading: 292.923181 deg,
      new cmd heading: 292.934149 deg.

2025-06-05T18:41:16.616Z,1749148876.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112665 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:16.952Z,1749148876.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:16.954Z,1749148876.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:16.958Z,1749148876.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 215.911102 m,
      bearing: 293.165386 deg,
      approach rate: -0.684680 m/s,
      LOS rate: 0.009108 deg/s,
      cmd heading: 292.934137 deg,
      new cmd heading: 292.943710 deg.

2025-06-05T18:41:16.959Z,1749148876.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112832 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:17.136Z,1749148877.136 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:17.136Z,1749148877.136 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:17.137Z,1749148877.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:17.352Z,1749148877.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:17.356Z,1749148877.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 215.658401 m,
      bearing: 293.168784 deg,
      approach rate: -0.635286 m/s,
      LOS rate: 0.008551 deg/s,
      cmd heading: 292.943699 deg,
      new cmd heading: 292.953903 deg.

2025-06-05T18:41:17.357Z,1749148877.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113010 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:17.390Z,1749148877.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760026
2025-06-05T18:41:17.641Z,1749148877.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011033
2025-06-05T18:41:17.796Z,1749148877.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:17.799Z,1749148877.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 215.366760 m,
      bearing: 293.172388 deg,
      approach rate: -0.656826 m/s,
      LOS rate: 0.008130 deg/s,
      cmd heading: 292.953890 deg,
      new cmd heading: 292.964719 deg.

2025-06-05T18:41:17.800Z,1749148877.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113199 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:17.895Z,1749148877.895 [DAT](INFO): DAT read: Rx Time:18:41:16.3078

2025-06-05T18:41:17.895Z,1749148877.895 [DAT](INFO): Rx dataTimestamp_ set to:1749148877.894986
2025-06-05T18:41:17.896Z,1749148877.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266610
2025-06-05T18:41:18.145Z,1749148878.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515010
2025-06-05T18:41:18.189Z,1749148878.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-06-05T18:41:18.197Z,1749148878.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.344971 m,
      nav range: 215.116440 m,
      bearing: 293.175511 deg,
      approach rate: -0.644882 m/s,
      LOS rate: 0.008053 deg/s,
      cmd heading: 292.964709 deg,
      new cmd heading: 292.974087 deg.

2025-06-05T18:41:18.198Z,1749148878.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113362 target range: 245.344971 and range: 247.30 m.
2025-06-05T18:41:18.402Z,1749148878.402 [DAT](INFO): DAT read: 18:41:16.3078 LVL= 20240, 28225, 19826, 29811, AGC= 62, IDX= 420,-0.41, 0.311,-1.428, 0.149,-0.569, PHS= 0.968,-0.811, 0.715, RAW= 142.4, -10.5, CAL= 149.6, -19.9, ROT=   0.4,  19.9

2025-06-05T18:41:18.403Z,1749148878.403 [DAT](INFO): got valid direction response:
 18:41:16.3078 LVL= 20240, 28225, 19826, 29811, AGC= 62, IDX= 420,-0.41, 0.311,-1.428, 0.149,-0.569, PHS= 0.968,-0.811, 0.715, RAW= 142.4, -10.5, CAL= 149.6, -19.9, ROT=   0.4,  19.9

2025-06-05T18:41:18.405Z,1749148878.405 [DAT](INFO): DAT read: Bearing   0.4,  19.9 (Local)

2025-06-05T18:41:18.406Z,1749148878.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  19.9 (Local)

2025-06-05T18:41:18.412Z,1749148878.412 [DAT](INFO): DAT read: Range 10 to 50 : 245.4 m  (Round-trip  327.3 ms) speed  0.5 m/s

2025-06-05T18:41:18.413Z,1749148878.413 [DAT](INFO): DAT read: user:2761>

2025-06-05T18:41:18.413Z,1749148878.413 [DAT](INFO): DAT read: Tx time:18:41:17.4263

2025-06-05T18:41:18.414Z,1749148878.414 [DAT](INFO): Ping request sent.
2025-06-05T18:41:18.414Z,1749148878.414 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:18.414Z,1749148878.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:18.415Z,1749148878.415 [DAT](INFO): direction in FSK: [0.940265,0.006564,-0.340380]
2025-06-05T18:41:18.415Z,1749148878.415 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:18.426Z,1749148878.426 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:18.475Z,1749148878.475 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:18.482Z,1749148878.482 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:18.649Z,1749148878.649 [DAT](INFO): DAT read: TxSync time:18:41:17.4255

2025-06-05T18:41:18.707Z,1749148878.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 245.399994 m,
      deltaT: 3.779842 s,
      deltaX: -1.900009 m,
      approachRate: -0.502669 m/s,
      rangeRepo size: 4

2025-06-05T18:41:18.715Z,1749148878.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.470261 m,
      bearing: 294.852864 deg,
      lat: 36.906029 deg,
      lon: -122.116325 deg,
      deltaT: 3.779842 s,
      deltaX: -1.874710 m,
      approachRate: -0.495976 m/s,
      posRepo size: 4

2025-06-05T18:41:18.720Z,1749148878.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:18.728Z,1749148878.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 215.169510 m,
      bearing: 293.133703 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008053 deg/s,
      cmd heading: 292.974080 deg,
      new cmd heading: 292.986663 deg.

2025-06-05T18:41:18.729Z,1749148878.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113582 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:19.062Z,1749148879.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:19.064Z,1749148879.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:19.067Z,1749148879.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 214.914108 m,
      bearing: 293.135635 deg,
      approach rate: -0.711243 m/s,
      LOS rate: 0.005387 deg/s,
      cmd heading: 292.986674 deg,
      new cmd heading: 292.992477 deg.

2025-06-05T18:41:19.077Z,1749148879.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113683 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:19.152Z,1749148879.152 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:19.153Z,1749148879.153 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:19.153Z,1749148879.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:19.406Z,1749148879.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992042
2025-06-05T18:41:19.542Z,1749148879.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:19.564Z,1749148879.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 214.607864 m,
      bearing: 293.138107 deg,
      approach rate: -0.642114 m/s,
      LOS rate: 0.005190 deg/s,
      cmd heading: 292.992466 deg,
      new cmd heading: 292.999892 deg.

2025-06-05T18:41:19.567Z,1749148879.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113813 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:19.657Z,1749148879.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243241
2025-06-05T18:41:19.909Z,1749148879.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494945
2025-06-05T18:41:20.046Z,1749148880.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:20.049Z,1749148880.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 214.241867 m,
      bearing: 293.141166 deg,
      approach rate: -0.724366 m/s,
      LOS rate: 0.006065 deg/s,
      cmd heading: 292.999898 deg,
      new cmd heading: 293.009091 deg.

2025-06-05T18:41:20.050Z,1749148880.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113973 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:20.161Z,1749148880.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747218
2025-06-05T18:41:20.344Z,1749148880.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:20.346Z,1749148880.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 214.041214 m,
      bearing: 293.142775 deg,
      approach rate: -0.674700 m/s,
      LOS rate: 0.005416 deg/s,
      cmd heading: 293.009078 deg,
      new cmd heading: 293.013909 deg.

2025-06-05T18:41:20.347Z,1749148880.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.114058 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:20.413Z,1749148880.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999151
2025-06-05T18:41:20.665Z,1749148880.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251100
2025-06-05T18:41:20.801Z,1749148880.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:20.805Z,1749148880.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 213.728409 m,
      bearing: 293.147784 deg,
      approach rate: -0.682923 m/s,
      LOS rate: 0.010951 deg/s,
      cmd heading: 293.013913 deg,
      new cmd heading: 293.028962 deg.

2025-06-05T18:41:20.806Z,1749148880.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.114320 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:20.917Z,1749148880.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502954
2025-06-05T18:41:21.144Z,1749148881.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:21.146Z,1749148881.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:21.149Z,1749148881.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 213.495911 m,
      bearing: 293.151434 deg,
      approach rate: -0.675099 m/s,
      LOS rate: 0.010610 deg/s,
      cmd heading: 293.028967 deg,
      new cmd heading: 293.039929 deg.

2025-06-05T18:41:21.150Z,1749148881.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.114511 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:21.180Z,1749148881.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766446
2025-06-05T18:41:21.421Z,1749148881.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006920
2025-06-05T18:41:21.606Z,1749148881.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:21.609Z,1749148881.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 213.181168 m,
      bearing: 293.156388 deg,
      approach rate: -0.683982 m/s,
      LOS rate: 0.010781 deg/s,
      cmd heading: 293.039923 deg,
      new cmd heading: 293.054806 deg.

2025-06-05T18:41:21.610Z,1749148881.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.114771 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:21.675Z,1749148881.675 [DAT](INFO): DAT read: Rx Time:18:41:20.1551

2025-06-05T18:41:21.676Z,1749148881.676 [DAT](INFO): Rx dataTimestamp_ set to:1749148881.675311
2025-06-05T18:41:21.676Z,1749148881.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262803
2025-06-05T18:41:21.924Z,1749148881.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510782
2025-06-05T18:41:22.008Z,1749148882.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:22.010Z,1749148882.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 212.918411 m,
      bearing: 293.163442 deg,
      approach rate: -0.654222 m/s,
      LOS rate: 0.017585 deg/s,
      cmd heading: 293.054812 deg,
      new cmd heading: 293.076001 deg.

2025-06-05T18:41:22.012Z,1749148882.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115141 target range: 243.470261 and range: 245.40 m.
2025-06-05T18:41:22.178Z,1749148882.178 [DAT](INFO): DAT read: Range 10 to 50 : 243.5 m  (Round-trip  324.7 ms) speed  0.6 m/s

2025-06-05T18:41:22.178Z,1749148882.178 [DAT](INFO): DAT read: user:2762>

2025-06-05T18:41:22.179Z,1749148882.179 [DAT](INFO): DAT read: Tx time:18:41:21.2763

2025-06-05T18:41:22.179Z,1749148882.179 [DAT](INFO): Ping request sent.
2025-06-05T18:41:22.180Z,1749148882.180 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:22.180Z,1749148882.180 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:41:22.180Z,1749148882.180 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:22.181Z,1749148882.181 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:22.372Z,1749148882.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 243.500000 m,
      deltaT: 3.780065 s,
      deltaX: -1.899994 m,
      approachRate: -0.502635 m/s,
      rangeRepo size: 4

2025-06-05T18:41:22.374Z,1749148882.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:22.398Z,1749148882.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 212.678467 m,
      bearing: 293.169733 deg,
      approach rate: -0.662325 m/s,
      LOS rate: 0.017387 deg/s,
      cmd heading: 293.076013 deg,
      new cmd heading: 293.094910 deg.

2025-06-05T18:41:22.405Z,1749148882.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115471 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:22.429Z,1749148882.429 [DAT](INFO): DAT read: TxSync time:18:41:21.2755

2025-06-05T18:41:22.878Z,1749148882.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:22.882Z,1749148882.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 212.346695 m,
      bearing: 293.180687 deg,
      approach rate: -0.652891 m/s,
      LOS rate: 0.021589 deg/s,
      cmd heading: 293.094919 deg,
      new cmd heading: 293.127831 deg.

2025-06-05T18:41:22.883Z,1749148882.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116046 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:23.232Z,1749148883.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:23.234Z,1749148883.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:23.249Z,1749148883.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 212.111618 m,
      bearing: 293.188469 deg,
      approach rate: -0.659974 m/s,
      LOS rate: 0.021871 deg/s,
      cmd heading: 293.127841 deg,
      new cmd heading: 293.151212 deg.

2025-06-05T18:41:23.250Z,1749148883.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116454 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:23.437Z,1749148883.437 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:23.437Z,1749148883.437 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:23.437Z,1749148883.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:23.658Z,1749148883.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:23.665Z,1749148883.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 211.847351 m,
      bearing: 293.197238 deg,
      approach rate: -0.623651 m/s,
      LOS rate: 0.020720 deg/s,
      cmd heading: 293.151200 deg,
      new cmd heading: 293.177540 deg.

2025-06-05T18:41:23.668Z,1749148883.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116913 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:23.691Z,1749148883.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511481
2025-06-05T18:41:23.941Z,1749148883.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761171
2025-06-05T18:41:24.063Z,1749148884.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:24.066Z,1749148884.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 211.568817 m,
      bearing: 293.209448 deg,
      approach rate: -0.687973 m/s,
      LOS rate: 0.030200 deg/s,
      cmd heading: 293.177537 deg,
      new cmd heading: 293.214218 deg.

2025-06-05T18:41:24.067Z,1749148884.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.117554 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:24.193Z,1749148884.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013220
2025-06-05T18:41:24.416Z,1749148884.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:24.419Z,1749148884.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 211.336136 m,
      bearing: 293.219681 deg,
      approach rate: -0.658199 m/s,
      LOS rate: 0.028978 deg/s,
      cmd heading: 293.214229 deg,
      new cmd heading: 293.244961 deg.

2025-06-05T18:41:24.420Z,1749148884.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118090 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:24.445Z,1749148884.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265118
2025-06-05T18:41:24.697Z,1749148884.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517909
2025-06-05T18:41:24.858Z,1749148884.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:24.861Z,1749148884.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 211.045975 m,
      bearing: 293.231611 deg,
      approach rate: -0.657400 m/s,
      LOS rate: 0.027066 deg/s,
      cmd heading: 293.244965 deg,
      new cmd heading: 293.280803 deg.

2025-06-05T18:41:24.862Z,1749148884.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118716 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:24.951Z,1749148884.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771031
2025-06-05T18:41:25.206Z,1749148885.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025668
2025-06-05T18:41:25.293Z,1749148885.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:25.295Z,1749148885.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:25.298Z,1749148885.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 210.757675 m,
      bearing: 293.243535 deg,
      approach rate: -0.659563 m/s,
      LOS rate: 0.027318 deg/s,
      cmd heading: 293.280810 deg,
      new cmd heading: 293.316632 deg.

2025-06-05T18:41:25.299Z,1749148885.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119341 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:25.457Z,1749148885.457 [DAT](INFO): DAT read: Rx Time:18:41:24.0027

2025-06-05T18:41:25.458Z,1749148885.458 [DAT](INFO): Rx dataTimestamp_ set to:1749148885.457241
2025-06-05T18:41:25.458Z,1749148885.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278584
2025-06-05T18:41:25.710Z,1749148885.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530294
2025-06-05T18:41:25.813Z,1749148885.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:25.821Z,1749148885.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 210.430756 m,
      bearing: 293.259441 deg,
      approach rate: -0.630846 m/s,
      LOS rate: 0.030741 deg/s,
      cmd heading: 293.316627 deg,
      new cmd heading: 293.364420 deg.

2025-06-05T18:41:25.823Z,1749148885.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.120175 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:25.963Z,1749148885.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783009
2025-06-05T18:41:26.140Z,1749148886.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.47 m.
2025-06-05T18:41:26.143Z,1749148886.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.470261 m,
      nav range: 210.212296 m,
      bearing: 293.270130 deg,
      approach rate: -0.670100 m/s,
      LOS rate: 0.032822 deg/s,
      cmd heading: 293.364411 deg,
      new cmd heading: 293.396512 deg.

2025-06-05T18:41:26.168Z,1749148886.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.120735 target range: 243.470261 and range: 243.50 m.
2025-06-05T18:41:26.225Z,1749148886.225 [DAT](INFO): DAT read: 18:41:24.0027 LVL= 26256, 26033, 24994, 32755, AGC= 66, IDX= 411,-0.07, 2.528, 1.099, 2.466, 1.372, PHS= 1.243,-0.226, 1.091, RAW= 144.6, -28.0, CAL= 148.7, -33.7, ROT=   1.3,  33.7

2025-06-05T18:41:26.227Z,1749148886.227 [DAT](INFO): got valid direction response:
 18:41:24.0027 LVL= 26256, 26033, 24994, 32755, AGC= 66, IDX= 411,-0.07, 2.528, 1.099, 2.466, 1.372, PHS= 1.243,-0.226, 1.091, RAW= 144.6, -28.0, CAL= 148.7, -33.7, ROT=   1.3,  33.7

2025-06-05T18:41:26.248Z,1749148886.248 [DAT](INFO): DAT read: Bearing   1.3,  33.7 (Local)

2025-06-05T18:41:26.249Z,1749148886.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  33.7 (Local)

2025-06-05T18:41:26.250Z,1749148886.250 [DAT](INFO): DAT read: Range 10 to 50 : 241.6 m  (Round-trip  322.2 ms) speed  0.3 m/s

2025-06-05T18:41:26.251Z,1749148886.251 [DAT](INFO): DAT read: user:2763>

2025-06-05T18:41:26.258Z,1749148886.258 [DAT](INFO): DAT read: Tx time:18:41:25.1263

2025-06-05T18:41:26.258Z,1749148886.258 [DAT](INFO): Ping request sent.
2025-06-05T18:41:26.258Z,1749148886.258 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:26.259Z,1749148886.259 [DAT](INFO): DAT read: TxSync time:18:41:25.1255

2025-06-05T18:41:26.274Z,1749148886.274 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:26.275Z,1749148886.275 [DAT](INFO): direction in FSK: [0.831740,0.018875,-0.554844]
2025-06-05T18:41:26.275Z,1749148886.275 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:26.275Z,1749148886.275 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:26.288Z,1749148886.288 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:26.289Z,1749148886.289 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:26.565Z,1749148886.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 241.600006 m,
      deltaT: 4.036941 s,
      deltaX: -1.899994 m,
      approachRate: -0.470652 m/s,
      rangeRepo size: 4

2025-06-05T18:41:26.567Z,1749148886.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 239.695404 m,
      bearing: 296.884440 deg,
      lat: 36.906083 deg,
      lon: -122.116325 deg,
      deltaT: 7.817006 s,
      deltaX: -3.774857 m,
      approachRate: -0.482903 m/s,
      posRepo size: 4

2025-06-05T18:41:26.575Z,1749148886.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:26.577Z,1749148886.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 212.372757 m,
      bearing: 294.758026 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032822 deg/s,
      cmd heading: 293.396513 deg,
      new cmd heading: 293.438413 deg.

2025-06-05T18:41:26.578Z,1749148886.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.121467 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:26.980Z,1749148886.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:26.983Z,1749148886.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 212.096466 m,
      bearing: 294.771026 deg,
      approach rate: -0.664648 m/s,
      LOS rate: 0.031313 deg/s,
      cmd heading: 293.438423 deg,
      new cmd heading: 293.477474 deg.

2025-06-05T18:41:26.984Z,1749148886.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.122148 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:27.435Z,1749148887.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:27.437Z,1749148887.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:27.461Z,1749148887.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 211.798599 m,
      bearing: 294.785055 deg,
      approach rate: -0.651996 m/s,
      LOS rate: 0.030750 deg/s,
      cmd heading: 293.477465 deg,
      new cmd heading: 293.519609 deg.

2025-06-05T18:41:27.462Z,1749148887.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.122884 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:27.473Z,1749148887.473 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:27.473Z,1749148887.473 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:27.474Z,1749148887.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:27.584Z,1749148887.584 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:41:27.725Z,1749148887.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466604
2025-06-05T18:41:27.832Z,1749148887.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:27.835Z,1749148887.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 211.564865 m,
      bearing: 294.794639 deg,
      approach rate: -0.623862 m/s,
      LOS rate: 0.025611 deg/s,
      cmd heading: 293.519620 deg,
      new cmd heading: 293.548406 deg.

2025-06-05T18:41:27.840Z,1749148887.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123386 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:27.977Z,1749148887.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718704
2025-06-05T18:41:28.176Z,1749148888.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:28.179Z,1749148888.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 211.334091 m,
      bearing: 294.803985 deg,
      approach rate: -0.641780 m/s,
      LOS rate: 0.026018 deg/s,
      cmd heading: 293.548417 deg,
      new cmd heading: 293.576483 deg.

2025-06-05T18:41:28.180Z,1749148888.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123876 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:28.230Z,1749148888.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971948
2025-06-05T18:41:28.481Z,1749148888.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222497
2025-06-05T18:41:28.566Z,1749148888.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:28.568Z,1749148888.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 211.084625 m,
      bearing: 294.813998 deg,
      approach rate: -0.632819 m/s,
      LOS rate: 0.025430 deg/s,
      cmd heading: 293.576475 deg,
      new cmd heading: 293.606549 deg.

2025-06-05T18:41:28.569Z,1749148888.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124401 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:28.734Z,1749148888.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475799
2025-06-05T18:41:28.985Z,1749148888.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726571
2025-06-05T18:41:29.014Z,1749148889.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:29.022Z,1749148889.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 210.816605 m,
      bearing: 294.821619 deg,
      approach rate: -0.597653 m/s,
      LOS rate: 0.017018 deg/s,
      cmd heading: 293.606555 deg,
      new cmd heading: 293.629450 deg.

2025-06-05T18:41:29.028Z,1749148889.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124801 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:29.237Z,1749148889.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978642
2025-06-05T18:41:29.386Z,1749148889.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:29.391Z,1749148889.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 210.565842 m,
      bearing: 294.828693 deg,
      approach rate: -0.673330 m/s,
      LOS rate: 0.019016 deg/s,
      cmd heading: 293.629450 deg,
      new cmd heading: 293.650696 deg.

2025-06-05T18:41:29.392Z,1749148889.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.125172 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:29.490Z,1749148889.490 [DAT](INFO): DAT read: Rx Time:18:41:27.8491

2025-06-05T18:41:29.491Z,1749148889.491 [DAT](INFO): Rx dataTimestamp_ set to:1749148889.490516
2025-06-05T18:41:29.491Z,1749148889.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233233
2025-06-05T18:41:29.741Z,1749148889.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482487
2025-06-05T18:41:29.877Z,1749148889.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:29.879Z,1749148889.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.70 m.
2025-06-05T18:41:29.886Z,1749148889.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.695404 m,
      nav range: 210.253952 m,
      bearing: 294.835146 deg,
      approach rate: -0.633439 m/s,
      LOS rate: 0.013125 deg/s,
      cmd heading: 293.650705 deg,
      new cmd heading: 293.670093 deg.

2025-06-05T18:41:29.887Z,1749148889.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.125510 target range: 239.695404 and range: 241.60 m.
2025-06-05T18:41:30.003Z,1749148890.003 [DAT](INFO): DAT read: 18:41:27.8491 LVL= 26160, 22401, 23538, 28099, AGC= 63, IDX= 409, 0.20,-0.269,-1.724,-0.184,-1.306, PHS= 1.125,-0.371, 1.119, RAW= 149.8, -23.9, CAL= 154.2, -30.5, ROT= 355.8,  30.5

2025-06-05T18:41:30.005Z,1749148890.005 [DAT](INFO): got valid direction response:
 18:41:27.8491 LVL= 26160, 22401, 23538, 28099, AGC= 63, IDX= 409, 0.20,-0.269,-1.724,-0.184,-1.306, PHS= 1.125,-0.371, 1.119, RAW= 149.8, -23.9, CAL= 154.2, -30.5, ROT= 355.8,  30.5

2025-06-05T18:41:30.006Z,1749148890.006 [DAT](INFO): DAT read: Bearing 355.8,  30.5 (Local)

2025-06-05T18:41:30.007Z,1749148890.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  30.5 (Local)

2025-06-05T18:41:30.024Z,1749148890.024 [DAT](INFO): DAT read: Range 10 to 50 : 238.8 m  (Round-trip  318.5 ms) speed  0.4 m/s

2025-06-05T18:41:30.025Z,1749148890.025 [DAT](INFO): DAT read: user:2764>

2025-06-05T18:41:30.026Z,1749148890.026 [DAT](INFO): DAT read: Tx time:18:41:28.9264

2025-06-05T18:41:30.026Z,1749148890.026 [DAT](INFO): Ping request sent.
2025-06-05T18:41:30.026Z,1749148890.026 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:30.027Z,1749148890.027 [DAT](INFO): DAT read: TxSync time:18:41:28.9256

2025-06-05T18:41:30.032Z,1749148890.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:30.033Z,1749148890.033 [DAT](INFO): direction in FSK: [0.859315,-0.063104,-0.507538]
2025-06-05T18:41:30.034Z,1749148890.034 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:30.034Z,1749148890.034 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:30.041Z,1749148890.041 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:30.041Z,1749148890.041 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:30.218Z,1749148890.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 238.800003 m,
      deltaT: 3.779475 s,
      deltaX: -2.800003 m,
      approachRate: -0.740844 m/s,
      rangeRepo size: 4

2025-06-05T18:41:30.228Z,1749148890.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.920578 m,
      bearing: 291.625882 deg,
      lat: 36.906083 deg,
      lon: -122.116290 deg,
      deltaT: 3.779475 s,
      deltaX: -2.774826 m,
      approachRate: -0.734183 m/s,
      posRepo size: 4

2025-06-05T18:41:30.229Z,1749148890.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:30.231Z,1749148890.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 207.223099 m,
      bearing: 295.201221 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013125 deg/s,
      cmd heading: 293.670103 deg,
      new cmd heading: 293.683422 deg.

2025-06-05T18:41:30.235Z,1749148890.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.125743 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:30.611Z,1749148890.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:30.615Z,1749148890.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 206.969666 m,
      bearing: 295.206838 deg,
      approach rate: -0.642861 m/s,
      LOS rate: 0.014266 deg/s,
      cmd heading: 293.683436 deg,
      new cmd heading: 293.700308 deg.

2025-06-05T18:41:30.616Z,1749148890.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126038 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:31.016Z,1749148891.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:31.018Z,1749148891.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 206.697525 m,
      bearing: 295.211989 deg,
      approach rate: -0.673275 m/s,
      LOS rate: 0.012760 deg/s,
      cmd heading: 293.700320 deg,
      new cmd heading: 293.715793 deg.

2025-06-05T18:41:31.020Z,1749148891.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126307 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:31.398Z,1749148891.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:31.420Z,1749148891.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 206.458023 m,
      bearing: 295.216441 deg,
      approach rate: -0.626954 m/s,
      LOS rate: 0.011668 deg/s,
      cmd heading: 293.715784 deg,
      new cmd heading: 293.729155 deg.

2025-06-05T18:41:31.423Z,1749148891.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126541 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:31.861Z,1749148891.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:31.868Z,1749148891.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 206.174393 m,
      bearing: 295.220458 deg,
      approach rate: -0.611916 m/s,
      LOS rate: 0.008679 deg/s,
      cmd heading: 293.729143 deg,
      new cmd heading: 293.741212 deg.

2025-06-05T18:41:31.869Z,1749148891.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126751 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:32.199Z,1749148892.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:32.228Z,1749148892.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:32.230Z,1749148892.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 205.924103 m,
      bearing: 295.223840 deg,
      approach rate: -0.694501 m/s,
      LOS rate: 0.009396 deg/s,
      cmd heading: 293.741219 deg,
      new cmd heading: 293.751377 deg.

2025-06-05T18:41:32.231Z,1749148892.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126929 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:32.261Z,1749148892.261 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:32.261Z,1749148892.261 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:32.261Z,1749148892.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:32.513Z,1749148892.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486221
2025-06-05T18:41:32.756Z,1749148892.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:32.759Z,1749148892.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 205.591507 m,
      bearing: 295.228192 deg,
      approach rate: -0.627219 m/s,
      LOS rate: 0.008219 deg/s,
      cmd heading: 293.751382 deg,
      new cmd heading: 293.764458 deg.

2025-06-05T18:41:32.765Z,1749148892.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738319
2025-06-05T18:41:32.765Z,1749148892.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127157 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:33.018Z,1749148893.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991924
2025-06-05T18:41:33.145Z,1749148893.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:33.152Z,1749148893.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 205.305374 m,
      bearing: 295.232783 deg,
      approach rate: -0.727783 m/s,
      LOS rate: 0.011694 deg/s,
      cmd heading: 293.764469 deg,
      new cmd heading: 293.778262 deg.

2025-06-05T18:41:33.153Z,1749148893.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127398 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:33.269Z,1749148893.269 [DAT](INFO): DAT read: Rx Time:18:41:31.6471

2025-06-05T18:41:33.269Z,1749148893.269 [DAT](INFO): Rx dataTimestamp_ set to:1749148893.268790
2025-06-05T18:41:33.270Z,1749148893.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243198
2025-06-05T18:41:33.504Z,1749148893.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:33.509Z,1749148893.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 205.055450 m,
      bearing: 295.236748 deg,
      approach rate: -0.696504 m/s,
      LOS rate: 0.011065 deg/s,
      cmd heading: 293.778266 deg,
      new cmd heading: 293.790177 deg.

2025-06-05T18:41:33.510Z,1749148893.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127606 target range: 236.920578 and range: 238.80 m.
2025-06-05T18:41:33.521Z,1749148893.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494325
2025-06-05T18:41:33.777Z,1749148893.777 [DAT](INFO): DAT read: Range 10 to 50 : 237.4 m  (Round-trip  316.6 ms) speed  0.4 m/s

2025-06-05T18:41:33.778Z,1749148893.778 [DAT](INFO): DAT read: user:2765>

2025-06-05T18:41:33.779Z,1749148893.779 [DAT](INFO): DAT read: Tx time:18:41:32.7264

2025-06-05T18:41:33.779Z,1749148893.779 [DAT](INFO): Ping request sent.
2025-06-05T18:41:33.779Z,1749148893.779 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:33.784Z,1749148893.784 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:41:33.786Z,1749148893.786 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:33.824Z,1749148893.824 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:34.012Z,1749148894.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.399994 m,
      deltaT: 3.781466 s,
      deltaX: -1.400009 m,
      approachRate: -0.370229 m/s,
      rangeRepo size: 4

2025-06-05T18:41:34.013Z,1749148894.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:34.020Z,1749148894.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 204.719193 m,
      bearing: 295.244102 deg,
      approach rate: -0.667612 m/s,
      LOS rate: 0.014625 deg/s,
      cmd heading: 293.790178 deg,
      new cmd heading: 293.812276 deg.

2025-06-05T18:41:34.022Z,1749148894.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127992 target range: 236.920578 and range: 237.40 m.
2025-06-05T18:41:34.025Z,1749148894.025 [DAT](INFO): DAT read: TxSync time:18:41:32.7256

2025-06-05T18:41:34.349Z,1749148894.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:34.351Z,1749148894.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:34.354Z,1749148894.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 204.475418 m,
      bearing: 295.249565 deg,
      approach rate: -0.709637 m/s,
      LOS rate: 0.015923 deg/s,
      cmd heading: 293.812280 deg,
      new cmd heading: 293.828690 deg.

2025-06-05T18:41:34.357Z,1749148894.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128278 target range: 236.920578 and range: 237.40 m.
2025-06-05T18:41:34.529Z,1749148894.529 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:34.529Z,1749148894.529 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:34.529Z,1749148894.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:34.782Z,1749148894.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001875
2025-06-05T18:41:34.858Z,1749148894.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:34.861Z,1749148894.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 204.135483 m,
      bearing: 295.260759 deg,
      approach rate: -0.670083 m/s,
      LOS rate: 0.022102 deg/s,
      cmd heading: 293.828700 deg,
      new cmd heading: 293.862337 deg.

2025-06-05T18:41:34.862Z,1749148894.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128865 target range: 236.920578 and range: 237.40 m.
2025-06-05T18:41:35.033Z,1749148895.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253298
2025-06-05T18:41:35.284Z,1749148895.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505117
2025-06-05T18:41:35.355Z,1749148895.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:35.362Z,1749148895.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 203.806595 m,
      bearing: 295.271585 deg,
      approach rate: -0.663174 m/s,
      LOS rate: 0.021864 deg/s,
      cmd heading: 293.862332 deg,
      new cmd heading: 293.894861 deg.

2025-06-05T18:41:35.363Z,1749148895.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129433 target range: 236.920578 and range: 237.40 m.
2025-06-05T18:41:35.541Z,1749148895.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761192
2025-06-05T18:41:35.793Z,1749148895.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012875
2025-06-05T18:41:35.946Z,1749148895.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:35.957Z,1749148895.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 203.408463 m,
      bearing: 295.289185 deg,
      approach rate: -0.675255 m/s,
      LOS rate: 0.029910 deg/s,
      cmd heading: 293.894871 deg,
      new cmd heading: 293.947776 deg.

2025-06-05T18:41:35.958Z,1749148895.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130356 target range: 236.920578 and range: 237.40 m.
2025-06-05T18:41:36.041Z,1749148896.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261402
2025-06-05T18:41:36.293Z,1749148896.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513417
2025-06-05T18:41:36.469Z,1749148896.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:36.471Z,1749148896.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:36.475Z,1749148896.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 203.044907 m,
      bearing: 295.304764 deg,
      approach rate: -0.690000 m/s,
      LOS rate: 0.029620 deg/s,
      cmd heading: 293.947764 deg,
      new cmd heading: 293.994584 deg.

2025-06-05T18:41:36.476Z,1749148896.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.131174 target range: 236.920578 and range: 237.40 m.
2025-06-05T18:41:36.545Z,1749148896.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765558
2025-06-05T18:41:36.801Z,1749148896.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020674
2025-06-05T18:41:36.940Z,1749148896.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:41:36.996Z,1749148896.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:36.999Z,1749148896.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 202.688263 m,
      bearing: 295.322723 deg,
      approach rate: -0.678548 m/s,
      LOS rate: 0.034229 deg/s,
      cmd heading: 293.994592 deg,
      new cmd heading: 294.048563 deg.

2025-06-05T18:41:37.000Z,1749148897.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132115 target range: 236.920578 and range: 237.40 m.
2025-06-05T18:41:37.050Z,1749148897.050 [DAT](INFO): DAT read: Rx Time:18:41:35.4439

2025-06-05T18:41:37.051Z,1749148897.051 [DAT](INFO): Rx dataTimestamp_ set to:1749148897.050374
2025-06-05T18:41:37.052Z,1749148897.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272316
2025-06-05T18:41:37.301Z,1749148897.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521308
2025-06-05T18:41:37.491Z,1749148897.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.92 m.
2025-06-05T18:41:37.494Z,1749148897.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.920578 m,
      nav range: 202.351547 m,
      bearing: 295.339689 deg,
      approach rate: -0.680415 m/s,
      LOS rate: 0.034342 deg/s,
      cmd heading: 294.048550 deg,
      new cmd heading: 294.099535 deg.

2025-06-05T18:41:37.495Z,1749148897.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.133005 target range: 236.920578 and range: 237.40 m.
2025-06-05T18:41:37.560Z,1749148897.560 [DAT](INFO): DAT read: 18:41:35.4439 LVL= 16592, 25377, 15554, 26723, AGC= 57, IDX= 404, 0.25, 2.022, 0.820, 2.118, 0.913, PHS= 1.197,-0.046, 1.202, RAW= 150.2, -33.7, CAL= 152.7, -38.7, ROT= 357.3,  38.7

2025-06-05T18:41:37.561Z,1749148897.561 [DAT](INFO): got valid direction response:
 18:41:35.4439 LVL= 16592, 25377, 15554, 26723, AGC= 57, IDX= 404, 0.25, 2.022, 0.820, 2.118, 0.913, PHS= 1.197,-0.046, 1.202, RAW= 150.2, -33.7, CAL= 152.7, -38.7, ROT= 357.3,  38.7

2025-06-05T18:41:37.562Z,1749148897.562 [DAT](INFO): DAT read: Bearing 357.3,  38.7 (Local)

2025-06-05T18:41:37.562Z,1749148897.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  38.7 (Local)

2025-06-05T18:41:37.564Z,1749148897.564 [DAT](INFO): DAT read: Range 10 to 50 : 234.9 m  (Round-trip  313.3 ms) speed  0.4 m/s

2025-06-05T18:41:37.565Z,1749148897.565 [DAT](INFO): DAT read: user:2766>

2025-06-05T18:41:37.566Z,1749148897.566 [DAT](INFO): DAT read: Tx time:18:41:36.5264

2025-06-05T18:41:37.566Z,1749148897.566 [DAT](INFO): Ping request sent.
2025-06-05T18:41:37.566Z,1749148897.566 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:37.567Z,1749148897.567 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:37.568Z,1749148897.568 [DAT](INFO): direction in FSK: [0.779564,-0.036764,-0.625243]
2025-06-05T18:41:37.568Z,1749148897.568 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:37.568Z,1749148897.568 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:37.581Z,1749148897.581 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:37.581Z,1749148897.581 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:37.813Z,1749148897.813 [DAT](INFO): DAT read: TxSync time:18:41:36.5257

2025-06-05T18:41:37.944Z,1749148897.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:41:38.018Z,1749148898.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.899994 m,
      deltaT: 3.778367 s,
      deltaX: -2.500000 m,
      approachRate: -0.661662 m/s,
      rangeRepo size: 4

2025-06-05T18:41:38.025Z,1749148898.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 233.053497 m,
      bearing: 294.974420 deg,
      lat: 36.906083 deg,
      lon: -122.116168 deg,
      deltaT: 7.559833 s,
      deltaX: -3.867081 m,
      approachRate: -0.511530 m/s,
      posRepo size: 4

2025-06-05T18:41:38.025Z,1749148898.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:38.032Z,1749148898.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 192.276016 m,
      bearing: 296.741195 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034342 deg/s,
      cmd heading: 294.099531 deg,
      new cmd heading: 294.153796 deg.

2025-06-05T18:41:38.033Z,1749148898.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.133952 target range: 233.053497 and range: 234.90 m.
2025-06-05T18:41:38.453Z,1749148898.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:38.458Z,1749148898.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 191.973953 m,
      bearing: 296.760857 deg,
      approach rate: -0.696633 m/s,
      LOS rate: 0.045416 deg/s,
      cmd heading: 294.153790 deg,
      new cmd heading: 294.212867 deg.

2025-06-05T18:41:38.459Z,1749148898.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134983 target range: 233.053497 and range: 234.90 m.
2025-06-05T18:41:38.915Z,1749148898.915 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-327WE,-32768,-32768,-32768,V
2025-06-05T18:41:38.965Z,1749148898.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:38.967Z,1749148898.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:38.975Z,1749148898.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 191.650894 m,
      bearing: 296.782015 deg,
      approach rate: -0.626090 m/s,
      LOS rate: 0.041074 deg/s,
      cmd heading: 294.212857 deg,
      new cmd heading: 294.276439 deg.

2025-06-05T18:41:38.981Z,1749148898.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.136093 target range: 233.053497 and range: 234.90 m.
2025-06-05T18:41:39.073Z,1749148899.073 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:39.074Z,1749148899.074 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:39.074Z,1749148899.074 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:39.325Z,1749148899.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758636
2025-06-05T18:41:39.337Z,1749148899.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:39.345Z,1749148899.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 191.410843 m,
      bearing: 296.797795 deg,
      approach rate: -0.649658 m/s,
      LOS rate: 0.042760 deg/s,
      cmd heading: 294.276433 deg,
      new cmd heading: 294.323832 deg.

2025-06-05T18:41:39.346Z,1749148899.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.136920 target range: 233.053497 and range: 234.90 m.
2025-06-05T18:41:39.577Z,1749148899.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010443
2025-06-05T18:41:39.712Z,1749148899.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:39.717Z,1749148899.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 191.142944 m,
      bearing: 296.815304 deg,
      approach rate: -0.715323 m/s,
      LOS rate: 0.046817 deg/s,
      cmd heading: 294.323834 deg,
      new cmd heading: 294.376436 deg.

2025-06-05T18:41:39.718Z,1749148899.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.137838 target range: 233.053497 and range: 234.90 m.
2025-06-05T18:41:39.833Z,1749148899.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265949
2025-06-05T18:41:40.081Z,1749148900.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514357
2025-06-05T18:41:40.149Z,1749148900.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:40.156Z,1749148900.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 190.865204 m,
      bearing: 296.831876 deg,
      approach rate: -0.634918 m/s,
      LOS rate: 0.037938 deg/s,
      cmd heading: 294.376427 deg,
      new cmd heading: 294.426214 deg.

2025-06-05T18:41:40.157Z,1749148900.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138707 target range: 233.053497 and range: 234.90 m.
2025-06-05T18:41:40.333Z,1749148900.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766322
2025-06-05T18:41:40.501Z,1749148900.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:40.506Z,1749148900.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 190.625946 m,
      bearing: 296.846121 deg,
      approach rate: -0.679341 m/s,
      LOS rate: 0.040497 deg/s,
      cmd heading: 294.426205 deg,
      new cmd heading: 294.468993 deg.

2025-06-05T18:41:40.507Z,1749148900.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.139453 target range: 233.053497 and range: 234.90 m.
2025-06-05T18:41:40.585Z,1749148900.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018533
2025-06-05T18:41:40.841Z,1749148900.841 [DAT](INFO): DAT read: Rx Time:18:41:39.2408

2025-06-05T18:41:40.842Z,1749148900.842 [DAT](INFO): Rx dataTimestamp_ set to:1749148900.841201
2025-06-05T18:41:40.844Z,1749148900.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276922
2025-06-05T18:41:40.967Z,1749148900.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:40.974Z,1749148900.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 190.329361 m,
      bearing: 296.862158 deg,
      approach rate: -0.638621 m/s,
      LOS rate: 0.034586 deg/s,
      cmd heading: 294.468989 deg,
      new cmd heading: 294.517177 deg.

2025-06-05T18:41:40.977Z,1749148900.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140295 target range: 233.053497 and range: 234.90 m.
2025-06-05T18:41:41.090Z,1749148901.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523601
2025-06-05T18:41:41.342Z,1749148901.342 [DAT](INFO): DAT read: Range 10 to 50 : 232.5 m  (Round-trip  310.1 ms) speed  0.7 m/s

2025-06-05T18:41:41.342Z,1749148901.342 [DAT](INFO): DAT read: user:2767>

2025-06-05T18:41:41.343Z,1749148901.343 [DAT](INFO): DAT read: Tx time:18:41:40.3265

2025-06-05T18:41:41.344Z,1749148901.344 [DAT](INFO): Ping request sent.
2025-06-05T18:41:41.344Z,1749148901.344 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:41.344Z,1749148901.344 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:41:41.344Z,1749148901.344 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:41.345Z,1749148901.345 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:41.418Z,1749148901.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:41.429Z,1749148901.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 232.500000 m,
      deltaT: 3.787896 s,
      deltaX: -2.399994 m,
      approachRate: -0.633596 m/s,
      rangeRepo size: 4

2025-06-05T18:41:41.429Z,1749148901.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:41.441Z,1749148901.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 190.048737 m,
      bearing: 296.877136 deg,
      approach rate: -0.617467 m/s,
      LOS rate: 0.033005 deg/s,
      cmd heading: 294.517183 deg,
      new cmd heading: 294.562183 deg.

2025-06-05T18:41:41.442Z,1749148901.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141080 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:41.593Z,1749148901.593 [DAT](INFO): DAT read: TxSync time:18:41:40.3257

2025-06-05T18:41:41.593Z,1749148901.593 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:41.594Z,1749148901.594 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:41.594Z,1749148901.594 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:41.785Z,1749148901.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:41.789Z,1749148901.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 189.802719 m,
      bearing: 296.890283 deg,
      approach rate: -0.673908 m/s,
      LOS rate: 0.036060 deg/s,
      cmd heading: 294.562181 deg,
      new cmd heading: 294.601673 deg.

2025-06-05T18:41:41.790Z,1749148901.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141769 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:41.848Z,1749148901.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503832
2025-06-05T18:41:42.097Z,1749148902.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753591
2025-06-05T18:41:42.232Z,1749148902.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:42.235Z,1749148902.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 189.537827 m,
      bearing: 296.901721 deg,
      approach rate: -0.592289 m/s,
      LOS rate: 0.025612 deg/s,
      cmd heading: 294.601686 deg,
      new cmd heading: 294.636050 deg.

2025-06-05T18:41:42.240Z,1749148902.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142369 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:42.349Z,1749148902.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005118
2025-06-05T18:41:42.601Z,1749148902.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257044
2025-06-05T18:41:42.610Z,1749148902.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:42.613Z,1749148902.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 189.295120 m,
      bearing: 296.912186 deg,
      approach rate: -0.642873 m/s,
      LOS rate: 0.027755 deg/s,
      cmd heading: 294.636056 deg,
      new cmd heading: 294.667491 deg.

2025-06-05T18:41:42.614Z,1749148902.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142918 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:42.855Z,1749148902.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511170
2025-06-05T18:41:43.047Z,1749148903.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:43.066Z,1749148903.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 189.008194 m,
      bearing: 296.921440 deg,
      approach rate: -0.655954 m/s,
      LOS rate: 0.021187 deg/s,
      cmd heading: 294.667502 deg,
      new cmd heading: 294.695305 deg.

2025-06-05T18:41:43.067Z,1749148903.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143404 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:43.106Z,1749148903.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761837
2025-06-05T18:41:43.357Z,1749148903.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013697
2025-06-05T18:41:43.406Z,1749148903.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:43.409Z,1749148903.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 188.781403 m,
      bearing: 296.928513 deg,
      approach rate: -0.634571 m/s,
      LOS rate: 0.019815 deg/s,
      cmd heading: 294.695315 deg,
      new cmd heading: 294.716560 deg.

2025-06-05T18:41:43.410Z,1749148903.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143775 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:43.609Z,1749148903.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265292
2025-06-05T18:41:43.864Z,1749148903.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519193
2025-06-05T18:41:43.920Z,1749148903.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:43.929Z,1749148903.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:43.936Z,1749148903.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 188.494690 m,
      bearing: 296.937356 deg,
      approach rate: -0.546696 m/s,
      LOS rate: 0.016886 deg/s,
      cmd heading: 294.716570 deg,
      new cmd heading: 294.743138 deg.

2025-06-05T18:41:43.937Z,1749148903.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144238 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:44.113Z,1749148904.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768932
2025-06-05T18:41:44.296Z,1749148904.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:44.299Z,1749148904.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 188.221115 m,
      bearing: 296.944317 deg,
      approach rate: -0.744579 m/s,
      LOS rate: 0.018973 deg/s,
      cmd heading: 294.743126 deg,
      new cmd heading: 294.764039 deg.

2025-06-05T18:41:44.301Z,1749148904.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144603 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:44.365Z,1749148904.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020978
2025-06-05T18:41:44.617Z,1749148904.617 [DAT](INFO): DAT read: Rx Time:18:41:43.0386

2025-06-05T18:41:44.617Z,1749148904.617 [DAT](INFO): Rx dataTimestamp_ set to:1749148904.617176
2025-06-05T18:41:44.618Z,1749148904.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274282
2025-06-05T18:41:44.697Z,1749148904.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.05 m.
2025-06-05T18:41:44.707Z,1749148904.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.053497 m,
      nav range: 187.967804 m,
      bearing: 296.950688 deg,
      approach rate: -0.632565 m/s,
      LOS rate: 0.015932 deg/s,
      cmd heading: 294.764026 deg,
      new cmd heading: 294.783167 deg.

2025-06-05T18:41:44.716Z,1749148904.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144937 target range: 233.053497 and range: 232.50 m.
2025-06-05T18:41:44.872Z,1749148904.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527114
2025-06-05T18:41:45.127Z,1749148905.127 [DAT](INFO): DAT read: 18:41:43.0386 LVL= 26704, 32753, 24818, 32755, AGC= 57, IDX= 414,-0.10,-0.950,-2.165,-0.949,-2.005, PHS= 1.143,-0.113, 1.053, RAW= 146.3, -31.3, CAL= 149.8, -36.3, ROT=   0.2,  36.3

2025-06-05T18:41:45.128Z,1749148905.128 [DAT](INFO): got valid direction response:
 18:41:43.0386 LVL= 26704, 32753, 24818, 32755, AGC= 57, IDX= 414,-0.10,-0.950,-2.165,-0.949,-2.005, PHS= 1.143,-0.113, 1.053, RAW= 146.3, -31.3, CAL= 149.8, -36.3, ROT=   0.2,  36.3

2025-06-05T18:41:45.129Z,1749148905.129 [DAT](INFO): DAT read: Bearing   0.2,  36.3 (Local)

2025-06-05T18:41:45.129Z,1749148905.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  36.3 (Local)

2025-06-05T18:41:45.131Z,1749148905.131 [DAT](INFO): DAT read: Range 10 to 50 : 231.0 m  (Round-trip  308.0 ms) speed  0.4 m/s

2025-06-05T18:41:45.132Z,1749148905.132 [DAT](INFO): DAT read: user:2768>

2025-06-05T18:41:45.132Z,1749148905.132 [DAT](INFO): DAT read: Tx time:18:41:44.1265

2025-06-05T18:41:45.133Z,1749148905.133 [DAT](INFO): Ping request sent.
2025-06-05T18:41:45.133Z,1749148905.133 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:45.133Z,1749148905.133 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:45.134Z,1749148905.134 [DAT](INFO): direction in FSK: [0.805923,0.002813,-0.592013]
2025-06-05T18:41:45.134Z,1749148905.134 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:45.134Z,1749148905.134 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:45.138Z,1749148905.138 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:45.139Z,1749148905.139 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:45.167Z,1749148905.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.000000 m,
      deltaT: 3.779690 s,
      deltaX: -1.500000 m,
      approachRate: -0.396858 m/s,
      rangeRepo size: 4

2025-06-05T18:41:45.181Z,1749148905.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 229.175873 m,
      bearing: 298.264180 deg,
      lat: 36.906083 deg,
      lon: -122.116148 deg,
      deltaT: 7.567586 s,
      deltaX: -3.877625 m,
      approachRate: -0.512399 m/s,
      posRepo size: 4

2025-06-05T18:41:45.182Z,1749148905.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:45.191Z,1749148905.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 186.129715 m,
      bearing: 297.201735 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015932 deg/s,
      cmd heading: 294.783178 deg,
      new cmd heading: 294.805615 deg.

2025-06-05T18:41:45.208Z,1749148905.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.145329 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:45.374Z,1749148905.374 [DAT](INFO): DAT read: TxSync time:18:41:44.1257

2025-06-05T18:41:45.544Z,1749148905.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:45.547Z,1749148905.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 185.858246 m,
      bearing: 297.208472 deg,
      approach rate: -0.727236 m/s,
      LOS rate: 0.018074 deg/s,
      cmd heading: 294.805609 deg,
      new cmd heading: 294.825849 deg.

2025-06-05T18:41:45.548Z,1749148905.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.145682 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:45.976Z,1749148905.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:45.978Z,1749148905.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:45.985Z,1749148905.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 185.575104 m,
      bearing: 297.215414 deg,
      approach rate: -0.645166 m/s,
      LOS rate: 0.015842 deg/s,
      cmd heading: 294.825853 deg,
      new cmd heading: 294.846711 deg.

2025-06-05T18:41:45.986Z,1749148905.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.146046 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:46.129Z,1749148906.129 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:46.129Z,1749148906.129 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:46.129Z,1749148906.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:46.381Z,1749148906.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247890
2025-06-05T18:41:46.425Z,1749148906.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:46.428Z,1749148906.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 185.288986 m,
      bearing: 297.221217 deg,
      approach rate: -0.641099 m/s,
      LOS rate: 0.013023 deg/s,
      cmd heading: 294.846699 deg,
      new cmd heading: 294.864135 deg.

2025-06-05T18:41:46.429Z,1749148906.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.146350 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:46.633Z,1749148906.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499711
2025-06-05T18:41:46.779Z,1749148906.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:46.782Z,1749148906.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 185.053467 m,
      bearing: 297.226120 deg,
      approach rate: -0.665698 m/s,
      LOS rate: 0.013876 deg/s,
      cmd heading: 294.864130 deg,
      new cmd heading: 294.878857 deg.

2025-06-05T18:41:46.783Z,1749148906.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.146607 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:46.885Z,1749148906.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751912
2025-06-05T18:41:47.137Z,1749148907.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003823
2025-06-05T18:41:47.235Z,1749148907.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:47.242Z,1749148907.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 184.747040 m,
      bearing: 297.233730 deg,
      approach rate: -0.672021 m/s,
      LOS rate: 0.016718 deg/s,
      cmd heading: 294.878855 deg,
      new cmd heading: 294.901724 deg.

2025-06-05T18:41:47.243Z,1749148907.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147006 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:47.389Z,1749148907.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256611
2025-06-05T18:41:47.602Z,1749148907.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:47.609Z,1749148907.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 184.502243 m,
      bearing: 297.239746 deg,
      approach rate: -0.665616 m/s,
      LOS rate: 0.016379 deg/s,
      cmd heading: 294.901723 deg,
      new cmd heading: 294.919795 deg.

2025-06-05T18:41:47.610Z,1749148907.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147321 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:47.641Z,1749148907.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507937
2025-06-05T18:41:47.893Z,1749148907.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759825
2025-06-05T18:41:48.058Z,1749148908.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:48.060Z,1749148908.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:48.063Z,1749148908.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 184.178146 m,
      bearing: 297.248221 deg,
      approach rate: -0.707564 m/s,
      LOS rate: 0.018534 deg/s,
      cmd heading: 294.919782 deg,
      new cmd heading: 294.945251 deg.

2025-06-05T18:41:48.064Z,1749148908.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147766 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:48.146Z,1749148908.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012959
2025-06-05T18:41:48.381Z,1749148908.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:48.384Z,1749148908.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 183.954666 m,
      bearing: 297.254040 deg,
      approach rate: -0.697219 m/s,
      LOS rate: 0.018176 deg/s,
      cmd heading: 294.945245 deg,
      new cmd heading: 294.962723 deg.

2025-06-05T18:41:48.385Z,1749148908.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.148071 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:48.397Z,1749148908.397 [DAT](INFO): DAT read: Rx Time:18:41:46.7849

2025-06-05T18:41:48.397Z,1749148908.397 [DAT](INFO): Rx dataTimestamp_ set to:1749148908.396952
2025-06-05T18:41:48.398Z,1749148908.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264956
2025-06-05T18:41:48.649Z,1749148908.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515946
2025-06-05T18:41:48.852Z,1749148908.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:48.860Z,1749148908.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 183.658905 m,
      bearing: 297.261712 deg,
      approach rate: -0.633285 m/s,
      LOS rate: 0.016453 deg/s,
      cmd heading: 294.962730 deg,
      new cmd heading: 294.985782 deg.

2025-06-05T18:41:48.861Z,1749148908.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.148473 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:48.929Z,1749148908.929 [DAT](INFO): DAT read: 18:41:46.7850 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 408,-0.26,-0.371,-1.720,-0.524,-1.017, PHS= 0.733,-0.656, 0.490, RAW= 140.5,  -8.9, CAL= 147.1, -18.7, ROT=   2.9,  18.7

2025-06-05T18:41:48.984Z,1749148908.984 [DAT](INFO): got valid direction response:
 18:41:46.7850 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 408,-0.26,-0.371,-1.720,-0.524,-1.017, PHS= 0.733,-0.656, 0.490, RAW= 140.5,  -8.9, CAL= 147.1, -18.7, ROT=   2.9,  18.7

2025-06-05T18:41:48.987Z,1749148908.987 [DAT](INFO): DAT read: Bearing   2.9,  18.7 (Local)

2025-06-05T18:41:48.987Z,1749148908.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  18.7 (Local)

2025-06-05T18:41:49.011Z,1749148909.011 [DAT](INFO): DAT read: Range 10 to 50 : 190.6 m  (Round-trip  254.2 ms) speed  0.4 m/s

2025-06-05T18:41:49.020Z,1749148909.020 [DAT](INFO): DAT read: user:2769>

2025-06-05T18:41:49.021Z,1749148909.021 [DAT](INFO): DAT read: Tx time:18:41:47.8766

2025-06-05T18:41:49.021Z,1749148909.021 [DAT](INFO): Ping request sent.
2025-06-05T18:41:49.021Z,1749148909.021 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:49.021Z,1749148909.021 [DAT](INFO): DAT read: TxSync time:18:41:47.8758

2025-06-05T18:41:49.022Z,1749148909.022 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:49.023Z,1749148909.023 [DAT](INFO): direction in FSK: [0.945997,0.047922,-0.320613]
2025-06-05T18:41:49.023Z,1749148909.023 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:49.028Z,1749148909.028 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:49.031Z,1749148909.031 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:49.036Z,1749148909.036 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:49.312Z,1749148909.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 190.600006 m,
 deltaT: 3.782397 s,
 deltaX: -40.399994 m,
 approachRate: -10.681056 m/s,
 rangeRepo size: 4
2025-06-05T18:41:49.312Z,1749148909.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:49.315Z,1749148909.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 183.328094 m,
      bearing: 297.272506 deg,
      approach rate: -0.720670 m/s,
      LOS rate: 0.023559 deg/s,
      cmd heading: 294.985789 deg,
      new cmd heading: 295.018232 deg.

2025-06-05T18:41:49.320Z,1749148909.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149039 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:49.627Z,1749148909.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:49.630Z,1749148909.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 183.090729 m,
      bearing: 297.280329 deg,
      approach rate: -0.741717 m/s,
      LOS rate: 0.024476 deg/s,
      cmd heading: 295.018219 deg,
      new cmd heading: 295.041718 deg.

2025-06-05T18:41:49.631Z,1749148909.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149449 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:50.166Z,1749148910.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:50.168Z,1749148910.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:50.171Z,1749148910.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 182.715256 m,
      bearing: 297.294277 deg,
      approach rate: -0.693667 m/s,
      LOS rate: 0.025820 deg/s,
      cmd heading: 295.041714 deg,
      new cmd heading: 295.083643 deg.

2025-06-05T18:41:50.173Z,1749148910.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.150181 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:50.412Z,1749148910.412 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:50.413Z,1749148910.413 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:50.413Z,1749148910.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:50.515Z,1749148910.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:50.523Z,1749148910.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 182.480560 m,
      bearing: 297.302803 deg,
      approach rate: -0.677490 m/s,
      LOS rate: 0.024645 deg/s,
      cmd heading: 295.083652 deg,
      new cmd heading: 295.109264 deg.

2025-06-05T18:41:50.528Z,1749148910.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.150628 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:50.665Z,1749148910.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.644046
2025-06-05T18:41:50.899Z,1749148910.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:50.917Z,1749148910.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.895822
2025-06-05T18:41:50.920Z,1749148910.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 182.213181 m,
      bearing: 297.312411 deg,
      approach rate: -0.695137 m/s,
      LOS rate: 0.025014 deg/s,
      cmd heading: 295.109251 deg,
      new cmd heading: 295.138115 deg.

2025-06-05T18:41:50.922Z,1749148910.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151132 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:51.169Z,1749148911.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.147613
2025-06-05T18:41:51.343Z,1749148911.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:51.346Z,1749148911.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 181.900620 m,
      bearing: 297.325375 deg,
      approach rate: -0.705108 m/s,
      LOS rate: 0.029298 deg/s,
      cmd heading: 295.138102 deg,
      new cmd heading: 295.177064 deg.

2025-06-05T18:41:51.347Z,1749148911.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151812 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:51.422Z,1749148911.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.400746
2025-06-05T18:41:51.673Z,1749148911.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.652524
2025-06-05T18:41:51.749Z,1749148911.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:51.757Z,1749148911.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 181.635880 m,
      bearing: 297.336301 deg,
      approach rate: -0.650932 m/s,
      LOS rate: 0.026902 deg/s,
      cmd heading: 295.177062 deg,
      new cmd heading: 295.209886 deg.

2025-06-05T18:41:51.758Z,1749148911.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152384 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:51.925Z,1749148911.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.903703
2025-06-05T18:41:52.144Z,1749148912.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:52.147Z,1749148912.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 181.344879 m,
      bearing: 297.351194 deg,
      approach rate: -0.737789 m/s,
      LOS rate: 0.037819 deg/s,
      cmd heading: 295.209874 deg,
      new cmd heading: 295.254624 deg.

2025-06-05T18:41:52.149Z,1749148912.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153165 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:52.177Z,1749148912.177 [DAT](INFO): DAT read: Rx Time:18:41:50.5840

2025-06-05T18:41:52.177Z,1749148912.177 [DAT](INFO): Rx dataTimestamp_ set to:1749148912.177145
2025-06-05T18:41:52.178Z,1749148912.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.157008
2025-06-05T18:41:52.429Z,1749148912.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.407739
2025-06-05T18:41:52.581Z,1749148912.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:52.588Z,1749148912.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.18 m.
2025-06-05T18:41:52.594Z,1749148912.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.175873 m,
      nav range: 181.057602 m,
      bearing: 297.365943 deg,
      approach rate: -0.653339 m/s,
      LOS rate: 0.033597 deg/s,
      cmd heading: 295.254625 deg,
      new cmd heading: 295.298943 deg.

2025-06-05T18:41:52.595Z,1749148912.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153939 target range: 229.175873 and range: 231.00 m.
2025-06-05T18:41:52.694Z,1749148912.694 [DAT](INFO): DAT read: 18:41:50.5840 LVL= 23008, 19537, 20402, 25715, AGC= 57, IDX= 428, 0.23,-0.081,-1.163,-0.146,-1.201, PHS= 1.208, 0.084, 1.052, RAW= 142.6, -38.2, CAL= 146.3, -41.0, ROT=   3.7,  41.0

2025-06-05T18:41:52.698Z,1749148912.698 [DAT](INFO): got valid direction response:
 18:41:50.5840 LVL= 23008, 19537, 20402, 25715, AGC= 57, IDX= 428, 0.23,-0.081,-1.163,-0.146,-1.201, PHS= 1.208, 0.084, 1.052, RAW= 142.6, -38.2, CAL= 146.3, -41.0, ROT=   3.7,  41.0

2025-06-05T18:41:52.704Z,1749148912.704 [DAT](INFO): DAT read: Bearing   3.7,  41.0 (Local)

2025-06-05T18:41:52.706Z,1749148912.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.7,  41.0 (Local)

2025-06-05T18:41:52.713Z,1749148912.713 [DAT](INFO): DAT read: Range 10 to 50 : 227.4 m  (Round-trip  303.3 ms) speed  0.4 m/s

2025-06-05T18:41:52.714Z,1749148912.714 [DAT](INFO): DAT read: user:2770>

2025-06-05T18:41:52.715Z,1749148912.715 [DAT](INFO): DAT read: Tx time:18:41:51.6766

2025-06-05T18:41:52.720Z,1749148912.720 [DAT](INFO): Ping request sent.
2025-06-05T18:41:52.720Z,1749148912.720 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:52.720Z,1749148912.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:52.722Z,1749148912.722 [DAT](INFO): direction in FSK: [0.753136,0.048703,-0.656059]
2025-06-05T18:41:52.723Z,1749148912.723 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:52.728Z,1749148912.728 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:52.731Z,1749148912.731 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:52.731Z,1749148912.731 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:52.937Z,1749148912.937 [DAT](INFO): DAT read: TxSync time:18:41:51.6758

2025-06-05T18:41:53.003Z,1749148913.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.399994 m,
      deltaT: 7.562950 s,
      deltaX: -3.600006 m,
      approachRate: -0.476006 m/s,
      rangeRepo size: 4

2025-06-05T18:41:53.052Z,1749148913.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 225.601379 m,
      bearing: 302.721704 deg,
      lat: 36.906118 deg,
      lon: -122.116090 deg,
      deltaT: 7.562950 s,
      deltaX: -3.574493 m,
      approachRate: -0.472632 m/s,
      posRepo size: 4

2025-06-05T18:41:53.052Z,1749148913.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:53.065Z,1749148913.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 178.071777 m,
      bearing: 299.268503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033597 deg/s,
      cmd heading: 295.298939 deg,
      new cmd heading: 295.339958 deg.

2025-06-05T18:41:53.067Z,1749148913.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154655 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:53.436Z,1749148913.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:53.445Z,1749148913.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 177.764847 m,
      bearing: 299.288256 deg,
      approach rate: -0.714618 m/s,
      LOS rate: 0.046070 deg/s,
      cmd heading: 295.339948 deg,
      new cmd heading: 295.399309 deg.

2025-06-05T18:41:53.446Z,1749148913.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155691 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:53.794Z,1749148913.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:53.797Z,1749148913.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 177.516602 m,
      bearing: 299.304328 deg,
      approach rate: -0.664127 m/s,
      LOS rate: 0.043057 deg/s,
      cmd heading: 295.399316 deg,
      new cmd heading: 295.447599 deg.

2025-06-05T18:41:53.798Z,1749148913.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156533 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:54.242Z,1749148914.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:54.245Z,1749148914.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 177.224060 m,
      bearing: 299.323428 deg,
      approach rate: -0.652028 m/s,
      LOS rate: 0.042642 deg/s,
      cmd heading: 295.447592 deg,
      new cmd heading: 295.504987 deg.

2025-06-05T18:41:54.246Z,1749148914.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157535 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:54.594Z,1749148914.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:54.616Z,1749148914.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:54.619Z,1749148914.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 176.993500 m,
      bearing: 299.338364 deg,
      approach rate: -0.616264 m/s,
      LOS rate: 0.039973 deg/s,
      cmd heading: 295.504993 deg,
      new cmd heading: 295.549857 deg.

2025-06-05T18:41:54.623Z,1749148914.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.158318 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:54.701Z,1749148914.701 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:54.702Z,1749148914.702 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:54.702Z,1749148914.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:54.953Z,1749148914.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232695
2025-06-05T18:41:55.101Z,1749148915.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:55.108Z,1749148915.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 176.719681 m,
      bearing: 299.356028 deg,
      approach rate: -0.565346 m/s,
      LOS rate: 0.036527 deg/s,
      cmd heading: 295.549853 deg,
      new cmd heading: 295.602928 deg.

2025-06-05T18:41:55.110Z,1749148915.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159245 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:55.207Z,1749148915.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486480
2025-06-05T18:41:55.457Z,1749148915.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737124
2025-06-05T18:41:55.469Z,1749148915.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:55.476Z,1749148915.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 176.444458 m,
      bearing: 299.373884 deg,
      approach rate: -0.748071 m/s,
      LOS rate: 0.048610 deg/s,
      cmd heading: 295.602937 deg,
      new cmd heading: 295.656590 deg.

2025-06-05T18:41:55.477Z,1749148915.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160181 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:55.710Z,1749148915.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989683
2025-06-05T18:41:55.860Z,1749148915.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:55.863Z,1749148915.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 176.200775 m,
      bearing: 299.389742 deg,
      approach rate: -0.623782 m/s,
      LOS rate: 0.040648 deg/s,
      cmd heading: 295.656595 deg,
      new cmd heading: 295.704234 deg.

2025-06-05T18:41:55.864Z,1749148915.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161013 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:55.961Z,1749148915.961 [DAT](INFO): DAT read: Rx Time:18:41:54.3803

2025-06-05T18:41:55.962Z,1749148915.962 [DAT](INFO): Rx dataTimestamp_ set to:1749148915.961252
2025-06-05T18:41:55.962Z,1749148915.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242161
2025-06-05T18:41:56.214Z,1749148916.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493476
2025-06-05T18:41:56.295Z,1749148916.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.60 m.
2025-06-05T18:41:56.298Z,1749148916.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.601379 m,
      nav range: 175.920319 m,
      bearing: 299.405882 deg,
      approach rate: -0.644276 m/s,
      LOS rate: 0.037137 deg/s,
      cmd heading: 295.704243 deg,
      new cmd heading: 295.752740 deg.

2025-06-05T18:41:56.299Z,1749148916.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161859 target range: 225.601379 and range: 227.40 m.
2025-06-05T18:41:56.470Z,1749148916.470 [DAT](INFO): DAT read: 18:41:54.3803 LVL= 29328, 32177, 25810, 32755, AGC= 60, IDX= 407,-0.32, 1.452, 0.451, 1.455, 0.422, PHS= 1.118, 0.075, 1.030, RAW= 145.6, -38.1, CAL= 148.8, -41.3, ROT=   1.2,  41.3

2025-06-05T18:41:56.473Z,1749148916.473 [DAT](INFO): got valid direction response:
 18:41:54.3803 LVL= 29328, 32177, 25810, 32755, AGC= 60, IDX= 407,-0.32, 1.452, 0.451, 1.455, 0.422, PHS= 1.118, 0.075, 1.030, RAW= 145.6, -38.1, CAL= 148.8, -41.3, ROT=   1.2,  41.3

2025-06-05T18:41:56.474Z,1749148916.474 [DAT](INFO): DAT read: Bearing   1.2,  41.3 (Local)

2025-06-05T18:41:56.474Z,1749148916.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  41.3 (Local)

2025-06-05T18:41:56.475Z,1749148916.475 [DAT](INFO): DAT read: Range 10 to 50 : 224.7 m  (Round-trip  299.6 ms) speed  0.3 m/s

2025-06-05T18:41:56.476Z,1749148916.476 [DAT](INFO): DAT read: user:2771>

2025-06-05T18:41:56.477Z,1749148916.477 [DAT](INFO): DAT read: Tx time:18:41:55.4766

2025-06-05T18:41:56.477Z,1749148916.477 [DAT](INFO): Ping request sent.
2025-06-05T18:41:56.477Z,1749148916.477 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:41:56.478Z,1749148916.478 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:41:56.478Z,1749148916.478 [DAT](INFO): direction in FSK: [0.751099,0.015733,-0.660002]
2025-06-05T18:41:56.479Z,1749148916.479 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:56.479Z,1749148916.479 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:56.482Z,1749148916.482 [DAT](INFO): publishing transmit ping time
2025-06-05T18:41:56.482Z,1749148916.482 [DAT](INFO): publishing direction and range info
2025-06-05T18:41:56.718Z,1749148916.718 [DAT](INFO): DAT read: TxSync time:18:41:55.4758

2025-06-05T18:41:56.806Z,1749148916.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 224.699997 m,
      deltaT: 3.781188 s,
      deltaX: -2.699997 m,
      approachRate: -0.714060 m/s,
      rangeRepo size: 4

2025-06-05T18:41:56.809Z,1749148916.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 222.920776 m,
      bearing: 300.663522 deg,
      lat: 36.906131 deg,
      lon: -122.116087 deg,
      deltaT: 3.781188 s,
      deltaX: -2.680603 m,
      approachRate: -0.708931 m/s,
      posRepo size: 4

2025-06-05T18:41:56.810Z,1749148916.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:41:56.812Z,1749148916.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 176.122055 m,
      bearing: 299.879346 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037137 deg/s,
      cmd heading: 295.752737 deg,
      new cmd heading: 295.809549 deg.

2025-06-05T18:41:56.813Z,1749148916.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162850 target range: 222.920776 and range: 224.70 m.
2025-06-05T18:41:57.234Z,1749148917.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:57.251Z,1749148917.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:41:57.258Z,1749148917.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 175.854004 m,
      bearing: 299.892903 deg,
      approach rate: -0.603019 m/s,
      LOS rate: 0.030544 deg/s,
      cmd heading: 295.809537 deg,
      new cmd heading: 295.850269 deg.

2025-06-05T18:41:57.259Z,1749148917.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163561 target range: 222.920776 and range: 224.70 m.
2025-06-05T18:41:57.474Z,1749148917.474 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:41:57.474Z,1749148917.474 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:41:57.475Z,1749148917.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:41:57.711Z,1749148917.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:41:57.725Z,1749148917.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247741
2025-06-05T18:41:57.725Z,1749148917.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 175.564270 m,
      bearing: 299.907757 deg,
      approach rate: -0.628035 m/s,
      LOS rate: 0.032253 deg/s,
      cmd heading: 295.850272 deg,
      new cmd heading: 295.894910 deg.

2025-06-05T18:41:57.726Z,1749148917.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.164340 target range: 222.920776 and range: 224.70 m.
2025-06-05T18:41:57.977Z,1749148917.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499522
2025-06-05T18:41:58.164Z,1749148918.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:41:58.167Z,1749148918.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 175.281113 m,
      bearing: 299.922267 deg,
      approach rate: -0.625243 m/s,
      LOS rate: 0.032091 deg/s,
      cmd heading: 295.894914 deg,
      new cmd heading: 295.938514 deg.

2025-06-05T18:41:58.168Z,1749148918.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165102 target range: 222.920776 and range: 224.70 m.
2025-06-05T18:41:58.230Z,1749148918.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752624
2025-06-05T18:41:58.481Z,1749148918.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003503
2025-06-05T18:41:58.543Z,1749148918.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:41:58.546Z,1749148918.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 175.041595 m,
      bearing: 299.932094 deg,
      approach rate: -0.631622 m/s,
      LOS rate: 0.025949 deg/s,
      cmd heading: 295.938518 deg,
      new cmd heading: 295.968039 deg.

2025-06-05T18:41:58.547Z,1749148918.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165617 target range: 222.920776 and range: 224.70 m.
2025-06-05T18:41:58.733Z,1749148918.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255315
2025-06-05T18:41:58.908Z,1749148918.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:41:58.911Z,1749148918.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 174.825027 m,
      bearing: 299.940901 deg,
      approach rate: -0.613234 m/s,
      LOS rate: 0.024970 deg/s,
      cmd heading: 295.968052 deg,
      new cmd heading: 295.994507 deg.

2025-06-05T18:41:58.916Z,1749148918.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166079 target range: 222.920776 and range: 224.70 m.
2025-06-05T18:41:58.985Z,1749148918.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507637
2025-06-05T18:41:59.237Z,1749148919.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760020
2025-06-05T18:41:59.359Z,1749148919.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:41:59.362Z,1749148919.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:41:59.365Z,1749148919.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 174.532104 m,
      bearing: 299.952221 deg,
      approach rate: -0.628805 m/s,
      LOS rate: 0.024341 deg/s,
      cmd heading: 295.994499 deg,
      new cmd heading: 296.028516 deg.

2025-06-05T18:41:59.366Z,1749148919.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166672 target range: 222.920776 and range: 224.70 m.
2025-06-05T18:41:59.490Z,1749148919.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012966
2025-06-05T18:41:59.741Z,1749148919.741 [DAT](INFO): DAT read: Rx Time:18:41:58.1780

2025-06-05T18:41:59.741Z,1749148919.741 [DAT](INFO): Rx dataTimestamp_ set to:1749148919.740895
2025-06-05T18:41:59.742Z,1749148919.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264458
2025-06-05T18:41:59.824Z,1749148919.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:41:59.827Z,1749148919.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 174.259613 m,
      bearing: 299.962553 deg,
      approach rate: -0.588889 m/s,
      LOS rate: 0.022363 deg/s,
      cmd heading: 296.028513 deg,
      new cmd heading: 296.059556 deg.

2025-06-05T18:41:59.832Z,1749148919.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167214 target range: 222.920776 and range: 224.70 m.
2025-06-05T18:41:59.993Z,1749148919.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515364
2025-06-05T18:42:00.246Z,1749148920.246 [DAT](INFO): DAT read: Range 10 to 50 : 222.8 m  (Round-trip  297.1 ms) speed  0.7 m/s

2025-06-05T18:42:00.246Z,1749148920.246 [DAT](INFO): DAT read: user:2772>

2025-06-05T18:42:00.248Z,1749148920.248 [DAT](INFO): DAT read: Tx time:18:41:59.2767

2025-06-05T18:42:00.249Z,1749148920.249 [DAT](INFO): Ping request sent.
2025-06-05T18:42:00.249Z,1749148920.249 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:00.251Z,1749148920.251 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:42:00.251Z,1749148920.251 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:00.254Z,1749148920.254 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:00.274Z,1749148920.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 222.800003 m,
      deltaT: 3.780099 s,
      deltaX: -1.899994 m,
      approachRate: -0.502631 m/s,
      rangeRepo size: 4

2025-06-05T18:42:00.274Z,1749148920.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:00.283Z,1749148920.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 173.958359 m,
      bearing: 299.973461 deg,
      approach rate: -0.671154 m/s,
      LOS rate: 0.024345 deg/s,
      cmd heading: 296.059549 deg,
      new cmd heading: 296.092332 deg.

2025-06-05T18:42:00.290Z,1749148920.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167786 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:00.500Z,1749148920.500 [DAT](INFO): DAT read: TxSync time:18:41:59.2759

2025-06-05T18:42:00.612Z,1749148920.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:00.615Z,1749148920.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 173.723343 m,
      bearing: 299.981963 deg,
      approach rate: -0.692731 m/s,
      LOS rate: 0.025095 deg/s,
      cmd heading: 296.092334 deg,
      new cmd heading: 296.117875 deg.

2025-06-05T18:42:00.617Z,1749148920.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168232 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:01.029Z,1749148921.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:01.033Z,1749148921.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 173.450607 m,
      bearing: 299.992024 deg,
      approach rate: -0.654362 m/s,
      LOS rate: 0.024175 deg/s,
      cmd heading: 296.117879 deg,
      new cmd heading: 296.148108 deg.

2025-06-05T18:42:01.034Z,1749148921.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168759 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:01.420Z,1749148921.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:01.424Z,1749148921.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:01.427Z,1749148921.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 173.191666 m,
      bearing: 300.002260 deg,
      approach rate: -0.655290 m/s,
      LOS rate: 0.025943 deg/s,
      cmd heading: 296.148096 deg,
      new cmd heading: 296.178851 deg.

2025-06-05T18:42:01.428Z,1749148921.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.169296 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:01.506Z,1749148921.506 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:01.506Z,1749148921.506 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:01.506Z,1749148921.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:01.757Z,1749148921.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508495
2025-06-05T18:42:01.804Z,1749148921.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:01.808Z,1749148921.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 172.941498 m,
      bearing: 300.012370 deg,
      approach rate: -0.659887 m/s,
      LOS rate: 0.026706 deg/s,
      cmd heading: 296.178859 deg,
      new cmd heading: 296.209232 deg.

2025-06-05T18:42:01.809Z,1749148921.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.169827 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:02.009Z,1749148922.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760021
2025-06-05T18:42:02.262Z,1749148922.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013295
2025-06-05T18:42:02.268Z,1749148922.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:02.271Z,1749148922.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 172.621078 m,
      bearing: 300.028157 deg,
      approach rate: -0.690074 m/s,
      LOS rate: 0.034064 deg/s,
      cmd heading: 296.209240 deg,
      new cmd heading: 296.256690 deg.

2025-06-05T18:42:02.272Z,1749148922.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.170655 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:02.513Z,1749148922.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263843
2025-06-05T18:42:02.625Z,1749148922.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:02.627Z,1749148922.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 172.379807 m,
      bearing: 300.040010 deg,
      approach rate: -0.675983 m/s,
      LOS rate: 0.033255 deg/s,
      cmd heading: 296.256696 deg,
      new cmd heading: 296.292304 deg.

2025-06-05T18:42:02.633Z,1749148922.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.171276 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:02.765Z,1749148922.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515751
2025-06-05T18:42:03.018Z,1749148923.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768940
2025-06-05T18:42:03.059Z,1749148923.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:03.066Z,1749148923.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 172.070572 m,
      bearing: 300.055248 deg,
      approach rate: -0.711820 m/s,
      LOS rate: 0.035138 deg/s,
      cmd heading: 296.292295 deg,
      new cmd heading: 296.338090 deg.

2025-06-05T18:42:03.067Z,1749148923.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.172075 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:03.269Z,1749148923.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019744
2025-06-05T18:42:03.517Z,1749148923.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:03.519Z,1749148923.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:03.522Z,1749148923.522 [DAT](INFO): DAT read: Rx Time:18:42:01.9218

2025-06-05T18:42:03.523Z,1749148923.523 [DAT](INFO): Rx dataTimestamp_ set to:1749148923.522345
2025-06-05T18:42:03.524Z,1749148923.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274716
2025-06-05T18:42:03.527Z,1749148923.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 171.744385 m,
      bearing: 300.073280 deg,
      approach rate: -0.709571 m/s,
      LOS rate: 0.039302 deg/s,
      cmd heading: 296.338084 deg,
      new cmd heading: 296.392285 deg.

2025-06-05T18:42:03.528Z,1749148923.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173021 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:03.774Z,1749148923.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525328
2025-06-05T18:42:03.955Z,1749148923.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:03.959Z,1749148923.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 171.441055 m,
      bearing: 300.090115 deg,
      approach rate: -0.696697 m/s,
      LOS rate: 0.038735 deg/s,
      cmd heading: 296.392289 deg,
      new cmd heading: 296.442882 deg.

2025-06-05T18:42:03.960Z,1749148923.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173904 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:04.034Z,1749148924.034 [DAT](INFO): DAT read: 18:42:01.9218 LVL= 21744, 30929, 19218, 32755, AGC= 66, IDX= 383, 0.23,-0.543,-2.137,-0.791,-1.229, PHS= 0.774,-0.861, 0.436, RAW= 138.7,  -4.7, CAL= 144.3, -14.4, ROT=   5.7,  14.4

2025-06-05T18:42:04.036Z,1749148924.036 [DAT](INFO): got valid direction response:
 18:42:01.9218 LVL= 21744, 30929, 19218, 32755, AGC= 66, IDX= 383, 0.23,-0.543,-2.137,-0.791,-1.229, PHS= 0.774,-0.861, 0.436, RAW= 138.7,  -4.7, CAL= 144.3, -14.4, ROT=   5.7,  14.4

2025-06-05T18:42:04.038Z,1749148924.038 [DAT](INFO): DAT read: Bearing   5.7,  14.4 (Local)

2025-06-05T18:42:04.038Z,1749148924.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.7,  14.4 (Local)

2025-06-05T18:42:04.042Z,1749148924.042 [DAT](INFO): DAT read: Range 10 to 50 : 180.7 m  (Round-trip  241.0 ms) speed  0.0 m/s

2025-06-05T18:42:04.043Z,1749148924.043 [DAT](INFO): DAT read: user:2773>

2025-06-05T18:42:04.044Z,1749148924.044 [DAT](INFO): DAT read: Tx time:18:42:03.0267

2025-06-05T18:42:04.045Z,1749148924.045 [DAT](INFO): Ping request sent.
2025-06-05T18:42:04.045Z,1749148924.045 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:04.045Z,1749148924.045 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:04.047Z,1749148924.047 [DAT](INFO): direction in FSK: [0.963794,0.096199,-0.248690]
2025-06-05T18:42:04.047Z,1749148924.047 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:04.047Z,1749148924.047 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:04.075Z,1749148924.075 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:04.075Z,1749148924.075 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:04.277Z,1749148924.277 [DAT](INFO): DAT read: TxSync time:18:42:03.0259

2025-06-05T18:42:04.422Z,1749148924.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 180.699997 m,
 deltaT: 3.780154 s,
 deltaX: -42.100006 m,
 approachRate: -11.137114 m/s,
 rangeRepo size: 4
2025-06-05T18:42:04.423Z,1749148924.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:04.444Z,1749148924.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 171.129730 m,
      bearing: 300.110058 deg,
      approach rate: -0.667638 m/s,
      LOS rate: 0.042846 deg/s,
      cmd heading: 296.442887 deg,
      new cmd heading: 296.502825 deg.

2025-06-05T18:42:04.448Z,1749148924.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.174951 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:04.763Z,1749148924.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:04.766Z,1749148924.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 170.875641 m,
      bearing: 300.126580 deg,
      approach rate: -0.742606 m/s,
      LOS rate: 0.048359 deg/s,
      cmd heading: 296.502829 deg,
      new cmd heading: 296.552468 deg.

2025-06-05T18:42:04.767Z,1749148924.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175817 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:05.145Z,1749148925.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:05.152Z,1749148925.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 170.620407 m,
      bearing: 300.143212 deg,
      approach rate: -0.667008 m/s,
      LOS rate: 0.043530 deg/s,
      cmd heading: 296.552470 deg,
      new cmd heading: 296.602441 deg.

2025-06-05T18:42:05.153Z,1749148925.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176689 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:05.581Z,1749148925.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:05.583Z,1749148925.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:05.586Z,1749148925.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 170.319977 m,
      bearing: 300.163900 deg,
      approach rate: -0.686709 m/s,
      LOS rate: 0.047371 deg/s,
      cmd heading: 296.602440 deg,
      new cmd heading: 296.664614 deg.

2025-06-05T18:42:05.587Z,1749148925.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177774 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:05.790Z,1749148925.790 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:05.790Z,1749148925.790 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:05.791Z,1749148925.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:05.970Z,1749148925.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:05.991Z,1749148925.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 170.066727 m,
      bearing: 300.181177 deg,
      approach rate: -0.654772 m/s,
      LOS rate: 0.044735 deg/s,
      cmd heading: 296.664622 deg,
      new cmd heading: 296.716529 deg.

2025-06-05T18:42:05.992Z,1749148925.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.178680 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:06.041Z,1749148926.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996385
2025-06-05T18:42:06.294Z,1749148926.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248992
2025-06-05T18:42:06.381Z,1749148926.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:06.390Z,1749148926.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 169.763885 m,
      bearing: 300.201906 deg,
      approach rate: -0.735430 m/s,
      LOS rate: 0.050429 deg/s,
      cmd heading: 296.716532 deg,
      new cmd heading: 296.778829 deg.

2025-06-05T18:42:06.392Z,1749148926.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179768 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:06.545Z,1749148926.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500039
2025-06-05T18:42:06.761Z,1749148926.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:06.764Z,1749148926.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 169.506485 m,
      bearing: 300.219408 deg,
      approach rate: -0.678243 m/s,
      LOS rate: 0.046188 deg/s,
      cmd heading: 296.778823 deg,
      new cmd heading: 296.831410 deg.

2025-06-05T18:42:06.765Z,1749148926.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180686 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:06.798Z,1749148926.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752832
2025-06-05T18:42:07.049Z,1749148927.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004075
2025-06-05T18:42:07.150Z,1749148927.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:07.162Z,1749148927.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 169.239792 m,
      bearing: 300.237530 deg,
      approach rate: -0.686124 m/s,
      LOS rate: 0.046695 deg/s,
      cmd heading: 296.831415 deg,
      new cmd heading: 296.885865 deg.

2025-06-05T18:42:07.163Z,1749148927.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181636 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:07.301Z,1749148927.301 [DAT](INFO): DAT read: Rx Time:18:42:05.7225

2025-06-05T18:42:07.301Z,1749148927.301 [DAT](INFO): Rx dataTimestamp_ set to:1749148927.301033
2025-06-05T18:42:07.302Z,1749148927.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257361
2025-06-05T18:42:07.553Z,1749148927.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508226
2025-06-05T18:42:07.613Z,1749148927.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:07.615Z,1749148927.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-05T18:42:07.628Z,1749148927.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.920776 m,
      nav range: 168.940948 m,
      bearing: 300.256293 deg,
      approach rate: -0.642258 m/s,
      LOS rate: 0.040398 deg/s,
      cmd heading: 296.885866 deg,
      new cmd heading: 296.942257 deg.

2025-06-05T18:42:07.629Z,1749148927.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.182620 target range: 222.920776 and range: 222.80 m.
2025-06-05T18:42:07.815Z,1749148927.815 [DAT](INFO): DAT read: 18:42:05.7225 LVL= 29872, 32161, 27122, 32755, AGC= 62, IDX= 454, 0.24, 0.290,-0.691, 0.370,-0.748, PHS= 1.126, 0.105, 1.116, RAW= 149.5, -39.2, CAL= 152.4, -42.2, ROT= 357.6,  42.2

2025-06-05T18:42:07.816Z,1749148927.816 [DAT](INFO): got valid direction response:
 18:42:05.7225 LVL= 29872, 32161, 27122, 32755, AGC= 62, IDX= 454, 0.24, 0.290,-0.691, 0.370,-0.748, PHS= 1.126, 0.105, 1.116, RAW= 149.5, -39.2, CAL= 152.4, -42.2, ROT= 357.6,  42.2

2025-06-05T18:42:07.817Z,1749148927.817 [DAT](INFO): DAT read: Bearing 357.6,  42.2 (Local)

2025-06-05T18:42:07.818Z,1749148927.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6,  42.2 (Local)

2025-06-05T18:42:07.819Z,1749148927.819 [DAT](INFO): DAT read: Range 10 to 50 : 218.7 m  (Round-trip  291.6 ms) speed  0.6 m/s

2025-06-05T18:42:07.820Z,1749148927.820 [DAT](INFO): DAT read: user:2774>

2025-06-05T18:42:07.821Z,1749148927.821 [DAT](INFO): DAT read: Tx time:18:42:06.8267

2025-06-05T18:42:07.821Z,1749148927.821 [DAT](INFO): Ping request sent.
2025-06-05T18:42:07.821Z,1749148927.821 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:07.822Z,1749148927.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:07.825Z,1749148927.825 [DAT](INFO): direction in FSK: [0.740155,-0.031021,-0.671721]
2025-06-05T18:42:07.825Z,1749148927.825 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:07.825Z,1749148927.825 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:07.829Z,1749148927.829 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:07.829Z,1749148927.829 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:08.048Z,1749148928.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 218.699997 m,
      deltaT: 7.560908 s,
      deltaX: -4.100006 m,
      approachRate: -0.542264 m/s,
      rangeRepo size: 4

2025-06-05T18:42:08.051Z,1749148928.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 216.968475 m,
      bearing: 297.973695 deg,
      lat: 36.906143 deg,
      lon: -122.116078 deg,
      deltaT: 11.341007 s,
      deltaX: -5.952301 m,
      approachRate: -0.524848 m/s,
      posRepo size: 4

2025-06-05T18:42:08.051Z,1749148928.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:08.057Z,1749148928.057 [DAT](INFO): DAT read: TxSync time:18:42:06.8259

2025-06-05T18:42:08.065Z,1749148928.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 168.652603 m,
      bearing: 300.778611 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.040398 deg/s,
      cmd heading: 296.942256 deg,
      new cmd heading: 296.994666 deg.

2025-06-05T18:42:08.066Z,1749148928.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.183535 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:08.069Z,1749148928.069 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:42:08.478Z,1749148928.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:08.481Z,1749148928.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 168.379913 m,
      bearing: 300.794670 deg,
      approach rate: -0.633695 m/s,
      LOS rate: 0.037379 deg/s,
      cmd heading: 296.994657 deg,
      new cmd heading: 297.042911 deg.

2025-06-05T18:42:08.482Z,1749148928.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184377 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:08.817Z,1749148928.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:08.858Z,1749148928.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 168.159775 m,
      bearing: 300.807823 deg,
      approach rate: -0.655106 m/s,
      LOS rate: 0.039191 deg/s,
      cmd heading: 297.042905 deg,
      new cmd heading: 297.082414 deg.

2025-06-05T18:42:08.859Z,1749148928.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185066 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:09.073Z,1749148929.073 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:42:09.279Z,1749148929.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:09.297Z,1749148929.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 167.900070 m,
      bearing: 300.823367 deg,
      approach rate: -0.560250 m/s,
      LOS rate: 0.033584 deg/s,
      cmd heading: 297.082411 deg,
      new cmd heading: 297.129115 deg.

2025-06-05T18:42:09.298Z,1749148929.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185881 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:09.656Z,1749148929.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:09.658Z,1749148929.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:09.661Z,1749148929.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 167.630692 m,
      bearing: 300.836737 deg,
      approach rate: -0.707192 m/s,
      LOS rate: 0.035157 deg/s,
      cmd heading: 297.129102 deg,
      new cmd heading: 297.169277 deg.

2025-06-05T18:42:09.662Z,1749148929.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186582 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:09.821Z,1749148929.821 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:09.821Z,1749148929.821 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:09.821Z,1749148929.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:10.044Z,1749148930.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:10.047Z,1749148930.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 167.392090 m,
      bearing: 300.848360 deg,
      approach rate: -0.627303 m/s,
      LOS rate: 0.030602 deg/s,
      cmd heading: 297.169264 deg,
      new cmd heading: 297.204184 deg.

2025-06-05T18:42:10.048Z,1749148930.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187191 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:10.073Z,1749148930.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252145
2025-06-05T18:42:10.325Z,1749148930.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503523
2025-06-05T18:42:10.477Z,1749148930.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:10.485Z,1749148930.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 167.134995 m,
      bearing: 300.857910 deg,
      approach rate: -0.611128 m/s,
      LOS rate: 0.022734 deg/s,
      cmd heading: 297.204180 deg,
      new cmd heading: 297.232872 deg.

2025-06-05T18:42:10.486Z,1749148930.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187692 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:10.579Z,1749148930.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757919
2025-06-05T18:42:10.829Z,1749148930.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:10.833Z,1749148930.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011532
2025-06-05T18:42:10.834Z,1749148930.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 166.901230 m,
      bearing: 300.866438 deg,
      approach rate: -0.631795 m/s,
      LOS rate: 0.023082 deg/s,
      cmd heading: 297.232866 deg,
      new cmd heading: 297.258488 deg.

2025-06-05T18:42:10.835Z,1749148930.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188139 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:11.085Z,1749148931.085 [DAT](INFO): DAT read: Rx Time:18:42:09.5197

2025-06-05T18:42:11.086Z,1749148931.086 [DAT](INFO): Rx dataTimestamp_ set to:1749148931.085962
2025-06-05T18:42:11.087Z,1749148931.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265754
2025-06-05T18:42:11.259Z,1749148931.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.97 m.
2025-06-05T18:42:11.270Z,1749148931.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.968475 m,
      nav range: 166.639145 m,
      bearing: 300.875833 deg,
      approach rate: -0.612458 m/s,
      LOS rate: 0.021988 deg/s,
      cmd heading: 297.258493 deg,
      new cmd heading: 297.286721 deg.

2025-06-05T18:42:11.294Z,1749148931.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188632 target range: 216.968475 and range: 218.70 m.
2025-06-05T18:42:11.337Z,1749148931.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515387
2025-06-05T18:42:11.598Z,1749148931.598 [DAT](INFO): DAT read: 18:42:09.5197 LVL= 30448, 27409, 24130, 28867, AGC= 58, IDX= 425,-0.17, 1.844, 0.827, 1.861, 0.776, PHS= 1.156, 0.098, 1.081, RAW= 146.4, -38.9, CAL= 149.6, -41.8, ROT=   0.4,  41.8

2025-06-05T18:42:11.599Z,1749148931.599 [DAT](INFO): got valid direction response:
 18:42:09.5197 LVL= 30448, 27409, 24130, 28867, AGC= 58, IDX= 425,-0.17, 1.844, 0.827, 1.861, 0.776, PHS= 1.156, 0.098, 1.081, RAW= 146.4, -38.9, CAL= 149.6, -41.8, ROT=   0.4,  41.8

2025-06-05T18:42:11.618Z,1749148931.618 [DAT](INFO): DAT read: Bearing   0.4,  41.8 (Local)

2025-06-05T18:42:11.618Z,1749148931.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  41.8 (Local)

2025-06-05T18:42:11.620Z,1749148931.620 [DAT](INFO): DAT read: Range 10 to 50 : 216.5 m  (Round-trip  288.7 ms) speed  0.4 m/s

2025-06-05T18:42:11.620Z,1749148931.620 [DAT](INFO): DAT read: user:2775>

2025-06-05T18:42:11.622Z,1749148931.622 [DAT](INFO): DAT read: Tx time:18:42:10.6268

2025-06-05T18:42:11.623Z,1749148931.623 [DAT](INFO): Ping request sent.
2025-06-05T18:42:11.623Z,1749148931.623 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:11.623Z,1749148931.623 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:11.652Z,1749148931.652 [DAT](INFO): direction in FSK: [0.745458,0.005204,-0.666532]
2025-06-05T18:42:11.653Z,1749148931.653 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:11.653Z,1749148931.653 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:11.669Z,1749148931.669 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:11.669Z,1749148931.669 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:11.822Z,1749148931.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.500000 m,
      deltaT: 3.783710 s,
      deltaX: -2.199997 m,
      approachRate: -0.581439 m/s,
      rangeRepo size: 4

2025-06-05T18:42:11.829Z,1749148931.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.791138 m,
      bearing: 301.318284 deg,
      lat: 36.906155 deg,
      lon: -122.116077 deg,
      deltaT: 3.783710 s,
      deltaX: -2.177338 m,
      approachRate: -0.575450 m/s,
      posRepo size: 4

2025-06-05T18:42:11.830Z,1749148931.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:11.833Z,1749148931.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 166.884216 m,
      bearing: 301.318893 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021988 deg/s,
      cmd heading: 297.286716 deg,
      new cmd heading: 297.323878 deg.

2025-06-05T18:42:11.834Z,1749148931.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189281 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:11.841Z,1749148931.841 [DAT](INFO): DAT read: TxSync time:18:42:10.6260

2025-06-05T18:42:12.143Z,1749148932.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:12.149Z,1749148932.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:12.157Z,1749148932.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 166.661575 m,
      bearing: 301.325671 deg,
      approach rate: -0.676778 m/s,
      LOS rate: 0.020630 deg/s,
      cmd heading: 297.323872 deg,
      new cmd heading: 297.344232 deg.

2025-06-05T18:42:12.158Z,1749148932.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189636 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:12.347Z,1749148932.347 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:12.347Z,1749148932.347 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:12.347Z,1749148932.347 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:12.552Z,1749148932.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:12.556Z,1749148932.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 166.394897 m,
      bearing: 301.335576 deg,
      approach rate: -0.662656 m/s,
      LOS rate: 0.024651 deg/s,
      cmd heading: 297.344226 deg,
      new cmd heading: 297.373987 deg.

2025-06-05T18:42:12.557Z,1749148932.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.190155 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:12.597Z,1749148932.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974106
2025-06-05T18:42:12.849Z,1749148932.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226182
2025-06-05T18:42:12.929Z,1749148932.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:12.931Z,1749148932.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 166.151810 m,
      bearing: 301.344645 deg,
      approach rate: -0.645382 m/s,
      LOS rate: 0.024115 deg/s,
      cmd heading: 297.373978 deg,
      new cmd heading: 297.401227 deg.

2025-06-05T18:42:12.932Z,1749148932.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.190630 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:13.102Z,1749148933.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478855
2025-06-05T18:42:13.353Z,1749148933.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730313
2025-06-05T18:42:13.481Z,1749148933.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:13.484Z,1749148933.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 165.781418 m,
      bearing: 301.359033 deg,
      approach rate: -0.670323 m/s,
      LOS rate: 0.026097 deg/s,
      cmd heading: 297.401217 deg,
      new cmd heading: 297.444477 deg.

2025-06-05T18:42:13.485Z,1749148933.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191385 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:13.605Z,1749148933.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982619
2025-06-05T18:42:13.850Z,1749148933.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:13.857Z,1749148933.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234766
2025-06-05T18:42:13.859Z,1749148933.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 165.559998 m,
      bearing: 301.367666 deg,
      approach rate: -0.600965 m/s,
      LOS rate: 0.023461 deg/s,
      cmd heading: 297.444466 deg,
      new cmd heading: 297.470398 deg.

2025-06-05T18:42:13.864Z,1749148933.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191838 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:14.109Z,1749148934.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486044
2025-06-05T18:42:14.204Z,1749148934.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:14.208Z,1749148934.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:14.211Z,1749148934.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 165.295319 m,
      bearing: 301.378015 deg,
      approach rate: -0.739017 m/s,
      LOS rate: 0.028942 deg/s,
      cmd heading: 297.470393 deg,
      new cmd heading: 297.501490 deg.

2025-06-05T18:42:14.212Z,1749148934.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.192380 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:14.364Z,1749148934.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740516
2025-06-05T18:42:14.613Z,1749148934.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990069
2025-06-05T18:42:14.629Z,1749148934.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:14.631Z,1749148934.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 165.007202 m,
      bearing: 301.393211 deg,
      approach rate: -0.684712 m/s,
      LOS rate: 0.036177 deg/s,
      cmd heading: 297.501484 deg,
      new cmd heading: 297.547152 deg.

2025-06-05T18:42:14.632Z,1749148934.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193178 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:14.865Z,1749148934.865 [DAT](INFO): DAT read: Rx Time:18:42:13.3183

2025-06-05T18:42:14.866Z,1749148934.866 [DAT](INFO): Rx dataTimestamp_ set to:1749148934.865783
2025-06-05T18:42:14.867Z,1749148934.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244212
2025-06-05T18:42:14.983Z,1749148934.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.79 m.
2025-06-05T18:42:14.986Z,1749148934.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.791138 m,
      nav range: 164.763275 m,
      bearing: 301.406150 deg,
      approach rate: -0.687486 m/s,
      LOS rate: 0.036522 deg/s,
      cmd heading: 297.547164 deg,
      new cmd heading: 297.586040 deg.

2025-06-05T18:42:14.987Z,1749148934.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193856 target range: 214.791138 and range: 216.50 m.
2025-06-05T18:42:15.117Z,1749148935.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494041
2025-06-05T18:42:15.386Z,1749148935.386 [DAT](INFO): DAT read: 18:42:13.3183 LVL= 32752, 32753, 30626, 32755, AGC= 58, IDX= 428,-0.02, 2.847, 1.506, 2.758, 1.479, PHS= 1.455, 0.074, 1.276, RAW= 143.2, -37.3, CAL= 146.6, -40.5, ROT=   3.4,  40.5

2025-06-05T18:42:15.387Z,1749148935.387 [DAT](INFO): got valid direction response:
 18:42:13.3183 LVL= 32752, 32753, 30626, 32755, AGC= 58, IDX= 428,-0.02, 2.847, 1.506, 2.758, 1.479, PHS= 1.455, 0.074, 1.276, RAW= 143.2, -37.3, CAL= 146.6, -40.5, ROT=   3.4,  40.5

2025-06-05T18:42:15.400Z,1749148935.400 [DAT](INFO): DAT read: Bearing   3.4,  40.5 (Local)

2025-06-05T18:42:15.401Z,1749148935.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,  40.5 (Local)

2025-06-05T18:42:15.402Z,1749148935.402 [DAT](INFO): DAT read: Range 10 to 50 : 215.5 m  (Round-trip  287.4 ms) speed  0.3 m/s

2025-06-05T18:42:15.403Z,1749148935.403 [DAT](INFO): DAT read: user:2776>

2025-06-05T18:42:15.411Z,1749148935.411 [DAT](INFO): DAT read: Tx time:18:42:14.4268

2025-06-05T18:42:15.416Z,1749148935.416 [DAT](INFO): Ping request sent.
2025-06-05T18:42:15.416Z,1749148935.416 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:15.416Z,1749148935.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:15.417Z,1749148935.417 [DAT](INFO): direction in FSK: [0.759068,0.045097,-0.649448]
2025-06-05T18:42:15.417Z,1749148935.417 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:15.418Z,1749148935.418 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:15.448Z,1749148935.448 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:15.448Z,1749148935.448 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:15.566Z,1749148935.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 215.500000 m,
      deltaT: 3.781135 s,
      deltaX: -1.000000 m,
      approachRate: -0.264471 m/s,
      rangeRepo size: 4

2025-06-05T18:42:15.574Z,1749148935.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 213.810867 m,
      bearing: 304.434796 deg,
      lat: 36.906155 deg,
      lon: -122.116077 deg,
      deltaT: 3.781135 s,
      deltaX: -0.980270 m,
      approachRate: -0.259253 m/s,
      posRepo size: 4

2025-06-05T18:42:15.575Z,1749148935.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:15.582Z,1749148935.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 164.393005 m,
      bearing: 301.429588 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.036522 deg/s,
      cmd heading: 297.586042 deg,
      new cmd heading: 297.649850 deg.

2025-06-05T18:42:15.583Z,1749148935.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.194970 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:15.623Z,1749148935.623 [DAT](INFO): DAT read: TxSync time:18:42:14.4260

2025-06-05T18:42:15.920Z,1749148935.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:15.928Z,1749148935.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 164.131119 m,
      bearing: 301.446230 deg,
      approach rate: -0.748900 m/s,
      LOS rate: 0.047666 deg/s,
      cmd heading: 297.649863 deg,
      new cmd heading: 297.699869 deg.

2025-06-05T18:42:15.929Z,1749148935.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195843 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:16.276Z,1749148936.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:16.278Z,1749148936.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:16.281Z,1749148936.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 163.877533 m,
      bearing: 301.462835 deg,
      approach rate: -0.699127 m/s,
      LOS rate: 0.045848 deg/s,
      cmd heading: 297.699860 deg,
      new cmd heading: 297.749750 deg.

2025-06-05T18:42:16.282Z,1749148936.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196713 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:16.379Z,1749148936.379 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:16.380Z,1749148936.380 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:16.381Z,1749148936.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:16.629Z,1749148936.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212692
2025-06-05T18:42:16.791Z,1749148936.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:16.798Z,1749148936.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 163.527878 m,
      bearing: 301.490344 deg,
      approach rate: -0.681548 m/s,
      LOS rate: 0.053737 deg/s,
      cmd heading: 297.749748 deg,
      new cmd heading: 297.832454 deg.

2025-06-05T18:42:16.799Z,1749148936.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198157 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:16.882Z,1749148936.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465899
2025-06-05T18:42:17.129Z,1749148937.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:17.133Z,1749148937.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717018
2025-06-05T18:42:17.136Z,1749148937.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 163.309570 m,
      bearing: 301.507535 deg,
      approach rate: -0.645895 m/s,
      LOS rate: 0.050929 deg/s,
      cmd heading: 297.832448 deg,
      new cmd heading: 297.884088 deg.

2025-06-05T18:42:17.137Z,1749148937.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.199058 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:17.400Z,1749148937.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983322
2025-06-05T18:42:17.563Z,1749148937.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:17.571Z,1749148937.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 163.003891 m,
      bearing: 301.532560 deg,
      approach rate: -0.704006 m/s,
      LOS rate: 0.057743 deg/s,
      cmd heading: 297.884084 deg,
      new cmd heading: 297.959301 deg.

2025-06-05T18:42:17.573Z,1749148937.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200371 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:17.641Z,1749148937.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225094
2025-06-05T18:42:17.893Z,1749148937.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476787
2025-06-05T18:42:17.962Z,1749148937.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:17.966Z,1749148937.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 162.751068 m,
      bearing: 301.553234 deg,
      approach rate: -0.634124 m/s,
      LOS rate: 0.051933 deg/s,
      cmd heading: 297.959298 deg,
      new cmd heading: 298.021415 deg.

2025-06-05T18:42:17.967Z,1749148937.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.201455 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:18.145Z,1749148938.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728709
2025-06-05T18:42:18.333Z,1749148938.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:18.335Z,1749148938.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:18.339Z,1749148938.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 162.482361 m,
      bearing: 301.575278 deg,
      approach rate: -0.720482 m/s,
      LOS rate: 0.059204 deg/s,
      cmd heading: 298.021425 deg,
      new cmd heading: 298.087666 deg.

2025-06-05T18:42:18.341Z,1749148938.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.202611 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:18.401Z,1749148938.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984327
2025-06-05T18:42:18.649Z,1749148938.649 [DAT](INFO): DAT read: Rx Time:18:42:17.0863

2025-06-05T18:42:18.649Z,1749148938.649 [DAT](INFO): Rx dataTimestamp_ set to:1749148938.649035
2025-06-05T18:42:18.650Z,1749148938.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233955
2025-06-05T18:42:18.785Z,1749148938.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:18.790Z,1749148938.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 162.187332 m,
      bearing: 301.600909 deg,
      approach rate: -0.655140 m/s,
      LOS rate: 0.057021 deg/s,
      cmd heading: 298.087678 deg,
      new cmd heading: 298.164712 deg.

2025-06-05T18:42:18.791Z,1749148938.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203956 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:18.902Z,1749148938.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485803
2025-06-05T18:42:19.159Z,1749148939.159 [DAT](INFO): DAT read: 18:42:17.0863 LVL= 21232, 23457, 21858, 24243, AGC= 62, IDX= 115,-0.31,-2.771, 2.525,-2.625, 2.493, PHS= 1.108, 0.080, 1.162, RAW= 152.6, -38.2, CAL= 155.0, -41.9, ROT= 355.0,  41.9

2025-06-05T18:42:19.161Z,1749148939.161 [DAT](INFO): got valid direction response:
 18:42:17.0863 LVL= 21232, 23457, 21858, 24243, AGC= 62, IDX= 115,-0.31,-2.771, 2.525,-2.625, 2.493, PHS= 1.108, 0.080, 1.162, RAW= 152.6, -38.2, CAL= 155.0, -41.9, ROT= 355.0,  41.9

2025-06-05T18:42:19.162Z,1749148939.162 [DAT](INFO): DAT read: Bearing 355.0,  41.9 (Local)

2025-06-05T18:42:19.162Z,1749148939.162 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,  41.9 (Local)

2025-06-05T18:42:19.164Z,1749148939.164 [DAT](INFO): DAT read: Range 10 to 50 : 191.4 m  (Round-trip  255.3 ms) speed  0.2 m/s

2025-06-05T18:42:19.164Z,1749148939.164 [DAT](INFO): DAT read: user:2777>

2025-06-05T18:42:19.165Z,1749148939.165 [DAT](INFO): DAT read: Tx time:18:42:18.1768

2025-06-05T18:42:19.165Z,1749148939.165 [DAT](INFO): Ping request sent.
2025-06-05T18:42:19.165Z,1749148939.165 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:19.166Z,1749148939.166 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:19.167Z,1749148939.167 [DAT](INFO): direction in FSK: [0.741479,-0.064871,-0.667833]
2025-06-05T18:42:19.167Z,1749148939.167 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:19.167Z,1749148939.167 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:19.170Z,1749148939.170 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:19.171Z,1749148939.171 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:19.226Z,1749148939.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 191.399994 m,
 deltaT: 3.782258 s,
 deltaX: -24.100006 m,
 approachRate: -6.371857 m/s,
 rangeRepo size: 4
2025-06-05T18:42:19.227Z,1749148939.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:19.238Z,1749148939.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 161.921875 m,
      bearing: 301.623895 deg,
      approach rate: -0.603081 m/s,
      LOS rate: 0.052307 deg/s,
      cmd heading: 298.164723 deg,
      new cmd heading: 298.233794 deg.

2025-06-05T18:42:19.241Z,1749148939.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205162 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:19.409Z,1749148939.409 [DAT](INFO): DAT read: TxSync time:18:42:18.1760

2025-06-05T18:42:19.687Z,1749148939.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:19.700Z,1749148939.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 161.621933 m,
      bearing: 301.648853 deg,
      approach rate: -0.650570 m/s,
      LOS rate: 0.054234 deg/s,
      cmd heading: 298.233790 deg,
      new cmd heading: 298.308802 deg.

2025-06-05T18:42:19.702Z,1749148939.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206471 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:20.002Z,1749148940.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:20.006Z,1749148940.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 161.412048 m,
      bearing: 301.666506 deg,
      approach rate: -0.665466 m/s,
      LOS rate: 0.056044 deg/s,
      cmd heading: 298.308813 deg,
      new cmd heading: 298.361841 deg.

2025-06-05T18:42:20.007Z,1749148940.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207397 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:20.434Z,1749148940.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:20.461Z,1749148940.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:20.473Z,1749148940.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 161.160736 m,
      bearing: 301.687581 deg,
      approach rate: -0.555189 m/s,
      LOS rate: 0.046631 deg/s,
      cmd heading: 298.361842 deg,
      new cmd heading: 298.425166 deg.

2025-06-05T18:42:20.474Z,1749148940.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208502 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:20.669Z,1749148940.669 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:20.669Z,1749148940.669 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:20.670Z,1749148940.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:20.826Z,1749148940.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:20.829Z,1749148940.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 160.896683 m,
      bearing: 301.707760 deg,
      approach rate: -0.710797 m/s,
      LOS rate: 0.054407 deg/s,
      cmd heading: 298.425172 deg,
      new cmd heading: 298.485807 deg.

2025-06-05T18:42:20.830Z,1749148940.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.209560 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:20.921Z,1749148940.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755862
2025-06-05T18:42:21.175Z,1749148941.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009720
2025-06-05T18:42:21.223Z,1749148941.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:21.225Z,1749148941.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 160.649506 m,
      bearing: 301.726498 deg,
      approach rate: -0.625315 m/s,
      LOS rate: 0.047477 deg/s,
      cmd heading: 298.485796 deg,
      new cmd heading: 298.542097 deg.

2025-06-05T18:42:21.226Z,1749148941.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.210543 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:21.428Z,1749148941.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261999
2025-06-05T18:42:21.677Z,1749148941.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511243
2025-06-05T18:42:21.679Z,1749148941.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:21.712Z,1749148941.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 160.361816 m,
      bearing: 301.742084 deg,
      approach rate: -0.628371 m/s,
      LOS rate: 0.034105 deg/s,
      cmd heading: 298.542104 deg,
      new cmd heading: 298.588948 deg.

2025-06-05T18:42:21.714Z,1749148941.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211360 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:21.929Z,1749148941.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764015
2025-06-05T18:42:22.021Z,1749148942.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:22.025Z,1749148942.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 160.135880 m,
      bearing: 301.754216 deg,
      approach rate: -0.661497 m/s,
      LOS rate: 0.035569 deg/s,
      cmd heading: 298.588960 deg,
      new cmd heading: 298.625406 deg.

2025-06-05T18:42:22.026Z,1749148942.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211997 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:22.181Z,1749148942.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015181
2025-06-05T18:42:22.437Z,1749148942.437 [DAT](INFO): DAT read: Rx Time:18:42:20.8622

2025-06-05T18:42:22.438Z,1749148942.438 [DAT](INFO): Rx dataTimestamp_ set to:1749148942.437353
2025-06-05T18:42:22.441Z,1749148942.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275044
2025-06-05T18:42:22.501Z,1749148942.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:22.503Z,1749148942.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:22.518Z,1749148942.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 159.852859 m,
      bearing: 301.769311 deg,
      approach rate: -0.586741 m/s,
      LOS rate: 0.031351 deg/s,
      cmd heading: 298.625405 deg,
      new cmd heading: 298.670773 deg.

2025-06-05T18:42:22.519Z,1749148942.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212789 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:22.685Z,1749148942.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519649
2025-06-05T18:42:22.899Z,1749148942.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m.
2025-06-05T18:42:22.902Z,1749148942.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.810867 m,
      nav range: 159.576874 m,
      bearing: 301.781701 deg,
      approach rate: -0.696552 m/s,
      LOS rate: 0.031323 deg/s,
      cmd heading: 298.670785 deg,
      new cmd heading: 298.708018 deg.

2025-06-05T18:42:22.903Z,1749148942.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.213439 target range: 213.810867 and range: 215.50 m.
2025-06-05T18:42:22.944Z,1749148942.944 [DAT](INFO): DAT read: 18:42:20.8622 LVL= 26096, 22497, 20386, 27379, AGC= 64, IDX= 187,-0.11,-0.038,-1.061, 0.018,-1.154, PHS= 1.204, 0.140, 1.169, RAW= 148.4, -40.3, CAL= 151.6, -42.8, ROT= 358.4,  42.8

2025-06-05T18:42:22.945Z,1749148942.945 [DAT](INFO): got valid direction response:
 18:42:20.8622 LVL= 26096, 22497, 20386, 27379, AGC= 64, IDX= 187,-0.11,-0.038,-1.061, 0.018,-1.154, PHS= 1.204, 0.140, 1.169, RAW= 148.4, -40.3, CAL= 151.6, -42.8, ROT= 358.4,  42.8

2025-06-05T18:42:22.946Z,1749148942.946 [DAT](INFO): DAT read: Bearing 358.4,  42.8 (Local)

2025-06-05T18:42:22.946Z,1749148942.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  42.8 (Local)

2025-06-05T18:42:22.948Z,1749148942.948 [DAT](INFO): DAT read: Range 10 to 50 : 210.9 m  (Round-trip  281.2 ms) speed  0.8 m/s

2025-06-05T18:42:22.949Z,1749148942.949 [DAT](INFO): DAT read: user:2778>

2025-06-05T18:42:22.949Z,1749148942.949 [DAT](INFO): DAT read: Tx time:18:42:21.9768

2025-06-05T18:42:22.950Z,1749148942.950 [DAT](INFO): Ping request sent.
2025-06-05T18:42:22.950Z,1749148942.950 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:22.950Z,1749148942.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:22.951Z,1749148942.951 [DAT](INFO): direction in FSK: [0.733444,-0.020487,-0.679441]
2025-06-05T18:42:22.951Z,1749148942.951 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:22.960Z,1749148942.960 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:22.963Z,1749148942.963 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:22.963Z,1749148942.963 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:23.190Z,1749148943.190 [DAT](INFO): DAT read: TxSync time:18:42:21.9760

2025-06-05T18:42:23.282Z,1749148943.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 210.899994 m,
      deltaT: 7.566157 s,
      deltaX: -4.600006 m,
      approachRate: -0.607971 m/s,
      rangeRepo size: 4

2025-06-05T18:42:23.288Z,1749148943.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 209.246704 m,
      bearing: 301.004970 deg,
      lat: 36.906141 deg,
      lon: -122.116077 deg,
      deltaT: 7.566157 s,
      deltaX: -4.564163 m,
      approachRate: -0.603234 m/s,
      posRepo size: 4

2025-06-05T18:42:23.289Z,1749148943.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:23.296Z,1749148943.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 158.533173 m,
      bearing: 301.308486 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031323 deg/s,
      cmd heading: 298.708023 deg,
      new cmd heading: 298.743404 deg.

2025-06-05T18:42:23.297Z,1749148943.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214056 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:23.715Z,1749148943.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:23.723Z,1749148943.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 158.250275 m,
      bearing: 301.317598 deg,
      approach rate: -0.645148 m/s,
      LOS rate: 0.020815 deg/s,
      cmd heading: 298.743404 deg,
      new cmd heading: 298.770786 deg.

2025-06-05T18:42:23.732Z,1749148943.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214534 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:24.042Z,1749148944.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:24.045Z,1749148944.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 158.007217 m,
      bearing: 301.325483 deg,
      approach rate: -0.742475 m/s,
      LOS rate: 0.024124 deg/s,
      cmd heading: 298.770779 deg,
      new cmd heading: 298.794471 deg.

2025-06-05T18:42:24.046Z,1749148944.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214947 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:24.445Z,1749148944.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:24.449Z,1749148944.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 157.743607 m,
      bearing: 301.334096 deg,
      approach rate: -0.653414 m/s,
      LOS rate: 0.021386 deg/s,
      cmd heading: 298.794466 deg,
      new cmd heading: 298.820350 deg.

2025-06-05T18:42:24.450Z,1749148944.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215399 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:24.894Z,1749148944.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:24.896Z,1749148944.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:24.899Z,1749148944.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 157.443359 m,
      bearing: 301.342912 deg,
      approach rate: -0.665753 m/s,
      LOS rate: 0.019585 deg/s,
      cmd heading: 298.820339 deg,
      new cmd heading: 298.846837 deg.

2025-06-05T18:42:24.900Z,1749148944.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215861 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:24.953Z,1749148944.953 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:24.953Z,1749148944.953 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:24.954Z,1749148944.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:25.206Z,1749148945.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255730
2025-06-05T18:42:25.261Z,1749148945.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:25.263Z,1749148945.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 157.202347 m,
      bearing: 301.349694 deg,
      approach rate: -0.661162 m/s,
      LOS rate: 0.018633 deg/s,
      cmd heading: 298.846840 deg,
      new cmd heading: 298.867217 deg.

2025-06-05T18:42:25.264Z,1749148945.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216217 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:25.461Z,1749148945.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510962
2025-06-05T18:42:25.712Z,1749148945.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761315
2025-06-05T18:42:25.745Z,1749148945.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:25.752Z,1749148945.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 156.914566 m,
      bearing: 301.358744 deg,
      approach rate: -0.611151 m/s,
      LOS rate: 0.019255 deg/s,
      cmd heading: 298.867221 deg,
      new cmd heading: 298.894422 deg.

2025-06-05T18:42:25.753Z,1749148945.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216692 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:25.962Z,1749148945.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011606
2025-06-05T18:42:26.067Z,1749148946.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:26.070Z,1749148946.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 156.677444 m,
      bearing: 301.366076 deg,
      approach rate: -0.706413 m/s,
      LOS rate: 0.021875 deg/s,
      cmd heading: 298.894433 deg,
      new cmd heading: 298.916462 deg.

2025-06-05T18:42:26.072Z,1749148946.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.217076 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:26.213Z,1749148946.213 [DAT](INFO): DAT read: Rx Time:18:42:24.6591

2025-06-05T18:42:26.213Z,1749148946.213 [DAT](INFO): Rx dataTimestamp_ set to:1749148946.212776
2025-06-05T18:42:26.214Z,1749148946.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263856
2025-06-05T18:42:26.461Z,1749148946.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:26.465Z,1749148946.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514987
2025-06-05T18:42:26.465Z,1749148946.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 156.415359 m,
      bearing: 301.374149 deg,
      approach rate: -0.665954 m/s,
      LOS rate: 0.020548 deg/s,
      cmd heading: 298.916453 deg,
      new cmd heading: 298.940714 deg.

2025-06-05T18:42:26.466Z,1749148946.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.217500 target range: 209.246704 and range: 210.90 m.
2025-06-05T18:42:26.721Z,1749148946.721 [DAT](INFO): DAT read: Range 10 to 50 : 208.5 m  (Round-trip  278.1 ms) speed  0.3 m/s

2025-06-05T18:42:26.723Z,1749148946.723 [DAT](INFO): DAT read: user:2779>

2025-06-05T18:42:26.725Z,1749148946.725 [DAT](INFO): DAT read: Tx time:18:42:25.7769

2025-06-05T18:42:26.726Z,1749148946.726 [DAT](INFO): Ping request sent.
2025-06-05T18:42:26.727Z,1749148946.727 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:26.728Z,1749148946.728 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:42:26.728Z,1749148946.728 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:26.730Z,1749148946.730 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:26.969Z,1749148946.969 [DAT](INFO): DAT read: TxSync time:18:42:25.7761

2025-06-05T18:42:26.995Z,1749148946.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:27.002Z,1749148947.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 208.500000 m,
      deltaT: 3.781040 s,
      deltaX: -2.399994 m,
      approachRate: -0.634744 m/s,
      rangeRepo size: 4

2025-06-05T18:42:27.002Z,1749148947.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:27.009Z,1749148947.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 156.086670 m,
      bearing: 301.385877 deg,
      approach rate: -0.608444 m/s,
      LOS rate: 0.021755 deg/s,
      cmd heading: 298.940714 deg,
      new cmd heading: 298.975972 deg.

2025-06-05T18:42:27.010Z,1749148947.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218115 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:27.223Z,1749148947.223 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:27.223Z,1749148947.223 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:27.223Z,1749148947.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:27.335Z,1749148947.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:27.350Z,1749148947.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 155.839340 m,
      bearing: 301.394829 deg,
      approach rate: -0.741032 m/s,
      LOS rate: 0.026864 deg/s,
      cmd heading: 298.975985 deg,
      new cmd heading: 299.002884 deg.

2025-06-05T18:42:27.351Z,1749148947.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218585 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:27.475Z,1749148947.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748193
2025-06-05T18:42:27.725Z,1749148947.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998247
2025-06-05T18:42:27.813Z,1749148947.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:27.820Z,1749148947.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 155.536179 m,
      bearing: 301.409770 deg,
      approach rate: -0.634097 m/s,
      LOS rate: 0.031312 deg/s,
      cmd heading: 299.002896 deg,
      new cmd heading: 299.047807 deg.

2025-06-05T18:42:27.821Z,1749148947.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.219369 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:27.977Z,1749148947.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250606
2025-06-05T18:42:28.114Z,1749148948.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:28.117Z,1749148948.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 155.331451 m,
      bearing: 301.419952 deg,
      approach rate: -0.679195 m/s,
      LOS rate: 0.033823 deg/s,
      cmd heading: 299.047812 deg,
      new cmd heading: 299.078397 deg.

2025-06-05T18:42:28.118Z,1749148948.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.219903 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:28.229Z,1749148948.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502598
2025-06-05T18:42:28.481Z,1749148948.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754251
2025-06-05T18:42:28.511Z,1749148948.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:28.547Z,1749148948.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 155.075241 m,
      bearing: 301.432675 deg,
      approach rate: -0.645220 m/s,
      LOS rate: 0.032094 deg/s,
      cmd heading: 299.078384 deg,
      new cmd heading: 299.116616 deg.

2025-06-05T18:42:28.554Z,1749148948.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220570 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:28.733Z,1749148948.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006208
2025-06-05T18:42:28.964Z,1749148948.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:28.967Z,1749148948.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 154.773666 m,
      bearing: 301.451042 deg,
      approach rate: -0.665706 m/s,
      LOS rate: 0.040623 deg/s,
      cmd heading: 299.116605 deg,
      new cmd heading: 299.171814 deg.

2025-06-05T18:42:28.968Z,1749148948.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221533 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:28.989Z,1749148948.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262203
2025-06-05T18:42:29.241Z,1749148949.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514491
2025-06-05T18:42:29.428Z,1749148949.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:29.430Z,1749148949.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:29.437Z,1749148949.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 154.499863 m,
      bearing: 301.467467 deg,
      approach rate: -0.587444 m/s,
      LOS rate: 0.035302 deg/s,
      cmd heading: 299.171821 deg,
      new cmd heading: 299.221182 deg.

2025-06-05T18:42:29.444Z,1749148949.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222395 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:29.493Z,1749148949.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766746
2025-06-05T18:42:29.745Z,1749148949.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018450
2025-06-05T18:42:29.823Z,1749148949.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:29.830Z,1749148949.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 154.218872 m,
      bearing: 301.488383 deg,
      approach rate: -0.717452 m/s,
      LOS rate: 0.053503 deg/s,
      cmd heading: 299.221189 deg,
      new cmd heading: 299.284053 deg.

2025-06-05T18:42:29.831Z,1749148949.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223492 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:29.997Z,1749148949.997 [DAT](INFO): DAT read: Rx Time:18:42:28.3986

2025-06-05T18:42:29.997Z,1749148949.997 [DAT](INFO): Rx dataTimestamp_ set to:1749148949.996753
2025-06-05T18:42:29.998Z,1749148949.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271250
2025-06-05T18:42:30.165Z,1749148950.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:30.169Z,1749148950.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 153.985565 m,
      bearing: 301.505742 deg,
      approach rate: -0.679692 m/s,
      LOS rate: 0.050648 deg/s,
      cmd heading: 299.284054 deg,
      new cmd heading: 299.336210 deg.

2025-06-05T18:42:30.170Z,1749148950.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224402 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:30.253Z,1749148950.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525207
2025-06-05T18:42:30.512Z,1749148950.512 [DAT](INFO): DAT read: 18:42:28.3986 LVL= 31664, 32753, 25330, 32755, AGC= 68, IDX= 335, 0.18, 2.069, 0.591, 1.853, 1.371, PHS= 0.786,-0.733, 0.479, RAW= 139.0,  -7.7, CAL= 145.1, -17.8, ROT=   4.9,  17.8

2025-06-05T18:42:30.513Z,1749148950.513 [DAT](INFO): got valid direction response:
 18:42:28.3986 LVL= 31664, 32753, 25330, 32755, AGC= 68, IDX= 335, 0.18, 2.069, 0.591, 1.853, 1.371, PHS= 0.786,-0.733, 0.479, RAW= 139.0,  -7.7, CAL= 145.1, -17.8, ROT=   4.9,  17.8

2025-06-05T18:42:30.514Z,1749148950.514 [DAT](INFO): DAT read: Bearing   4.9,  17.8 (Local)

2025-06-05T18:42:30.515Z,1749148950.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,  17.8 (Local)

2025-06-05T18:42:30.516Z,1749148950.516 [DAT](INFO): DAT read: Range 10 to 50 : 163.1 m  (Round-trip  217.5 ms) speed  0.7 m/s

2025-06-05T18:42:30.517Z,1749148950.517 [DAT](INFO): DAT read: user:2780>

2025-06-05T18:42:30.518Z,1749148950.518 [DAT](INFO): DAT read: Tx time:18:42:29.4769

2025-06-05T18:42:30.518Z,1749148950.518 [DAT](INFO): Ping request sent.
2025-06-05T18:42:30.518Z,1749148950.518 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:30.518Z,1749148950.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:30.519Z,1749148950.519 [DAT](INFO): direction in FSK: [0.948650,0.081328,-0.305695]
2025-06-05T18:42:30.520Z,1749148950.520 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:30.520Z,1749148950.520 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:30.526Z,1749148950.526 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:30.526Z,1749148950.526 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:30.754Z,1749148950.754 [DAT](INFO): DAT read: TxSync time:18:42:29.4761

2025-06-05T18:42:30.774Z,1749148950.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 163.100006 m,
 deltaT: 3.783040 s,
 deltaX: -45.399994 m,
 approachRate: -12.000929 m/s,
 rangeRepo size: 4
2025-06-05T18:42:30.775Z,1749148950.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:30.778Z,1749148950.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 153.600754 m,
      bearing: 301.536182 deg,
      approach rate: -0.632901 m/s,
      LOS rate: 0.050191 deg/s,
      cmd heading: 299.336210 deg,
      new cmd heading: 299.427759 deg.

2025-06-05T18:42:30.779Z,1749148950.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.226000 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:31.134Z,1749148951.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:31.150Z,1749148951.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 153.362976 m,
      bearing: 301.555055 deg,
      approach rate: -0.659837 m/s,
      LOS rate: 0.052454 deg/s,
      cmd heading: 299.427761 deg,
      new cmd heading: 299.484468 deg.

2025-06-05T18:42:31.156Z,1749148951.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.226990 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:31.513Z,1749148951.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:31.515Z,1749148951.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:31.518Z,1749148951.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 153.099625 m,
      bearing: 301.575896 deg,
      approach rate: -0.690347 m/s,
      LOS rate: 0.054726 deg/s,
      cmd heading: 299.484479 deg,
      new cmd heading: 299.547109 deg.

2025-06-05T18:42:31.519Z,1749148951.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228083 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:31.761Z,1749148951.761 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:31.761Z,1749148951.761 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:31.761Z,1749148951.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:31.946Z,1749148951.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:31.949Z,1749148951.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 152.818787 m,
      bearing: 301.598531 deg,
      approach rate: -0.651990 m/s,
      LOS rate: 0.052645 deg/s,
      cmd heading: 299.547099 deg,
      new cmd heading: 299.615127 deg.

2025-06-05T18:42:31.950Z,1749148951.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.229270 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:32.013Z,1749148952.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494824
2025-06-05T18:42:32.266Z,1749148952.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747454
2025-06-05T18:42:32.332Z,1749148952.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:32.335Z,1749148952.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 152.566177 m,
      bearing: 301.618673 deg,
      approach rate: -0.654761 m/s,
      LOS rate: 0.052295 deg/s,
      cmd heading: 299.615127 deg,
      new cmd heading: 299.675654 deg.

2025-06-05T18:42:32.336Z,1749148952.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230327 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:32.517Z,1749148952.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998498
2025-06-05T18:42:32.769Z,1749148952.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250670
2025-06-05T18:42:32.798Z,1749148952.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:32.807Z,1749148952.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 152.281296 m,
      bearing: 301.639101 deg,
      approach rate: -0.611859 m/s,
      LOS rate: 0.043958 deg/s,
      cmd heading: 299.675643 deg,
      new cmd heading: 299.737043 deg.

2025-06-05T18:42:32.816Z,1749148952.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231398 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:33.021Z,1749148953.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502543
2025-06-05T18:42:33.148Z,1749148953.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:33.151Z,1749148953.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 152.042206 m,
      bearing: 301.655960 deg,
      approach rate: -0.682445 m/s,
      LOS rate: 0.048196 deg/s,
      cmd heading: 299.737032 deg,
      new cmd heading: 299.787688 deg.

2025-06-05T18:42:33.152Z,1749148953.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232282 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:33.274Z,1749148953.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755464
2025-06-05T18:42:33.525Z,1749148953.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006668
2025-06-05T18:42:33.541Z,1749148953.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:33.543Z,1749148953.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:33.570Z,1749148953.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 151.788132 m,
      bearing: 301.673789 deg,
      approach rate: -0.642825 m/s,
      LOS rate: 0.045183 deg/s,
      cmd heading: 299.787685 deg,
      new cmd heading: 299.841260 deg.

2025-06-05T18:42:33.571Z,1749148953.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233217 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:33.777Z,1749148953.777 [DAT](INFO): DAT read: Rx Time:18:42:32.1248

2025-06-05T18:42:33.777Z,1749148953.777 [DAT](INFO): Rx dataTimestamp_ set to:1749148953.776771
2025-06-05T18:42:33.778Z,1749148953.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259497
2025-06-05T18:42:33.976Z,1749148953.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.25 m.
2025-06-05T18:42:33.979Z,1749148953.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.246704 m,
      nav range: 151.514816 m,
      bearing: 301.690322 deg,
      approach rate: -0.631587 m/s,
      LOS rate: 0.038276 deg/s,
      cmd heading: 299.841261 deg,
      new cmd heading: 299.890952 deg.

2025-06-05T18:42:33.980Z,1749148953.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234085 target range: 209.246704 and range: 208.50 m.
2025-06-05T18:42:34.030Z,1749148954.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511545
2025-06-05T18:42:34.286Z,1749148954.286 [DAT](INFO): DAT read: 18:42:32.1248 LVL= 27296, 32753, 24178, 27635, AGC= 63, IDX= 203, 0.16,-2.132,-3.078,-2.012, 3.007, PHS= 1.232, 0.244, 1.261, RAW= 151.4, -44.0, CAL= 154.9, -45.2, ROT= 355.1,  45.2

2025-06-05T18:42:34.288Z,1749148954.288 [DAT](INFO): got valid direction response:
 18:42:32.1248 LVL= 27296, 32753, 24178, 27635, AGC= 63, IDX= 203, 0.16,-2.132,-3.078,-2.012, 3.007, PHS= 1.232, 0.244, 1.261, RAW= 151.4, -44.0, CAL= 154.9, -45.2, ROT= 355.1,  45.2

2025-06-05T18:42:34.290Z,1749148954.290 [DAT](INFO): DAT read: Bearing 355.1,  45.2 (Local)

2025-06-05T18:42:34.291Z,1749148954.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  45.2 (Local)

2025-06-05T18:42:34.292Z,1749148954.292 [DAT](INFO): DAT read: Range 10 to 50 : 182.7 m  (Round-trip  243.7 ms) speed  0.4 m/s

2025-06-05T18:42:34.293Z,1749148954.293 [DAT](INFO): DAT read: user:2781>

2025-06-05T18:42:34.294Z,1749148954.294 [DAT](INFO): DAT read: Tx time:18:42:33.2269

2025-06-05T18:42:34.294Z,1749148954.294 [DAT](INFO): Ping request sent.
2025-06-05T18:42:34.294Z,1749148954.294 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:34.294Z,1749148954.294 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:34.296Z,1749148954.296 [DAT](INFO): direction in FSK: [0.702059,-0.060188,-0.709571]
2025-06-05T18:42:34.296Z,1749148954.296 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:34.296Z,1749148954.296 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:34.300Z,1749148954.300 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:34.300Z,1749148954.300 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:34.480Z,1749148954.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.699997 m,
      deltaT: 7.563194 s,
      deltaX: -25.800003 m,
      approachRate: -3.411258 m/s,
      rangeRepo size: 4

2025-06-05T18:42:34.482Z,1749148954.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.250961 m,
      bearing: 299.570951 deg,
      lat: 36.906141 deg,
      lon: -122.116049 deg,
      deltaT: 11.344234 s,
      deltaX: -27.995743 m,
      approachRate: -2.467839 m/s,
      posRepo size: 4

2025-06-05T18:42:34.483Z,1749148954.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:34.496Z,1749148954.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 149.086136 m,
      bearing: 302.214715 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038276 deg/s,
      cmd heading: 299.890958 deg,
      new cmd heading: 299.947814 deg.

2025-06-05T18:42:34.497Z,1749148954.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.235077 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:34.534Z,1749148954.534 [DAT](INFO): DAT read: TxSync time:18:42:33.2261

2025-06-05T18:42:34.929Z,1749148954.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:34.932Z,1749148954.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 148.793579 m,
      bearing: 302.230185 deg,
      approach rate: -0.638324 m/s,
      LOS rate: 0.033819 deg/s,
      cmd heading: 299.947812 deg,
      new cmd heading: 299.994312 deg.

2025-06-05T18:42:34.933Z,1749148954.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.235888 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:35.350Z,1749148955.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:35.353Z,1749148955.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 148.524521 m,
      bearing: 302.244615 deg,
      approach rate: -0.639271 m/s,
      LOS rate: 0.034347 deg/s,
      cmd heading: 299.994312 deg,
      new cmd heading: 300.037681 deg.

2025-06-05T18:42:35.354Z,1749148955.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.236645 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:35.796Z,1749148955.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:35.799Z,1749148955.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:35.801Z,1749148955.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 148.243347 m,
      bearing: 302.254366 deg,
      approach rate: -0.626880 m/s,
      LOS rate: 0.021780 deg/s,
      cmd heading: 300.037670 deg,
      new cmd heading: 300.066977 deg.

2025-06-05T18:42:35.802Z,1749148955.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237157 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:36.044Z,1749148956.044 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:36.045Z,1749148956.045 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:36.045Z,1749148956.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:36.167Z,1749148956.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:36.175Z,1749148956.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 148.010727 m,
      bearing: 302.262247 deg,
      approach rate: -0.630965 m/s,
      LOS rate: 0.021411 deg/s,
      cmd heading: 300.066985 deg,
      new cmd heading: 300.090666 deg.

2025-06-05T18:42:36.176Z,1749148956.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237570 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:36.297Z,1749148956.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002563
2025-06-05T18:42:36.549Z,1749148956.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254599
2025-06-05T18:42:36.558Z,1749148956.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:36.561Z,1749148956.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 147.766449 m,
      bearing: 302.270261 deg,
      approach rate: -0.625091 m/s,
      LOS rate: 0.020540 deg/s,
      cmd heading: 300.090672 deg,
      new cmd heading: 300.114753 deg.

2025-06-05T18:42:36.562Z,1749148956.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237990 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:36.806Z,1749148956.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511734
2025-06-05T18:42:37.003Z,1749148957.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:37.008Z,1749148957.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 147.484268 m,
      bearing: 302.278056 deg,
      approach rate: -0.634081 m/s,
      LOS rate: 0.017551 deg/s,
      cmd heading: 300.114742 deg,
      new cmd heading: 300.138173 deg.

2025-06-05T18:42:37.009Z,1749148957.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238400 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:37.058Z,1749148957.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763617
2025-06-05T18:42:37.309Z,1749148957.309 [DAT](INFO): DAT read: Rx Time:18:42:35.8716

2025-06-05T18:42:37.309Z,1749148957.309 [DAT](INFO): Rx dataTimestamp_ set to:1749148957.308895
2025-06-05T18:42:37.310Z,1749148957.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015570
2025-06-05T18:42:37.403Z,1749148957.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:37.410Z,1749148957.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 147.237381 m,
      bearing: 302.284901 deg,
      approach rate: -0.617181 m/s,
      LOS rate: 0.017141 deg/s,
      cmd heading: 300.138183 deg,
      new cmd heading: 300.158753 deg.

2025-06-05T18:42:37.411Z,1749148957.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238759 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:37.561Z,1749148957.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266396
2025-06-05T18:42:37.815Z,1749148957.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520595
2025-06-05T18:42:37.843Z,1749148957.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:37.862Z,1749148957.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.25 m.
2025-06-05T18:42:37.880Z,1749148957.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.250961 m,
      nav range: 146.963470 m,
      bearing: 302.290263 deg,
      approach rate: -0.602143 m/s,
      LOS rate: 0.011808 deg/s,
      cmd heading: 300.158756 deg,
      new cmd heading: 300.174870 deg.

2025-06-05T18:42:37.881Z,1749148957.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239040 target range: 181.250961 and range: 182.70 m.
2025-06-05T18:42:38.071Z,1749148958.071 [DAT](INFO): DAT read: 18:42:35.8716 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.08, 3.132, 1.532, 2.962, 2.457, PHS= 0.764,-0.878, 0.502, RAW= 141.5,  -5.1, CAL= 147.1, -14.5, ROT=   2.9,  14.5

2025-06-05T18:42:38.074Z,1749148958.074 [DAT](INFO): got valid direction response:
 18:42:35.8716 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.08, 3.132, 1.532, 2.962, 2.457, PHS= 0.764,-0.878, 0.502, RAW= 141.5,  -5.1, CAL= 147.1, -14.5, ROT=   2.9,  14.5

2025-06-05T18:42:38.075Z,1749148958.075 [DAT](INFO): DAT read: Bearing   2.9,  14.5 (Local)

2025-06-05T18:42:38.075Z,1749148958.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  14.5 (Local)

2025-06-05T18:42:38.077Z,1749148958.077 [DAT](INFO): DAT read: Range 10 to 50 : 180.3 m  (Round-trip  240.5 ms) speed  0.6 m/s

2025-06-05T18:42:38.078Z,1749148958.078 [DAT](INFO): DAT read: user:2782>

2025-06-05T18:42:38.079Z,1749148958.079 [DAT](INFO): DAT read: Tx time:18:42:36.9770

2025-06-05T18:42:38.079Z,1749148958.079 [DAT](INFO): Ping request sent.
2025-06-05T18:42:38.079Z,1749148958.079 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:38.080Z,1749148958.080 [DAT](INFO): DAT read: TxSync time:18:42:36.9762

2025-06-05T18:42:38.080Z,1749148958.080 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:38.081Z,1749148958.081 [DAT](INFO): direction in FSK: [0.966908,0.048981,-0.250380]
2025-06-05T18:42:38.082Z,1749148958.082 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:38.082Z,1749148958.082 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:38.085Z,1749148958.085 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:38.085Z,1749148958.085 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:38.296Z,1749148958.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 180.300003 m,
      deltaT: 3.783739 s,
      deltaX: -2.399994 m,
      approachRate: -0.634292 m/s,
      rangeRepo size: 4

2025-06-05T18:42:38.298Z,1749148958.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 178.870453 m,
      bearing: 304.308111 deg,
      lat: 36.906141 deg,
      lon: -122.116049 deg,
      deltaT: 3.783739 s,
      deltaX: -2.380508 m,
      approachRate: -0.629142 m/s,
      posRepo size: 4

2025-06-05T18:42:38.299Z,1749148958.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:38.307Z,1749148958.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 146.665237 m,
      bearing: 302.295674 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011808 deg/s,
      cmd heading: 300.174875 deg,
      new cmd heading: 300.189792 deg.

2025-06-05T18:42:38.313Z,1749148958.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239300 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:38.600Z,1749148958.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:38.602Z,1749148958.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 146.441986 m,
      bearing: 302.299886 deg,
      approach rate: -0.696340 m/s,
      LOS rate: 0.013160 deg/s,
      cmd heading: 300.189792 deg,
      new cmd heading: 300.202450 deg.

2025-06-05T18:42:38.604Z,1749148958.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239521 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:39.075Z,1749148959.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:39.082Z,1749148959.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 146.135086 m,
      bearing: 302.305977 deg,
      approach rate: -0.645590 m/s,
      LOS rate: 0.012840 deg/s,
      cmd heading: 300.202441 deg,
      new cmd heading: 300.220753 deg.

2025-06-05T18:42:39.083Z,1749148959.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239841 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:39.197Z,1749148959.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:42:39.403Z,1749148959.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:39.407Z,1749148959.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 145.905167 m,
      bearing: 302.310421 deg,
      approach rate: -0.701778 m/s,
      LOS rate: 0.013584 deg/s,
      cmd heading: 300.220746 deg,
      new cmd heading: 300.234098 deg.

2025-06-05T18:42:39.424Z,1749148959.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240074 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:39.933Z,1749148959.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:39.938Z,1749148959.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:39.941Z,1749148959.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 145.573685 m,
      bearing: 302.320340 deg,
      approach rate: -0.619635 m/s,
      LOS rate: 0.018583 deg/s,
      cmd heading: 300.234106 deg,
      new cmd heading: 300.263930 deg.

2025-06-05T18:42:39.941Z,1749148959.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240594 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:40.080Z,1749148960.080 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:40.080Z,1749148960.080 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:40.081Z,1749148960.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:40.201Z,1749148960.201 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:42:40.259Z,1749148960.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:40.262Z,1749148960.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 145.332397 m,
      bearing: 302.327489 deg,
      approach rate: -0.750271 m/s,
      LOS rate: 0.022269 deg/s,
      cmd heading: 300.263941 deg,
      new cmd heading: 300.285425 deg.

2025-06-05T18:42:40.263Z,1749148960.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240969 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:40.334Z,1749148960.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254515
2025-06-05T18:42:40.585Z,1749148960.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505452
2025-06-05T18:42:40.665Z,1749148960.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:40.667Z,1749148960.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 145.057175 m,
      bearing: 302.335632 deg,
      approach rate: -0.679004 m/s,
      LOS rate: 0.020127 deg/s,
      cmd heading: 300.285415 deg,
      new cmd heading: 300.309889 deg.

2025-06-05T18:42:40.668Z,1749148960.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241396 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:40.837Z,1749148960.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757611
2025-06-05T18:42:41.090Z,1749148961.090 [DAT](INFO): DAT read: Rx Time:18:42:39.6202

2025-06-05T18:42:41.090Z,1749148961.090 [DAT](INFO): Rx dataTimestamp_ set to:1749148961.090112
2025-06-05T18:42:41.091Z,1749148961.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011858
2025-06-05T18:42:41.102Z,1749148961.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:41.106Z,1749148961.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 144.759430 m,
      bearing: 302.346795 deg,
      approach rate: -0.681081 m/s,
      LOS rate: 0.025588 deg/s,
      cmd heading: 300.309894 deg,
      new cmd heading: 300.343452 deg.

2025-06-05T18:42:41.108Z,1749148961.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241982 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:41.341Z,1749148961.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261498
2025-06-05T18:42:41.516Z,1749148961.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.87 m.
2025-06-05T18:42:41.519Z,1749148961.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.870453 m,
      nav range: 144.478058 m,
      bearing: 302.357305 deg,
      approach rate: -0.678461 m/s,
      LOS rate: 0.025392 deg/s,
      cmd heading: 300.343444 deg,
      new cmd heading: 300.375036 deg.

2025-06-05T18:42:41.523Z,1749148961.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242533 target range: 178.870453 and range: 180.30 m.
2025-06-05T18:42:41.608Z,1749148961.608 [DAT](INFO): DAT read: 18:42:39.6202 LVL= 31040, 30449, 29810, 31843, AGC= 59, IDX= 107, 0.23, 1.214,-0.467, 1.075, 0.523, PHS= 0.779,-0.943, 0.549, RAW= 142.9,  -4.8, CAL= 148.4, -14.0, ROT=   1.6,  14.0

2025-06-05T18:42:41.611Z,1749148961.611 [DAT](INFO): got valid direction response:
 18:42:39.6202 LVL= 31040, 30449, 29810, 31843, AGC= 59, IDX= 107, 0.23, 1.214,-0.467, 1.075, 0.523, PHS= 0.779,-0.943, 0.549, RAW= 142.9,  -4.8, CAL= 148.4, -14.0, ROT=   1.6,  14.0

2025-06-05T18:42:41.618Z,1749148961.618 [DAT](INFO): DAT read: Bearing   1.6,  14.0 (Local)

2025-06-05T18:42:41.619Z,1749148961.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  14.0 (Local)

2025-06-05T18:42:41.625Z,1749148961.625 [DAT](INFO): DAT read: Range 10 to 50 : 179.2 m  (Round-trip  239.0 ms) speed  0.3 m/s

2025-06-05T18:42:41.626Z,1749148961.626 [DAT](INFO): DAT read: user:2783>

2025-06-05T18:42:41.627Z,1749148961.627 [DAT](INFO): DAT read: Tx time:18:42:40.7270

2025-06-05T18:42:41.627Z,1749148961.627 [DAT](INFO): Ping request sent.
2025-06-05T18:42:41.627Z,1749148961.627 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:41.637Z,1749148961.637 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:41.639Z,1749148961.639 [DAT](INFO): direction in FSK: [0.969917,0.027092,-0.241922]
2025-06-05T18:42:41.645Z,1749148961.645 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:41.645Z,1749148961.645 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:41.664Z,1749148961.664 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:41.664Z,1749148961.664 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:41.845Z,1749148961.845 [DAT](INFO): DAT read: TxSync time:18:42:40.7262

2025-06-05T18:42:42.007Z,1749148962.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.199997 m,
      deltaT: 3.529326 s,
      deltaX: -1.100006 m,
      approachRate: -0.311676 m/s,
      rangeRepo size: 4

2025-06-05T18:42:42.013Z,1749148962.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.772720 m,
      bearing: 303.292761 deg,
      lat: 36.906223 deg,
      lon: -122.116095 deg,
      deltaT: 3.529326 s,
      deltaX: -1.097733 m,
      approachRate: -0.311032 m/s,
      posRepo size: 4

2025-06-05T18:42:42.014Z,1749148962.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:42.025Z,1749148962.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 152.650772 m,
      bearing: 304.446715 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025392 deg/s,
      cmd heading: 300.375027 deg,
      new cmd heading: 300.412330 deg.

2025-06-05T18:42:42.026Z,1749148962.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243184 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:42.373Z,1749148962.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:42.375Z,1749148962.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:42.379Z,1749148962.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 152.405548 m,
      bearing: 304.462600 deg,
      approach rate: -0.664148 m/s,
      LOS rate: 0.043092 deg/s,
      cmd heading: 300.412320 deg,
      new cmd heading: 300.460052 deg.

2025-06-05T18:42:42.380Z,1749148962.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244017 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:42.605Z,1749148962.605 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:42.605Z,1749148962.605 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:42.606Z,1749148962.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:42.817Z,1749148962.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:42.828Z,1749148962.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 152.098755 m,
      bearing: 304.482780 deg,
      approach rate: -0.694289 m/s,
      LOS rate: 0.045761 deg/s,
      cmd heading: 300.460049 deg,
      new cmd heading: 300.520711 deg.

2025-06-05T18:42:42.829Z,1749148962.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245076 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:42.857Z,1749148962.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229880
2025-06-05T18:42:43.109Z,1749148963.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481516
2025-06-05T18:42:43.194Z,1749148963.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:43.201Z,1749148963.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 151.850647 m,
      bearing: 304.502110 deg,
      approach rate: -0.657729 m/s,
      LOS rate: 0.051327 deg/s,
      cmd heading: 300.520701 deg,
      new cmd heading: 300.578786 deg.

2025-06-05T18:42:43.202Z,1749148963.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.246089 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:43.361Z,1749148963.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733661
2025-06-05T18:42:43.532Z,1749148963.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:43.560Z,1749148963.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 151.626144 m,
      bearing: 304.519570 deg,
      approach rate: -0.664148 m/s,
      LOS rate: 0.051727 deg/s,
      cmd heading: 300.578785 deg,
      new cmd heading: 300.631241 deg.

2025-06-05T18:42:43.563Z,1749148963.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247005 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:43.614Z,1749148963.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986400
2025-06-05T18:42:43.865Z,1749148963.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237753
2025-06-05T18:42:43.985Z,1749148963.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:43.987Z,1749148963.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 151.355011 m,
      bearing: 304.543202 deg,
      approach rate: -0.599643 m/s,
      LOS rate: 0.052358 deg/s,
      cmd heading: 300.631241 deg,
      new cmd heading: 300.702263 deg.

2025-06-05T18:42:43.995Z,1749148963.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.248245 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:44.117Z,1749148964.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489533
2025-06-05T18:42:44.367Z,1749148964.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:44.369Z,1749148964.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741508
2025-06-05T18:42:44.375Z,1749148964.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 151.104538 m,
      bearing: 304.564968 deg,
      approach rate: -0.654671 m/s,
      LOS rate: 0.056985 deg/s,
      cmd heading: 300.702275 deg,
      new cmd heading: 300.767681 deg.

2025-06-05T18:42:44.380Z,1749148964.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.249386 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:44.621Z,1749148964.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993584
2025-06-05T18:42:44.750Z,1749148964.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:44.779Z,1749148964.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:44.802Z,1749148964.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 150.859894 m,
      bearing: 304.586172 deg,
      approach rate: -0.596452 m/s,
      LOS rate: 0.051780 deg/s,
      cmd heading: 300.767681 deg,
      new cmd heading: 300.831396 deg.

2025-06-05T18:42:44.817Z,1749148964.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.250498 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:44.874Z,1749148964.874 [DAT](INFO): DAT read: Rx Time:18:42:43.3667

2025-06-05T18:42:44.874Z,1749148964.874 [DAT](INFO): Rx dataTimestamp_ set to:1749148964.874221
2025-06-05T18:42:44.875Z,1749148964.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247856
2025-06-05T18:42:45.125Z,1749148965.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498142
2025-06-05T18:42:45.212Z,1749148965.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.77 m.
2025-06-05T18:42:45.214Z,1749148965.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.772720 m,
      nav range: 150.586166 m,
      bearing: 304.611108 deg,
      approach rate: -0.630828 m/s,
      LOS rate: 0.057573 deg/s,
      cmd heading: 300.831393 deg,
      new cmd heading: 300.906339 deg.

2025-06-05T18:42:45.215Z,1749148965.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.251806 target range: 177.772720 and range: 179.20 m.
2025-06-05T18:42:45.383Z,1749148965.383 [DAT](INFO): DAT read: 18:42:43.3668 LVL= 24720, 20753, 22002, 24659, AGC= 60, IDX= 408,-0.16, 0.765,-0.520, 0.906,-0.415, PHS= 1.268,-0.058, 1.318, RAW= 151.8, -33.5, CAL= 154.2, -38.7, ROT= 355.8,  38.7

2025-06-05T18:42:45.384Z,1749148965.384 [DAT](INFO): got valid direction response:
 18:42:43.3668 LVL= 24720, 20753, 22002, 24659, AGC= 60, IDX= 408,-0.16, 0.765,-0.520, 0.906,-0.415, PHS= 1.268,-0.058, 1.318, RAW= 151.8, -33.5, CAL= 154.2, -38.7, ROT= 355.8,  38.7

2025-06-05T18:42:45.385Z,1749148965.385 [DAT](INFO): DAT read: Bearing 355.8,  38.7 (Local)

2025-06-05T18:42:45.385Z,1749148965.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  38.7 (Local)

2025-06-05T18:42:45.387Z,1749148965.387 [DAT](INFO): DAT read: Range 10 to 50 : 176.7 m  (Round-trip  235.6 ms) speed  0.4 m/s

2025-06-05T18:42:45.388Z,1749148965.388 [DAT](INFO): DAT read: user:2784>

2025-06-05T18:42:45.390Z,1749148965.390 [DAT](INFO): DAT read: Tx time:18:42:44.4771

2025-06-05T18:42:45.390Z,1749148965.390 [DAT](INFO): Ping request sent.
2025-06-05T18:42:45.390Z,1749148965.390 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:45.391Z,1749148965.391 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:45.392Z,1749148965.392 [DAT](INFO): direction in FSK: [0.778335,-0.057157,-0.625243]
2025-06-05T18:42:45.392Z,1749148965.392 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:45.392Z,1749148965.392 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:45.395Z,1749148965.395 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:45.396Z,1749148965.396 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:45.629Z,1749148965.629 [DAT](INFO): DAT read: TxSync time:18:42:44.4763

2025-06-05T18:42:45.682Z,1749148965.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 176.699997 m,
      deltaT: 3.783004 s,
      deltaX: -2.500000 m,
      approachRate: -0.660850 m/s,
      rangeRepo size: 4

2025-06-05T18:42:45.694Z,1749148965.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 175.291962 m,
      bearing: 300.246513 deg,
      lat: 36.906223 deg,
      lon: -122.116053 deg,
      deltaT: 3.783004 s,
      deltaX: -2.480759 m,
      approachRate: -0.655764 m/s,
      posRepo size: 4

2025-06-05T18:42:45.695Z,1749148965.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:45.717Z,1749148965.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 147.276169 m,
      bearing: 305.457546 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.057573 deg/s,
      cmd heading: 300.906333 deg,
      new cmd heading: 300.987427 deg.

2025-06-05T18:42:45.719Z,1749148965.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.253222 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:46.108Z,1749148966.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:46.111Z,1749148966.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 146.993790 m,
      bearing: 305.482570 deg,
      approach rate: -0.660565 m/s,
      LOS rate: 0.058650 deg/s,
      cmd heading: 300.987421 deg,
      new cmd heading: 301.062637 deg.

2025-06-05T18:42:46.118Z,1749148966.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254534 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:46.481Z,1749148966.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:46.484Z,1749148966.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 146.751175 m,
      bearing: 305.504148 deg,
      approach rate: -0.651037 m/s,
      LOS rate: 0.057999 deg/s,
      cmd heading: 301.062636 deg,
      new cmd heading: 301.127477 deg.

2025-06-05T18:42:46.485Z,1749148966.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255666 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:46.968Z,1749148966.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:46.974Z,1749148966.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:46.976Z,1749148966.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 146.454803 m,
      bearing: 305.525360 deg,
      approach rate: -0.601668 m/s,
      LOS rate: 0.043149 deg/s,
      cmd heading: 301.127468 deg,
      new cmd heading: 301.191231 deg.

2025-06-05T18:42:46.977Z,1749148966.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256779 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:47.150Z,1749148967.150 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:47.151Z,1749148967.151 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:47.152Z,1749148967.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:47.307Z,1749148967.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:47.310Z,1749148967.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 146.240173 m,
      bearing: 305.540489 deg,
      approach rate: -0.644814 m/s,
      LOS rate: 0.045518 deg/s,
      cmd heading: 301.191234 deg,
      new cmd heading: 301.236687 deg.

2025-06-05T18:42:47.311Z,1749148967.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257572 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:47.402Z,1749148967.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011232
2025-06-05T18:42:47.653Z,1749148967.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262310
2025-06-05T18:42:47.715Z,1749148967.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:47.720Z,1749148967.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 145.990768 m,
      bearing: 305.557863 deg,
      approach rate: -0.610761 m/s,
      LOS rate: 0.042621 deg/s,
      cmd heading: 301.236696 deg,
      new cmd heading: 301.288909 deg.

2025-06-05T18:42:47.722Z,1749148967.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.258483 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:47.906Z,1749148967.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515122
2025-06-05T18:42:48.144Z,1749148968.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:48.147Z,1749148968.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 145.731445 m,
      bearing: 305.572746 deg,
      approach rate: -0.610206 m/s,
      LOS rate: 0.035083 deg/s,
      cmd heading: 301.288906 deg,
      new cmd heading: 301.333634 deg.

2025-06-05T18:42:48.159Z,1749148968.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767906
2025-06-05T18:42:48.164Z,1749148968.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.259264 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:48.412Z,1749148968.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021580
2025-06-05T18:42:48.490Z,1749148968.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:48.509Z,1749148968.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 145.500534 m,
      bearing: 305.585978 deg,
      approach rate: -0.660677 m/s,
      LOS rate: 0.037917 deg/s,
      cmd heading: 301.333630 deg,
      new cmd heading: 301.373387 deg.

2025-06-05T18:42:48.510Z,1749148968.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.259958 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:48.661Z,1749148968.661 [DAT](INFO): DAT read: Rx Time:18:42:47.1135

2025-06-05T18:42:48.661Z,1749148968.661 [DAT](INFO): Rx dataTimestamp_ set to:1749148968.660891
2025-06-05T18:42:48.662Z,1749148968.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271342
2025-06-05T18:42:48.913Z,1749148968.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522611
2025-06-05T18:42:48.977Z,1749148968.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:48.984Z,1749148968.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.29 m.
2025-06-05T18:42:48.986Z,1749148968.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.291962 m,
      nav range: 145.189850 m,
      bearing: 305.598694 deg,
      approach rate: -0.633871 m/s,
      LOS rate: 0.026001 deg/s,
      cmd heading: 301.373382 deg,
      new cmd heading: 301.411614 deg.

2025-06-05T18:42:48.992Z,1749148968.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.260625 target range: 175.291962 and range: 176.70 m.
2025-06-05T18:42:49.185Z,1749148969.185 [DAT](INFO): DAT read: 18:42:47.1135 LVL= 31856, 32753, 26898, 32755, AGC= 62, IDX= 407, 0.03,-2.621, 2.311,-2.663, 3.058, PHS= 0.692,-0.700, 0.559, RAW= 145.0,  -8.3, CAL= 151.4, -17.2, ROT= 358.6,  17.2

2025-06-05T18:42:49.203Z,1749148969.203 [DAT](INFO): got valid direction response:
 18:42:47.1135 LVL= 31856, 32753, 26898, 32755, AGC= 62, IDX= 407, 0.03,-2.621, 2.311,-2.663, 3.058, PHS= 0.692,-0.700, 0.559, RAW= 145.0,  -8.3, CAL= 151.4, -17.2, ROT= 358.6,  17.2

2025-06-05T18:42:49.208Z,1749148969.208 [DAT](INFO): DAT read: Bearing 358.6,  17.2 (Local)

2025-06-05T18:42:49.209Z,1749148969.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  17.2 (Local)

2025-06-05T18:42:49.211Z,1749148969.211 [DAT](INFO): DAT read: Range 10 to 50 : 174.2 m  (Round-trip  232.3 ms) speed  0.2 m/s

2025-06-05T18:42:49.219Z,1749148969.219 [DAT](INFO): DAT read: user:2785>

2025-06-05T18:42:49.224Z,1749148969.224 [DAT](INFO): DAT read: Tx time:18:42:48.2271

2025-06-05T18:42:49.225Z,1749148969.225 [DAT](INFO): Ping request sent.
2025-06-05T18:42:49.225Z,1749148969.225 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:49.225Z,1749148969.225 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:49.226Z,1749148969.226 [DAT](INFO): direction in FSK: [0.954993,-0.023339,-0.295708]
2025-06-05T18:42:49.226Z,1749148969.226 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:49.226Z,1749148969.226 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:49.250Z,1749148969.250 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:49.250Z,1749148969.250 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:49.386Z,1749148969.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 174.199997 m,
      deltaT: 3.788207 s,
      deltaX: -2.500000 m,
      approachRate: -0.659943 m/s,
      rangeRepo size: 4

2025-06-05T18:42:49.392Z,1749148969.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 172.814102 m,
      bearing: 301.429062 deg,
      lat: 36.906242 deg,
      lon: -122.116280 deg,
      deltaT: 3.788207 s,
      deltaX: -2.477859 m,
      approachRate: -0.654098 m/s,
      posRepo size: 4

2025-06-05T18:42:49.393Z,1749148969.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:49.403Z,1749148969.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 162.873657 m,
      bearing: 302.063547 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026001 deg/s,
      cmd heading: 301.411604 deg,
      new cmd heading: 301.443259 deg.

2025-06-05T18:42:49.408Z,1749148969.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261178 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:49.417Z,1749148969.417 [DAT](INFO): DAT read: TxSync time:18:42:48.2263

2025-06-05T18:42:49.734Z,1749148969.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:49.741Z,1749148969.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 162.630829 m,
      bearing: 302.067269 deg,
      approach rate: -0.696472 m/s,
      LOS rate: 0.010692 deg/s,
      cmd heading: 301.443268 deg,
      new cmd heading: 301.454452 deg.

2025-06-05T18:42:49.742Z,1749148969.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261373 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:50.139Z,1749148970.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:50.142Z,1749148970.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 162.349426 m,
      bearing: 302.070360 deg,
      approach rate: -0.694086 m/s,
      LOS rate: 0.007637 deg/s,
      cmd heading: 301.454442 deg,
      new cmd heading: 301.463731 deg.

2025-06-05T18:42:50.143Z,1749148970.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261535 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:50.504Z,1749148970.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:50.507Z,1749148970.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 162.105591 m,
      bearing: 302.073009 deg,
      approach rate: -0.669627 m/s,
      LOS rate: 0.007286 deg/s,
      cmd heading: 301.463732 deg,
      new cmd heading: 301.471691 deg.

2025-06-05T18:42:50.508Z,1749148970.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261673 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:50.980Z,1749148970.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:50.982Z,1749148970.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:50.985Z,1749148970.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 161.784210 m,
      bearing: 302.074634 deg,
      approach rate: -0.671036 m/s,
      LOS rate: 0.003398 deg/s,
      cmd heading: 301.471682 deg,
      new cmd heading: 301.476564 deg.

2025-06-05T18:42:50.986Z,1749148970.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261759 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:51.181Z,1749148971.181 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:51.181Z,1749148971.181 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:51.181Z,1749148971.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:51.315Z,1749148971.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:51.318Z,1749148971.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 161.562225 m,
      bearing: 302.075694 deg,
      approach rate: -0.667152 m/s,
      LOS rate: 0.003191 deg/s,
      cmd heading: 301.476572 deg,
      new cmd heading: 301.479758 deg.

2025-06-05T18:42:51.319Z,1749148971.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261815 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:51.435Z,1749148971.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210129
2025-06-05T18:42:51.686Z,1749148971.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460481
2025-06-05T18:42:51.753Z,1749148971.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:51.761Z,1749148971.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 161.280487 m,
      bearing: 302.077018 deg,
      approach rate: -0.643635 m/s,
      LOS rate: 0.003029 deg/s,
      cmd heading: 301.479769 deg,
      new cmd heading: 301.483747 deg.

2025-06-05T18:42:51.762Z,1749148971.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261884 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:51.937Z,1749148971.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711787
2025-06-05T18:42:52.189Z,1749148972.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963932
2025-06-05T18:42:52.244Z,1749148972.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:52.247Z,1749148972.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 160.956894 m,
      bearing: 302.078155 deg,
      approach rate: -0.694962 m/s,
      LOS rate: 0.002448 deg/s,
      cmd heading: 301.483758 deg,
      new cmd heading: 301.487178 deg.

2025-06-05T18:42:52.252Z,1749148972.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261944 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:52.441Z,1749148972.441 [DAT](INFO): DAT read: Rx Time:18:42:50.8609

2025-06-05T18:42:52.441Z,1749148972.441 [DAT](INFO): Rx dataTimestamp_ set to:1749148972.440942
2025-06-05T18:42:52.442Z,1749148972.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216985
2025-06-05T18:42:52.614Z,1749148972.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.81 m.
2025-06-05T18:42:52.617Z,1749148972.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.814102 m,
      nav range: 160.702194 m,
      bearing: 302.079013 deg,
      approach rate: -0.644475 m/s,
      LOS rate: 0.002174 deg/s,
      cmd heading: 301.487173 deg,
      new cmd heading: 301.489750 deg.

2025-06-05T18:42:52.618Z,1749148972.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261989 target range: 172.814102 and range: 174.20 m.
2025-06-05T18:42:52.694Z,1749148972.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468778
2025-06-05T18:42:52.959Z,1749148972.959 [DAT](INFO): DAT read: 18:42:50.8609 LVL= 28176, 32753, 25426, 32755, AGC= 68, IDX= 412,-0.15, 1.806, 0.441, 1.785, 1.188, PHS= 0.705,-0.700, 0.594, RAW= 145.9,  -8.9, CAL= 152.3, -17.6, ROT= 357.7,  17.6

2025-06-05T18:42:52.961Z,1749148972.961 [DAT](INFO): got valid direction response:
 18:42:50.8609 LVL= 28176, 32753, 25426, 32755, AGC= 68, IDX= 412,-0.15, 1.806, 0.441, 1.785, 1.188, PHS= 0.705,-0.700, 0.594, RAW= 145.9,  -8.9, CAL= 152.3, -17.6, ROT= 357.7,  17.6

2025-06-05T18:42:52.961Z,1749148972.961 [DAT](INFO): DAT read: Bearing 357.7,  17.6 (Local)

2025-06-05T18:42:52.962Z,1749148972.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  17.6 (Local)

2025-06-05T18:42:52.963Z,1749148972.963 [DAT](INFO): DAT read: Range 10 to 50 : 172.2 m  (Round-trip  229.6 ms) speed  1.1 m/s

2025-06-05T18:42:52.964Z,1749148972.964 [DAT](INFO): DAT read: user:2786>

2025-06-05T18:42:52.965Z,1749148972.965 [DAT](INFO): DAT read: Tx time:18:42:51.9771

2025-06-05T18:42:52.965Z,1749148972.965 [DAT](INFO): Ping request sent.
2025-06-05T18:42:52.965Z,1749148972.965 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:52.965Z,1749148972.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:52.966Z,1749148972.966 [DAT](INFO): direction in FSK: [0.952423,-0.038253,-0.302370]
2025-06-05T18:42:52.967Z,1749148972.967 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:52.967Z,1749148972.967 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:52.970Z,1749148972.970 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:52.970Z,1749148972.970 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:53.107Z,1749148973.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 172.199997 m,
      deltaT: 3.787579 s,
      deltaX: -2.000000 m,
      approachRate: -0.528042 m/s,
      rangeRepo size: 4

2025-06-05T18:42:53.113Z,1749148973.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 170.829849 m,
      bearing: 300.587535 deg,
      lat: 36.906242 deg,
      lon: -122.116314 deg,
      deltaT: 3.787579 s,
      deltaX: -1.984253 m,
      approachRate: -0.523884 m/s,
      posRepo size: 4

2025-06-05T18:42:53.114Z,1749148973.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:53.126Z,1749148973.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 162.929993 m,
      bearing: 301.521691 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002174 deg/s,
      cmd heading: 301.489741 deg,
      new cmd heading: 301.492951 deg.

2025-06-05T18:42:53.134Z,1749148973.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.262045 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:53.207Z,1749148973.207 [DAT](INFO): DAT read: TxSync time:18:42:51.9763

2025-06-05T18:42:53.450Z,1749148973.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:53.457Z,1749148973.457 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:53.457Z,1749148973.457 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:53.457Z,1749148973.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:53.464Z,1749148973.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:53.467Z,1749148973.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 162.692780 m,
      bearing: 301.523596 deg,
      approach rate: -0.672180 m/s,
      LOS rate: 0.005406 deg/s,
      cmd heading: 301.492965 deg,
      new cmd heading: 301.498688 deg.

2025-06-05T18:42:53.480Z,1749148973.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.262145 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:53.712Z,1749148973.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746279
2025-06-05T18:42:53.821Z,1749148973.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:53.825Z,1749148973.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 162.442688 m,
      bearing: 301.525854 deg,
      approach rate: -0.690639 m/s,
      LOS rate: 0.006247 deg/s,
      cmd heading: 301.498675 deg,
      new cmd heading: 301.505461 deg.

2025-06-05T18:42:53.826Z,1749148973.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.262263 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:53.961Z,1749148973.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995678
2025-06-05T18:42:54.213Z,1749148974.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247448
2025-06-05T18:42:54.352Z,1749148974.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:54.355Z,1749148974.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 162.099045 m,
      bearing: 301.532029 deg,
      approach rate: -0.647487 m/s,
      LOS rate: 0.011659 deg/s,
      cmd heading: 301.505450 deg,
      new cmd heading: 301.524014 deg.

2025-06-05T18:42:54.357Z,1749148974.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.262587 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:54.465Z,1749148974.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499572
2025-06-05T18:42:54.663Z,1749148974.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:54.666Z,1749148974.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 161.909119 m,
      bearing: 301.535338 deg,
      approach rate: -0.610742 m/s,
      LOS rate: 0.010654 deg/s,
      cmd heading: 301.524001 deg,
      new cmd heading: 301.533941 deg.

2025-06-05T18:42:54.667Z,1749148974.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.262760 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:54.717Z,1749148974.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752253
2025-06-05T18:42:54.972Z,1749148974.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006311
2025-06-05T18:42:55.091Z,1749148975.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:55.096Z,1749148975.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 161.628372 m,
      bearing: 301.543572 deg,
      approach rate: -0.655330 m/s,
      LOS rate: 0.019253 deg/s,
      cmd heading: 301.533946 deg,
      new cmd heading: 301.558690 deg.

2025-06-05T18:42:55.097Z,1749148975.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263192 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:55.221Z,1749148975.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255900
2025-06-05T18:42:55.473Z,1749148975.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508289
2025-06-05T18:42:55.474Z,1749148975.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:55.476Z,1749148975.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:55.479Z,1749148975.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 161.393784 m,
      bearing: 301.550380 deg,
      approach rate: -0.609608 m/s,
      LOS rate: 0.017718 deg/s,
      cmd heading: 301.558698 deg,
      new cmd heading: 301.579153 deg.

2025-06-05T18:42:55.480Z,1749148975.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263549 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:55.725Z,1749148975.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759530
2025-06-05T18:42:55.860Z,1749148975.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:55.862Z,1749148975.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 161.141525 m,
      bearing: 301.557704 deg,
      approach rate: -0.657272 m/s,
      LOS rate: 0.019111 deg/s,
      cmd heading: 301.579162 deg,
      new cmd heading: 301.601166 deg.

2025-06-05T18:42:55.864Z,1749148975.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263933 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:55.978Z,1749148975.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012542
2025-06-05T18:42:56.230Z,1749148976.230 [DAT](INFO): DAT read: Rx Time:18:42:54.6079

2025-06-05T18:42:56.230Z,1749148976.230 [DAT](INFO): Rx dataTimestamp_ set to:1749148976.230135
2025-06-05T18:42:56.231Z,1749148976.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265870
2025-06-05T18:42:56.334Z,1749148976.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:56.337Z,1749148976.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 160.842163 m,
      bearing: 301.569844 deg,
      approach rate: -0.630718 m/s,
      LOS rate: 0.025626 deg/s,
      cmd heading: 301.601155 deg,
      new cmd heading: 301.637645 deg.

2025-06-05T18:42:56.339Z,1749148976.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.264570 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:56.481Z,1749148976.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515422
2025-06-05T18:42:56.661Z,1749148976.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.83 m.
2025-06-05T18:42:56.664Z,1749148976.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.829849 m,
      nav range: 160.638092 m,
      bearing: 301.578106 deg,
      approach rate: -0.624952 m/s,
      LOS rate: 0.025331 deg/s,
      cmd heading: 301.637655 deg,
      new cmd heading: 301.662470 deg.

2025-06-05T18:42:56.665Z,1749148976.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265003 target range: 170.829849 and range: 172.20 m.
2025-06-05T18:42:56.740Z,1749148976.740 [DAT](INFO): DAT read: 18:42:54.6080 LVL= 29936, 29329, 24626, 29811, AGC= 61, IDX=  85, 0.22, 1.543, 0.236, 1.513, 0.955, PHS= 0.676,-0.672, 0.555, RAW= 145.4,  -8.7, CAL= 151.8, -17.5, ROT= 358.2,  17.5

2025-06-05T18:42:56.742Z,1749148976.742 [DAT](INFO): got valid direction response:
 18:42:54.6080 LVL= 29936, 29329, 24626, 29811, AGC= 61, IDX=  85, 0.22, 1.543, 0.236, 1.513, 0.955, PHS= 0.676,-0.672, 0.555, RAW= 145.4,  -8.7, CAL= 151.8, -17.5, ROT= 358.2,  17.5

2025-06-05T18:42:56.743Z,1749148976.743 [DAT](INFO): DAT read: Bearing 358.2,  17.5 (Local)

2025-06-05T18:42:56.744Z,1749148976.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  17.5 (Local)

2025-06-05T18:42:56.746Z,1749148976.746 [DAT](INFO): DAT read: Range 10 to 50 : 169.9 m  (Round-trip  226.6 ms) speed  0.6 m/s

2025-06-05T18:42:56.747Z,1749148976.747 [DAT](INFO): DAT read: user:2787>

2025-06-05T18:42:56.750Z,1749148976.750 [DAT](INFO): DAT read: Tx time:18:42:55.7272

2025-06-05T18:42:56.750Z,1749148976.750 [DAT](INFO): Ping request sent.
2025-06-05T18:42:56.750Z,1749148976.750 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:42:56.750Z,1749148976.750 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:42:56.751Z,1749148976.751 [DAT](INFO): direction in FSK: [0.953246,-0.029957,-0.300706]
2025-06-05T18:42:56.752Z,1749148976.752 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:56.752Z,1749148976.752 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:56.757Z,1749148976.757 [DAT](INFO): publishing transmit ping time
2025-06-05T18:42:56.757Z,1749148976.757 [DAT](INFO): publishing direction and range info
2025-06-05T18:42:56.988Z,1749148976.988 [DAT](INFO): DAT read: TxSync time:18:42:55.7264

2025-06-05T18:42:57.156Z,1749148977.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.899994 m,
      deltaT: 3.780073 s,
      deltaX: -2.300003 m,
      approachRate: -0.608455 m/s,
      rangeRepo size: 4

2025-06-05T18:42:57.158Z,1749148977.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.548874 m,
      bearing: 301.268253 deg,
      lat: 36.906239 deg,
      lon: -122.116319 deg,
      deltaT: 3.780073 s,
      deltaX: -2.280975 m,
      approachRate: -0.603421 m/s,
      posRepo size: 4

2025-06-05T18:42:57.159Z,1749148977.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:42:57.162Z,1749148977.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 160.567719 m,
      bearing: 301.409357 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025331 deg/s,
      cmd heading: 301.662463 deg,
      new cmd heading: 301.699730 deg.

2025-06-05T18:42:57.163Z,1749148977.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265654 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:42:57.528Z,1749148977.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:57.530Z,1749148977.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:42:57.543Z,1749148977.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 160.332825 m,
      bearing: 301.420188 deg,
      approach rate: -0.619562 m/s,
      LOS rate: 0.028610 deg/s,
      cmd heading: 301.699728 deg,
      new cmd heading: 301.732269 deg.

2025-06-05T18:42:57.548Z,1749148977.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.266222 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:42:57.741Z,1749148977.741 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:42:57.741Z,1749148977.741 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:42:57.741Z,1749148977.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:42:57.899Z,1749148977.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:42:57.902Z,1749148977.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 160.103836 m,
      bearing: 301.430843 deg,
      approach rate: -0.621478 m/s,
      LOS rate: 0.028959 deg/s,
      cmd heading: 301.732267 deg,
      new cmd heading: 301.764277 deg.

2025-06-05T18:42:57.903Z,1749148977.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.266780 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:42:57.999Z,1749148977.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248797
2025-06-05T18:42:58.245Z,1749148978.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494560
2025-06-05T18:42:58.365Z,1749148978.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:42:58.367Z,1749148978.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 159.817017 m,
      bearing: 301.443736 deg,
      approach rate: -0.615717 m/s,
      LOS rate: 0.027728 deg/s,
      cmd heading: 301.764287 deg,
      new cmd heading: 301.803037 deg.

2025-06-05T18:42:58.369Z,1749148978.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.267457 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:42:58.497Z,1749148978.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746649
2025-06-05T18:42:58.749Z,1749148978.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998603
2025-06-05T18:42:58.800Z,1749148978.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:42:58.803Z,1749148978.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 159.560730 m,
      bearing: 301.455034 deg,
      approach rate: -0.588360 m/s,
      LOS rate: 0.025978 deg/s,
      cmd heading: 301.803028 deg,
      new cmd heading: 301.836975 deg.

2025-06-05T18:42:58.804Z,1749148978.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.268049 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:42:59.003Z,1749148979.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252631
2025-06-05T18:42:59.175Z,1749148979.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:42:59.182Z,1749148979.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 159.322662 m,
      bearing: 301.464907 deg,
      approach rate: -0.634923 m/s,
      LOS rate: 0.026370 deg/s,
      cmd heading: 301.836988 deg,
      new cmd heading: 301.866650 deg.

2025-06-05T18:42:59.183Z,1749148979.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.268567 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:42:59.254Z,1749148979.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504142
2025-06-05T18:42:59.505Z,1749148979.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754777
2025-06-05T18:42:59.547Z,1749148979.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:42:59.550Z,1749148979.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:42:59.552Z,1749148979.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 159.079041 m,
      bearing: 301.474992 deg,
      approach rate: -0.650715 m/s,
      LOS rate: 0.026979 deg/s,
      cmd heading: 301.866658 deg,
      new cmd heading: 301.896960 deg.

2025-06-05T18:42:59.553Z,1749148979.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.269096 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:42:59.759Z,1749148979.759 [DAT](INFO): DAT read: Rx Time:18:42:58.3548

2025-06-05T18:42:59.760Z,1749148979.760 [DAT](INFO): Rx dataTimestamp_ set to:1749148979.759673
2025-06-05T18:42:59.760Z,1749148979.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010452
2025-06-05T18:42:59.939Z,1749148979.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:42:59.942Z,1749148979.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 158.835938 m,
      bearing: 301.485099 deg,
      approach rate: -0.625989 m/s,
      LOS rate: 0.026065 deg/s,
      cmd heading: 301.896957 deg,
      new cmd heading: 301.927324 deg.

2025-06-05T18:42:59.943Z,1749148979.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.269626 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:43:00.012Z,1749148980.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261062
2025-06-05T18:43:00.262Z,1749148980.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511543
2025-06-05T18:43:00.435Z,1749148980.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.55 m.
2025-06-05T18:43:00.439Z,1749148980.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.548874 m,
      nav range: 158.529114 m,
      bearing: 301.496113 deg,
      approach rate: -0.621265 m/s,
      LOS rate: 0.022345 deg/s,
      cmd heading: 301.927337 deg,
      new cmd heading: 301.960444 deg.

2025-06-05T18:43:00.441Z,1749148980.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270204 target range: 168.548874 and range: 169.90 m.
2025-06-05T18:43:00.518Z,1749148980.518 [DAT](INFO): DAT read: 18:42:58.3548 LVL= 23536, 32753, 20674, 32755, AGC= 66, IDX= 413,-0.48, 2.083, 0.714, 2.097, 1.528, PHS= 0.643,-0.767, 0.566, RAW= 147.2,  -6.5, CAL= 152.8, -15.1, ROT= 357.2,  15.1

2025-06-05T18:43:00.520Z,1749148980.520 [DAT](INFO): got valid direction response:
 18:42:58.3548 LVL= 23536, 32753, 20674, 32755, AGC= 66, IDX= 413,-0.48, 2.083, 0.714, 2.097, 1.528, PHS= 0.643,-0.767, 0.566, RAW= 147.2,  -6.5, CAL= 152.8, -15.1, ROT= 357.2,  15.1

2025-06-05T18:43:00.521Z,1749148980.521 [DAT](INFO): DAT read: Bearing 357.2,  15.1 (Local)

2025-06-05T18:43:00.521Z,1749148980.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  15.1 (Local)

2025-06-05T18:43:00.524Z,1749148980.524 [DAT](INFO): DAT read: Range 10 to 50 : 167.6 m  (Round-trip  223.5 ms) speed  0.1 m/s

2025-06-05T18:43:00.525Z,1749148980.525 [DAT](INFO): DAT read: user:2788>

2025-06-05T18:43:00.525Z,1749148980.525 [DAT](INFO): DAT read: Tx time:18:42:59.4772

2025-06-05T18:43:00.525Z,1749148980.525 [DAT](INFO): Ping request sent.
2025-06-05T18:43:00.526Z,1749148980.526 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:00.526Z,1749148980.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:43:00.527Z,1749148980.527 [DAT](INFO): direction in FSK: [0.964320,-0.047163,-0.260505]
2025-06-05T18:43:00.527Z,1749148980.527 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:00.530Z,1749148980.530 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:00.544Z,1749148980.544 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:00.545Z,1749148980.545 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:00.765Z,1749148980.765 [DAT](INFO): DAT read: TxSync time:18:42:59.4764

2025-06-05T18:43:00.837Z,1749148980.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 167.600006 m,
      deltaT: 3.779963 s,
      deltaX: -2.299988 m,
      approachRate: -0.608468 m/s,
      rangeRepo size: 4

2025-06-05T18:43:00.845Z,1749148980.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 166.266052 m,
      bearing: 300.343019 deg,
      lat: 36.906225 deg,
      lon: -122.116328 deg,
      deltaT: 3.779963 s,
      deltaX: -2.282822 m,
      approachRate: -0.603927 m/s,
      posRepo size: 4

2025-06-05T18:43:00.846Z,1749148980.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:00.853Z,1749148980.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 158.153290 m,
      bearing: 300.895181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022345 deg/s,
      cmd heading: 301.960450 deg,
      new cmd heading: 301.987602 deg.

2025-06-05T18:43:00.854Z,1749148980.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270678 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:01.246Z,1749148981.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:01.253Z,1749148981.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 157.875504 m,
      bearing: 300.901046 deg,
      approach rate: -0.679476 m/s,
      LOS rate: 0.014371 deg/s,
      cmd heading: 301.987607 deg,
      new cmd heading: 302.005233 deg.

2025-06-05T18:43:01.254Z,1749148981.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270986 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:01.629Z,1749148981.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:01.632Z,1749148981.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:01.634Z,1749148981.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 157.626099 m,
      bearing: 300.906662 deg,
      approach rate: -0.646483 m/s,
      LOS rate: 0.014581 deg/s,
      cmd heading: 302.005229 deg,
      new cmd heading: 302.022105 deg.

2025-06-05T18:43:01.636Z,1749148981.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271280 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:01.773Z,1749148981.773 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:01.773Z,1749148981.773 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:01.774Z,1749148981.774 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:02.027Z,1749148982.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501032
2025-06-05T18:43:02.068Z,1749148982.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:02.071Z,1749148982.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 157.361588 m,
      bearing: 300.912703 deg,
      approach rate: -0.619254 m/s,
      LOS rate: 0.014166 deg/s,
      cmd heading: 302.022113 deg,
      new cmd heading: 302.040266 deg.

2025-06-05T18:43:02.076Z,1749148982.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271597 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:02.279Z,1749148982.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752928
2025-06-05T18:43:02.457Z,1749148982.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:02.464Z,1749148982.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 157.064651 m,
      bearing: 300.917704 deg,
      approach rate: -0.744805 m/s,
      LOS rate: 0.012569 deg/s,
      cmd heading: 302.040254 deg,
      new cmd heading: 302.055287 deg.

2025-06-05T18:43:02.465Z,1749148982.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271859 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:02.530Z,1749148982.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003867
2025-06-05T18:43:02.781Z,1749148982.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254976
2025-06-05T18:43:02.818Z,1749148982.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:02.821Z,1749148982.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 156.812531 m,
      bearing: 300.921899 deg,
      approach rate: -0.699027 m/s,
      LOS rate: 0.011649 deg/s,
      cmd heading: 302.055281 deg,
      new cmd heading: 302.067885 deg.

2025-06-05T18:43:02.824Z,1749148982.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272079 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:03.036Z,1749148983.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509207
2025-06-05T18:43:03.263Z,1749148983.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:03.274Z,1749148983.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 156.516006 m,
      bearing: 300.923652 deg,
      approach rate: -0.665872 m/s,
      LOS rate: 0.003943 deg/s,
      cmd heading: 302.067875 deg,
      new cmd heading: 302.073144 deg.

2025-06-05T18:43:03.275Z,1749148983.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272171 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:03.285Z,1749148983.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759098
2025-06-05T18:43:03.538Z,1749148983.538 [DAT](INFO): DAT read: Rx Time:18:43:02.1028

2025-06-05T18:43:03.539Z,1749148983.539 [DAT](INFO): Rx dataTimestamp_ set to:1749148983.538798
2025-06-05T18:43:03.540Z,1749148983.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014467
2025-06-05T18:43:03.615Z,1749148983.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:03.618Z,1749148983.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 156.272003 m,
      bearing: 300.925081 deg,
      approach rate: -0.694092 m/s,
      LOS rate: 0.004072 deg/s,
      cmd heading: 302.073148 deg,
      new cmd heading: 302.077443 deg.

2025-06-05T18:43:03.619Z,1749148983.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272246 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:03.790Z,1749148983.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264096
2025-06-05T18:43:04.045Z,1749148984.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518920
2025-06-05T18:43:04.113Z,1749148984.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:04.115Z,1749148984.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.27 m.
2025-06-05T18:43:04.123Z,1749148984.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.266052 m,
      nav range: 155.960938 m,
      bearing: 300.926910 deg,
      approach rate: -0.622335 m/s,
      LOS rate: 0.003666 deg/s,
      cmd heading: 302.077438 deg,
      new cmd heading: 302.082935 deg.

2025-06-05T18:43:04.128Z,1749148984.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272342 target range: 166.266052 and range: 167.60 m.
2025-06-05T18:43:04.299Z,1749148984.299 [DAT](INFO): DAT read: 18:43:02.1028 LVL= 27632, 30769, 25714, 32755, AGC= 65, IDX= 423, 0.24,-2.616, 2.404,-2.579, 3.099, PHS= 0.656,-0.648, 0.602, RAW= 147.9,  -9.6, CAL= 154.3, -17.9, ROT= 355.7,  17.9

2025-06-05T18:43:04.305Z,1749148984.305 [DAT](INFO): got valid direction response:
 18:43:02.1028 LVL= 27632, 30769, 25714, 32755, AGC= 65, IDX= 423, 0.24,-2.616, 2.404,-2.579, 3.099, PHS= 0.656,-0.648, 0.602, RAW= 147.9,  -9.6, CAL= 154.3, -17.9, ROT= 355.7,  17.9

2025-06-05T18:43:04.331Z,1749148984.331 [DAT](INFO): DAT read: Bearing 355.7,  17.9 (Local)

2025-06-05T18:43:04.331Z,1749148984.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  17.9 (Local)

2025-06-05T18:43:04.338Z,1749148984.338 [DAT](INFO): DAT read: Range 10 to 50 : 166.0 m  (Round-trip  221.4 ms) speed  0.3 m/s

2025-06-05T18:43:04.340Z,1749148984.340 [DAT](INFO): DAT read: user:2789>

2025-06-05T18:43:04.341Z,1749148984.341 [DAT](INFO): DAT read: Tx time:18:43:03.2272

2025-06-05T18:43:04.341Z,1749148984.341 [DAT](INFO): Ping request sent.
2025-06-05T18:43:04.341Z,1749148984.341 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:04.342Z,1749148984.342 [DAT](INFO): DAT read: TxSync time:18:43:03.2264

2025-06-05T18:43:04.342Z,1749148984.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:43:04.344Z,1749148984.344 [DAT](INFO): direction in FSK: [0.948916,-0.071349,-0.307357]
2025-06-05T18:43:04.344Z,1749148984.344 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:04.344Z,1749148984.344 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:04.347Z,1749148984.347 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:04.349Z,1749148984.349 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:04.547Z,1749148984.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 166.000000 m,
      deltaT: 3.779855 s,
      deltaX: -1.600006 m,
      approachRate: -0.423298 m/s,
      rangeRepo size: 4

2025-06-05T18:43:04.553Z,1749148984.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.674622 m,
      bearing: 298.936916 deg,
      lat: 36.906225 deg,
      lon: -122.116334 deg,
      deltaT: 3.779855 s,
      deltaX: -1.591431 m,
      approachRate: -0.421030 m/s,
      posRepo size: 4

2025-06-05T18:43:04.554Z,1749148984.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:04.562Z,1749148984.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 156.160736 m,
      bearing: 300.816596 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003666 deg/s,
      cmd heading: 302.082929 deg,
      new cmd heading: 302.087677 deg.

2025-06-05T18:43:04.563Z,1749148984.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272425 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:04.866Z,1749148984.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:04.870Z,1749148984.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 155.944046 m,
      bearing: 300.816859 deg,
      approach rate: -0.677663 m/s,
      LOS rate: 0.000824 deg/s,
      cmd heading: 302.087683 deg,
      new cmd heading: 302.088474 deg.

2025-06-05T18:43:04.871Z,1749148984.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272439 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:05.284Z,1749148985.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:05.287Z,1749148985.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 155.658752 m,
      bearing: 300.816652 deg,
      approach rate: -0.683543 m/s,
      LOS rate: -0.000499 deg/s,
      cmd heading: 302.088475 deg,
      new cmd heading: 302.087851 deg.

2025-06-05T18:43:05.308Z,1749148985.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272428 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:05.651Z,1749148985.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:05.654Z,1749148985.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 155.419357 m,
      bearing: 300.816408 deg,
      approach rate: -0.650974 m/s,
      LOS rate: -0.000663 deg/s,
      cmd heading: 302.087847 deg,
      new cmd heading: 302.087115 deg.

2025-06-05T18:43:05.680Z,1749148985.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272415 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:06.128Z,1749148986.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:06.130Z,1749148986.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:06.137Z,1749148986.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 155.153503 m,
      bearing: 300.815855 deg,
      approach rate: -0.555426 m/s,
      LOS rate: -0.001157 deg/s,
      cmd heading: 302.087109 deg,
      new cmd heading: 302.085448 deg.

2025-06-05T18:43:06.138Z,1749148986.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272386 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:06.312Z,1749148986.312 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:06.312Z,1749148986.312 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:06.313Z,1749148986.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:06.571Z,1749148986.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229568
2025-06-05T18:43:06.580Z,1749148986.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:06.583Z,1749148986.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 154.823669 m,
      bearing: 300.814946 deg,
      approach rate: -0.732154 m/s,
      LOS rate: -0.002022 deg/s,
      cmd heading: 302.085443 deg,
      new cmd heading: 302.082710 deg.

2025-06-05T18:43:06.600Z,1749148986.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272338 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:06.818Z,1749148986.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476577
2025-06-05T18:43:06.900Z,1749148986.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:06.903Z,1749148986.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 154.610916 m,
      bearing: 300.814003 deg,
      approach rate: -0.665970 m/s,
      LOS rate: -0.002957 deg/s,
      cmd heading: 302.082711 deg,
      new cmd heading: 302.079876 deg.

2025-06-05T18:43:06.912Z,1749148986.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272288 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:07.070Z,1749148987.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728360
2025-06-05T18:43:07.321Z,1749148987.321 [DAT](INFO): DAT read: Rx Time:18:43:05.8165

2025-06-05T18:43:07.321Z,1749148987.321 [DAT](INFO): Rx dataTimestamp_ set to:1749148987.320939
2025-06-05T18:43:07.322Z,1749148987.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980311
2025-06-05T18:43:07.331Z,1749148987.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:07.334Z,1749148987.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 154.340500 m,
      bearing: 300.812817 deg,
      approach rate: -0.626962 m/s,
      LOS rate: -0.002754 deg/s,
      cmd heading: 302.079869 deg,
      new cmd heading: 302.076306 deg.

2025-06-05T18:43:07.335Z,1749148987.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272226 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:07.573Z,1749148987.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231897
2025-06-05T18:43:07.733Z,1749148987.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:07.736Z,1749148987.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 154.088531 m,
      bearing: 300.811709 deg,
      approach rate: -0.627339 m/s,
      LOS rate: -0.002765 deg/s,
      cmd heading: 302.076318 deg,
      new cmd heading: 302.072986 deg.

2025-06-05T18:43:07.737Z,1749148987.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272168 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:07.834Z,1749148987.834 [DAT](INFO): DAT read: 18:43:05.8165 LVL= 28816, 32753, 24146, 32755, AGC= 62, IDX=  67,-0.04, 1.755, 0.422, 1.786, 1.226, PHS= 0.617,-0.758, 0.557, RAW= 147.8,  -6.2, CAL= 153.2, -14.9, ROT= 356.8,  14.9

2025-06-05T18:43:07.836Z,1749148987.836 [DAT](INFO): got valid direction response:
 18:43:05.8165 LVL= 28816, 32753, 24146, 32755, AGC= 62, IDX=  67,-0.04, 1.755, 0.422, 1.786, 1.226, PHS= 0.617,-0.758, 0.557, RAW= 147.8,  -6.2, CAL= 153.2, -14.9, ROT= 356.8,  14.9

2025-06-05T18:43:07.838Z,1749148987.838 [DAT](INFO): DAT read: Bearing 356.8,  14.9 (Local)

2025-06-05T18:43:07.839Z,1749148987.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  14.9 (Local)

2025-06-05T18:43:07.842Z,1749148987.842 [DAT](INFO): DAT read: Range 10 to 50 : 138.7 m  (Round-trip  185.0 ms) speed  0.4 m/s

2025-06-05T18:43:07.843Z,1749148987.843 [DAT](INFO): DAT read: user:2790>

2025-06-05T18:43:07.860Z,1749148987.860 [DAT](INFO): DAT read: Tx time:18:43:06.9273

2025-06-05T18:43:07.860Z,1749148987.860 [DAT](INFO): Ping request sent.
2025-06-05T18:43:07.860Z,1749148987.860 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:07.861Z,1749148987.861 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:43:07.862Z,1749148987.862 [DAT](INFO): direction in FSK: [0.964869,-0.053945,-0.257133]
2025-06-05T18:43:07.862Z,1749148987.862 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:07.862Z,1749148987.862 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:07.871Z,1749148987.871 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:07.881Z,1749148987.881 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:08.077Z,1749148988.077 [DAT](INFO): DAT read: TxSync time:18:43:06.9265

2025-06-05T18:43:08.198Z,1749148988.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 138.699997 m,
 deltaT: 3.532919 s,
 deltaX: -27.300003 m,
 approachRate: -7.727322 m/s,
 rangeRepo size: 4
2025-06-05T18:43:08.198Z,1749148988.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:08.207Z,1749148988.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 153.811981 m,
      bearing: 300.810488 deg,
      approach rate: -0.595928 m/s,
      LOS rate: -0.002635 deg/s,
      cmd heading: 302.072984 deg,
      new cmd heading: 302.069315 deg.

2025-06-05T18:43:08.212Z,1749148988.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272104 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:08.602Z,1749148988.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:08.604Z,1749148988.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:08.612Z,1749148988.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 153.560287 m,
      bearing: 300.810908 deg,
      approach rate: -0.618733 m/s,
      LOS rate: 0.001035 deg/s,
      cmd heading: 302.069323 deg,
      new cmd heading: 302.070586 deg.

2025-06-05T18:43:08.616Z,1749148988.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272126 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:08.844Z,1749148988.844 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:08.845Z,1749148988.845 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:08.845Z,1749148988.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:08.951Z,1749148988.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:08.970Z,1749148988.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 153.334076 m,
      bearing: 300.811327 deg,
      approach rate: -0.651726 m/s,
      LOS rate: 0.001209 deg/s,
      cmd heading: 302.070580 deg,
      new cmd heading: 302.071839 deg.

2025-06-05T18:43:08.971Z,1749148988.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272148 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:09.097Z,1749148989.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236517
2025-06-05T18:43:09.349Z,1749148989.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488054
2025-06-05T18:43:09.382Z,1749148989.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:09.385Z,1749148989.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 153.068893 m,
      bearing: 300.813701 deg,
      approach rate: -0.614491 m/s,
      LOS rate: 0.005510 deg/s,
      cmd heading: 302.071837 deg,
      new cmd heading: 302.078970 deg.

2025-06-05T18:43:09.386Z,1749148989.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272273 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:09.601Z,1749148989.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740125
2025-06-05T18:43:09.759Z,1749148989.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:09.762Z,1749148989.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 152.838196 m,
      bearing: 300.815686 deg,
      approach rate: -0.612321 m/s,
      LOS rate: 0.005278 deg/s,
      cmd heading: 302.078968 deg,
      new cmd heading: 302.084933 deg.

2025-06-05T18:43:09.763Z,1749148989.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272377 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:09.854Z,1749148989.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993579
2025-06-05T18:43:10.107Z,1749148990.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245652
2025-06-05T18:43:10.250Z,1749148990.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:10.253Z,1749148990.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 152.528290 m,
      bearing: 300.819871 deg,
      approach rate: -0.631275 m/s,
      LOS rate: 0.008541 deg/s,
      cmd heading: 302.084924 deg,
      new cmd heading: 302.097502 deg.

2025-06-05T18:43:10.254Z,1749148990.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272596 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:10.321Z,1749148990.321 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:43:10.357Z,1749148990.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496244
2025-06-05T18:43:10.592Z,1749148990.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:10.603Z,1749148990.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 152.323669 m,
      bearing: 300.822501 deg,
      approach rate: -0.628775 m/s,
      LOS rate: 0.008092 deg/s,
      cmd heading: 302.097491 deg,
      new cmd heading: 302.105392 deg.

2025-06-05T18:43:10.610Z,1749148990.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749267
2025-06-05T18:43:10.622Z,1749148990.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272734 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:10.861Z,1749148990.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000698
2025-06-05T18:43:11.041Z,1749148991.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:11.047Z,1749148991.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:11.049Z,1749148991.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 152.029770 m,
      bearing: 300.826285 deg,
      approach rate: -0.627977 m/s,
      LOS rate: 0.008101 deg/s,
      cmd heading: 302.105387 deg,
      new cmd heading: 302.116761 deg.

2025-06-05T18:43:11.050Z,1749148991.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272932 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:11.115Z,1749148991.115 [DAT](INFO): DAT read: Rx Time:18:43:09.5132

2025-06-05T18:43:11.116Z,1749148991.116 [DAT](INFO): Rx dataTimestamp_ set to:1749148991.115244
2025-06-05T18:43:11.117Z,1749148991.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256185
2025-06-05T18:43:11.324Z,1749148991.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:43:11.365Z,1749148991.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504212
2025-06-05T18:43:11.447Z,1749148991.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.67 m.
2025-06-05T18:43:11.463Z,1749148991.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.674622 m,
      nav range: 151.782501 m,
      bearing: 300.829128 deg,
      approach rate: -0.615407 m/s,
      LOS rate: 0.007088 deg/s,
      cmd heading: 302.116752 deg,
      new cmd heading: 302.125296 deg.

2025-06-05T18:43:11.471Z,1749148991.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273081 target range: 164.674622 and range: 166.00 m.
2025-06-05T18:43:11.624Z,1749148991.624 [DAT](INFO): DAT read: 18:43:09.5132 LVL= 32224, 32753, 26850, 32755, AGC= 64, IDX= 402, 0.10, 2.727, 1.320, 2.703, 2.321, PHS= 0.493,-0.955, 0.379, RAW= 145.9,   1.2, CAL= 149.3,  -7.7, ROT=   0.7,   7.7

2025-06-05T18:43:11.625Z,1749148991.625 [DAT](INFO): got valid direction response:
 18:43:09.5132 LVL= 32224, 32753, 26850, 32755, AGC= 64, IDX= 402, 0.10, 2.727, 1.320, 2.703, 2.321, PHS= 0.493,-0.955, 0.379, RAW= 145.9,   1.2, CAL= 149.3,  -7.7, ROT=   0.7,   7.7

2025-06-05T18:43:11.626Z,1749148991.626 [DAT](INFO): DAT read: Bearing   0.7,   7.7 (Local)

2025-06-05T18:43:11.626Z,1749148991.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,   7.7 (Local)

2025-06-05T18:43:11.628Z,1749148991.628 [DAT](INFO): DAT read: Range 10 to 50 : 136.3 m  (Round-trip  181.8 ms) speed  0.4 m/s

2025-06-05T18:43:11.629Z,1749148991.629 [DAT](INFO): DAT read: user:2791>

2025-06-05T18:43:11.629Z,1749148991.629 [DAT](INFO): DAT read: Tx time:18:43:10.6273

2025-06-05T18:43:11.630Z,1749148991.630 [DAT](INFO): Ping request sent.
2025-06-05T18:43:11.630Z,1749148991.630 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:11.630Z,1749148991.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:43:11.631Z,1749148991.631 [DAT](INFO): direction in FSK: [0.990909,0.012107,-0.133986]
2025-06-05T18:43:11.631Z,1749148991.631 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:11.631Z,1749148991.631 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:11.635Z,1749148991.635 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:11.635Z,1749148991.635 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:11.861Z,1749148991.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.300003 m,
      deltaT: 7.324097 s,
      deltaX: -29.699997 m,
      approachRate: -4.055107 m/s,
      rangeRepo size: 4

2025-06-05T18:43:11.863Z,1749148991.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.211166 m,
      bearing: 303.687857 deg,
      lat: 36.906196 deg,
      lon: -122.116328 deg,
      deltaT: 7.324097 s,
      deltaX: -29.463455 m,
      approachRate: -4.022810 m/s,
      posRepo size: 4

2025-06-05T18:43:11.869Z,1749148991.869 [DAT](INFO): DAT read: TxSync time:18:43:10.6265

2025-06-05T18:43:11.863Z,1749148991.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:11.877Z,1749148991.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 149.363342 m,
      bearing: 299.873344 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007088 deg/s,
      cmd heading: 302.125304 deg,
      new cmd heading: 302.134019 deg.

2025-06-05T18:43:11.878Z,1749148991.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273233 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:12.334Z,1749148992.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:12.369Z,1749148992.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 149.060394 m,
      bearing: 299.874568 deg,
      approach rate: -0.631950 m/s,
      LOS rate: 0.002560 deg/s,
      cmd heading: 302.134019 deg,
      new cmd heading: 302.137700 deg.

2025-06-05T18:43:12.370Z,1749148992.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273298 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:12.748Z,1749148992.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:12.751Z,1749148992.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 148.781265 m,
      bearing: 299.875698 deg,
      approach rate: -0.674339 m/s,
      LOS rate: 0.002734 deg/s,
      cmd heading: 302.137707 deg,
      new cmd heading: 302.141103 deg.

2025-06-05T18:43:12.757Z,1749148992.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273357 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:13.120Z,1749148993.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:13.124Z,1749148993.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:13.127Z,1749148993.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 148.521652 m,
      bearing: 299.876711 deg,
      approach rate: -0.690323 m/s,
      LOS rate: 0.002698 deg/s,
      cmd heading: 302.141095 deg,
      new cmd heading: 302.144139 deg.

2025-06-05T18:43:13.128Z,1749148993.128 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:13.129Z,1749148993.129 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:13.129Z,1749148993.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:13.132Z,1749148993.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273410 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:13.382Z,1749148993.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752456
2025-06-05T18:43:13.588Z,1749148993.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:13.596Z,1749148993.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 148.236618 m,
      bearing: 299.878353 deg,
      approach rate: -0.621424 m/s,
      LOS rate: 0.003587 deg/s,
      cmd heading: 302.144128 deg,
      new cmd heading: 302.149063 deg.

2025-06-05T18:43:13.597Z,1749148993.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273496 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:13.633Z,1749148993.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003555
2025-06-05T18:43:13.885Z,1749148993.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255705
2025-06-05T18:43:13.963Z,1749148993.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:13.970Z,1749148993.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 147.968613 m,
      bearing: 299.879741 deg,
      approach rate: -0.706394 m/s,
      LOS rate: 0.003667 deg/s,
      cmd heading: 302.149073 deg,
      new cmd heading: 302.153246 deg.

2025-06-05T18:43:13.977Z,1749148993.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273569 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:14.137Z,1749148994.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507297
2025-06-05T18:43:14.390Z,1749148994.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760518
2025-06-05T18:43:14.404Z,1749148994.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:14.425Z,1749148994.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 147.692123 m,
      bearing: 299.879368 deg,
      approach rate: -0.632356 m/s,
      LOS rate: -0.000855 deg/s,
      cmd heading: 302.153253 deg,
      new cmd heading: 302.152131 deg.

2025-06-05T18:43:14.426Z,1749148994.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273550 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:14.642Z,1749148994.642 [DAT](INFO): DAT read: Rx Time:18:43:13.2100

2025-06-05T18:43:14.642Z,1749148994.642 [DAT](INFO): Rx dataTimestamp_ set to:1749148994.641974
2025-06-05T18:43:14.643Z,1749148994.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013147
2025-06-05T18:43:14.761Z,1749148994.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:14.764Z,1749148994.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 147.437958 m,
      bearing: 299.878848 deg,
      approach rate: -0.703717 m/s,
      LOS rate: -0.001444 deg/s,
      cmd heading: 302.152133 deg,
      new cmd heading: 302.150568 deg.

2025-06-05T18:43:14.765Z,1749148994.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273522 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:14.893Z,1749148994.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263038
2025-06-05T18:43:15.147Z,1749148995.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517069
2025-06-05T18:43:15.283Z,1749148995.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:15.290Z,1749148995.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.21 m.
2025-06-05T18:43:15.298Z,1749148995.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.211166 m,
      nav range: 147.116592 m,
      bearing: 299.878038 deg,
      approach rate: -0.606939 m/s,
      LOS rate: -0.001532 deg/s,
      cmd heading: 302.150575 deg,
      new cmd heading: 302.148142 deg.

2025-06-05T18:43:15.298Z,1749148995.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273480 target range: 135.211166 and range: 136.30 m.
2025-06-05T18:43:15.409Z,1749148995.409 [DAT](INFO): DAT read: 18:43:13.2100 LVL= 32752, 32753, 26018, 32755, AGC= 63, IDX= 401, 0.08, 1.545, 0.270, 1.564, 1.111, PHS= 0.523,-0.794, 0.450, RAW= 147.2,  -2.8, CAL= 151.6, -11.7, ROT= 358.4,  11.7

2025-06-05T18:43:15.410Z,1749148995.410 [DAT](INFO): got valid direction response:
 18:43:13.2100 LVL= 32752, 32753, 26018, 32755, AGC= 63, IDX= 401, 0.08, 1.545, 0.270, 1.564, 1.111, PHS= 0.523,-0.794, 0.450, RAW= 147.2,  -2.8, CAL= 151.6, -11.7, ROT= 358.4,  11.7

2025-06-05T18:43:15.411Z,1749148995.411 [DAT](INFO): DAT read: Bearing 358.4,  11.7 (Local)

2025-06-05T18:43:15.412Z,1749148995.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  11.7 (Local)

2025-06-05T18:43:15.413Z,1749148995.413 [DAT](INFO): DAT read: Range 10 to 50 : 133.9 m  (Round-trip  178.6 ms) speed  0.4 m/s

2025-06-05T18:43:15.414Z,1749148995.414 [DAT](INFO): DAT read: user:2792>

2025-06-05T18:43:15.415Z,1749148995.415 [DAT](INFO): DAT read: Tx time:18:43:14.3273

2025-06-05T18:43:15.415Z,1749148995.415 [DAT](INFO): Ping request sent.
2025-06-05T18:43:15.415Z,1749148995.415 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:15.424Z,1749148995.424 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:43:15.425Z,1749148995.425 [DAT](INFO): direction in FSK: [0.978841,-0.027342,-0.202787]
2025-06-05T18:43:15.425Z,1749148995.425 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:15.426Z,1749148995.426 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:15.435Z,1749148995.435 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:15.444Z,1749148995.444 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:15.649Z,1749148995.649 [DAT](INFO): DAT read: TxSync time:18:43:14.3265

2025-06-05T18:43:15.719Z,1749148995.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.899994 m,
      deltaT: 3.780009 s,
      deltaX: -2.400009 m,
      approachRate: -0.634922 m/s,
      rangeRepo size: 4

2025-06-05T18:43:15.734Z,1749148995.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 132.829498 m,
      bearing: 302.030720 deg,
      lat: 36.906189 deg,
      lon: -122.116139 deg,
      deltaT: 3.780009 s,
      deltaX: -2.381668 m,
      approachRate: -0.630069 m/s,
      posRepo size: 4

2025-06-05T18:43:15.734Z,1749148995.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.83 m.
2025-06-05T18:43:15.741Z,1749148995.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.829498 m,
      nav range: 132.120850 m,
      bearing: 303.198268 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001532 deg/s,
      cmd heading: 302.148144 deg,
      new cmd heading: 302.146179 deg.

2025-06-05T18:43:15.742Z,1749148995.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273446 target range: 132.829498 and range: 133.90 m.
2025-06-05T18:43:16.043Z,1749148996.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.83 m.
2025-06-05T18:43:16.062Z,1749148996.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.829498 m,
      nav range: 131.891968 m,
      bearing: 303.202704 deg,
      approach rate: -0.708869 m/s,
      LOS rate: 0.013764 deg/s,
      cmd heading: 302.146177 deg,
      new cmd heading: 302.159509 deg.

2025-06-05T18:43:16.063Z,1749148996.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273678 target range: 132.829498 and range: 133.90 m.
2025-06-05T18:43:16.487Z,1749148996.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.83 m.
2025-06-05T18:43:16.494Z,1749148996.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.829498 m,
      nav range: 131.608185 m,
      bearing: 303.210200 deg,
      approach rate: -0.635887 m/s,
      LOS rate: 0.016832 deg/s,
      cmd heading: 302.159509 deg,
      new cmd heading: 302.182045 deg.

2025-06-05T18:43:16.495Z,1749148996.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274072 target range: 132.829498 and range: 133.90 m.
2025-06-05T18:43:16.874Z,1749148996.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.83 m.
2025-06-05T18:43:16.884Z,1749148996.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.829498 m,
      nav range: 131.362579 m,
      bearing: 303.216985 deg,
      approach rate: -0.635627 m/s,
      LOS rate: 0.017593 deg/s,
      cmd heading: 302.182049 deg,
      new cmd heading: 302.202443 deg.

2025-06-05T18:43:16.885Z,1749148996.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274427 target range: 132.829498 and range: 133.90 m.
2025-06-05T18:43:17.343Z,1749148997.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:17.346Z,1749148997.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.83 m.
2025-06-05T18:43:17.350Z,1749148997.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.829498 m,
      nav range: 131.039673 m,
      bearing: 303.226736 deg,
      approach rate: -0.683658 m/s,
      LOS rate: 0.020697 deg/s,
      cmd heading: 302.202430 deg,
      new cmd heading: 302.231756 deg.

2025-06-05T18:43:17.351Z,1749148997.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274939 target range: 132.829498 and range: 133.90 m.
2025-06-05T18:43:17.413Z,1749148997.413 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:17.413Z,1749148997.413 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:17.413Z,1749148997.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:17.665Z,1749148997.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249373
2025-06-05T18:43:17.732Z,1749148997.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.83 m.
2025-06-05T18:43:17.735Z,1749148997.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.829498 m,
      nav range: 130.801468 m,
      bearing: 303.233762 deg,
      approach rate: -0.615846 m/s,
      LOS rate: 0.018198 deg/s,
      cmd heading: 302.231745 deg,
      new cmd heading: 302.252862 deg.

2025-06-05T18:43:17.741Z,1749148997.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275308 target range: 132.829498 and range: 133.90 m.
2025-06-05T18:43:17.917Z,1749148997.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501308
2025-06-05T18:43:18.095Z,1749148998.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.83 m.
2025-06-05T18:43:18.098Z,1749148998.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.829498 m,
      nav range: 130.552689 m,
      bearing: 303.241148 deg,
      approach rate: -0.685588 m/s,
      LOS rate: 0.020391 deg/s,
      cmd heading: 302.252864 deg,
      new cmd heading: 302.275062 deg.

2025-06-05T18:43:18.099Z,1749148998.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275695 target range: 132.829498 and range: 133.90 m.
2025-06-05T18:43:18.169Z,1749148998.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753667
2025-06-05T18:43:18.421Z,1749148998.421 [DAT](INFO): DAT read: Rx Time:18:43:16.9070

2025-06-05T18:43:18.422Z,1749148998.422 [DAT](INFO): Rx dataTimestamp_ set to:1749148998.420850
2025-06-05T18:43:18.423Z,1749148998.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007507
2025-06-05T18:43:18.575Z,1749148998.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.83 m.
2025-06-05T18:43:18.582Z,1749148998.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.829498 m,
      nav range: 130.251968 m,
      bearing: 303.250066 deg,
      approach rate: -0.626648 m/s,
      LOS rate: 0.018627 deg/s,
      cmd heading: 302.275049 deg,
      new cmd heading: 302.301865 deg.

2025-06-05T18:43:18.583Z,1749148998.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276163 target range: 132.829498 and range: 133.90 m.
2025-06-05T18:43:18.675Z,1749148998.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258808
2025-06-05T18:43:18.930Z,1749148998.930 [DAT](INFO): DAT read: 18:43:16.9070 LVL= 32752, 32753, 26866, 32627, AGC= 66, IDX= 417, 0.03,-1.256,-2.543,-1.200,-1.745, PHS= 0.577,-0.751, 0.542, RAW= 148.7,  -5.7, CAL= 153.8, -14.2, ROT= 356.2,  14.2

2025-06-05T18:43:18.932Z,1749148998.932 [DAT](INFO): got valid direction response:
 18:43:16.9070 LVL= 32752, 32753, 26866, 32627, AGC= 66, IDX= 417, 0.03,-1.256,-2.543,-1.200,-1.745, PHS= 0.577,-0.751, 0.542, RAW= 148.7,  -5.7, CAL= 153.8, -14.2, ROT= 356.2,  14.2

2025-06-05T18:43:18.933Z,1749148998.933 [DAT](INFO): DAT read: Bearing 356.2,  14.2 (Local)

2025-06-05T18:43:18.933Z,1749148998.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  14.2 (Local)

2025-06-05T18:43:18.934Z,1749148998.934 [DAT](INFO): DAT read: Range 10 to 50 : 131.5 m  (Round-trip  175.4 ms) speed  0.2 m/s

2025-06-05T18:43:18.935Z,1749148998.935 [DAT](INFO): DAT read: user:2793>

2025-06-05T18:43:18.936Z,1749148998.936 [DAT](INFO): DAT read: Tx time:18:43:18.0274

2025-06-05T18:43:18.936Z,1749148998.936 [DAT](INFO): Ping request sent.
2025-06-05T18:43:18.936Z,1749148998.936 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:18.937Z,1749148998.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:43:18.938Z,1749148998.938 [DAT](INFO): direction in FSK: [0.967314,-0.064249,-0.245307]
2025-06-05T18:43:18.938Z,1749148998.938 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:18.939Z,1749148998.939 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:18.943Z,1749148998.943 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:18.943Z,1749148998.943 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:19.177Z,1749148999.177 [DAT](INFO): DAT read: TxSync time:18:43:18.0266

2025-06-05T18:43:19.191Z,1749148999.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 131.500000 m,
      deltaT: 3.528027 s,
      deltaX: -2.399994 m,
      approachRate: -0.680265 m/s,
      rangeRepo size: 4

2025-06-05T18:43:19.206Z,1749148999.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.448242 m,
      bearing: 299.851099 deg,
      lat: 36.906159 deg,
      lon: -122.116139 deg,
      deltaT: 3.528027 s,
      deltaX: -2.381256 m,
      approachRate: -0.674954 m/s,
      posRepo size: 4

2025-06-05T18:43:19.212Z,1749148999.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:19.215Z,1749148999.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 128.093002 m,
      bearing: 302.033470 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018627 deg/s,
      cmd heading: 302.301878 deg,
      new cmd heading: 302.336268 deg.

2025-06-05T18:43:19.220Z,1749148999.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276763 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:19.588Z,1749148999.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:19.592Z,1749148999.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:19.598Z,1749148999.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 127.818329 m,
      bearing: 302.039968 deg,
      approach rate: -0.687653 m/s,
      LOS rate: 0.016304 deg/s,
      cmd heading: 302.336275 deg,
      new cmd heading: 302.355812 deg.

2025-06-05T18:43:19.599Z,1749148999.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277104 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:19.684Z,1749148999.684 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:19.684Z,1749148999.684 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:19.685Z,1749148999.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:19.933Z,1749148999.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996437
2025-06-05T18:43:19.982Z,1749148999.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:19.991Z,1749148999.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 127.567924 m,
      bearing: 302.046105 deg,
      approach rate: -0.638352 m/s,
      LOS rate: 0.015675 deg/s,
      cmd heading: 302.355809 deg,
      new cmd heading: 302.374255 deg.

2025-06-05T18:43:19.993Z,1749148999.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277426 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:20.188Z,1749149000.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251737
2025-06-05T18:43:20.426Z,1749149000.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:20.429Z,1749149000.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 127.288605 m,
      bearing: 302.052079 deg,
      approach rate: -0.630004 m/s,
      LOS rate: 0.013504 deg/s,
      cmd heading: 302.374250 deg,
      new cmd heading: 302.392211 deg.

2025-06-05T18:43:20.430Z,1749149000.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277740 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:20.437Z,1749149000.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500450
2025-06-05T18:43:20.691Z,1749149000.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753747
2025-06-05T18:43:20.796Z,1749149000.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:20.799Z,1749149000.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 127.063614 m,
      bearing: 302.056911 deg,
      approach rate: -0.607487 m/s,
      LOS rate: 0.013071 deg/s,
      cmd heading: 302.392200 deg,
      new cmd heading: 302.406723 deg.

2025-06-05T18:43:20.804Z,1749149000.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277993 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:20.941Z,1749149000.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004584
2025-06-05T18:43:21.165Z,1749149001.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:21.184Z,1749149001.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 126.818947 m,
      bearing: 302.062186 deg,
      approach rate: -0.663063 m/s,
      LOS rate: 0.014322 deg/s,
      cmd heading: 302.406735 deg,
      new cmd heading: 302.422589 deg.

2025-06-05T18:43:21.185Z,1749149001.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278270 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:21.193Z,1749149001.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256482
2025-06-05T18:43:21.445Z,1749149001.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508253
2025-06-05T18:43:21.601Z,1749149001.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:21.603Z,1749149001.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:21.617Z,1749149001.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 126.556557 m,
      bearing: 302.067557 deg,
      approach rate: -0.599220 m/s,
      LOS rate: 0.012291 deg/s,
      cmd heading: 302.422581 deg,
      new cmd heading: 302.438727 deg.

2025-06-05T18:43:21.617Z,1749149001.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278552 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:21.698Z,1749149001.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761804
2025-06-05T18:43:21.949Z,1749149001.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012428
2025-06-05T18:43:21.986Z,1749149001.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:21.994Z,1749149001.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 126.322624 m,
      bearing: 302.072385 deg,
      approach rate: -0.609949 m/s,
      LOS rate: 0.012613 deg/s,
      cmd heading: 302.438727 deg,
      new cmd heading: 302.453240 deg.

2025-06-05T18:43:21.995Z,1749149001.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278805 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:22.201Z,1749149002.201 [DAT](INFO): DAT read: Rx Time:18:43:20.6037

2025-06-05T18:43:22.201Z,1749149002.201 [DAT](INFO): Rx dataTimestamp_ set to:1749149002.200809
2025-06-05T18:43:22.202Z,1749149002.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265324
2025-06-05T18:43:22.447Z,1749149002.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:22.450Z,1749149002.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 126.019638 m,
      bearing: 302.075334 deg,
      approach rate: -0.657909 m/s,
      LOS rate: 0.006419 deg/s,
      cmd heading: 302.453235 deg,
      new cmd heading: 302.462103 deg.

2025-06-05T18:43:22.451Z,1749149002.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278960 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:22.453Z,1749149002.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516515
2025-06-05T18:43:22.713Z,1749149002.713 [DAT](INFO): DAT read: 18:43:20.6038 LVL= 28272, 32753, 24930, 32755, AGC= 65, IDX= 416, 0.09,-1.637,-2.933,-1.602,-2.091, PHS= 0.542,-0.795, 0.486, RAW= 147.9,  -3.6, CAL= 152.5, -12.4, ROT= 357.5,  12.4

2025-06-05T18:43:22.716Z,1749149002.716 [DAT](INFO): got valid direction response:
 18:43:20.6038 LVL= 28272, 32753, 24930, 32755, AGC= 65, IDX= 416, 0.09,-1.637,-2.933,-1.602,-2.091, PHS= 0.542,-0.795, 0.486, RAW= 147.9,  -3.6, CAL= 152.5, -12.4, ROT= 357.5,  12.4

2025-06-05T18:43:22.718Z,1749149002.718 [DAT](INFO): DAT read: $Error in header

2025-06-05T18:43:22.719Z,1749149002.719 [DAT](INFO): Received a bad header
2025-06-05T18:43:22.732Z,1749149002.732 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:43:22.735Z,1749149002.735 [DAT](INFO): direction in FSK: [0.975743,-0.042602,-0.214735]
2025-06-05T18:43:22.742Z,1749149002.742 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:22.742Z,1749149002.742 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:22.742Z,1749149002.742 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:22.915Z,1749149002.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:22.934Z,1749149002.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 125.724442 m,
      bearing: 302.078280 deg,
      approach rate: -0.630550 m/s,
      LOS rate: 0.006307 deg/s,
      cmd heading: 302.462114 deg,
      new cmd heading: 302.470972 deg.

2025-06-05T18:43:22.935Z,1749149002.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279114 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:22.957Z,1749149002.957 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:22.957Z,1749149002.957 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:22.957Z,1749149002.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:23.208Z,1749149003.208 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:23.208Z,1749149003.208 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:23.209Z,1749149003.209 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:23.297Z,1749149003.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:23.304Z,1749149003.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 125.492920 m,
      bearing: 302.080600 deg,
      approach rate: -0.606668 m/s,
      LOS rate: 0.006091 deg/s,
      cmd heading: 302.470966 deg,
      new cmd heading: 302.477939 deg.

2025-06-05T18:43:23.305Z,1749149003.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279236 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:23.461Z,1749149003.461 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:23.461Z,1749149003.461 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:23.461Z,1749149003.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:23.713Z,1749149003.713 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:23.713Z,1749149003.713 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:23.713Z,1749149003.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:23.769Z,1749149003.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:23.776Z,1749149003.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:23.779Z,1749149003.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 125.194092 m,
      bearing: 302.083943 deg,
      approach rate: -0.629629 m/s,
      LOS rate: 0.007060 deg/s,
      cmd heading: 302.477933 deg,
      new cmd heading: 302.487985 deg.

2025-06-05T18:43:23.784Z,1749149003.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279411 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:23.965Z,1749149003.965 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:23.965Z,1749149003.965 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:23.965Z,1749149003.965 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:24.082Z,1749149004.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:24.086Z,1749149004.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 124.992508 m,
      bearing: 302.086184 deg,
      approach rate: -0.648186 m/s,
      LOS rate: 0.007216 deg/s,
      cmd heading: 302.487987 deg,
      new cmd heading: 302.494719 deg.

2025-06-05T18:43:24.087Z,1749149004.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279529 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:24.216Z,1749149004.216 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:24.217Z,1749149004.217 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:24.217Z,1749149004.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:24.468Z,1749149004.468 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:24.469Z,1749149004.469 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:24.469Z,1749149004.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:24.507Z,1749149004.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:24.510Z,1749149004.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 124.726982 m,
      bearing: 302.088230 deg,
      approach rate: -0.626107 m/s,
      LOS rate: 0.004836 deg/s,
      cmd heading: 302.494708 deg,
      new cmd heading: 302.500860 deg.

2025-06-05T18:43:24.511Z,1749149004.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279636 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:24.724Z,1749149004.724 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:24.724Z,1749149004.724 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:24.725Z,1749149004.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:24.871Z,1749149004.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:24.875Z,1749149004.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 124.497559 m,
      bearing: 302.090023 deg,
      approach rate: -0.629434 m/s,
      LOS rate: 0.004929 deg/s,
      cmd heading: 302.500855 deg,
      new cmd heading: 302.506244 deg.

2025-06-05T18:43:24.876Z,1749149004.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279730 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:24.974Z,1749149004.974 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:24.974Z,1749149004.974 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:24.974Z,1749149004.974 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:25.224Z,1749149005.224 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:25.224Z,1749149005.224 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:25.225Z,1749149005.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:25.436Z,1749149005.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:25.445Z,1749149005.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 124.180397 m,
      bearing: 302.092515 deg,
      approach rate: -0.565895 m/s,
      LOS rate: 0.004457 deg/s,
      cmd heading: 302.506237 deg,
      new cmd heading: 302.513731 deg.

2025-06-05T18:43:25.445Z,1749149005.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279860 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:25.477Z,1749149005.477 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:25.477Z,1749149005.477 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:25.477Z,1749149005.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:25.592Z,1749149005.592 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:43:25.728Z,1749149005.728 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:25.729Z,1749149005.729 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:25.729Z,1749149005.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:25.842Z,1749149005.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:25.845Z,1749149005.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:25.847Z,1749149005.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 123.881958 m,
      bearing: 302.093420 deg,
      approach rate: -0.723706 m/s,
      LOS rate: 0.002200 deg/s,
      cmd heading: 302.513723 deg,
      new cmd heading: 302.516444 deg.

2025-06-05T18:43:25.853Z,1749149005.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279908 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:25.980Z,1749149005.980 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:25.980Z,1749149005.980 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:25.981Z,1749149005.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:26.179Z,1749149006.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:26.182Z,1749149006.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 123.658150 m,
      bearing: 302.094101 deg,
      approach rate: -0.668292 m/s,
      LOS rate: 0.002039 deg/s,
      cmd heading: 302.516455 deg,
      new cmd heading: 302.518503 deg.

2025-06-05T18:43:26.183Z,1749149006.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279944 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:26.234Z,1749149006.234 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:26.234Z,1749149006.234 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:26.234Z,1749149006.234 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:26.484Z,1749149006.484 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:26.485Z,1749149006.485 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:26.485Z,1749149006.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:26.586Z,1749149006.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:26.590Z,1749149006.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 123.389832 m,
      bearing: 302.094454 deg,
      approach rate: -0.659223 m/s,
      LOS rate: 0.000869 deg/s,
      cmd heading: 302.518504 deg,
      new cmd heading: 302.519565 deg.

2025-06-05T18:43:26.591Z,1749149006.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279963 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:26.736Z,1749149006.736 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:26.737Z,1749149006.737 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:26.737Z,1749149006.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:26.967Z,1749149006.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:26.986Z,1749149006.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 123.139015 m,
      bearing: 302.094806 deg,
      approach rate: -0.658150 m/s,
      LOS rate: 0.000924 deg/s,
      cmd heading: 302.519570 deg,
      new cmd heading: 302.520626 deg.

2025-06-05T18:43:26.987Z,1749149006.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279981 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:26.990Z,1749149006.990 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:26.990Z,1749149006.990 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:26.990Z,1749149006.990 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:27.241Z,1749149007.241 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:27.241Z,1749149007.241 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:27.241Z,1749149007.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:27.390Z,1749149007.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:27.423Z,1749149007.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 122.873055 m,
      bearing: 302.095153 deg,
      approach rate: -0.650271 m/s,
      LOS rate: 0.000850 deg/s,
      cmd heading: 302.520635 deg,
      new cmd heading: 302.521677 deg.

2025-06-05T18:43:27.431Z,1749149007.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279999 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:27.493Z,1749149007.493 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:27.493Z,1749149007.493 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:27.493Z,1749149007.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:27.747Z,1749149007.747 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:27.747Z,1749149007.747 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:27.747Z,1749149007.747 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:27.847Z,1749149007.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:27.849Z,1749149007.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:27.856Z,1749149007.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 122.557320 m,
      bearing: 302.095811 deg,
      approach rate: -0.667541 m/s,
      LOS rate: 0.001397 deg/s,
      cmd heading: 302.521673 deg,
      new cmd heading: 302.523655 deg.

2025-06-05T18:43:27.857Z,1749149007.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280034 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:27.996Z,1749149007.996 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:27.997Z,1749149007.997 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:27.997Z,1749149007.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:28.185Z,1749149008.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:28.189Z,1749149008.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 122.330353 m,
      bearing: 302.096293 deg,
      approach rate: -0.674667 m/s,
      LOS rate: 0.001434 deg/s,
      cmd heading: 302.523668 deg,
      new cmd heading: 302.525115 deg.

2025-06-05T18:43:28.191Z,1749149008.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280059 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:28.250Z,1749149008.250 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:28.250Z,1749149008.250 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:28.250Z,1749149008.250 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:28.500Z,1749149008.500 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:28.500Z,1749149008.500 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:28.501Z,1749149008.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:28.620Z,1749149008.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:28.626Z,1749149008.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 122.043831 m,
      bearing: 302.099297 deg,
      approach rate: -0.658597 m/s,
      LOS rate: 0.006923 deg/s,
      cmd heading: 302.525116 deg,
      new cmd heading: 302.534151 deg.

2025-06-05T18:43:28.629Z,1749149008.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280217 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:28.753Z,1749149008.753 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:28.753Z,1749149008.753 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:28.753Z,1749149008.753 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:29.003Z,1749149009.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:29.004Z,1749149009.004 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:29.005Z,1749149009.005 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:29.006Z,1749149009.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:29.010Z,1749149009.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 121.802132 m,
      bearing: 302.101815 deg,
      approach rate: -0.632360 m/s,
      LOS rate: 0.006599 deg/s,
      cmd heading: 302.534159 deg,
      new cmd heading: 302.541726 deg.

2025-06-05T18:43:29.011Z,1749149009.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280349 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:29.257Z,1749149009.257 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:29.257Z,1749149009.257 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:29.258Z,1749149009.258 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:29.409Z,1749149009.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:29.412Z,1749149009.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 121.529312 m,
      bearing: 302.104640 deg,
      approach rate: -0.671438 m/s,
      LOS rate: 0.006968 deg/s,
      cmd heading: 302.541727 deg,
      new cmd heading: 302.550220 deg.

2025-06-05T18:43:29.413Z,1749149009.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280498 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:29.511Z,1749149009.511 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:29.511Z,1749149009.511 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:29.511Z,1749149009.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:29.762Z,1749149009.762 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:29.762Z,1749149009.762 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:29.762Z,1749149009.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:29.899Z,1749149009.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:29.901Z,1749149009.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:29.905Z,1749149009.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 121.204605 m,
      bearing: 302.110847 deg,
      approach rate: -0.659211 m/s,
      LOS rate: 0.012635 deg/s,
      cmd heading: 302.550223 deg,
      new cmd heading: 302.568895 deg.

2025-06-05T18:43:29.907Z,1749149009.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280823 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:30.013Z,1749149010.013 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:43:30.013Z,1749149010.013 [DAT](INFO): response not received
2025-06-05T18:43:30.014Z,1749149010.014 [DAT](INFO): DAT read: user:2795>

2025-06-05T18:43:30.014Z,1749149010.014 [DAT](INFO): DAT read: Tx time:18:43:28.9775

2025-06-05T18:43:30.015Z,1749149010.015 [DAT](INFO): Ping request sent.
2025-06-05T18:43:30.015Z,1749149010.015 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:30.015Z,1749149010.015 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:30.016Z,1749149010.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000709
2025-06-05T18:43:30.241Z,1749149010.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:30.244Z,1749149010.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 120.984589 m,
      bearing: 302.115071 deg,
      approach rate: -0.647841 m/s,
      LOS rate: 0.012462 deg/s,
      cmd heading: 302.568883 deg,
      new cmd heading: 302.581581 deg.

2025-06-05T18:43:30.245Z,1749149010.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281045 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:30.265Z,1749149010.265 [DAT](INFO): DAT read: TxSync time:18:43:28.9767

2025-06-05T18:43:30.266Z,1749149010.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250897
2025-06-05T18:43:30.517Z,1749149010.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502478
2025-06-05T18:43:30.747Z,1749149010.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:30.754Z,1749149010.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 120.673027 m,
      bearing: 302.123739 deg,
      approach rate: -0.617488 m/s,
      LOS rate: 0.017223 deg/s,
      cmd heading: 302.581588 deg,
      new cmd heading: 302.607657 deg.

2025-06-05T18:43:30.755Z,1749149010.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281500 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:30.769Z,1749149010.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753952
2025-06-05T18:43:31.021Z,1749149011.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005960
2025-06-05T18:43:31.270Z,1749149011.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:31.274Z,1749149011.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259074
2025-06-05T18:43:31.276Z,1749149011.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 120.314201 m,
      bearing: 302.134067 deg,
      approach rate: -0.683756 m/s,
      LOS rate: 0.019740 deg/s,
      cmd heading: 302.607652 deg,
      new cmd heading: 302.638729 deg.

2025-06-05T18:43:31.277Z,1749149011.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282042 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:31.525Z,1749149011.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510482
2025-06-05T18:43:31.774Z,1749149011.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:31.778Z,1749149011.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763135
2025-06-05T18:43:31.782Z,1749149011.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 120.014877 m,
      bearing: 302.142629 deg,
      approach rate: -0.595442 m/s,
      LOS rate: 0.017074 deg/s,
      cmd heading: 302.638715 deg,
      new cmd heading: 302.664464 deg.

2025-06-05T18:43:31.783Z,1749149011.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282491 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:32.030Z,1749149012.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015353
2025-06-05T18:43:32.130Z,1749149012.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:32.132Z,1749149012.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:32.135Z,1749149012.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 119.778816 m,
      bearing: 302.149246 deg,
      approach rate: -0.658164 m/s,
      LOS rate: 0.018487 deg/s,
      cmd heading: 302.664451 deg,
      new cmd heading: 302.684344 deg.

2025-06-05T18:43:32.136Z,1749149012.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282838 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:32.282Z,1749149012.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267671
2025-06-05T18:43:32.533Z,1749149012.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518014
2025-06-05T18:43:32.577Z,1749149012.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:32.580Z,1749149012.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 119.502396 m,
      bearing: 302.158088 deg,
      approach rate: -0.621194 m/s,
      LOS rate: 0.019916 deg/s,
      cmd heading: 302.684341 deg,
      new cmd heading: 302.710928 deg.

2025-06-05T18:43:32.581Z,1749149012.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283302 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:32.785Z,1749149012.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770187
2025-06-05T18:43:32.958Z,1749149012.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:32.961Z,1749149012.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 119.266273 m,
      bearing: 302.165658 deg,
      approach rate: -0.619532 m/s,
      LOS rate: 0.019900 deg/s,
      cmd heading: 302.710924 deg,
      new cmd heading: 302.733677 deg.

2025-06-05T18:43:32.962Z,1749149012.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283700 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:33.037Z,1749149013.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022013
2025-06-05T18:43:33.289Z,1749149013.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274739
2025-06-05T18:43:33.370Z,1749149013.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:33.381Z,1749149013.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 119.032143 m,
      bearing: 302.173207 deg,
      approach rate: -0.568316 m/s,
      LOS rate: 0.018360 deg/s,
      cmd heading: 302.733682 deg,
      new cmd heading: 302.756374 deg.

2025-06-05T18:43:33.382Z,1749149013.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284096 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:33.543Z,1749149013.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528160
2025-06-05T18:43:33.766Z,1749149013.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:33.781Z,1749149013.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 118.767563 m,
      bearing: 302.179396 deg,
      approach rate: -0.668068 m/s,
      LOS rate: 0.015662 deg/s,
      cmd heading: 302.756386 deg,
      new cmd heading: 302.774994 deg.

2025-06-05T18:43:33.782Z,1749149013.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284420 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:33.795Z,1749149013.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779538
2025-06-05T18:43:34.046Z,1749149014.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030757
2025-06-05T18:43:34.136Z,1749149014.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:34.139Z,1749149014.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:34.164Z,1749149014.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 118.542534 m,
      bearing: 302.184640 deg,
      approach rate: -0.604418 m/s,
      LOS rate: 0.014114 deg/s,
      cmd heading: 302.774991 deg,
      new cmd heading: 302.790755 deg.

2025-06-05T18:43:34.165Z,1749149014.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284696 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:34.297Z,1749149014.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282039
2025-06-05T18:43:34.549Z,1749149014.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534220
2025-06-05T18:43:34.685Z,1749149014.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:34.691Z,1749149014.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 118.213478 m,
      bearing: 302.191455 deg,
      approach rate: -0.603535 m/s,
      LOS rate: 0.012533 deg/s,
      cmd heading: 302.790755 deg,
      new cmd heading: 302.811255 deg.

2025-06-05T18:43:34.693Z,1749149014.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285053 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:34.801Z,1749149014.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785997
2025-06-05T18:43:35.032Z,1749149015.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:35.035Z,1749149015.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 117.995720 m,
      bearing: 302.195968 deg,
      approach rate: -0.624103 m/s,
      LOS rate: 0.012958 deg/s,
      cmd heading: 302.811246 deg,
      new cmd heading: 302.824810 deg.

2025-06-05T18:43:35.041Z,1749149015.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285290 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:35.053Z,1749149015.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037929
2025-06-05T18:43:35.305Z,1749149015.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289849
2025-06-05T18:43:35.442Z,1749149015.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:35.445Z,1749149015.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 117.736176 m,
      bearing: 302.201302 deg,
      approach rate: -0.633339 m/s,
      LOS rate: 0.013045 deg/s,
      cmd heading: 302.824797 deg,
      new cmd heading: 302.840835 deg.

2025-06-05T18:43:35.446Z,1749149015.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285570 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:35.565Z,1749149015.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549198
2025-06-05T18:43:35.813Z,1749149015.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797792
2025-06-05T18:43:35.880Z,1749149015.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:35.883Z,1749149015.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 117.463074 m,
      bearing: 302.203555 deg,
      approach rate: -0.623973 m/s,
      LOS rate: 0.005159 deg/s,
      cmd heading: 302.840834 deg,
      new cmd heading: 302.847608 deg.

2025-06-05T18:43:35.884Z,1749149015.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285688 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:36.065Z,1749149016.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049840
2025-06-05T18:43:36.216Z,1749149016.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:36.218Z,1749149016.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:36.221Z,1749149016.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 117.248978 m,
      bearing: 302.205332 deg,
      approach rate: -0.633040 m/s,
      LOS rate: 0.005266 deg/s,
      cmd heading: 302.847610 deg,
      new cmd heading: 302.852952 deg.

2025-06-05T18:43:36.224Z,1749149016.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285781 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:36.317Z,1749149016.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302079
2025-06-05T18:43:36.572Z,1749149016.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556369
2025-06-05T18:43:36.663Z,1749149016.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:36.670Z,1749149016.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 116.980743 m,
      bearing: 302.206267 deg,
      approach rate: -0.603206 m/s,
      LOS rate: 0.002106 deg/s,
      cmd heading: 302.852965 deg,
      new cmd heading: 302.855775 deg.

2025-06-05T18:43:36.670Z,1749149016.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285830 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:36.821Z,1749149016.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805969
2025-06-05T18:43:37.029Z,1749149017.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:37.031Z,1749149017.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 116.733162 m,
      bearing: 302.207133 deg,
      approach rate: -0.676694 m/s,
      LOS rate: 0.002373 deg/s,
      cmd heading: 302.855779 deg,
      new cmd heading: 302.858383 deg.

2025-06-05T18:43:37.033Z,1749149017.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285876 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:37.074Z,1749149017.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058945
2025-06-05T18:43:37.325Z,1749149017.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309944
2025-06-05T18:43:37.441Z,1749149017.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:37.445Z,1749149017.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 116.470932 m,
      bearing: 302.208055 deg,
      approach rate: -0.635470 m/s,
      LOS rate: 0.002239 deg/s,
      cmd heading: 302.858374 deg,
      new cmd heading: 302.861145 deg.

2025-06-05T18:43:37.445Z,1749149017.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285924 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:37.580Z,1749149017.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565271
2025-06-05T18:43:37.829Z,1749149017.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813955
2025-06-05T18:43:37.878Z,1749149017.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:37.897Z,1749149017.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 116.191368 m,
      bearing: 302.207486 deg,
      approach rate: -0.641497 m/s,
      LOS rate: -0.001308 deg/s,
      cmd heading: 302.861134 deg,
      new cmd heading: 302.859424 deg.

2025-06-05T18:43:37.898Z,1749149017.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285894 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:38.081Z,1749149018.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065863
2025-06-05T18:43:38.249Z,1749149018.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:38.251Z,1749149018.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:38.254Z,1749149018.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 115.945755 m,
      bearing: 302.206984 deg,
      approach rate: -0.657356 m/s,
      LOS rate: -0.001346 deg/s,
      cmd heading: 302.859412 deg,
      new cmd heading: 302.857904 deg.

2025-06-05T18:43:38.256Z,1749149018.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285868 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:38.333Z,1749149018.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318141
2025-06-05T18:43:38.588Z,1749149018.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572757
2025-06-05T18:43:38.687Z,1749149018.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:38.692Z,1749149018.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 115.662704 m,
      bearing: 302.206896 deg,
      approach rate: -0.649596 m/s,
      LOS rate: -0.000204 deg/s,
      cmd heading: 302.857910 deg,
      new cmd heading: 302.857644 deg.

2025-06-05T18:43:38.694Z,1749149018.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285863 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:38.837Z,1749149018.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821950
2025-06-05T18:43:39.048Z,1749149019.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:39.051Z,1749149019.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 115.427582 m,
      bearing: 302.206743 deg,
      approach rate: -0.651068 m/s,
      LOS rate: -0.000423 deg/s,
      cmd heading: 302.857637 deg,
      new cmd heading: 302.857178 deg.

2025-06-05T18:43:39.052Z,1749149019.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285855 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:39.091Z,1749149019.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075507
2025-06-05T18:43:39.341Z,1749149019.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326338
2025-06-05T18:43:39.458Z,1749149019.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:39.465Z,1749149019.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 115.166588 m,
      bearing: 302.206503 deg,
      approach rate: -0.635325 m/s,
      LOS rate: -0.000587 deg/s,
      cmd heading: 302.857172 deg,
      new cmd heading: 302.856449 deg.

2025-06-05T18:43:39.469Z,1749149019.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285842 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:39.597Z,1749149019.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581510
2025-06-05T18:43:39.845Z,1749149019.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830234
2025-06-05T18:43:39.873Z,1749149019.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:39.876Z,1749149019.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 114.890068 m,
      bearing: 302.206375 deg,
      approach rate: -0.667451 m/s,
      LOS rate: -0.000310 deg/s,
      cmd heading: 302.856462 deg,
      new cmd heading: 302.856077 deg.

2025-06-05T18:43:39.877Z,1749149019.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285836 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:40.099Z,1749149020.099 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:40.099Z,1749149020.099 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:40.100Z,1749149020.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:40.263Z,1749149020.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:40.266Z,1749149020.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:40.268Z,1749149020.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 114.636620 m,
      bearing: 302.206257 deg,
      approach rate: -0.645002 m/s,
      LOS rate: -0.000300 deg/s,
      cmd heading: 302.856079 deg,
      new cmd heading: 302.855725 deg.

2025-06-05T18:43:40.269Z,1749149020.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285830 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:40.349Z,1749149020.349 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:40.349Z,1749149020.349 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:40.349Z,1749149020.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:40.603Z,1749149020.603 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:40.604Z,1749149020.604 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:40.605Z,1749149020.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:40.726Z,1749149020.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:40.729Z,1749149020.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 114.341293 m,
      bearing: 302.205775 deg,
      approach rate: -0.640789 m/s,
      LOS rate: -0.001048 deg/s,
      cmd heading: 302.855724 deg,
      new cmd heading: 302.854275 deg.

2025-06-05T18:43:40.730Z,1749149020.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285804 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:40.855Z,1749149020.855 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:43:40.855Z,1749149020.855 [DAT](INFO): response not received
2025-06-05T18:43:40.856Z,1749149020.856 [DAT](INFO): DAT read: user:2796>

2025-06-05T18:43:40.856Z,1749149020.856 [DAT](INFO): DAT read: Tx time:18:43:39.9276

2025-06-05T18:43:40.857Z,1749149020.857 [DAT](INFO): Ping request sent.
2025-06-05T18:43:40.857Z,1749149020.857 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:40.857Z,1749149020.857 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:40.857Z,1749149020.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721
2025-06-05T18:43:41.080Z,1749149021.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:41.083Z,1749149021.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 114.111435 m,
      bearing: 302.205309 deg,
      approach rate: -0.649462 m/s,
      LOS rate: -0.001319 deg/s,
      cmd heading: 302.854276 deg,
      new cmd heading: 302.852875 deg.

2025-06-05T18:43:41.084Z,1749149021.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285780 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:41.109Z,1749149021.109 [DAT](INFO): DAT read: TxSync time:18:43:39.9268

2025-06-05T18:43:41.110Z,1749149021.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252833
2025-06-05T18:43:41.361Z,1749149021.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504187
2025-06-05T18:43:41.448Z,1749149021.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:43:41.475Z,1749149021.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:41.478Z,1749149021.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 113.857460 m,
      bearing: 302.204792 deg,
      approach rate: -0.643426 m/s,
      LOS rate: -0.001313 deg/s,
      cmd heading: 302.852883 deg,
      new cmd heading: 302.851328 deg.

2025-06-05T18:43:41.479Z,1749149021.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285753 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:41.617Z,1749149021.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759471
2025-06-05T18:43:41.865Z,1749149021.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007894
2025-06-05T18:43:41.917Z,1749149021.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:41.921Z,1749149021.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 113.576363 m,
      bearing: 302.205026 deg,
      approach rate: -0.635477 m/s,
      LOS rate: 0.000530 deg/s,
      cmd heading: 302.851325 deg,
      new cmd heading: 302.852029 deg.

2025-06-05T18:43:41.922Z,1749149021.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285765 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:42.117Z,1749149022.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260101
2025-06-05T18:43:42.281Z,1749149022.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:42.283Z,1749149022.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:42.288Z,1749149022.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 113.346329 m,
      bearing: 302.205686 deg,
      approach rate: -0.629257 m/s,
      LOS rate: 0.001810 deg/s,
      cmd heading: 302.852036 deg,
      new cmd heading: 302.854020 deg.

2025-06-05T18:43:42.290Z,1749149022.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285800 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:42.370Z,1749149022.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513186
2025-06-05T18:43:42.452Z,1749149022.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:43:42.624Z,1749149022.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766499
2025-06-05T18:43:42.744Z,1749149022.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:42.747Z,1749149022.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 113.056465 m,
      bearing: 302.209024 deg,
      approach rate: -0.628245 m/s,
      LOS rate: 0.007254 deg/s,
      cmd heading: 302.854030 deg,
      new cmd heading: 302.864071 deg.

2025-06-05T18:43:42.748Z,1749149022.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285975 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:42.875Z,1749149022.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017719
2025-06-05T18:43:43.095Z,1749149023.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:43.098Z,1749149023.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 112.835518 m,
      bearing: 302.211326 deg,
      approach rate: -0.630093 m/s,
      LOS rate: 0.006578 deg/s,
      cmd heading: 302.864084 deg,
      new cmd heading: 302.871004 deg.

2025-06-05T18:43:43.099Z,1749149023.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286096 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:43.125Z,1749149023.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267966
2025-06-05T18:43:43.377Z,1749149023.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519827
2025-06-05T18:43:43.483Z,1749149023.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:43.486Z,1749149023.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 112.591370 m,
      bearing: 302.213691 deg,
      approach rate: -0.629378 m/s,
      LOS rate: 0.006110 deg/s,
      cmd heading: 302.870996 deg,
      new cmd heading: 302.878107 deg.

2025-06-05T18:43:43.487Z,1749149023.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286220 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:43.631Z,1749149023.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774037
2025-06-05T18:43:43.881Z,1749149023.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023955
2025-06-05T18:43:44.027Z,1749149024.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:44.030Z,1749149024.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 112.251495 m,
      bearing: 302.222064 deg,
      approach rate: -0.624733 m/s,
      LOS rate: 0.015437 deg/s,
      cmd heading: 302.878100 deg,
      new cmd heading: 302.903295 deg.

2025-06-05T18:43:44.032Z,1749149024.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286660 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:44.133Z,1749149024.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275985
2025-06-05T18:43:44.363Z,1749149024.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:44.366Z,1749149024.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:44.373Z,1749149024.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 112.055252 m,
      bearing: 302.226922 deg,
      approach rate: -0.579398 m/s,
      LOS rate: 0.014367 deg/s,
      cmd heading: 302.903290 deg,
      new cmd heading: 302.917888 deg.

2025-06-05T18:43:44.374Z,1749149024.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286914 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:44.385Z,1749149024.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527884
2025-06-05T18:43:44.640Z,1749149024.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782415
2025-06-05T18:43:44.809Z,1749149024.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:44.816Z,1749149024.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 111.780960 m,
      bearing: 302.232749 deg,
      approach rate: -0.618791 m/s,
      LOS rate: 0.013178 deg/s,
      cmd heading: 302.917879 deg,
      new cmd heading: 302.935403 deg.

2025-06-05T18:43:44.817Z,1749149024.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287220 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:44.890Z,1749149024.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033259
2025-06-05T18:43:45.141Z,1749149025.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283980
2025-06-05T18:43:45.152Z,1749149025.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:45.154Z,1749149025.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 111.553894 m,
      bearing: 302.237595 deg,
      approach rate: -0.662924 m/s,
      LOS rate: 0.014175 deg/s,
      cmd heading: 302.935391 deg,
      new cmd heading: 302.949958 deg.

2025-06-05T18:43:45.157Z,1749149025.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287474 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:45.393Z,1749149025.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535941
2025-06-05T18:43:45.536Z,1749149025.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:45.547Z,1749149025.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 111.322540 m,
      bearing: 302.242500 deg,
      approach rate: -0.608625 m/s,
      LOS rate: 0.012933 deg/s,
      cmd heading: 302.949953 deg,
      new cmd heading: 302.964702 deg.

2025-06-05T18:43:45.554Z,1749149025.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287732 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:45.649Z,1749149025.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791784
2025-06-05T18:43:45.897Z,1749149025.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039939
2025-06-05T18:43:45.971Z,1749149025.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:45.978Z,1749149025.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 111.054893 m,
      bearing: 302.249319 deg,
      approach rate: -0.608815 m/s,
      LOS rate: 0.015548 deg/s,
      cmd heading: 302.964707 deg,
      new cmd heading: 302.985212 deg.

2025-06-05T18:43:45.979Z,1749149025.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288090 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:46.149Z,1749149026.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292004
2025-06-05T18:43:46.345Z,1749149026.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:46.347Z,1749149026.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 110.833450 m,
      bearing: 302.254997 deg,
      approach rate: -0.593165 m/s,
      LOS rate: 0.015239 deg/s,
      cmd heading: 302.985224 deg,
      new cmd heading: 303.002292 deg.

2025-06-05T18:43:46.349Z,1749149026.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288388 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:46.402Z,1749149026.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544490
2025-06-05T18:43:46.653Z,1749149026.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795870
2025-06-05T18:43:46.853Z,1749149026.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:46.856Z,1749149026.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:46.859Z,1749149026.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 110.504219 m,
      bearing: 302.265321 deg,
      approach rate: -0.644890 m/s,
      LOS rate: 0.020283 deg/s,
      cmd heading: 303.002300 deg,
      new cmd heading: 303.033364 deg.

2025-06-05T18:43:46.860Z,1749149026.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288930 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:46.905Z,1749149026.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047997
2025-06-05T18:43:47.157Z,1749149027.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300441
2025-06-05T18:43:47.171Z,1749149027.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:47.175Z,1749149027.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 110.307663 m,
      bearing: 302.271541 deg,
      approach rate: -0.622182 m/s,
      LOS rate: 0.019725 deg/s,
      cmd heading: 303.033364 deg,
      new cmd heading: 303.052057 deg.

2025-06-05T18:43:47.176Z,1749149027.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289256 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:47.409Z,1749149027.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552227
2025-06-05T18:43:47.561Z,1749149027.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:47.564Z,1749149027.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 110.066376 m,
      bearing: 302.279292 deg,
      approach rate: -0.618541 m/s,
      LOS rate: 0.019915 deg/s,
      cmd heading: 303.052051 deg,
      new cmd heading: 303.075357 deg.

2025-06-05T18:43:47.565Z,1749149027.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289663 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:47.662Z,1749149027.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804786
2025-06-05T18:43:47.913Z,1749149027.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055763
2025-06-05T18:43:47.985Z,1749149027.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:47.988Z,1749149027.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 109.799911 m,
      bearing: 302.285955 deg,
      approach rate: -0.628280 m/s,
      LOS rate: 0.015746 deg/s,
      cmd heading: 303.075356 deg,
      new cmd heading: 303.095391 deg.

2025-06-05T18:43:47.989Z,1749149027.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290012 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:48.165Z,1749149028.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308044
2025-06-05T18:43:48.364Z,1749149028.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:48.366Z,1749149028.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 109.564163 m,
      bearing: 302.291915 deg,
      approach rate: -0.623017 m/s,
      LOS rate: 0.015787 deg/s,
      cmd heading: 303.095382 deg,
      new cmd heading: 303.113303 deg.

2025-06-05T18:43:48.367Z,1749149028.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290325 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:48.417Z,1749149028.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560036
2025-06-05T18:43:48.670Z,1749149028.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812603
2025-06-05T18:43:48.830Z,1749149028.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:48.833Z,1749149028.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 109.282135 m,
      bearing: 302.292970 deg,
      approach rate: -0.604484 m/s,
      LOS rate: 0.002265 deg/s,
      cmd heading: 303.113304 deg,
      new cmd heading: 303.116475 deg.

2025-06-05T18:43:48.834Z,1749149028.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290380 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:48.924Z,1749149028.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065999
2025-06-05T18:43:49.175Z,1749149029.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317935
2025-06-05T18:43:49.194Z,1749149029.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:49.202Z,1749149029.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:49.209Z,1749149029.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 109.056557 m,
      bearing: 302.293861 deg,
      approach rate: -0.606431 m/s,
      LOS rate: 0.002402 deg/s,
      cmd heading: 303.116473 deg,
      new cmd heading: 303.119153 deg.

2025-06-05T18:43:49.210Z,1749149029.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290427 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:49.425Z,1749149029.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568135
2025-06-05T18:43:49.578Z,1749149029.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:49.581Z,1749149029.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 108.798203 m,
      bearing: 302.294939 deg,
      approach rate: -0.688051 m/s,
      LOS rate: 0.002878 deg/s,
      cmd heading: 303.119151 deg,
      new cmd heading: 303.122393 deg.

2025-06-05T18:43:49.582Z,1749149029.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290484 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:49.677Z,1749149029.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820003
2025-06-05T18:43:49.929Z,1749149029.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071979
2025-06-05T18:43:50.021Z,1749149030.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:50.028Z,1749149030.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 108.515213 m,
      bearing: 302.293159 deg,
      approach rate: -0.637851 m/s,
      LOS rate: -0.004022 deg/s,
      cmd heading: 303.122402 deg,
      new cmd heading: 303.117049 deg.

2025-06-05T18:43:50.029Z,1749149030.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290390 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:50.183Z,1749149030.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325599
2025-06-05T18:43:50.418Z,1749149030.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:50.425Z,1749149030.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 108.273277 m,
      bearing: 302.291652 deg,
      approach rate: -0.610377 m/s,
      LOS rate: -0.003812 deg/s,
      cmd heading: 303.117047 deg,
      new cmd heading: 303.112514 deg.

2025-06-05T18:43:50.426Z,1749149030.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290311 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:50.433Z,1749149030.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576181
2025-06-05T18:43:50.685Z,1749149030.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827883
2025-06-05T18:43:50.842Z,1749149030.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:50.846Z,1749149030.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 107.988556 m,
      bearing: 302.287487 deg,
      approach rate: -0.670205 m/s,
      LOS rate: -0.009828 deg/s,
      cmd heading: 303.112512 deg,
      new cmd heading: 303.099986 deg.

2025-06-05T18:43:50.847Z,1749149030.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290093 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:50.938Z,1749149030.938 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:50.938Z,1749149030.938 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:50.939Z,1749149030.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:51.190Z,1749149031.190 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:51.190Z,1749149031.190 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:51.191Z,1749149031.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:51.215Z,1749149031.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:51.246Z,1749149031.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:51.253Z,1749149031.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 107.744881 m,
      bearing: 302.283906 deg,
      approach rate: -0.604286 m/s,
      LOS rate: -0.008902 deg/s,
      cmd heading: 303.099999 deg,
      new cmd heading: 303.089230 deg.

2025-06-05T18:43:51.254Z,1749149031.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289905 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:51.441Z,1749149031.441 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:51.441Z,1749149031.441 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:51.441Z,1749149031.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:51.595Z,1749149031.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:51.598Z,1749149031.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 107.501366 m,
      bearing: 302.280212 deg,
      approach rate: -0.696621 m/s,
      LOS rate: -0.010589 deg/s,
      cmd heading: 303.089235 deg,
      new cmd heading: 303.078130 deg.

2025-06-05T18:43:51.599Z,1749149031.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289711 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:51.693Z,1749149031.693 [DAT](INFO): Reached modem response timeout
2025-06-05T18:43:51.693Z,1749149031.693 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:43:51.694Z,1749149031.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:51.945Z,1749149031.945 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:43:51.945Z,1749149031.945 [DAT](INFO): response not received
2025-06-05T18:43:51.945Z,1749149031.945 [DAT](INFO): DAT read: user:2797>

2025-06-05T18:43:51.946Z,1749149031.946 [DAT](INFO): DAT read: Tx time:18:43:50.8777

2025-06-05T18:43:51.946Z,1749149031.946 [DAT](INFO): Ping request sent.
2025-06-05T18:43:51.946Z,1749149031.946 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:51.947Z,1749149031.947 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:51.947Z,1749149031.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000717
2025-06-05T18:43:52.075Z,1749149032.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:52.078Z,1749149032.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 107.192123 m,
      bearing: 302.274927 deg,
      approach rate: -0.644875 m/s,
      LOS rate: -0.011055 deg/s,
      cmd heading: 303.078142 deg,
      new cmd heading: 303.062239 deg.

2025-06-05T18:43:52.079Z,1749149032.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289434 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:52.197Z,1749149032.197 [DAT](INFO): DAT read: TxSync time:18:43:50.8769

2025-06-05T18:43:52.198Z,1749149032.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251071
2025-06-05T18:43:52.449Z,1749149032.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502082
2025-06-05T18:43:52.526Z,1749149032.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:52.529Z,1749149032.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 106.948273 m,
      bearing: 302.270737 deg,
      approach rate: -0.539971 m/s,
      LOS rate: -0.009299 deg/s,
      cmd heading: 303.062242 deg,
      new cmd heading: 303.049644 deg.

2025-06-05T18:43:52.530Z,1749149032.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289214 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:52.702Z,1749149032.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755378
2025-06-05T18:43:52.890Z,1749149032.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:52.893Z,1749149032.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 106.674065 m,
      bearing: 302.265423 deg,
      approach rate: -0.755340 m/s,
      LOS rate: -0.014675 deg/s,
      cmd heading: 303.049647 deg,
      new cmd heading: 303.033665 deg.

2025-06-05T18:43:52.894Z,1749149032.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288935 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:52.954Z,1749149032.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006987
2025-06-05T18:43:53.205Z,1749149033.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258137
2025-06-05T18:43:53.253Z,1749149033.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:53.265Z,1749149033.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:53.268Z,1749149033.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 106.442505 m,
      bearing: 302.261452 deg,
      approach rate: -0.616692 m/s,
      LOS rate: -0.010600 deg/s,
      cmd heading: 303.033664 deg,
      new cmd heading: 303.021724 deg.

2025-06-05T18:43:53.269Z,1749149033.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288727 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:53.458Z,1749149033.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511689
2025-06-05T18:43:53.639Z,1749149033.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:53.642Z,1749149033.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 106.201096 m,
      bearing: 302.256959 deg,
      approach rate: -0.646893 m/s,
      LOS rate: -0.012067 deg/s,
      cmd heading: 303.021725 deg,
      new cmd heading: 303.008216 deg.

2025-06-05T18:43:53.644Z,1749149033.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288491 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:53.710Z,1749149033.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763192
2025-06-05T18:43:53.961Z,1749149033.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014031
2025-06-05T18:43:54.092Z,1749149034.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:54.094Z,1749149034.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 105.927444 m,
      bearing: 302.254791 deg,
      approach rate: -0.608737 m/s,
      LOS rate: -0.004834 deg/s,
      cmd heading: 303.008229 deg,
      new cmd heading: 303.001710 deg.

2025-06-05T18:43:54.100Z,1749149034.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288377 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:54.213Z,1749149034.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266110
2025-06-05T18:43:54.465Z,1749149034.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518248
2025-06-05T18:43:54.477Z,1749149034.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:54.484Z,1749149034.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 105.690819 m,
      bearing: 302.252784 deg,
      approach rate: -0.607706 m/s,
      LOS rate: -0.005166 deg/s,
      cmd heading: 303.001699 deg,
      new cmd heading: 302.995664 deg.

2025-06-05T18:43:54.485Z,1749149034.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288272 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:54.717Z,1749149034.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770767
2025-06-05T18:43:54.910Z,1749149034.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:54.913Z,1749149034.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 105.403999 m,
      bearing: 302.253586 deg,
      approach rate: -0.663165 m/s,
      LOS rate: 0.001860 deg/s,
      cmd heading: 302.995661 deg,
      new cmd heading: 302.998074 deg.

2025-06-05T18:43:54.914Z,1749149034.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288314 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:54.970Z,1749149034.970 [DAT](INFO): DAT read: Rx Time:18:43:53.4661

2025-06-05T18:43:54.971Z,1749149034.971 [DAT](INFO): Rx dataTimestamp_ set to:1749149034.970229
2025-06-05T18:43:54.972Z,1749149034.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025457
2025-06-05T18:43:55.221Z,1749149035.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274492
2025-06-05T18:43:55.283Z,1749149035.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:55.285Z,1749149035.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.45 m.
2025-06-05T18:43:55.288Z,1749149035.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.448242 m,
      nav range: 105.169334 m,
      bearing: 302.254224 deg,
      approach rate: -0.625088 m/s,
      LOS rate: 0.001702 deg/s,
      cmd heading: 302.998065 deg,
      new cmd heading: 302.999982 deg.

2025-06-05T18:43:55.290Z,1749149035.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288347 target range: 130.448242 and range: 131.50 m.
2025-06-05T18:43:55.479Z,1749149035.479 [DAT](INFO): DAT read: 18:43:53.4662 LVL= 32752, 32753, 30514, 32755, AGC= 63, IDX= 507,-0.17,-2.542, 3.081,-2.377, 2.584, PHS= 1.246, 0.544, 1.320, RAW= 155.0, -56.0, CAL= 159.3, -52.1, ROT= 350.7,  52.1

2025-06-05T18:43:55.480Z,1749149035.480 [DAT](INFO): got valid direction response:
 18:43:53.4662 LVL= 32752, 32753, 30514, 32755, AGC= 63, IDX= 507,-0.17,-2.542, 3.081,-2.377, 2.584, PHS= 1.246, 0.544, 1.320, RAW= 155.0, -56.0, CAL= 159.3, -52.1, ROT= 350.7,  52.1

2025-06-05T18:43:55.481Z,1749149035.481 [DAT](INFO): DAT read: Bearing 350.7,  52.1 (Local)

2025-06-05T18:43:55.482Z,1749149035.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.7,  52.1 (Local)

2025-06-05T18:43:55.483Z,1749149035.483 [DAT](INFO): DAT read: Range 10 to 50 : 138.1 m  (Round-trip  184.2 ms) speed  0.8 m/s

2025-06-05T18:43:55.484Z,1749149035.484 [DAT](INFO): DAT read: user:2798>

2025-06-05T18:43:55.485Z,1749149035.485 [DAT](INFO): DAT read: Tx time:18:43:54.5793

2025-06-05T18:43:55.485Z,1749149035.485 [DAT](INFO): Ping request sent.
2025-06-05T18:43:55.485Z,1749149035.485 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:43:55.485Z,1749149035.485 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:43:55.486Z,1749149035.486 [DAT](INFO): direction in FSK: [0.606211,-0.099271,-0.789084]
2025-06-05T18:43:55.486Z,1749149035.486 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:55.487Z,1749149035.487 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:55.495Z,1749149035.495 [DAT](INFO): publishing transmit ping time
2025-06-05T18:43:55.495Z,1749149035.495 [DAT](INFO): publishing direction and range info
2025-06-05T18:43:55.717Z,1749149035.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.100006 m,
      deltaT: 36.548652 s,
      deltaX: 6.600006 m,
      approachRate: 0.180581 m/s,
      rangeRepo size: 4

2025-06-05T18:43:55.725Z,1749149035.725 [DAT](INFO): DAT read: TxSync time:18:43:54.5786

2025-06-05T18:43:55.726Z,1749149035.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 136.991852 m,
      bearing: 299.720590 deg,
      lat: 36.906123 deg,
      lon: -122.116137 deg,
      deltaT: 36.548652 s,
      deltaX: 6.543610 m,
      approachRate: 0.179038 m/s,
      posRepo size: 4

2025-06-05T18:43:55.727Z,1749149035.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:55.734Z,1749149035.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 102.694855 m,
      bearing: 300.408871 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001702 deg/s,
      cmd heading: 302.999978 deg,
      new cmd heading: 303.002146 deg.

2025-06-05T18:43:55.735Z,1749149035.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288385 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:56.144Z,1749149036.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:56.146Z,1749149036.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 102.397835 m,
      bearing: 300.410627 deg,
      approach rate: -0.684671 m/s,
      LOS rate: 0.004059 deg/s,
      cmd heading: 303.002136 deg,
      new cmd heading: 303.007419 deg.

2025-06-05T18:43:56.148Z,1749149036.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288477 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:56.493Z,1749149036.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:56.509Z,1749149036.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 102.194801 m,
      bearing: 300.411907 deg,
      approach rate: -0.579988 m/s,
      LOS rate: 0.003664 deg/s,
      cmd heading: 303.007409 deg,
      new cmd heading: 303.011257 deg.

2025-06-05T18:43:56.509Z,1749149036.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288544 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:56.946Z,1749149036.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:56.949Z,1749149036.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 101.897728 m,
      bearing: 300.415847 deg,
      approach rate: -0.655979 m/s,
      LOS rate: 0.008725 deg/s,
      cmd heading: 303.011261 deg,
      new cmd heading: 303.023115 deg.

2025-06-05T18:43:56.950Z,1749149036.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288751 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:57.309Z,1749149037.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:57.311Z,1749149037.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:57.314Z,1749149037.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 101.674530 m,
      bearing: 300.418510 deg,
      approach rate: -0.612060 m/s,
      LOS rate: 0.007319 deg/s,
      cmd heading: 303.023118 deg,
      new cmd heading: 303.031126 deg.

2025-06-05T18:43:57.315Z,1749149037.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288891 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:57.490Z,1749149037.490 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:57.491Z,1749149037.491 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:57.491Z,1749149037.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:43:57.686Z,1749149037.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:57.691Z,1749149037.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 101.430466 m,
      bearing: 300.421198 deg,
      approach rate: -0.651693 m/s,
      LOS rate: 0.007195 deg/s,
      cmd heading: 303.031123 deg,
      new cmd heading: 303.039207 deg.

2025-06-05T18:43:57.694Z,1749149037.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289032 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:57.741Z,1749149037.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256263
2025-06-05T18:43:57.993Z,1749149037.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507939
2025-06-05T18:43:58.101Z,1749149038.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:58.120Z,1749149038.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 101.167816 m,
      bearing: 300.428283 deg,
      approach rate: -0.632124 m/s,
      LOS rate: 0.017097 deg/s,
      cmd heading: 303.039210 deg,
      new cmd heading: 303.060522 deg.

2025-06-05T18:43:58.121Z,1749149038.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289404 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:58.247Z,1749149038.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761331
2025-06-05T18:43:58.497Z,1749149038.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011710
2025-06-05T18:43:58.509Z,1749149038.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:58.517Z,1749149038.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 100.915504 m,
      bearing: 300.435139 deg,
      approach rate: -0.617640 m/s,
      LOS rate: 0.016823 deg/s,
      cmd heading: 303.060520 deg,
      new cmd heading: 303.081137 deg.

2025-06-05T18:43:58.518Z,1749149038.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289764 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:58.749Z,1749149038.749 [DAT](INFO): DAT read: Rx Time:18:43:57.1654

2025-06-05T18:43:58.750Z,1749149038.750 [DAT](INFO): Rx dataTimestamp_ set to:1749149038.749562
2025-06-05T18:43:58.751Z,1749149038.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265823
2025-06-05T18:43:59.001Z,1749149039.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515703
2025-06-05T18:43:59.109Z,1749149039.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:59.126Z,1749149039.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 100.553810 m,
      bearing: 300.442276 deg,
      approach rate: -0.613398 m/s,
      LOS rate: 0.012147 deg/s,
      cmd heading: 303.081148 deg,
      new cmd heading: 303.102636 deg.

2025-06-05T18:43:59.134Z,1749149039.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290139 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:59.262Z,1749149039.262 [DAT](INFO): DAT read: 18:43:57.1654 LVL= 32752, 32753, 30994, 32755, AGC= 67, IDX= 419,-0.11,-2.254, 2.723,-2.247,-2.626, PHS= 0.460,-0.887, 0.376, RAW= 146.8,   0.8, CAL= 150.2,  -8.1, ROT= 359.8,   8.1

2025-06-05T18:43:59.264Z,1749149039.264 [DAT](INFO): got valid direction response:
 18:43:57.1654 LVL= 32752, 32753, 30994, 32755, AGC= 67, IDX= 419,-0.11,-2.254, 2.723,-2.247,-2.626, PHS= 0.460,-0.887, 0.376, RAW= 146.8,   0.8, CAL= 150.2,  -8.1, ROT= 359.8,   8.1

2025-06-05T18:43:59.264Z,1749149039.264 [DAT](INFO): DAT read: $Error in header

2025-06-05T18:43:59.265Z,1749149039.265 [DAT](INFO): Received a bad header
2025-06-05T18:43:59.276Z,1749149039.276 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:43:59.277Z,1749149039.277 [DAT](INFO): direction in FSK: [0.990018,-0.003456,-0.140901]
2025-06-05T18:43:59.280Z,1749149039.280 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:59.280Z,1749149039.280 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:59.280Z,1749149039.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:59.450Z,1749149039.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:43:59.453Z,1749149039.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:59.457Z,1749149039.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 100.307022 m,
      bearing: 300.447216 deg,
      approach rate: -0.698240 m/s,
      LOS rate: 0.014012 deg/s,
      cmd heading: 303.102649 deg,
      new cmd heading: 303.117506 deg.

2025-06-05T18:43:59.458Z,1749149039.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290399 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:43:59.506Z,1749149039.506 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:59.507Z,1749149039.507 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:59.507Z,1749149039.507 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:59.757Z,1749149039.757 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:43:59.757Z,1749149039.757 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:43:59.758Z,1749149039.758 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:43:59.940Z,1749149039.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:43:59.943Z,1749149039.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 100.033287 m,
      bearing: 300.452724 deg,
      approach rate: -0.568021 m/s,
      LOS rate: 0.011461 deg/s,
      cmd heading: 303.117512 deg,
      new cmd heading: 303.134082 deg.

2025-06-05T18:43:59.948Z,1749149039.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290688 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:00.008Z,1749149040.008 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:00.009Z,1749149040.009 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:00.009Z,1749149040.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:00.261Z,1749149040.261 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:00.261Z,1749149040.261 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:00.261Z,1749149040.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:00.356Z,1749149040.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:00.361Z,1749149040.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 99.732338 m,
      bearing: 300.458978 deg,
      approach rate: -0.716769 m/s,
      LOS rate: 0.014940 deg/s,
      cmd heading: 303.134095 deg,
      new cmd heading: 303.152914 deg.

2025-06-05T18:44:00.362Z,1749149040.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291017 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:00.512Z,1749149040.512 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:00.513Z,1749149040.513 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:00.513Z,1749149040.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:00.691Z,1749149040.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:00.696Z,1749149040.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 99.508499 m,
      bearing: 300.463720 deg,
      approach rate: -0.665144 m/s,
      LOS rate: 0.014122 deg/s,
      cmd heading: 303.152919 deg,
      new cmd heading: 303.167176 deg.

2025-06-05T18:44:00.698Z,1749149040.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291265 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:00.765Z,1749149040.765 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:00.765Z,1749149040.765 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:00.765Z,1749149040.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:01.017Z,1749149041.017 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:01.017Z,1749149041.017 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:01.017Z,1749149041.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:01.119Z,1749149041.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:01.124Z,1749149041.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 99.222664 m,
      bearing: 300.464678 deg,
      approach rate: -0.667878 m/s,
      LOS rate: 0.002245 deg/s,
      cmd heading: 303.167181 deg,
      new cmd heading: 303.170063 deg.

2025-06-05T18:44:01.125Z,1749149041.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291316 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:01.269Z,1749149041.269 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:01.269Z,1749149041.269 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:01.269Z,1749149041.269 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:01.497Z,1749149041.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:01.499Z,1749149041.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:01.507Z,1749149041.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 98.982658 m,
      bearing: 300.465592 deg,
      approach rate: -0.631079 m/s,
      LOS rate: 0.002410 deg/s,
      cmd heading: 303.170049 deg,
      new cmd heading: 303.172799 deg.

2025-06-05T18:44:01.512Z,1749149041.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291364 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:01.520Z,1749149041.520 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:01.521Z,1749149041.521 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:01.521Z,1749149041.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:01.773Z,1749149041.773 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:01.774Z,1749149041.774 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:01.774Z,1749149041.774 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:01.886Z,1749149041.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:01.891Z,1749149041.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 98.719955 m,
      bearing: 300.466623 deg,
      approach rate: -0.678872 m/s,
      LOS rate: 0.002671 deg/s,
      cmd heading: 303.172809 deg,
      new cmd heading: 303.175909 deg.

2025-06-05T18:44:01.892Z,1749149041.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291418 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:02.025Z,1749149042.025 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:02.025Z,1749149042.025 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:02.025Z,1749149042.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:02.278Z,1749149042.278 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:02.278Z,1749149042.278 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:02.278Z,1749149042.278 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:02.360Z,1749149042.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:02.362Z,1749149042.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 98.439072 m,
      bearing: 300.457775 deg,
      approach rate: -0.598515 m/s,
      LOS rate: -0.018907 deg/s,
      cmd heading: 303.175896 deg,
      new cmd heading: 303.149277 deg.

2025-06-05T18:44:02.368Z,1749149042.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290953 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:02.528Z,1749149042.528 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:02.528Z,1749149042.528 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:02.529Z,1749149042.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:02.710Z,1749149042.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:02.719Z,1749149042.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 98.196426 m,
      bearing: 300.450119 deg,
      approach rate: -0.685553 m/s,
      LOS rate: -0.021683 deg/s,
      cmd heading: 303.149286 deg,
      new cmd heading: 303.126262 deg.

2025-06-05T18:44:02.725Z,1749149042.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290551 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:02.782Z,1749149042.782 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:02.782Z,1749149042.782 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:02.782Z,1749149042.782 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:03.032Z,1749149043.032 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:03.032Z,1749149043.032 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:03.032Z,1749149043.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:03.144Z,1749149043.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:03.147Z,1749149043.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 97.909187 m,
      bearing: 300.436712 deg,
      approach rate: -0.661096 m/s,
      LOS rate: -0.030948 deg/s,
      cmd heading: 303.126254 deg,
      new cmd heading: 303.085915 deg.

2025-06-05T18:44:03.154Z,1749149043.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289847 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:03.285Z,1749149043.285 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:03.285Z,1749149043.285 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:03.285Z,1749149043.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:03.498Z,1749149043.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:03.500Z,1749149043.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:03.502Z,1749149043.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 97.680077 m,
      bearing: 300.425838 deg,
      approach rate: -0.644156 m/s,
      LOS rate: -0.030646 deg/s,
      cmd heading: 303.085929 deg,
      new cmd heading: 303.053228 deg.

2025-06-05T18:44:03.503Z,1749149043.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289277 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:03.537Z,1749149043.537 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:03.537Z,1749149043.537 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:03.537Z,1749149043.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:03.790Z,1749149043.790 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:03.790Z,1749149043.790 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:03.790Z,1749149043.790 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:03.970Z,1749149043.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:03.998Z,1749149043.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 97.420959 m,
      bearing: 300.413334 deg,
      approach rate: -0.568983 m/s,
      LOS rate: -0.027530 deg/s,
      cmd heading: 303.053226 deg,
      new cmd heading: 303.015614 deg.

2025-06-05T18:44:03.999Z,1749149043.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288620 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:04.041Z,1749149044.041 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:04.041Z,1749149044.041 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:04.041Z,1749149044.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:04.294Z,1749149044.294 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:04.294Z,1749149044.294 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:04.294Z,1749149044.294 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:04.366Z,1749149044.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:04.371Z,1749149044.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 97.138077 m,
      bearing: 300.395156 deg,
      approach rate: -0.690357 m/s,
      LOS rate: -0.044489 deg/s,
      cmd heading: 303.015605 deg,
      new cmd heading: 302.960915 deg.

2025-06-05T18:44:04.374Z,1749149044.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287665 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:04.549Z,1749149044.549 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:04.549Z,1749149044.549 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:04.549Z,1749149044.549 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:04.741Z,1749149044.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:04.744Z,1749149044.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 96.904472 m,
      bearing: 300.379740 deg,
      approach rate: -0.620810 m/s,
      LOS rate: -0.041068 deg/s,
      cmd heading: 302.960909 deg,
      new cmd heading: 302.914549 deg.

2025-06-05T18:44:04.745Z,1749149044.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286856 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:04.800Z,1749149044.800 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:04.801Z,1749149044.801 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:04.801Z,1749149044.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:05.052Z,1749149045.052 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:05.053Z,1749149045.053 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:05.053Z,1749149045.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:05.163Z,1749149045.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:05.166Z,1749149045.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 96.647415 m,
      bearing: 300.359478 deg,
      approach rate: -0.609779 m/s,
      LOS rate: -0.048193 deg/s,
      cmd heading: 302.914546 deg,
      new cmd heading: 302.853598 deg.

2025-06-05T18:44:05.167Z,1749149045.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285792 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:05.304Z,1749149045.304 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:05.304Z,1749149045.304 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:05.305Z,1749149045.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:05.514Z,1749149045.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:05.516Z,1749149045.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:05.519Z,1749149045.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 96.430984 m,
      bearing: 300.342088 deg,
      approach rate: -0.611799 m/s,
      LOS rate: -0.049268 deg/s,
      cmd heading: 302.853593 deg,
      new cmd heading: 302.801306 deg.

2025-06-05T18:44:05.536Z,1749149045.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284880 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:05.557Z,1749149045.557 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:05.557Z,1749149045.557 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:05.558Z,1749149045.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:05.808Z,1749149045.808 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:05.809Z,1749149045.809 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:05.809Z,1749149045.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:05.925Z,1749149045.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:05.928Z,1749149045.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 96.182350 m,
      bearing: 300.321925 deg,
      approach rate: -0.607853 m/s,
      LOS rate: -0.049421 deg/s,
      cmd heading: 302.801301 deg,
      new cmd heading: 302.740657 deg.

2025-06-05T18:44:05.929Z,1749149045.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283821 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:06.061Z,1749149046.061 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:06.061Z,1749149046.061 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:06.062Z,1749149046.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:06.313Z,1749149046.313 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:06.313Z,1749149046.313 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:06.313Z,1749149046.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:06.397Z,1749149046.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:06.412Z,1749149046.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 95.905006 m,
      bearing: 300.304599 deg,
      approach rate: -0.587594 m/s,
      LOS rate: -0.036814 deg/s,
      cmd heading: 302.740649 deg,
      new cmd heading: 302.688521 deg.

2025-06-05T18:44:06.413Z,1749149046.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282911 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:06.569Z,1749149046.569 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:44:06.569Z,1749149046.569 [DAT](INFO): response not received
2025-06-05T18:44:06.570Z,1749149046.570 [DAT](INFO): DAT read: user:2800>

2025-06-05T18:44:06.570Z,1749149046.570 [DAT](INFO): DAT read: Tx time:18:44:05.5294

2025-06-05T18:44:06.571Z,1749149046.571 [DAT](INFO): Ping request sent.
2025-06-05T18:44:06.571Z,1749149046.571 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:44:06.571Z,1749149046.571 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:06.572Z,1749149046.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-06-05T18:44:06.742Z,1749149046.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:06.745Z,1749149046.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 95.688202 m,
      bearing: 300.290932 deg,
      approach rate: -0.629154 m/s,
      LOS rate: -0.039752 deg/s,
      cmd heading: 302.688521 deg,
      new cmd heading: 302.647426 deg.

2025-06-05T18:44:06.746Z,1749149046.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282194 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:06.819Z,1749149046.819 [DAT](INFO): DAT read: TxSync time:18:44:05.5287

2025-06-05T18:44:06.820Z,1749149046.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249103
2025-06-05T18:44:07.074Z,1749149047.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503247
2025-06-05T18:44:07.194Z,1749149047.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:07.197Z,1749149047.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 95.426041 m,
      bearing: 300.277812 deg,
      approach rate: -0.580095 m/s,
      LOS rate: -0.029111 deg/s,
      cmd heading: 302.647431 deg,
      new cmd heading: 302.607963 deg.

2025-06-05T18:44:07.198Z,1749149047.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281505 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:07.325Z,1749149047.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753964
2025-06-05T18:44:07.534Z,1749149047.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:07.536Z,1749149047.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:07.540Z,1749149047.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 95.203659 m,
      bearing: 300.267035 deg,
      approach rate: -0.650710 m/s,
      LOS rate: -0.031608 deg/s,
      cmd heading: 302.607952 deg,
      new cmd heading: 302.575546 deg.

2025-06-05T18:44:07.541Z,1749149047.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280940 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:07.577Z,1749149047.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006006
2025-06-05T18:44:07.829Z,1749149047.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258128
2025-06-05T18:44:08.075Z,1749149048.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:08.078Z,1749149048.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 94.884682 m,
      bearing: 300.251489 deg,
      approach rate: -0.591220 m/s,
      LOS rate: -0.028912 deg/s,
      cmd heading: 302.575550 deg,
      new cmd heading: 302.528754 deg.

2025-06-05T18:44:08.083Z,1749149048.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511589
2025-06-05T18:44:08.084Z,1749149048.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280123 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:08.333Z,1749149048.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761983
2025-06-05T18:44:08.460Z,1749149048.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:08.463Z,1749149048.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 94.641502 m,
      bearing: 300.248751 deg,
      approach rate: -0.638829 m/s,
      LOS rate: -0.007210 deg/s,
      cmd heading: 302.528749 deg,
      new cmd heading: 302.520516 deg.

2025-06-05T18:44:08.469Z,1749149048.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279979 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:08.585Z,1749149048.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014594
2025-06-05T18:44:08.813Z,1749149048.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:08.832Z,1749149048.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 94.414986 m,
      bearing: 300.246114 deg,
      approach rate: -0.633918 m/s,
      LOS rate: -0.007397 deg/s,
      cmd heading: 302.520526 deg,
      new cmd heading: 302.512596 deg.

2025-06-05T18:44:08.833Z,1749149048.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279841 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:08.837Z,1749149048.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266056
2025-06-05T18:44:09.090Z,1749149049.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519378
2025-06-05T18:44:09.264Z,1749149049.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:09.267Z,1749149049.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 94.124420 m,
      bearing: 300.250729 deg,
      approach rate: -0.645196 m/s,
      LOS rate: 0.010279 deg/s,
      cmd heading: 302.512603 deg,
      new cmd heading: 302.526491 deg.

2025-06-05T18:44:09.268Z,1749149049.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280083 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:09.341Z,1749149049.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769981
2025-06-05T18:44:09.593Z,1749149049.593 [DAT](INFO): DAT read: Rx Time:18:44:08.1073

2025-06-05T18:44:09.593Z,1749149049.593 [DAT](INFO): Rx dataTimestamp_ set to:1749149049.593034
2025-06-05T18:44:09.594Z,1749149049.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023122
2025-06-05T18:44:09.598Z,1749149049.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:09.600Z,1749149049.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:09.603Z,1749149049.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 93.910263 m,
      bearing: 300.254247 deg,
      approach rate: -0.636049 m/s,
      LOS rate: 0.010472 deg/s,
      cmd heading: 302.526482 deg,
      new cmd heading: 302.537060 deg.

2025-06-05T18:44:09.620Z,1749149049.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280268 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:09.845Z,1749149049.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273950
2025-06-05T18:44:10.012Z,1749149050.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.99 m.
2025-06-05T18:44:10.015Z,1749149050.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.991852 m,
      nav range: 93.646210 m,
      bearing: 300.258838 deg,
      approach rate: -0.640836 m/s,
      LOS rate: 0.011173 deg/s,
      cmd heading: 302.537055 deg,
      new cmd heading: 302.550866 deg.

2025-06-05T18:44:10.025Z,1749149050.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280509 target range: 136.991852 and range: 138.10 m.
2025-06-05T18:44:10.105Z,1749149050.105 [DAT](INFO): DAT read: 18:44:08.1073 LVL= 31344, 32753, 22994, 32755, AGC= 64, IDX= 351, 0.10, 1.456, 0.057, 1.444, 0.920, PHS= 0.624,-0.816, 0.521, RAW= 146.3,  -4.8, CAL= 151.4, -13.6, ROT= 358.6,  13.6

2025-06-05T18:44:10.108Z,1749149050.108 [DAT](INFO): got valid direction response:
 18:44:08.1073 LVL= 31344, 32753, 22994, 32755, AGC= 64, IDX= 351, 0.10, 1.456, 0.057, 1.444, 0.920, PHS= 0.624,-0.816, 0.521, RAW= 146.3,  -4.8, CAL= 151.4, -13.6, ROT= 358.6,  13.6

2025-06-05T18:44:10.110Z,1749149050.110 [DAT](INFO): DAT read: Bearing 358.6,  13.6 (Local)

2025-06-05T18:44:10.111Z,1749149050.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  13.6 (Local)

2025-06-05T18:44:10.112Z,1749149050.112 [DAT](INFO): DAT read: Range 10 to 50 : 130.2 m  (Round-trip  173.7 ms) speed  0.6 m/s

2025-06-05T18:44:10.113Z,1749149050.113 [DAT](INFO): DAT read: user:2801>

2025-06-05T18:44:10.114Z,1749149050.114 [DAT](INFO): DAT read: Tx time:18:44:09.2279

2025-06-05T18:44:10.114Z,1749149050.114 [DAT](INFO): Ping request sent.
2025-06-05T18:44:10.114Z,1749149050.114 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:44:10.115Z,1749149050.115 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:44:10.118Z,1749149050.118 [DAT](INFO): direction in FSK: [0.971671,-0.023747,-0.235142]
2025-06-05T18:44:10.119Z,1749149050.119 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:10.122Z,1749149050.122 [DAT](INFO): publishing direction and range info
2025-06-05T18:44:10.126Z,1749149050.126 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:10.126Z,1749149050.126 [DAT](INFO): publishing direction and range info
2025-06-05T18:44:10.350Z,1749149050.350 [DAT](INFO): DAT read: TxSync time:18:44:09.2271

2025-06-05T18:44:10.482Z,1749149050.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.199997 m,
      deltaT: 14.625110 s,
      deltaX: -7.900009 m,
      approachRate: -0.540168 m/s,
      rangeRepo size: 4

2025-06-05T18:44:10.489Z,1749149050.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.155624 m,
      bearing: 302.773983 deg,
      lat: 36.906159 deg,
      lon: -122.116137 deg,
      deltaT: 14.625110 s,
      deltaX: -7.836227 m,
      approachRate: -0.535806 m/s,
      posRepo size: 4

2025-06-05T18:44:10.489Z,1749149050.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:10.497Z,1749149050.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 95.441818 m,
      bearing: 302.354098 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011173 deg/s,
      cmd heading: 302.550879 deg,
      new cmd heading: 302.566615 deg.

2025-06-05T18:44:10.498Z,1749149050.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280784 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:10.820Z,1749149050.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:10.829Z,1749149050.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 95.213028 m,
      bearing: 302.366703 deg,
      approach rate: -0.702015 m/s,
      LOS rate: 0.038771 deg/s,
      cmd heading: 302.566616 deg,
      new cmd heading: 302.604523 deg.

2025-06-05T18:44:10.830Z,1749149050.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281445 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:11.298Z,1749149051.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:11.306Z,1749149051.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 94.892426 m,
      bearing: 302.390846 deg,
      approach rate: -0.653685 m/s,
      LOS rate: 0.049391 deg/s,
      cmd heading: 302.604510 deg,
      new cmd heading: 302.677181 deg.

2025-06-05T18:44:11.308Z,1749149051.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282713 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:11.658Z,1749149051.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:11.664Z,1749149051.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:11.667Z,1749149051.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 94.659592 m,
      bearing: 302.408629 deg,
      approach rate: -0.635526 m/s,
      LOS rate: 0.048660 deg/s,
      cmd heading: 302.677183 deg,
      new cmd heading: 302.730665 deg.

2025-06-05T18:44:11.673Z,1749149051.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283647 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:11.860Z,1749149051.860 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:11.861Z,1749149051.861 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:11.861Z,1749149051.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:12.056Z,1749149052.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:12.075Z,1749149052.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 94.414520 m,
      bearing: 302.427558 deg,
      approach rate: -0.635892 m/s,
      LOS rate: 0.049241 deg/s,
      cmd heading: 302.730677 deg,
      new cmd heading: 302.787609 deg.

2025-06-05T18:44:12.089Z,1749149052.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284641 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:12.116Z,1749149052.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001578
2025-06-05T18:44:12.365Z,1749149052.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250230
2025-06-05T18:44:12.496Z,1749149052.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:12.520Z,1749149052.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 94.117432 m,
      bearing: 302.449882 deg,
      approach rate: -0.672003 m/s,
      LOS rate: 0.050656 deg/s,
      cmd heading: 302.787613 deg,
      new cmd heading: 302.854797 deg.

2025-06-05T18:44:12.521Z,1749149052.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285813 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:12.585Z,1749149052.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:44:12.618Z,1749149052.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503712
2025-06-05T18:44:12.837Z,1749149052.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:12.869Z,1749149052.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754355
2025-06-05T18:44:12.870Z,1749149052.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 93.888573 m,
      bearing: 302.466955 deg,
      approach rate: -0.663352 m/s,
      LOS rate: 0.049608 deg/s,
      cmd heading: 302.854795 deg,
      new cmd heading: 302.906140 deg.

2025-06-05T18:44:12.871Z,1749149052.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286709 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:13.122Z,1749149053.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007563
2025-06-05T18:44:13.294Z,1749149053.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:13.297Z,1749149053.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 93.597977 m,
      bearing: 302.484988 deg,
      approach rate: -0.635537 m/s,
      LOS rate: 0.039560 deg/s,
      cmd heading: 302.906131 deg,
      new cmd heading: 302.960397 deg.

2025-06-05T18:44:13.298Z,1749149053.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287656 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:13.374Z,1749149053.374 [DAT](INFO): DAT read: Rx Time:18:44:11.7606

2025-06-05T18:44:13.375Z,1749149053.375 [DAT](INFO): Rx dataTimestamp_ set to:1749149053.374331
2025-06-05T18:44:13.375Z,1749149053.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260853
2025-06-05T18:44:13.588Z,1749149053.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:44:13.625Z,1749149053.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510193
2025-06-05T18:44:13.643Z,1749149053.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:13.646Z,1749149053.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 93.375130 m,
      bearing: 302.498949 deg,
      approach rate: -0.639103 m/s,
      LOS rate: 0.040134 deg/s,
      cmd heading: 302.960390 deg,
      new cmd heading: 303.002373 deg.

2025-06-05T18:44:13.647Z,1749149053.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288389 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:13.884Z,1749149053.884 [DAT](INFO): DAT read: 18:44:11.7606 LVL= 31120, 32753, 29426, 32755, AGC= 68, IDX= 497,-0.27, 0.112,-1.182, 0.142,-0.403, PHS= 0.603,-0.732, 0.542, RAW= 147.7,  -6.4, CAL= 153.1, -15.0, ROT= 356.9,  15.0

2025-06-05T18:44:13.885Z,1749149053.885 [DAT](INFO): got valid direction response:
 18:44:11.7606 LVL= 31120, 32753, 29426, 32755, AGC= 68, IDX= 497,-0.27, 0.112,-1.182, 0.142,-0.403, PHS= 0.603,-0.732, 0.542, RAW= 147.7,  -6.4, CAL= 153.1, -15.0, ROT= 356.9,  15.0

2025-06-05T18:44:13.886Z,1749149053.886 [DAT](INFO): DAT read: Bearing 356.9,  15.0 (Local)

2025-06-05T18:44:13.887Z,1749149053.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  15.0 (Local)

2025-06-05T18:44:13.894Z,1749149053.894 [DAT](INFO): DAT read: Range 10 to 50 : 96.4 m  (Round-trip  128.6 ms) speed  0.8 m/s

2025-06-05T18:44:13.897Z,1749149053.897 [DAT](INFO): DAT read: user:2802>

2025-06-05T18:44:13.897Z,1749149053.897 [DAT](INFO): DAT read: Tx time:18:44:12.8779

2025-06-05T18:44:13.898Z,1749149053.898 [DAT](INFO): Ping request sent.
2025-06-05T18:44:13.898Z,1749149053.898 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:44:13.898Z,1749149053.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:44:13.899Z,1749149053.899 [DAT](INFO): direction in FSK: [0.964512,-0.052236,-0.258819]
2025-06-05T18:44:13.899Z,1749149053.899 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:13.901Z,1749149053.901 [DAT](INFO): publishing direction and range info
2025-06-05T18:44:13.905Z,1749149053.905 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:13.906Z,1749149053.906 [DAT](INFO): publishing direction and range info
2025-06-05T18:44:14.133Z,1749149054.133 [DAT](INFO): DAT read: TxSync time:18:44:12.8771

2025-06-05T18:44:14.173Z,1749149054.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 96.400002 m,
 deltaT: 3.778333 s,
 deltaX: -33.799995 m,
 approachRate: -8.945743 m/s,
 rangeRepo size: 4
2025-06-05T18:44:14.174Z,1749149054.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:14.177Z,1749149054.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 93.112480 m,
      bearing: 302.515558 deg,
      approach rate: -0.508642 m/s,
      LOS rate: 0.032257 deg/s,
      cmd heading: 303.002382 deg,
      new cmd heading: 303.052351 deg.

2025-06-05T18:44:14.178Z,1749149054.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289261 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:14.519Z,1749149054.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:14.521Z,1749149054.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:14.525Z,1749149054.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 92.821571 m,
      bearing: 302.527643 deg,
      approach rate: -0.803782 m/s,
      LOS rate: 0.033496 deg/s,
      cmd heading: 303.052352 deg,
      new cmd heading: 303.088721 deg.

2025-06-05T18:44:14.526Z,1749149054.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289896 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:14.634Z,1749149054.634 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:14.634Z,1749149054.634 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:14.634Z,1749149054.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:14.885Z,1749149054.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987175
2025-06-05T18:44:14.902Z,1749149054.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:14.905Z,1749149054.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 92.581573 m,
      bearing: 302.538367 deg,
      approach rate: -0.630250 m/s,
      LOS rate: 0.028235 deg/s,
      cmd heading: 303.088716 deg,
      new cmd heading: 303.120971 deg.

2025-06-05T18:44:14.907Z,1749149054.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290459 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:15.142Z,1749149055.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244146
2025-06-05T18:44:15.334Z,1749149055.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:15.337Z,1749149055.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 92.312851 m,
      bearing: 302.544872 deg,
      approach rate: -0.621426 m/s,
      LOS rate: 0.015086 deg/s,
      cmd heading: 303.120981 deg,
      new cmd heading: 303.140552 deg.

2025-06-05T18:44:15.339Z,1749149055.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290801 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:15.391Z,1749149055.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492548
2025-06-05T18:44:15.641Z,1749149055.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743445
2025-06-05T18:44:15.717Z,1749149055.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:15.725Z,1749149055.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 92.095802 m,
      bearing: 302.549880 deg,
      approach rate: -0.567572 m/s,
      LOS rate: 0.013126 deg/s,
      cmd heading: 303.140543 deg,
      new cmd heading: 303.155602 deg.

2025-06-05T18:44:15.726Z,1749149055.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291063 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:15.893Z,1749149055.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994770
2025-06-05T18:44:16.103Z,1749149056.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:16.143Z,1749149056.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 91.834694 m,
      bearing: 302.555644 deg,
      approach rate: -0.675746 m/s,
      LOS rate: 0.014960 deg/s,
      cmd heading: 303.155597 deg,
      new cmd heading: 303.172939 deg.

2025-06-05T18:44:16.148Z,1749149056.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249510
2025-06-05T18:44:16.160Z,1749149056.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291366 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:16.398Z,1749149056.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500523
2025-06-05T18:44:16.559Z,1749149056.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:16.561Z,1749149056.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:16.564Z,1749149056.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 91.549767 m,
      bearing: 302.555786 deg,
      approach rate: -0.621902 m/s,
      LOS rate: 0.000311 deg/s,
      cmd heading: 303.172945 deg,
      new cmd heading: 303.173373 deg.

2025-06-05T18:44:16.567Z,1749149056.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291374 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:16.650Z,1749149056.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751717
2025-06-05T18:44:16.901Z,1749149056.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002825
2025-06-05T18:44:16.920Z,1749149056.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:16.929Z,1749149056.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 91.342606 m,
      bearing: 302.555768 deg,
      approach rate: -0.584273 m/s,
      LOS rate: -0.000051 deg/s,
      cmd heading: 303.173383 deg,
      new cmd heading: 303.173328 deg.

2025-06-05T18:44:16.930Z,1749149056.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291373 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:17.157Z,1749149057.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258360
2025-06-05T18:44:17.347Z,1749149057.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:17.350Z,1749149057.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 91.057648 m,
      bearing: 302.551651 deg,
      approach rate: -0.661181 m/s,
      LOS rate: -0.009582 deg/s,
      cmd heading: 303.173328 deg,
      new cmd heading: 303.160938 deg.

2025-06-05T18:44:17.351Z,1749149057.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291157 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:17.406Z,1749149057.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508340
2025-06-05T18:44:17.657Z,1749149057.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759569
2025-06-05T18:44:17.746Z,1749149057.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:17.752Z,1749149057.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 90.810402 m,
      bearing: 302.548042 deg,
      approach rate: -0.620240 m/s,
      LOS rate: -0.009077 deg/s,
      cmd heading: 303.160952 deg,
      new cmd heading: 303.150096 deg.

2025-06-05T18:44:17.753Z,1749149057.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290967 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:17.909Z,1749149057.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010908
2025-06-05T18:44:18.125Z,1749149058.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:18.127Z,1749149058.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 90.574440 m,
      bearing: 302.544593 deg,
      approach rate: -0.627268 m/s,
      LOS rate: -0.009194 deg/s,
      cmd heading: 303.150105 deg,
      new cmd heading: 303.139730 deg.

2025-06-05T18:44:18.129Z,1749149058.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290786 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:18.164Z,1749149058.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.265476
2025-06-05T18:44:18.413Z,1749149058.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.515343
2025-06-05T18:44:18.572Z,1749149058.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:18.581Z,1749149058.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:18.589Z,1749149058.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 90.291832 m,
      bearing: 302.535405 deg,
      approach rate: -0.622346 m/s,
      LOS rate: -0.020297 deg/s,
      cmd heading: 303.139723 deg,
      new cmd heading: 303.112072 deg.

2025-06-05T18:44:18.590Z,1749149058.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290304 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:18.665Z,1749149058.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.767068
2025-06-05T18:44:18.917Z,1749149058.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.018854
2025-06-05T18:44:18.984Z,1749149058.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:18.987Z,1749149058.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 90.028519 m,
      bearing: 302.526764 deg,
      approach rate: -0.651632 m/s,
      LOS rate: -0.021447 deg/s,
      cmd heading: 303.112075 deg,
      new cmd heading: 303.086076 deg.

2025-06-05T18:44:18.992Z,1749149058.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289850 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:19.173Z,1749149059.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.274196
2025-06-05T18:44:19.369Z,1749149059.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:19.393Z,1749149059.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 89.775581 m,
      bearing: 302.518287 deg,
      approach rate: -0.650338 m/s,
      LOS rate: -0.021856 deg/s,
      cmd heading: 303.086065 deg,
      new cmd heading: 303.060564 deg.

2025-06-05T18:44:19.394Z,1749149059.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289405 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:19.421Z,1749149059.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.523120
2025-06-05T18:44:19.675Z,1749149059.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.776405
2025-06-05T18:44:19.759Z,1749149059.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:19.766Z,1749149059.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 89.525314 m,
      bearing: 302.509838 deg,
      approach rate: -0.641775 m/s,
      LOS rate: -0.021726 deg/s,
      cmd heading: 303.060575 deg,
      new cmd heading: 303.035158 deg.

2025-06-05T18:44:19.767Z,1749149059.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288961 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:19.938Z,1749149059.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039987
2025-06-05T18:44:20.132Z,1749149060.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:20.135Z,1749149060.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 89.277420 m,
      bearing: 302.501511 deg,
      approach rate: -0.664689 m/s,
      LOS rate: -0.022389 deg/s,
      cmd heading: 303.035167 deg,
      new cmd heading: 303.010116 deg.

2025-06-05T18:44:20.136Z,1749149060.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288524 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:20.184Z,1749149060.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.285292
2025-06-05T18:44:20.433Z,1749149060.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535185
2025-06-05T18:44:20.687Z,1749149060.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789296
2025-06-05T18:44:20.784Z,1749149060.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:20.786Z,1749149060.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:20.793Z,1749149060.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 88.868217 m,
      bearing: 302.488106 deg,
      approach rate: -0.625339 m/s,
      LOS rate: -0.020581 deg/s,
      cmd heading: 303.010114 deg,
      new cmd heading: 302.969711 deg.

2025-06-05T18:44:20.794Z,1749149060.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287819 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:20.937Z,1749149060.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.038933
2025-06-05T18:44:21.099Z,1749149061.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:21.112Z,1749149061.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 88.657387 m,
      bearing: 302.481167 deg,
      approach rate: -0.673908 m/s,
      LOS rate: -0.022231 deg/s,
      cmd heading: 302.969706 deg,
      new cmd heading: 302.948841 deg.

2025-06-05T18:44:21.113Z,1749149061.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287455 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:21.195Z,1749149061.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296276
2025-06-05T18:44:21.445Z,1749149061.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546996
2025-06-05T18:44:21.543Z,1749149061.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:21.545Z,1749149061.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 88.359726 m,
      bearing: 302.473542 deg,
      approach rate: -0.670959 m/s,
      LOS rate: -0.017245 deg/s,
      cmd heading: 302.948833 deg,
      new cmd heading: 302.925882 deg.

2025-06-05T18:44:21.546Z,1749149061.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287054 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:21.699Z,1749149061.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800834
2025-06-05T18:44:21.880Z,1749149061.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:21.883Z,1749149061.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 88.142265 m,
      bearing: 302.467841 deg,
      approach rate: -0.644981 m/s,
      LOS rate: -0.016953 deg/s,
      cmd heading: 302.925884 deg,
      new cmd heading: 302.908737 deg.

2025-06-05T18:44:21.900Z,1749149061.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286755 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:21.950Z,1749149061.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051864
2025-06-05T18:44:22.204Z,1749149062.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305333
2025-06-05T18:44:22.381Z,1749149062.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:22.384Z,1749149062.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 87.817352 m,
      bearing: 302.463906 deg,
      approach rate: -0.648226 m/s,
      LOS rate: -0.007879 deg/s,
      cmd heading: 302.908726 deg,
      new cmd heading: 302.896879 deg.

2025-06-05T18:44:22.385Z,1749149062.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286548 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:22.454Z,1749149062.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556384
2025-06-05T18:44:22.706Z,1749149062.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808037
2025-06-05T18:44:22.726Z,1749149062.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:22.733Z,1749149062.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 87.615585 m,
      bearing: 302.461357 deg,
      approach rate: -0.584596 m/s,
      LOS rate: -0.007404 deg/s,
      cmd heading: 302.896869 deg,
      new cmd heading: 302.889203 deg.

2025-06-05T18:44:22.735Z,1749149062.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286414 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:22.958Z,1749149062.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060130
2025-06-05T18:44:23.106Z,1749149063.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:23.113Z,1749149063.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:23.120Z,1749149063.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 87.356087 m,
      bearing: 302.457941 deg,
      approach rate: -0.670917 m/s,
      LOS rate: -0.008856 deg/s,
      cmd heading: 302.889192 deg,
      new cmd heading: 302.878916 deg.

2025-06-05T18:44:23.121Z,1749149063.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286234 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:23.213Z,1749149063.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313225
2025-06-05T18:44:23.461Z,1749149063.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562937
2025-06-05T18:44:23.598Z,1749149063.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:23.618Z,1749149063.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 87.027763 m,
      bearing: 302.459666 deg,
      approach rate: -0.676522 m/s,
      LOS rate: 0.003566 deg/s,
      cmd heading: 302.878919 deg,
      new cmd heading: 302.884111 deg.

2025-06-05T18:44:23.619Z,1749149063.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286325 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:23.714Z,1749149063.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815647
2025-06-05T18:44:23.965Z,1749149063.965 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:23.965Z,1749149063.965 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:23.965Z,1749149063.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:23.998Z,1749149063.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:24.006Z,1749149064.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 86.777679 m,
      bearing: 302.460910 deg,
      approach rate: -0.624851 m/s,
      LOS rate: 0.003118 deg/s,
      cmd heading: 302.884110 deg,
      new cmd heading: 302.887854 deg.

2025-06-05T18:44:24.016Z,1749149064.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286390 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:24.219Z,1749149064.219 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:24.220Z,1749149064.220 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:24.220Z,1749149064.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:24.408Z,1749149064.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:24.411Z,1749149064.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 86.505127 m,
      bearing: 302.465498 deg,
      approach rate: -0.665769 m/s,
      LOS rate: 0.011244 deg/s,
      cmd heading: 302.887853 deg,
      new cmd heading: 302.901663 deg.

2025-06-05T18:44:24.412Z,1749149064.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286631 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:24.469Z,1749149064.469 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:24.470Z,1749149064.470 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:24.470Z,1749149064.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:24.724Z,1749149064.724 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:44:24.725Z,1749149064.725 [DAT](INFO): response not received
2025-06-05T18:44:24.727Z,1749149064.727 [DAT](INFO): DAT read: user:2803>

2025-06-05T18:44:24.728Z,1749149064.728 [DAT](INFO): DAT read: Tx time:18:44:23.8280

2025-06-05T18:44:24.728Z,1749149064.728 [DAT](INFO): Ping request sent.
2025-06-05T18:44:24.729Z,1749149064.729 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:44:24.729Z,1749149064.729 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:24.730Z,1749149064.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001186
2025-06-05T18:44:24.844Z,1749149064.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:24.847Z,1749149064.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 86.231903 m,
      bearing: 302.470119 deg,
      approach rate: -0.633971 m/s,
      LOS rate: 0.010756 deg/s,
      cmd heading: 302.901650 deg,
      new cmd heading: 302.915557 deg.

2025-06-05T18:44:24.852Z,1749149064.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286874 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:24.974Z,1749149064.974 [DAT](INFO): DAT read: TxSync time:18:44:23.8272

2025-06-05T18:44:24.975Z,1749149064.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246328
2025-06-05T18:44:25.225Z,1749149065.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496054
2025-06-05T18:44:25.341Z,1749149065.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:25.343Z,1749149065.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:25.346Z,1749149065.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 85.907364 m,
      bearing: 302.486263 deg,
      approach rate: -0.643332 m/s,
      LOS rate: 0.032122 deg/s,
      cmd heading: 302.915557 deg,
      new cmd heading: 302.964170 deg.

2025-06-05T18:44:25.348Z,1749149065.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287722 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:25.477Z,1749149065.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748359
2025-06-05T18:44:25.661Z,1749149065.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:25.664Z,1749149065.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 85.709213 m,
      bearing: 302.496350 deg,
      approach rate: -0.624260 m/s,
      LOS rate: 0.031851 deg/s,
      cmd heading: 302.964160 deg,
      new cmd heading: 302.994491 deg.

2025-06-05T18:44:25.665Z,1749149065.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288251 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:25.731Z,1749149065.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002614
2025-06-05T18:44:25.981Z,1749149065.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252089
2025-06-05T18:44:26.061Z,1749149066.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:26.064Z,1749149066.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 85.450867 m,
      bearing: 302.509634 deg,
      approach rate: -0.645162 m/s,
      LOS rate: 0.033275 deg/s,
      cmd heading: 302.994486 deg,
      new cmd heading: 303.034460 deg.

2025-06-05T18:44:26.065Z,1749149066.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288949 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:26.233Z,1749149066.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504073
2025-06-05T18:44:26.485Z,1749149066.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756170
2025-06-05T18:44:26.495Z,1749149066.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:26.498Z,1749149066.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 85.174202 m,
      bearing: 302.526788 deg,
      approach rate: -0.637290 m/s,
      LOS rate: 0.039641 deg/s,
      cmd heading: 303.034456 deg,
      new cmd heading: 303.086085 deg.

2025-06-05T18:44:26.499Z,1749149066.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289850 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:26.739Z,1749149066.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009557
2025-06-05T18:44:26.857Z,1749149066.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:26.860Z,1749149066.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 84.941093 m,
      bearing: 302.540915 deg,
      approach rate: -0.644313 m/s,
      LOS rate: 0.039154 deg/s,
      cmd heading: 303.086093 deg,
      new cmd heading: 303.128590 deg.

2025-06-05T18:44:26.861Z,1749149066.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290592 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:26.990Z,1749149066.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260872
2025-06-05T18:44:27.244Z,1749149067.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514878
2025-06-05T18:44:27.345Z,1749149067.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:27.347Z,1749149067.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:27.354Z,1749149067.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 84.632965 m,
      bearing: 302.559633 deg,
      approach rate: -0.628930 m/s,
      LOS rate: 0.038346 deg/s,
      cmd heading: 303.128604 deg,
      new cmd heading: 303.184964 deg.

2025-06-05T18:44:27.355Z,1749149067.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291576 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:27.493Z,1749149067.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764153
2025-06-05T18:44:27.737Z,1749149067.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:27.745Z,1749149067.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016204
2025-06-05T18:44:27.746Z,1749149067.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 84.389771 m,
      bearing: 302.575324 deg,
      approach rate: -0.623146 m/s,
      LOS rate: 0.040320 deg/s,
      cmd heading: 303.184967 deg,
      new cmd heading: 303.232174 deg.

2025-06-05T18:44:27.747Z,1749149067.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292400 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:27.997Z,1749149067.997 [DAT](INFO): DAT read: Rx Time:18:44:26.3481

2025-06-05T18:44:27.997Z,1749149067.997 [DAT](INFO): Rx dataTimestamp_ set to:1749149067.996770
2025-06-05T18:44:27.998Z,1749149067.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269067
2025-06-05T18:44:28.095Z,1749149068.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.16 m.
2025-06-05T18:44:28.101Z,1749149068.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.155624 m,
      nav range: 84.160469 m,
      bearing: 302.590292 deg,
      approach rate: -0.641769 m/s,
      LOS rate: 0.042008 deg/s,
      cmd heading: 303.232177 deg,
      new cmd heading: 303.277205 deg.

2025-06-05T18:44:28.102Z,1749149068.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293186 target range: 129.155624 and range: 130.20 m.
2025-06-05T18:44:28.249Z,1749149068.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520268
2025-06-05T18:44:28.510Z,1749149068.510 [DAT](INFO): DAT read: 18:44:26.3482 LVL= 25360, 23457, 22690, 31539, AGC= 68, IDX= 288, 0.13,-1.881, 3.034,-1.895,-2.444, PHS= 0.651,-0.758, 0.546, RAW= 146.2,  -6.5, CAL= 151.8, -15.3, ROT= 358.2,  15.3

2025-06-05T18:44:28.512Z,1749149068.512 [DAT](INFO): got valid direction response:
 18:44:26.3482 LVL= 25360, 23457, 22690, 31539, AGC= 68, IDX= 288, 0.13,-1.881, 3.034,-1.895,-2.444, PHS= 0.651,-0.758, 0.546, RAW= 146.2,  -6.5, CAL= 151.8, -15.3, ROT= 358.2,  15.3

2025-06-05T18:44:28.513Z,1749149068.513 [DAT](INFO): DAT read: Bearing 358.2,  15.3 (Local)

2025-06-05T18:44:28.514Z,1749149068.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  15.3 (Local)

2025-06-05T18:44:28.515Z,1749149068.515 [DAT](INFO): DAT read: Range 10 to 50 : 87.0 m  (Round-trip  116.0 ms) speed  0.4 m/s

2025-06-05T18:44:28.525Z,1749149068.525 [DAT](INFO): DAT read: user:2804>

2025-06-05T18:44:28.526Z,1749149068.526 [DAT](INFO): DAT read: Tx time:18:44:27.4281

2025-06-05T18:44:28.526Z,1749149068.526 [DAT](INFO): Ping request sent.
2025-06-05T18:44:28.526Z,1749149068.526 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:44:28.526Z,1749149068.526 [DAT](INFO): DAT read: TxSync time:18:44:27.4273

2025-06-05T18:44:28.527Z,1749149068.527 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:44:28.533Z,1749149068.533 [DAT](INFO): direction in FSK: [0.964081,-0.030297,-0.263873]
2025-06-05T18:44:28.533Z,1749149068.533 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:28.533Z,1749149068.533 [DAT](INFO): publishing direction and range info
2025-06-05T18:44:28.541Z,1749149068.541 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:28.541Z,1749149068.541 [DAT](INFO): publishing direction and range info
2025-06-05T18:44:28.599Z,1749149068.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.000000 m,
      deltaT: 18.402224 s,
      deltaX: -43.199997 m,
      approachRate: -2.347542 m/s,
      rangeRepo size: 4

2025-06-05T18:44:28.634Z,1749149068.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.301811 m,
      bearing: 302.497378 deg,
      lat: 36.906138 deg,
      lon: -122.116151 deg,
      deltaT: 18.402224 s,
      deltaX: -42.853813 m,
      approachRate: -2.328730 m/s,
      posRepo size: 4

2025-06-05T18:44:28.635Z,1749149068.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:28.641Z,1749149068.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 83.636223 m,
      bearing: 300.769703 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042008 deg/s,
      cmd heading: 303.277201 deg,
      new cmd heading: 303.340728 deg.

2025-06-05T18:44:28.642Z,1749149068.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294294 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:29.050Z,1749149069.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:29.058Z,1749149069.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 83.329407 m,
      bearing: 300.780656 deg,
      approach rate: -0.679039 m/s,
      LOS rate: 0.024331 deg/s,
      cmd heading: 303.340722 deg,
      new cmd heading: 303.373703 deg.

2025-06-05T18:44:29.059Z,1749149069.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294870 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:29.418Z,1749149069.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:29.421Z,1749149069.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:29.425Z,1749149069.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 83.086349 m,
      bearing: 300.786881 deg,
      approach rate: -0.655958 m/s,
      LOS rate: 0.016848 deg/s,
      cmd heading: 303.373698 deg,
      new cmd heading: 303.392427 deg.

2025-06-05T18:44:29.426Z,1749149069.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295197 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:29.510Z,1749149069.510 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:29.510Z,1749149069.510 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:29.511Z,1749149069.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:29.763Z,1749149069.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236190
2025-06-05T18:44:29.836Z,1749149069.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:29.844Z,1749149069.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 82.850883 m,
      bearing: 300.792860 deg,
      approach rate: -0.573080 m/s,
      LOS rate: 0.014594 deg/s,
      cmd heading: 303.392440 deg,
      new cmd heading: 303.410429 deg.

2025-06-05T18:44:29.845Z,1749149069.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295511 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:30.013Z,1749149070.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486730
2025-06-05T18:44:30.203Z,1749149070.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:30.207Z,1749149070.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 82.603043 m,
      bearing: 300.799001 deg,
      approach rate: -0.668227 m/s,
      LOS rate: 0.016606 deg/s,
      cmd heading: 303.410417 deg,
      new cmd heading: 303.428895 deg.

2025-06-05T18:44:30.209Z,1749149070.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295833 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:30.265Z,1749149070.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739510
2025-06-05T18:44:30.517Z,1749149070.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990903
2025-06-05T18:44:30.674Z,1749149070.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:30.682Z,1749149070.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 82.341576 m,
      bearing: 300.800607 deg,
      approach rate: -0.555053 m/s,
      LOS rate: 0.003421 deg/s,
      cmd heading: 303.428886 deg,
      new cmd heading: 303.433721 deg.

2025-06-05T18:44:30.683Z,1749149070.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295918 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:30.769Z,1749149070.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242905
2025-06-05T18:44:31.019Z,1749149071.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:31.021Z,1749149071.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494790
2025-06-05T18:44:31.025Z,1749149071.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 82.109116 m,
      bearing: 300.801806 deg,
      approach rate: -0.672836 m/s,
      LOS rate: 0.003479 deg/s,
      cmd heading: 303.433722 deg,
      new cmd heading: 303.437328 deg.

2025-06-05T18:44:31.026Z,1749149071.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295980 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:31.274Z,1749149071.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748449
2025-06-05T18:44:31.473Z,1749149071.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:31.480Z,1749149071.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:31.483Z,1749149071.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 81.848465 m,
      bearing: 300.801800 deg,
      approach rate: -0.571353 m/s,
      LOS rate: -0.000013 deg/s,
      cmd heading: 303.437328 deg,
      new cmd heading: 303.437311 deg.

2025-06-05T18:44:31.488Z,1749149071.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295980 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:31.525Z,1749149071.525 [DAT](INFO): DAT read: Rx Time:18:44:29.9454

2025-06-05T18:44:31.526Z,1749149071.526 [DAT](INFO): Rx dataTimestamp_ set to:1749149071.525673
2025-06-05T18:44:31.527Z,1749149071.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000586
2025-06-05T18:44:31.778Z,1749149071.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252218
2025-06-05T18:44:31.876Z,1749149071.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-06-05T18:44:31.891Z,1749149071.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.301811 m,
      nav range: 81.623062 m,
      bearing: 300.801645 deg,
      approach rate: -0.568988 m/s,
      LOS rate: -0.000392 deg/s,
      cmd heading: 303.437301 deg,
      new cmd heading: 303.436835 deg.

2025-06-05T18:44:31.899Z,1749149071.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295972 target range: 86.301811 and range: 87.00 m.
2025-06-05T18:44:32.036Z,1749149072.036 [DAT](INFO): DAT read: 18:44:29.9454 LVL= 22112, 26721, 21298, 32755, AGC= 68, IDX= 419,-0.35, 1.585, 0.233, 1.546, 1.026, PHS= 0.647,-0.746, 0.517, RAW= 145.1,  -6.3, CAL= 150.8, -15.3, ROT= 359.2,  15.3

2025-06-05T18:44:32.037Z,1749149072.037 [DAT](INFO): got valid direction response:
 18:44:29.9454 LVL= 22112, 26721, 21298, 32755, AGC= 68, IDX= 419,-0.35, 1.585, 0.233, 1.546, 1.026, PHS= 0.647,-0.746, 0.517, RAW= 145.1,  -6.3, CAL= 150.8, -15.3, ROT= 359.2,  15.3

2025-06-05T18:44:32.038Z,1749149072.038 [DAT](INFO): DAT read: Bearing 359.2,  15.3 (Local)

2025-06-05T18:44:32.038Z,1749149072.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  15.3 (Local)

2025-06-05T18:44:32.041Z,1749149072.041 [DAT](INFO): DAT read: Range 10 to 50 : 84.8 m  (Round-trip  113.1 ms) speed  0.7 m/s

2025-06-05T18:44:32.041Z,1749149072.041 [DAT](INFO): DAT read: user:2805>

2025-06-05T18:44:32.042Z,1749149072.042 [DAT](INFO): DAT read: Tx time:18:44:31.0281

2025-06-05T18:44:32.042Z,1749149072.042 [DAT](INFO): Ping request sent.
2025-06-05T18:44:32.042Z,1749149072.042 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:44:32.043Z,1749149072.043 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:44:32.044Z,1749149072.044 [DAT](INFO): direction in FSK: [0.964463,-0.013467,-0.263873]
2025-06-05T18:44:32.044Z,1749149072.044 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:32.044Z,1749149072.044 [DAT](INFO): publishing direction and range info
2025-06-05T18:44:32.047Z,1749149072.047 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:32.051Z,1749149072.051 [DAT](INFO): publishing direction and range info
2025-06-05T18:44:32.281Z,1749149072.281 [DAT](INFO): DAT read: TxSync time:18:44:31.0273

2025-06-05T18:44:32.316Z,1749149072.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.800003 m,
      deltaT: 3.528455 s,
      deltaX: -2.199997 m,
      approachRate: -0.623501 m/s,
      rangeRepo size: 4

2025-06-05T18:44:32.318Z,1749149072.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.118874 m,
      bearing: 303.708530 deg,
      lat: 36.906158 deg,
      lon: -122.116141 deg,
      deltaT: 3.528455 s,
      deltaX: -2.182938 m,
      approachRate: -0.618667 m/s,
      posRepo size: 4

2025-06-05T18:44:32.319Z,1749149072.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:32.326Z,1749149072.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 81.802505 m,
      bearing: 302.489169 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000392 deg/s,
      cmd heading: 303.436837 deg,
      new cmd heading: 303.436320 deg.

2025-06-05T18:44:32.327Z,1749149072.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295963 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:32.746Z,1749149072.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:32.749Z,1749149072.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 81.529449 m,
      bearing: 302.487997 deg,
      approach rate: -0.627913 m/s,
      LOS rate: -0.002705 deg/s,
      cmd heading: 303.436318 deg,
      new cmd heading: 303.432789 deg.

2025-06-05T18:44:32.750Z,1749149072.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295901 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:33.109Z,1749149073.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:33.112Z,1749149073.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 81.313774 m,
      bearing: 302.487375 deg,
      approach rate: -0.595182 m/s,
      LOS rate: -0.001722 deg/s,
      cmd heading: 303.432793 deg,
      new cmd heading: 303.430921 deg.

2025-06-05T18:44:33.113Z,1749149073.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295868 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:33.593Z,1749149073.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:33.595Z,1749149073.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:33.598Z,1749149073.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 81.009148 m,
      bearing: 302.481430 deg,
      approach rate: -0.626749 m/s,
      LOS rate: -0.012277 deg/s,
      cmd heading: 303.430908 deg,
      new cmd heading: 303.413006 deg.

2025-06-05T18:44:33.599Z,1749149073.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295556 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:33.794Z,1749149073.794 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:33.795Z,1749149073.795 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:33.795Z,1749149073.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:33.971Z,1749149073.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:33.978Z,1749149073.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 80.797340 m,
      bearing: 302.477145 deg,
      approach rate: -0.563371 m/s,
      LOS rate: -0.011427 deg/s,
      cmd heading: 303.413013 deg,
      new cmd heading: 303.400124 deg.

2025-06-05T18:44:33.979Z,1749149073.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295331 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:34.046Z,1749149074.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002668
2025-06-05T18:44:34.297Z,1749149074.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254174
2025-06-05T18:44:34.336Z,1749149074.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:34.340Z,1749149074.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 80.547829 m,
      bearing: 302.471876 deg,
      approach rate: -0.683798 m/s,
      LOS rate: -0.014482 deg/s,
      cmd heading: 303.400117 deg,
      new cmd heading: 303.384264 deg.

2025-06-05T18:44:34.341Z,1749149074.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295054 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:34.550Z,1749149074.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508010
2025-06-05T18:44:34.776Z,1749149074.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:34.778Z,1749149074.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 80.268692 m,
      bearing: 302.462940 deg,
      approach rate: -0.634772 m/s,
      LOS rate: -0.020392 deg/s,
      cmd heading: 303.384271 deg,
      new cmd heading: 303.357370 deg.

2025-06-05T18:44:34.780Z,1749149074.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294585 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:34.801Z,1749149074.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758743
2025-06-05T18:44:35.053Z,1749149075.053 [DAT](INFO): DAT read: Rx Time:18:44:33.5424

2025-06-05T18:44:35.053Z,1749149075.053 [DAT](INFO): Rx dataTimestamp_ set to:1749149075.053060
2025-06-05T18:44:35.054Z,1749149075.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011437
2025-06-05T18:44:35.145Z,1749149075.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:35.151Z,1749149075.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 80.041191 m,
      bearing: 302.455611 deg,
      approach rate: -0.632657 m/s,
      LOS rate: -0.020439 deg/s,
      cmd heading: 303.357361 deg,
      new cmd heading: 303.335311 deg.

2025-06-05T18:44:35.153Z,1749149075.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294200 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:35.307Z,1749149075.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264358
2025-06-05T18:44:35.565Z,1749149075.565 [DAT](INFO): DAT read: 18:44:33.5424 LVL= 24160, 30193, 20722, 31027, AGC= 69, IDX= 405, 0.19, 1.972, 0.509, 1.971, 1.432, PHS= 0.629,-0.875, 0.536, RAW= 146.8,  -4.0, CAL= 151.6, -12.9, ROT= 358.4,  12.9

2025-06-05T18:44:35.566Z,1749149075.566 [DAT](INFO): got valid direction response:
 18:44:33.5424 LVL= 24160, 30193, 20722, 31027, AGC= 69, IDX= 405, 0.19, 1.972, 0.509, 1.971, 1.432, PHS= 0.629,-0.875, 0.536, RAW= 146.8,  -4.0, CAL= 151.6, -12.9, ROT= 358.4,  12.9

2025-06-05T18:44:35.567Z,1749149075.567 [DAT](INFO): DAT read: $Error in header

2025-06-05T18:44:35.567Z,1749149075.567 [DAT](INFO): Received a bad header
2025-06-05T18:44:35.580Z,1749149075.580 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:44:35.581Z,1749149075.581 [DAT](INFO): direction in FSK: [0.974381,-0.027217,-0.223250]
2025-06-05T18:44:35.602Z,1749149075.602 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:35.602Z,1749149075.602 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:35.602Z,1749149075.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:35.801Z,1749149075.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:35.803Z,1749149075.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:35.806Z,1749149075.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 79.609070 m,
      bearing: 302.440207 deg,
      approach rate: -0.646718 m/s,
      LOS rate: -0.023180 deg/s,
      cmd heading: 303.335313 deg,
      new cmd heading: 303.288849 deg.

2025-06-05T18:44:35.807Z,1749149075.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293389 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:35.809Z,1749149075.809 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:35.809Z,1749149075.809 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:35.809Z,1749149075.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:36.061Z,1749149076.061 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:36.061Z,1749149076.061 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:36.061Z,1749149076.061 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:36.246Z,1749149076.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:36.273Z,1749149076.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 79.323814 m,
      bearing: 302.429287 deg,
      approach rate: -0.643573 m/s,
      LOS rate: -0.024725 deg/s,
      cmd heading: 303.288840 deg,
      new cmd heading: 303.255962 deg.

2025-06-05T18:44:36.275Z,1749149076.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292815 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:36.313Z,1749149076.313 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:36.313Z,1749149076.313 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:36.313Z,1749149076.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:36.567Z,1749149076.567 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:36.568Z,1749149076.568 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:36.568Z,1749149076.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:36.791Z,1749149076.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:36.793Z,1749149076.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 78.961647 m,
      bearing: 302.416956 deg,
      approach rate: -0.665474 m/s,
      LOS rate: -0.022762 deg/s,
      cmd heading: 303.255973 deg,
      new cmd heading: 303.218810 deg.

2025-06-05T18:44:36.794Z,1749149076.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292167 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:36.817Z,1749149076.817 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:36.817Z,1749149076.817 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:36.817Z,1749149076.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:37.068Z,1749149077.068 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:37.068Z,1749149077.068 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:37.069Z,1749149077.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:37.153Z,1749149077.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:37.157Z,1749149077.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 78.721199 m,
      bearing: 302.408523 deg,
      approach rate: -0.662864 m/s,
      LOS rate: -0.023318 deg/s,
      cmd heading: 303.218817 deg,
      new cmd heading: 303.193442 deg.

2025-06-05T18:44:37.158Z,1749149077.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291724 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:37.321Z,1749149077.321 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:37.321Z,1749149077.321 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:37.321Z,1749149077.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:37.547Z,1749149077.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:37.550Z,1749149077.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 78.461388 m,
      bearing: 302.404702 deg,
      approach rate: -0.660528 m/s,
      LOS rate: -0.009746 deg/s,
      cmd heading: 303.193436 deg,
      new cmd heading: 303.181935 deg.

2025-06-05T18:44:37.551Z,1749149077.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291523 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:37.573Z,1749149077.573 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:37.574Z,1749149077.574 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:37.574Z,1749149077.574 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:37.824Z,1749149077.824 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:37.825Z,1749149077.825 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:37.825Z,1749149077.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:37.947Z,1749149077.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:37.953Z,1749149077.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:37.960Z,1749149077.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 78.207008 m,
      bearing: 302.400896 deg,
      approach rate: -0.625356 m/s,
      LOS rate: -0.009387 deg/s,
      cmd heading: 303.181934 deg,
      new cmd heading: 303.170479 deg.

2025-06-05T18:44:37.961Z,1749149077.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291323 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:38.077Z,1749149078.077 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:38.077Z,1749149078.077 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:38.077Z,1749149078.077 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:38.329Z,1749149078.329 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:38.329Z,1749149078.329 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:38.329Z,1749149078.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:38.334Z,1749149078.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:38.337Z,1749149078.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 77.939865 m,
      bearing: 302.396833 deg,
      approach rate: -0.702520 m/s,
      LOS rate: -0.010722 deg/s,
      cmd heading: 303.170487 deg,
      new cmd heading: 303.158255 deg.

2025-06-05T18:44:38.338Z,1749149078.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291110 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:38.581Z,1749149078.581 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:38.581Z,1749149078.581 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:38.581Z,1749149078.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:38.806Z,1749149078.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:38.814Z,1749149078.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 77.642632 m,
      bearing: 302.397887 deg,
      approach rate: -0.630689 m/s,
      LOS rate: 0.002244 deg/s,
      cmd heading: 303.158247 deg,
      new cmd heading: 303.161419 deg.

2025-06-05T18:44:38.815Z,1749149078.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291165 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:38.832Z,1749149078.832 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:38.833Z,1749149078.833 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:38.833Z,1749149078.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:39.084Z,1749149079.084 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:39.085Z,1749149079.085 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:39.085Z,1749149079.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:39.166Z,1749149079.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:39.169Z,1749149079.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 77.391197 m,
      bearing: 302.398784 deg,
      approach rate: -0.695644 m/s,
      LOS rate: 0.002491 deg/s,
      cmd heading: 303.161416 deg,
      new cmd heading: 303.164117 deg.

2025-06-05T18:44:39.170Z,1749149079.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291212 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:39.336Z,1749149079.336 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:39.336Z,1749149079.336 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:39.337Z,1749149079.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:39.586Z,1749149079.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:39.590Z,1749149079.590 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:39.590Z,1749149079.590 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:39.591Z,1749149079.591 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:39.593Z,1749149079.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 77.133354 m,
      bearing: 302.403180 deg,
      approach rate: -0.614613 m/s,
      LOS rate: 0.010513 deg/s,
      cmd heading: 303.164121 deg,
      new cmd heading: 303.177353 deg.

2025-06-05T18:44:39.594Z,1749149079.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291443 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:39.841Z,1749149079.841 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:39.841Z,1749149079.841 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:39.842Z,1749149079.842 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:39.958Z,1749149079.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:39.961Z,1749149079.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:39.963Z,1749149079.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 76.879173 m,
      bearing: 302.407600 deg,
      approach rate: -0.678163 m/s,
      LOS rate: 0.011832 deg/s,
      cmd heading: 303.177344 deg,
      new cmd heading: 303.190649 deg.

2025-06-05T18:44:39.965Z,1749149079.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291675 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:40.093Z,1749149080.093 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:40.093Z,1749149080.093 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:40.093Z,1749149080.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:40.344Z,1749149080.344 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:40.345Z,1749149080.345 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:40.345Z,1749149080.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:40.351Z,1749149080.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:40.375Z,1749149080.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 76.627571 m,
      bearing: 302.411954 deg,
      approach rate: -0.645329 m/s,
      LOS rate: 0.011204 deg/s,
      cmd heading: 303.190649 deg,
      new cmd heading: 303.203754 deg.

2025-06-05T18:44:40.377Z,1749149080.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291904 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:40.598Z,1749149080.598 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:40.598Z,1749149080.598 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:40.598Z,1749149080.598 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:40.818Z,1749149080.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:40.821Z,1749149080.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 76.337624 m,
      bearing: 302.423949 deg,
      approach rate: -0.619943 m/s,
      LOS rate: 0.025745 deg/s,
      cmd heading: 303.203763 deg,
      new cmd heading: 303.239886 deg.

2025-06-05T18:44:40.824Z,1749149080.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292534 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:40.848Z,1749149080.848 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:40.849Z,1749149080.849 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:40.849Z,1749149080.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:41.100Z,1749149081.100 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:41.101Z,1749149081.101 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:41.101Z,1749149081.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:41.186Z,1749149081.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:41.193Z,1749149081.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 76.111641 m,
      bearing: 302.433296 deg,
      approach rate: -0.614157 m/s,
      LOS rate: 0.025477 deg/s,
      cmd heading: 303.239881 deg,
      new cmd heading: 303.268004 deg.

2025-06-05T18:44:41.194Z,1749149081.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293025 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:41.353Z,1749149081.353 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:41.353Z,1749149081.353 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:41.353Z,1749149081.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:41.601Z,1749149081.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:41.605Z,1749149081.605 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:41.605Z,1749149081.605 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:41.605Z,1749149081.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:41.606Z,1749149081.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 75.855820 m,
      bearing: 302.448149 deg,
      approach rate: -0.616985 m/s,
      LOS rate: 0.035943 deg/s,
      cmd heading: 303.267994 deg,
      new cmd heading: 303.312703 deg.

2025-06-05T18:44:41.608Z,1749149081.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293805 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:41.858Z,1749149081.858 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:44:41.858Z,1749149081.858 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:44:41.858Z,1749149081.858 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-05T18:44:41.971Z,1749149081.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:41.973Z,1749149081.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:41.980Z,1749149081.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 75.630859 m,
      bearing: 302.461243 deg,
      approach rate: -0.604737 m/s,
      LOS rate: 0.035303 deg/s,
      cmd heading: 303.312691 deg,
      new cmd heading: 303.352089 deg.

2025-06-05T18:44:41.981Z,1749149081.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294493 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:42.108Z,1749149082.108 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:42.109Z,1749149082.109 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:42.109Z,1749149082.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:42.360Z,1749149082.360 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:42.361Z,1749149082.361 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:42.361Z,1749149082.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:42.557Z,1749149082.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:42.574Z,1749149082.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 75.328766 m,
      bearing: 302.478844 deg,
      approach rate: -0.522751 m/s,
      LOS rate: 0.030579 deg/s,
      cmd heading: 303.352088 deg,
      new cmd heading: 303.405102 deg.

2025-06-05T18:44:42.575Z,1749149082.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295418 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:42.612Z,1749149082.612 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:42.613Z,1749149082.613 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:42.613Z,1749149082.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:42.865Z,1749149082.865 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:44:42.865Z,1749149082.865 [DAT](INFO): response not received
2025-06-05T18:44:42.866Z,1749149082.866 [DAT](INFO): DAT read: user:2807>

2025-06-05T18:44:42.866Z,1749149082.866 [DAT](INFO): DAT read: Tx time:18:44:41.9782

2025-06-05T18:44:42.867Z,1749149082.867 [DAT](INFO): Ping request sent.
2025-06-05T18:44:42.867Z,1749149082.867 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:44:42.867Z,1749149082.867 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:42.868Z,1749149082.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000792
2025-06-05T18:44:43.019Z,1749149083.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:43.023Z,1749149083.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 75.004417 m,
      bearing: 302.503674 deg,
      approach rate: -0.694721 m/s,
      LOS rate: 0.053414 deg/s,
      cmd heading: 303.405090 deg,
      new cmd heading: 303.479903 deg.

2025-06-05T18:44:43.025Z,1749149083.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296723 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:43.118Z,1749149083.118 [DAT](INFO): DAT read: TxSync time:18:44:41.9774

2025-06-05T18:44:43.120Z,1749149083.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252406
2025-06-05T18:44:43.369Z,1749149083.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501971
2025-06-05T18:44:43.395Z,1749149083.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:43.398Z,1749149083.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 74.793625 m,
      bearing: 302.519927 deg,
      approach rate: -0.558716 m/s,
      LOS rate: 0.043202 deg/s,
      cmd heading: 303.479894 deg,
      new cmd heading: 303.528792 deg.

2025-06-05T18:44:43.399Z,1749149083.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297577 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:43.621Z,1749149083.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753931
2025-06-05T18:44:43.708Z,1749149083.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:44:43.797Z,1749149083.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:43.800Z,1749149083.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 74.547760 m,
      bearing: 302.537960 deg,
      approach rate: -0.611353 m/s,
      LOS rate: 0.044986 deg/s,
      cmd heading: 303.528798 deg,
      new cmd heading: 303.583074 deg.

2025-06-05T18:44:43.801Z,1749149083.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298524 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:43.875Z,1749149083.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007794
2025-06-05T18:44:44.125Z,1749149084.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258554
2025-06-05T18:44:44.151Z,1749149084.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:44.177Z,1749149084.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:44.186Z,1749149084.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 74.329330 m,
      bearing: 302.553938 deg,
      approach rate: -0.576989 m/s,
      LOS rate: 0.042331 deg/s,
      cmd heading: 303.583085 deg,
      new cmd heading: 303.631160 deg.

2025-06-05T18:44:44.187Z,1749149084.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299364 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:44.378Z,1749149084.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510838
2025-06-05T18:44:44.616Z,1749149084.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:44.619Z,1749149084.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 74.055550 m,
      bearing: 302.573983 deg,
      approach rate: -0.622461 m/s,
      LOS rate: 0.045742 deg/s,
      cmd heading: 303.631169 deg,
      new cmd heading: 303.691526 deg.

2025-06-05T18:44:44.620Z,1749149084.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300417 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:44.629Z,1749149084.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761903
2025-06-05T18:44:44.713Z,1749149084.713 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:44:44.881Z,1749149084.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013910
2025-06-05T18:44:45.010Z,1749149085.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:45.017Z,1749149085.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 73.831596 m,
      bearing: 302.584523 deg,
      approach rate: -0.567421 m/s,
      LOS rate: 0.026786 deg/s,
      cmd heading: 303.691521 deg,
      new cmd heading: 303.723237 deg.

2025-06-05T18:44:45.020Z,1749149085.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300971 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:45.133Z,1749149085.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266653
2025-06-05T18:44:45.385Z,1749149085.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518103
2025-06-05T18:44:45.388Z,1749149085.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:45.419Z,1749149085.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 73.602867 m,
      bearing: 302.595355 deg,
      approach rate: -0.606477 m/s,
      LOS rate: 0.028809 deg/s,
      cmd heading: 303.723240 deg,
      new cmd heading: 303.755836 deg.

2025-06-05T18:44:45.420Z,1749149085.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301539 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:45.640Z,1749149085.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773252
2025-06-05T18:44:45.852Z,1749149085.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:45.855Z,1749149085.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 73.313850 m,
      bearing: 302.600678 deg,
      approach rate: -0.622466 m/s,
      LOS rate: 0.011510 deg/s,
      cmd heading: 303.755834 deg,
      new cmd heading: 303.771867 deg.

2025-06-05T18:44:45.857Z,1749149085.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301819 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:45.890Z,1749149085.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022841
2025-06-05T18:44:46.141Z,1749149086.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274172
2025-06-05T18:44:46.206Z,1749149086.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:46.213Z,1749149086.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:46.220Z,1749149086.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 73.096054 m,
      bearing: 302.604713 deg,
      approach rate: -0.602145 m/s,
      LOS rate: 0.011189 deg/s,
      cmd heading: 303.771871 deg,
      new cmd heading: 303.784012 deg.

2025-06-05T18:44:46.221Z,1749149086.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302031 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:46.393Z,1749149086.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525845
2025-06-05T18:44:46.645Z,1749149086.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778101
2025-06-05T18:44:46.651Z,1749149086.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:46.658Z,1749149086.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 72.826492 m,
      bearing: 302.609853 deg,
      approach rate: -0.616458 m/s,
      LOS rate: 0.011797 deg/s,
      cmd heading: 303.784001 deg,
      new cmd heading: 303.799477 deg.

2025-06-05T18:44:46.664Z,1749149086.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302301 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:46.897Z,1749149086.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029826
2025-06-05T18:44:47.051Z,1749149087.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:47.054Z,1749149087.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 72.565857 m,
      bearing: 302.609420 deg,
      approach rate: -0.651064 m/s,
      LOS rate: -0.001083 deg/s,
      cmd heading: 303.799465 deg,
      new cmd heading: 303.798164 deg.

2025-06-05T18:44:47.055Z,1749149087.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302278 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:47.150Z,1749149087.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282742
2025-06-05T18:44:47.399Z,1749149087.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:47.401Z,1749149087.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534066
2025-06-05T18:44:47.404Z,1749149087.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 72.345299 m,
      bearing: 302.609224 deg,
      approach rate: -0.633506 m/s,
      LOS rate: -0.000565 deg/s,
      cmd heading: 303.798154 deg,
      new cmd heading: 303.797564 deg.

2025-06-05T18:44:47.406Z,1749149087.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302268 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:47.653Z,1749149087.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785963
2025-06-05T18:44:47.900Z,1749149087.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:47.903Z,1749149087.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 72.021027 m,
      bearing: 302.599643 deg,
      approach rate: -0.647026 m/s,
      LOS rate: -0.019204 deg/s,
      cmd heading: 303.797553 deg,
      new cmd heading: 303.768679 deg.

2025-06-05T18:44:47.905Z,1749149087.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038016
2025-06-05T18:44:47.920Z,1749149087.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301764 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:48.159Z,1749149088.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291357
2025-06-05T18:44:48.228Z,1749149088.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:48.230Z,1749149088.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:48.233Z,1749149088.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 71.808243 m,
      bearing: 302.593541 deg,
      approach rate: -0.644538 m/s,
      LOS rate: -0.018539 deg/s,
      cmd heading: 303.768675 deg,
      new cmd heading: 303.750313 deg.

2025-06-05T18:44:48.234Z,1749149088.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301443 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:48.411Z,1749149088.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544073
2025-06-05T18:44:48.661Z,1749149088.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794152
2025-06-05T18:44:48.747Z,1749149088.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:48.750Z,1749149088.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 71.465599 m,
      bearing: 302.579097 deg,
      approach rate: -0.663298 m/s,
      LOS rate: -0.028095 deg/s,
      cmd heading: 303.750315 deg,
      new cmd heading: 303.706776 deg.

2025-06-05T18:44:48.751Z,1749149088.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300683 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:48.913Z,1749149088.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046410
2025-06-05T18:44:49.090Z,1749149089.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:49.093Z,1749149089.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 71.246994 m,
      bearing: 302.569933 deg,
      approach rate: -0.636572 m/s,
      LOS rate: -0.026768 deg/s,
      cmd heading: 303.706766 deg,
      new cmd heading: 303.679189 deg.

2025-06-05T18:44:49.094Z,1749149089.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300202 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:49.165Z,1749149089.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297797
2025-06-05T18:44:49.417Z,1749149089.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550210
2025-06-05T18:44:49.477Z,1749149089.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:49.480Z,1749149089.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 70.982101 m,
      bearing: 302.558752 deg,
      approach rate: -0.684951 m/s,
      LOS rate: -0.029018 deg/s,
      cmd heading: 303.679199 deg,
      new cmd heading: 303.645533 deg.

2025-06-05T18:44:49.481Z,1749149089.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299614 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:49.669Z,1749149089.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801976
2025-06-05T18:44:49.911Z,1749149089.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:49.914Z,1749149089.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 70.700310 m,
      bearing: 302.544590 deg,
      approach rate: -0.649920 m/s,
      LOS rate: -0.032794 deg/s,
      cmd heading: 303.645540 deg,
      new cmd heading: 303.602883 deg.

2025-06-05T18:44:49.915Z,1749149089.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298870 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:49.921Z,1749149089.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053969
2025-06-05T18:44:50.030Z,1749149090.030 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:44:50.174Z,1749149090.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306324
2025-06-05T18:44:50.275Z,1749149090.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:50.277Z,1749149090.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:50.281Z,1749149090.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 70.461617 m,
      bearing: 302.532793 deg,
      approach rate: -0.650937 m/s,
      LOS rate: -0.032279 deg/s,
      cmd heading: 303.602892 deg,
      new cmd heading: 303.567383 deg.

2025-06-05T18:44:50.282Z,1749149090.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298250 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:50.426Z,1749149090.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558764
2025-06-05T18:44:50.685Z,1749149090.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817858
2025-06-05T18:44:50.783Z,1749149090.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:50.802Z,1749149090.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 70.135910 m,
      bearing: 302.514758 deg,
      approach rate: -0.644399 m/s,
      LOS rate: -0.035849 deg/s,
      cmd heading: 303.567375 deg,
      new cmd heading: 303.513017 deg.

2025-06-05T18:44:50.803Z,1749149090.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297301 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:50.934Z,1749149090.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067163
2025-06-05T18:44:51.147Z,1749149091.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:51.150Z,1749149091.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 69.895874 m,
      bearing: 302.501421 deg,
      approach rate: -0.658757 m/s,
      LOS rate: -0.036727 deg/s,
      cmd heading: 303.513007 deg,
      new cmd heading: 303.472859 deg.

2025-06-05T18:44:51.151Z,1749149091.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296600 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:51.186Z,1749149091.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319007
2025-06-05T18:44:51.437Z,1749149091.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569862
2025-06-05T18:44:51.594Z,1749149091.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:51.597Z,1749149091.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 69.608101 m,
      bearing: 302.485323 deg,
      approach rate: -0.644698 m/s,
      LOS rate: -0.036212 deg/s,
      cmd heading: 303.472845 deg,
      new cmd heading: 303.424354 deg.

2025-06-05T18:44:51.598Z,1749149091.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295754 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:51.691Z,1749149091.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823734
2025-06-05T18:44:51.945Z,1749149091.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078021
2025-06-05T18:44:52.011Z,1749149092.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:52.030Z,1749149092.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 69.341507 m,
      bearing: 302.476862 deg,
      approach rate: -0.638538 m/s,
      LOS rate: -0.020345 deg/s,
      cmd heading: 303.424351 deg,
      new cmd heading: 303.398868 deg.

2025-06-05T18:44:52.031Z,1749149092.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295309 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:52.197Z,1749149092.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329881
2025-06-05T18:44:52.429Z,1749149092.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:52.431Z,1749149092.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:52.438Z,1749149092.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 69.081505 m,
      bearing: 302.468070 deg,
      approach rate: -0.619147 m/s,
      LOS rate: -0.021016 deg/s,
      cmd heading: 303.398861 deg,
      new cmd heading: 303.372385 deg.

2025-06-05T18:44:52.444Z,1749149092.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294847 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:52.449Z,1749149092.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581988
2025-06-05T18:44:52.704Z,1749149092.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836773
2025-06-05T18:44:52.826Z,1749149092.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:52.829Z,1749149092.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 68.830124 m,
      bearing: 302.466714 deg,
      approach rate: -0.637248 m/s,
      LOS rate: -0.003449 deg/s,
      cmd heading: 303.372387 deg,
      new cmd heading: 303.368305 deg.

2025-06-05T18:44:52.830Z,1749149092.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294776 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:52.952Z,1749149092.952 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:52.953Z,1749149092.953 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:52.953Z,1749149092.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:53.205Z,1749149093.205 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:53.205Z,1749149093.205 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:53.205Z,1749149093.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:53.237Z,1749149093.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:53.260Z,1749149093.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 68.573654 m,
      bearing: 302.464991 deg,
      approach rate: -0.623262 m/s,
      LOS rate: -0.004203 deg/s,
      cmd heading: 303.368316 deg,
      new cmd heading: 303.363127 deg.

2025-06-05T18:44:53.263Z,1749149093.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294685 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:53.457Z,1749149093.457 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:53.458Z,1749149093.458 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:53.458Z,1749149093.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:53.615Z,1749149093.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:53.637Z,1749149093.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 68.340706 m,
      bearing: 302.463415 deg,
      approach rate: -0.616930 m/s,
      LOS rate: -0.004189 deg/s,
      cmd heading: 303.363125 deg,
      new cmd heading: 303.358380 deg.

2025-06-05T18:44:53.638Z,1749149093.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294602 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:53.711Z,1749149093.711 [DAT](INFO): Reached modem response timeout
2025-06-05T18:44:53.712Z,1749149093.712 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:44:53.713Z,1749149093.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:44:53.962Z,1749149093.962 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:44:53.962Z,1749149093.962 [DAT](INFO): response not received
2025-06-05T18:44:53.962Z,1749149093.962 [DAT](INFO): DAT read: user:2808>

2025-06-05T18:44:53.963Z,1749149093.963 [DAT](INFO): DAT read: Tx time:18:44:52.9283

2025-06-05T18:44:53.964Z,1749149093.964 [DAT](INFO): Ping request sent.
2025-06-05T18:44:53.964Z,1749149093.964 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:44:53.964Z,1749149093.964 [DAT](INFO): publishing transmit ping time
2025-06-05T18:44:53.965Z,1749149093.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000804
2025-06-05T18:44:54.120Z,1749149094.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:54.123Z,1749149094.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 68.027473 m,
      bearing: 302.470276 deg,
      approach rate: -0.619557 m/s,
      LOS rate: 0.013635 deg/s,
      cmd heading: 303.358371 deg,
      new cmd heading: 303.379052 deg.

2025-06-05T18:44:54.124Z,1749149094.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294963 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:54.214Z,1749149094.214 [DAT](INFO): DAT read: TxSync time:18:44:52.9275

2025-06-05T18:44:54.216Z,1749149094.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251264
2025-06-05T18:44:54.457Z,1749149094.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:54.459Z,1749149094.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:54.462Z,1749149094.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 67.826828 m,
      bearing: 302.475002 deg,
      approach rate: -0.591705 m/s,
      LOS rate: 0.013976 deg/s,
      cmd heading: 303.379053 deg,
      new cmd heading: 303.393271 deg.

2025-06-05T18:44:54.463Z,1749149094.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295211 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:54.465Z,1749149094.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500839
2025-06-05T18:44:54.721Z,1749149094.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755607
2025-06-05T18:44:54.867Z,1749149094.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:54.870Z,1749149094.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 67.564995 m,
      bearing: 302.491738 deg,
      approach rate: -0.642044 m/s,
      LOS rate: 0.041198 deg/s,
      cmd heading: 303.393260 deg,
      new cmd heading: 303.443664 deg.

2025-06-05T18:44:54.871Z,1749149094.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296091 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:54.969Z,1749149094.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004991
2025-06-05T18:44:55.221Z,1749149095.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256896
2025-06-05T18:44:55.239Z,1749149095.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:55.242Z,1749149095.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 67.334282 m,
      bearing: 302.506385 deg,
      approach rate: -0.619868 m/s,
      LOS rate: 0.039488 deg/s,
      cmd heading: 303.443667 deg,
      new cmd heading: 303.487759 deg.

2025-06-05T18:44:55.243Z,1749149095.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296861 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:55.474Z,1749149095.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510256
2025-06-05T18:44:55.638Z,1749149095.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:55.642Z,1749149095.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 67.087532 m,
      bearing: 302.521727 deg,
      approach rate: -0.618802 m/s,
      LOS rate: 0.038616 deg/s,
      cmd heading: 303.487762 deg,
      new cmd heading: 303.533958 deg.

2025-06-05T18:44:55.643Z,1749149095.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297667 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:55.728Z,1749149095.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763525
2025-06-05T18:44:55.977Z,1749149095.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012852
2025-06-05T18:44:56.078Z,1749149096.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:56.081Z,1749149096.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 66.818123 m,
      bearing: 302.547163 deg,
      approach rate: -0.612114 m/s,
      LOS rate: 0.058026 deg/s,
      cmd heading: 303.533962 deg,
      new cmd heading: 303.610578 deg.

2025-06-05T18:44:56.082Z,1749149096.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299004 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:56.229Z,1749149096.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264861
2025-06-05T18:44:56.449Z,1749149096.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:56.452Z,1749149096.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 66.590141 m,
      bearing: 302.568568 deg,
      approach rate: -0.615194 m/s,
      LOS rate: 0.057957 deg/s,
      cmd heading: 303.610569 deg,
      new cmd heading: 303.675003 deg.

2025-06-05T18:44:56.453Z,1749149096.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300128 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:56.490Z,1749149096.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525814
2025-06-05T18:44:56.744Z,1749149096.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779857
2025-06-05T18:44:56.885Z,1749149096.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:56.892Z,1749149096.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:56.894Z,1749149096.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 66.324272 m,
      bearing: 302.596290 deg,
      approach rate: -0.606057 m/s,
      LOS rate: 0.063447 deg/s,
      cmd heading: 303.674992 deg,
      new cmd heading: 303.758492 deg.

2025-06-05T18:44:56.895Z,1749149096.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301586 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:56.995Z,1749149096.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030900
2025-06-05T18:44:57.245Z,1749149097.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280868
2025-06-05T18:44:57.262Z,1749149097.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:57.266Z,1749149097.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 66.075478 m,
      bearing: 302.622315 deg,
      approach rate: -0.666320 m/s,
      LOS rate: 0.069961 deg/s,
      cmd heading: 303.758484 deg,
      new cmd heading: 303.836851 deg.

2025-06-05T18:44:57.267Z,1749149097.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302953 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:57.497Z,1749149097.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533519
2025-06-05T18:44:57.661Z,1749149097.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:57.664Z,1749149097.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 65.820702 m,
      bearing: 302.649008 deg,
      approach rate: -0.636118 m/s,
      LOS rate: 0.066904 deg/s,
      cmd heading: 303.836840 deg,
      new cmd heading: 303.917228 deg.

2025-06-05T18:44:57.665Z,1749149097.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304356 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:57.752Z,1749149097.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788115
2025-06-05T18:44:58.002Z,1749149098.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037300
2025-06-05T18:44:58.120Z,1749149098.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:58.134Z,1749149098.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 65.543900 m,
      bearing: 302.680258 deg,
      approach rate: -0.609512 m/s,
      LOS rate: 0.069103 deg/s,
      cmd heading: 303.917217 deg,
      new cmd heading: 304.011364 deg.

2025-06-05T18:44:58.135Z,1749149098.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305999 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:58.253Z,1749149098.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289597
2025-06-05T18:44:58.481Z,1749149098.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:58.488Z,1749149098.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 65.309738 m,
      bearing: 302.706978 deg,
      approach rate: -0.640406 m/s,
      LOS rate: 0.073339 deg/s,
      cmd heading: 304.011365 deg,
      new cmd heading: 304.091813 deg.

2025-06-05T18:44:58.490Z,1749149098.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307404 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:58.505Z,1749149098.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540991
2025-06-05T18:44:58.762Z,1749149098.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.796955
2025-06-05T18:44:58.891Z,1749149098.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:44:58.913Z,1749149098.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:58.920Z,1749149098.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 65.032204 m,
      bearing: 302.733078 deg,
      approach rate: -0.642584 m/s,
      LOS rate: 0.060689 deg/s,
      cmd heading: 304.091824 deg,
      new cmd heading: 304.170460 deg.

2025-06-05T18:44:58.921Z,1749149098.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308776 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:59.009Z,1749149099.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044883
2025-06-05T18:44:59.262Z,1749149099.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298302
2025-06-05T18:44:59.297Z,1749149099.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:59.300Z,1749149099.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 64.773018 m,
      bearing: 302.757771 deg,
      approach rate: -0.676393 m/s,
      LOS rate: 0.064699 deg/s,
      cmd heading: 304.170454 deg,
      new cmd heading: 304.244829 deg.

2025-06-05T18:44:59.301Z,1749149099.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310074 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:59.513Z,1749149099.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549538
2025-06-05T18:44:59.692Z,1749149099.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:44:59.698Z,1749149099.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 64.519249 m,
      bearing: 302.782212 deg,
      approach rate: -0.641628 m/s,
      LOS rate: 0.062037 deg/s,
      cmd heading: 304.244821 deg,
      new cmd heading: 304.318429 deg.

2025-06-05T18:44:59.699Z,1749149099.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311358 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:44:59.767Z,1749149099.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802987
2025-06-05T18:45:00.017Z,1749149100.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052733
2025-06-05T18:45:00.202Z,1749149100.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:00.205Z,1749149100.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 64.190430 m,
      bearing: 302.803591 deg,
      approach rate: -0.644174 m/s,
      LOS rate: 0.042098 deg/s,
      cmd heading: 304.318423 deg,
      new cmd heading: 304.382890 deg.

2025-06-05T18:45:00.206Z,1749149100.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312484 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:00.269Z,1749149100.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304918
2025-06-05T18:45:00.502Z,1749149100.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:00.504Z,1749149100.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 63.997952 m,
      bearing: 302.816278 deg,
      approach rate: -0.643032 m/s,
      LOS rate: 0.042512 deg/s,
      cmd heading: 304.382900 deg,
      new cmd heading: 304.421075 deg.

2025-06-05T18:45:00.507Z,1749149100.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313150 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:00.521Z,1749149100.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556799
2025-06-05T18:45:00.776Z,1749149100.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811941
2025-06-05T18:45:00.928Z,1749149100.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:00.930Z,1749149100.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:00.934Z,1749149100.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 63.724697 m,
      bearing: 302.822592 deg,
      approach rate: -0.637828 m/s,
      LOS rate: 0.014803 deg/s,
      cmd heading: 304.421067 deg,
      new cmd heading: 304.440092 deg.

2025-06-05T18:45:00.934Z,1749149100.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313482 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:01.026Z,1749149101.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062263
2025-06-05T18:45:01.278Z,1749149101.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313807
2025-06-05T18:45:01.324Z,1749149101.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:01.332Z,1749149101.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 63.471199 m,
      bearing: 302.828542 deg,
      approach rate: -0.644094 m/s,
      LOS rate: 0.015177 deg/s,
      cmd heading: 304.440082 deg,
      new cmd heading: 304.458001 deg.

2025-06-05T18:45:01.333Z,1749149101.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313795 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:01.530Z,1749149101.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565493
2025-06-05T18:45:01.727Z,1749149101.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:01.733Z,1749149101.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 63.215714 m,
      bearing: 302.834498 deg,
      approach rate: -0.633390 m/s,
      LOS rate: 0.014827 deg/s,
      cmd heading: 304.458005 deg,
      new cmd heading: 304.475947 deg.

2025-06-05T18:45:01.734Z,1749149101.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314108 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:01.786Z,1749149101.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819345
2025-06-05T18:45:02.033Z,1749149102.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068847
2025-06-05T18:45:02.137Z,1749149102.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:02.142Z,1749149102.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 62.952351 m,
      bearing: 302.826719 deg,
      approach rate: -0.641491 m/s,
      LOS rate: -0.019029 deg/s,
      cmd heading: 304.475954 deg,
      new cmd heading: 304.452517 deg.

2025-06-05T18:45:02.143Z,1749149102.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313699 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:02.285Z,1749149102.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320775
2025-06-05T18:45:02.506Z,1749149102.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:02.518Z,1749149102.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 62.718906 m,
      bearing: 302.819576 deg,
      approach rate: -0.634573 m/s,
      LOS rate: -0.019487 deg/s,
      cmd heading: 304.452513 deg,
      new cmd heading: 304.431007 deg.

2025-06-05T18:45:02.519Z,1749149102.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313323 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:02.537Z,1749149102.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572900
2025-06-05T18:45:02.789Z,1749149102.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824842
2025-06-05T18:45:02.949Z,1749149102.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:02.951Z,1749149102.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:02.959Z,1749149102.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 62.458221 m,
      bearing: 302.796032 deg,
      approach rate: -0.584968 m/s,
      LOS rate: -0.053053 deg/s,
      cmd heading: 304.431012 deg,
      new cmd heading: 304.360084 deg.

2025-06-05T18:45:02.964Z,1749149102.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312086 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:03.042Z,1749149103.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077796
2025-06-05T18:45:03.293Z,1749149103.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328879
2025-06-05T18:45:03.346Z,1749149103.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:03.354Z,1749149103.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 62.222588 m,
      bearing: 302.774426 deg,
      approach rate: -0.597093 m/s,
      LOS rate: -0.054956 deg/s,
      cmd heading: 304.360087 deg,
      new cmd heading: 304.295024 deg.

2025-06-05T18:45:03.355Z,1749149103.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310950 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:03.545Z,1749149103.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580771
2025-06-05T18:45:03.736Z,1749149103.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:03.740Z,1749149103.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 61.962143 m,
      bearing: 302.750115 deg,
      approach rate: -0.667410 m/s,
      LOS rate: -0.062562 deg/s,
      cmd heading: 304.295036 deg,
      new cmd heading: 304.221795 deg.

2025-06-05T18:45:03.741Z,1749149103.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309672 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:03.799Z,1749149103.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834327
2025-06-05T18:45:04.048Z,1749149104.048 [DAT](INFO): Reached modem response timeout
2025-06-05T18:45:04.049Z,1749149104.049 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:45:04.049Z,1749149104.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:04.161Z,1749149104.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:04.163Z,1749149104.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 61.700191 m,
      bearing: 302.718381 deg,
      approach rate: -0.616709 m/s,
      LOS rate: -0.075027 deg/s,
      cmd heading: 304.221789 deg,
      new cmd heading: 304.126184 deg.

2025-06-05T18:45:04.164Z,1749149104.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308003 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:04.300Z,1749149104.300 [DAT](INFO): Reached modem response timeout
2025-06-05T18:45:04.300Z,1749149104.300 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:45:04.301Z,1749149104.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:04.525Z,1749149104.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:04.544Z,1749149104.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 61.477013 m,
      bearing: 302.690806 deg,
      approach rate: -0.611975 m/s,
      LOS rate: -0.075888 deg/s,
      cmd heading: 304.126194 deg,
      new cmd heading: 304.043168 deg.

2025-06-05T18:45:04.545Z,1749149104.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306554 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:04.552Z,1749149104.552 [DAT](INFO): Reached modem response timeout
2025-06-05T18:45:04.553Z,1749149104.553 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:45:04.553Z,1749149104.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:04.806Z,1749149104.806 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:45:04.807Z,1749149104.807 [DAT](INFO): response not received
2025-06-05T18:45:04.807Z,1749149104.807 [DAT](INFO): DAT read: user:2809>

2025-06-05T18:45:04.808Z,1749149104.808 [DAT](INFO): DAT read: Tx time:18:45:03.8784

2025-06-05T18:45:04.809Z,1749149104.809 [DAT](INFO): Ping request sent.
2025-06-05T18:45:04.810Z,1749149104.810 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:04.810Z,1749149104.810 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:04.813Z,1749149104.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003011
2025-06-05T18:45:05.026Z,1749149105.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:05.032Z,1749149105.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:05.035Z,1749149105.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 61.164288 m,
      bearing: 302.653434 deg,
      approach rate: -0.622306 m/s,
      LOS rate: -0.074748 deg/s,
      cmd heading: 304.043166 deg,
      new cmd heading: 303.930478 deg.

2025-06-05T18:45:05.040Z,1749149105.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304587 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:05.058Z,1749149105.058 [DAT](INFO): DAT read: TxSync time:18:45:03.8776

2025-06-05T18:45:05.058Z,1749149105.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249181
2025-06-05T18:45:05.309Z,1749149105.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499746
2025-06-05T18:45:05.360Z,1749149105.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:05.364Z,1749149105.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 60.966789 m,
      bearing: 302.629578 deg,
      approach rate: -0.600137 m/s,
      LOS rate: -0.072726 deg/s,
      cmd heading: 303.930468 deg,
      new cmd heading: 303.858668 deg.

2025-06-05T18:45:05.365Z,1749149105.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303334 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:05.564Z,1749149105.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754493
2025-06-05T18:45:05.792Z,1749149105.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:05.795Z,1749149105.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 60.689419 m,
      bearing: 302.595809 deg,
      approach rate: -0.662578 m/s,
      LOS rate: -0.081034 deg/s,
      cmd heading: 303.858669 deg,
      new cmd heading: 303.756902 deg.

2025-06-05T18:45:05.796Z,1749149105.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301558 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:05.815Z,1749149105.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005832
2025-06-05T18:45:06.065Z,1749149106.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255356
2025-06-05T18:45:06.199Z,1749149106.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:06.202Z,1749149106.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 60.418102 m,
      bearing: 302.573736 deg,
      approach rate: -0.640591 m/s,
      LOS rate: -0.052349 deg/s,
      cmd heading: 303.756899 deg,
      new cmd heading: 303.690383 deg.

2025-06-05T18:45:06.203Z,1749149106.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300397 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:06.317Z,1749149106.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507536
2025-06-05T18:45:06.569Z,1749149106.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759825
2025-06-05T18:45:06.651Z,1749149106.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:06.654Z,1749149106.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 60.130424 m,
      bearing: 302.550311 deg,
      approach rate: -0.636319 m/s,
      LOS rate: -0.052062 deg/s,
      cmd heading: 303.690373 deg,
      new cmd heading: 303.619762 deg.

2025-06-05T18:45:06.655Z,1749149106.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299164 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:06.821Z,1749149106.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011897
2025-06-05T18:45:07.075Z,1749149107.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265409
2025-06-05T18:45:07.095Z,1749149107.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:07.106Z,1749149107.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:07.114Z,1749149107.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 59.848328 m,
      bearing: 302.537655 deg,
      approach rate: -0.621264 m/s,
      LOS rate: -0.028005 deg/s,
      cmd heading: 303.619749 deg,
      new cmd heading: 303.581601 deg.

2025-06-05T18:45:07.115Z,1749149107.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298499 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:07.325Z,1749149107.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516079
2025-06-05T18:45:07.463Z,1749149107.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:07.470Z,1749149107.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 59.611919 m,
      bearing: 302.526938 deg,
      approach rate: -0.660858 m/s,
      LOS rate: -0.030079 deg/s,
      cmd heading: 303.581609 deg,
      new cmd heading: 303.549329 deg.

2025-06-05T18:45:07.471Z,1749149107.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297935 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:07.579Z,1749149107.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770066
2025-06-05T18:45:07.830Z,1749149107.830 [DAT](INFO): DAT read: Rx Time:18:45:06.3650

2025-06-05T18:45:07.832Z,1749149107.832 [DAT](INFO): Rx dataTimestamp_ set to:1749149107.830884
2025-06-05T18:45:07.834Z,1749149107.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024076
2025-06-05T18:45:07.863Z,1749149107.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:07.904Z,1749149107.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 59.360313 m,
      bearing: 302.515575 deg,
      approach rate: -0.631272 m/s,
      LOS rate: -0.028630 deg/s,
      cmd heading: 303.549316 deg,
      new cmd heading: 303.515083 deg.

2025-06-05T18:45:07.912Z,1749149107.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297338 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:08.081Z,1749149108.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271356
2025-06-05T18:45:08.347Z,1749149108.347 [DAT](INFO): DAT read: 18:45:06.3650 LVL= 32752, 32753, 29154, 32755, AGC= 65, IDX=  87, 0.28, 0.085,-1.341, 0.020,-0.469, PHS= 0.642,-0.825, 0.487, RAW= 144.5,  -4.4, CAL= 149.6, -13.4, ROT=   0.4,  13.4

2025-06-05T18:45:08.350Z,1749149108.350 [DAT](INFO): got valid direction response:
 18:45:06.3650 LVL= 32752, 32753, 29154, 32755, AGC= 65, IDX=  87, 0.28, 0.085,-1.341, 0.020,-0.469, PHS= 0.642,-0.825, 0.487, RAW= 144.5,  -4.4, CAL= 149.6, -13.4, ROT=   0.4,  13.4

2025-06-05T18:45:08.358Z,1749149108.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.12 m.
2025-06-05T18:45:08.360Z,1749149108.360 [DAT](INFO): DAT read: Bearing   0.4,  13.4 (Local)

2025-06-05T18:45:08.361Z,1749149108.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  13.4 (Local)

2025-06-05T18:45:08.362Z,1749149108.362 [DAT](INFO): DAT read: Range 10 to 50 : 61.8 m  (Round-trip  82.4 ms) speed  0.5 m/s

2025-06-05T18:45:08.363Z,1749149108.363 [DAT](INFO): DAT read: user:2810>

2025-06-05T18:45:08.366Z,1749149108.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.118874 m,
      nav range: 59.054604 m,
      bearing: 302.523187 deg,
      approach rate: -0.616271 m/s,
      LOS rate: 0.015424 deg/s,
      cmd heading: 303.515083 deg,
      new cmd heading: 303.538038 deg.

2025-06-05T18:45:08.367Z,1749149108.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297738 target range: 84.118874 and range: 84.80 m.
2025-06-05T18:45:08.380Z,1749149108.380 [DAT](INFO): DAT read: Tx time:18:45:07.4785

2025-06-05T18:45:08.380Z,1749149108.380 [DAT](INFO): Ping request sent.
2025-06-05T18:45:08.380Z,1749149108.380 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:08.380Z,1749149108.380 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:08.381Z,1749149108.381 [DAT](INFO): direction in FSK: [0.972752,0.006791,-0.231748]
2025-06-05T18:45:08.382Z,1749149108.382 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:08.382Z,1749149108.382 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:08.412Z,1749149108.412 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:08.412Z,1749149108.412 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:08.585Z,1749149108.585 [DAT](INFO): DAT read: TxSync time:18:45:07.4777

2025-06-05T18:45:08.765Z,1749149108.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.799999 m,
      deltaT: 36.304795 s,
      deltaX: -23.000004 m,
      approachRate: -0.633525 m/s,
      rangeRepo size: 4

2025-06-05T18:45:08.767Z,1749149108.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.304527 m,
      bearing: 305.776512 deg,
      lat: 36.906158 deg,
      lon: -122.116137 deg,
      deltaT: 36.304795 s,
      deltaX: -22.814346 m,
      approachRate: -0.628411 m/s,
      posRepo size: 4

2025-06-05T18:45:08.772Z,1749149108.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:08.780Z,1749149108.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 58.480778 m,
      bearing: 302.706619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015424 deg/s,
      cmd heading: 303.538033 deg,
      new cmd heading: 303.556639 deg.

2025-06-05T18:45:08.781Z,1749149108.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298063 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:09.147Z,1749149109.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:09.154Z,1749149109.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:09.161Z,1749149109.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 58.209110 m,
      bearing: 302.730939 deg,
      approach rate: -0.688702 m/s,
      LOS rate: 0.061941 deg/s,
      cmd heading: 303.556638 deg,
      new cmd heading: 303.629938 deg.

2025-06-05T18:45:09.162Z,1749149109.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299342 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:09.342Z,1749149109.342 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:09.342Z,1749149109.342 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:09.342Z,1749149109.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:09.509Z,1749149109.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:09.512Z,1749149109.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 57.965359 m,
      bearing: 302.753167 deg,
      approach rate: -0.685942 m/s,
      LOS rate: 0.062816 deg/s,
      cmd heading: 303.629940 deg,
      new cmd heading: 303.696905 deg.

2025-06-05T18:45:09.513Z,1749149109.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300511 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:09.594Z,1749149109.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213501
2025-06-05T18:45:09.845Z,1749149109.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464718
2025-06-05T18:45:09.982Z,1749149109.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:09.990Z,1749149109.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 57.663265 m,
      bearing: 302.781730 deg,
      approach rate: -0.639741 m/s,
      LOS rate: 0.060803 deg/s,
      cmd heading: 303.696903 deg,
      new cmd heading: 303.783039 deg.

2025-06-05T18:45:09.996Z,1749149109.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302014 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:10.098Z,1749149110.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717400
2025-06-05T18:45:10.330Z,1749149110.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:10.333Z,1749149110.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 57.428768 m,
      bearing: 302.817459 deg,
      approach rate: -0.672636 m/s,
      LOS rate: 0.102906 deg/s,
      cmd heading: 303.783045 deg,
      new cmd heading: 303.890672 deg.

2025-06-05T18:45:10.334Z,1749149110.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303893 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:10.363Z,1749149110.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982724
2025-06-05T18:45:10.617Z,1749149110.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236568
2025-06-05T18:45:10.743Z,1749149110.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:10.750Z,1749149110.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 57.170540 m,
      bearing: 302.857160 deg,
      approach rate: -0.625323 m/s,
      LOS rate: 0.096573 deg/s,
      cmd heading: 303.890662 deg,
      new cmd heading: 304.010301 deg.

2025-06-05T18:45:10.751Z,1749149110.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305981 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:10.869Z,1749149110.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488602
2025-06-05T18:45:11.121Z,1749149111.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740614
2025-06-05T18:45:11.148Z,1749149111.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:11.150Z,1749149111.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 56.915958 m,
      bearing: 302.904818 deg,
      approach rate: -0.655717 m/s,
      LOS rate: 0.123299 deg/s,
      cmd heading: 304.010299 deg,
      new cmd heading: 304.153911 deg.

2025-06-05T18:45:11.151Z,1749149111.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308487 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:11.375Z,1749149111.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994469
2025-06-05T18:45:11.530Z,1749149111.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:11.536Z,1749149111.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:11.539Z,1749149111.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 56.675430 m,
      bearing: 302.950264 deg,
      approach rate: -0.594139 m/s,
      LOS rate: 0.112735 deg/s,
      cmd heading: 304.153924 deg,
      new cmd heading: 304.290841 deg.

2025-06-05T18:45:11.544Z,1749149111.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310877 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:11.626Z,1749149111.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245295
2025-06-05T18:45:11.877Z,1749149111.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496618
2025-06-05T18:45:11.993Z,1749149111.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:12.004Z,1749149112.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 56.408459 m,
      bearing: 303.001329 deg,
      approach rate: -0.584088 m/s,
      LOS rate: 0.112251 deg/s,
      cmd heading: 304.290829 deg,
      new cmd heading: 304.444750 deg.

2025-06-05T18:45:12.007Z,1749149112.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313563 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:12.129Z,1749149112.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749257
2025-06-05T18:45:12.381Z,1749149112.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000690
2025-06-05T18:45:12.408Z,1749149112.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:12.411Z,1749149112.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 56.138733 m,
      bearing: 303.051226 deg,
      approach rate: -0.664034 m/s,
      LOS rate: 0.123432 deg/s,
      cmd heading: 304.444754 deg,
      new cmd heading: 304.595165 deg.

2025-06-05T18:45:12.416Z,1749149112.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316188 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:12.635Z,1749149112.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.254594
2025-06-05T18:45:12.758Z,1749149112.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:12.765Z,1749149112.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 55.910007 m,
      bearing: 303.093866 deg,
      approach rate: -0.637356 m/s,
      LOS rate: 0.119304 deg/s,
      cmd heading: 304.595155 deg,
      new cmd heading: 304.723597 deg.

2025-06-05T18:45:12.766Z,1749149112.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318430 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:12.890Z,1749149112.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.509927
2025-06-05T18:45:13.141Z,1749149113.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.761081
2025-06-05T18:45:13.182Z,1749149113.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:13.190Z,1749149113.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 55.645309 m,
      bearing: 303.135364 deg,
      approach rate: -0.625037 m/s,
      LOS rate: 0.098456 deg/s,
      cmd heading: 304.723590 deg,
      new cmd heading: 304.848676 deg.

2025-06-05T18:45:13.191Z,1749149113.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320613 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:13.393Z,1749149113.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.012456
2025-06-05T18:45:13.627Z,1749149113.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:13.630Z,1749149113.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:13.633Z,1749149113.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 55.369541 m,
      bearing: 303.178760 deg,
      approach rate: -0.615945 m/s,
      LOS rate: 0.097409 deg/s,
      cmd heading: 304.848664 deg,
      new cmd heading: 304.979498 deg.

2025-06-05T18:45:13.634Z,1749149113.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322896 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:13.645Z,1749149113.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.264911
2025-06-05T18:45:13.897Z,1749149113.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.516623
2025-06-05T18:45:13.921Z,1749149113.921 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T18:45:14.078Z,1749149114.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:14.081Z,1749149114.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 55.094456 m,
      bearing: 303.211460 deg,
      approach rate: -0.613447 m/s,
      LOS rate: 0.073287 deg/s,
      cmd heading: 304.979503 deg,
      new cmd heading: 305.078094 deg.

2025-06-05T18:45:14.082Z,1749149114.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324617 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:14.150Z,1749149114.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.769985
2025-06-05T18:45:14.401Z,1749149114.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.020614
2025-06-05T18:45:14.407Z,1749149114.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:14.410Z,1749149114.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 54.903133 m,
      bearing: 303.234398 deg,
      approach rate: -0.583444 m/s,
      LOS rate: 0.070194 deg/s,
      cmd heading: 305.078104 deg,
      new cmd heading: 305.147157 deg.

2025-06-05T18:45:14.411Z,1749149114.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325823 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:14.653Z,1749149114.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.272560
2025-06-05T18:45:14.783Z,1749149114.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:14.785Z,1749149114.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 54.678043 m,
      bearing: 303.260964 deg,
      approach rate: -0.597736 m/s,
      LOS rate: 0.070838 deg/s,
      cmd heading: 305.147171 deg,
      new cmd heading: 305.227198 deg.

2025-06-05T18:45:14.786Z,1749149114.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327219 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:14.837Z,1749149114.837 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:45:14.905Z,1749149114.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.524647
2025-06-05T18:45:15.158Z,1749149115.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.777729
2025-06-05T18:45:15.216Z,1749149115.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:15.219Z,1749149115.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 54.398972 m,
      bearing: 303.277074 deg,
      approach rate: -0.644389 m/s,
      LOS rate: 0.037389 deg/s,
      cmd heading: 305.227193 deg,
      new cmd heading: 305.275770 deg.

2025-06-05T18:45:15.220Z,1749149115.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328067 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:15.409Z,1749149115.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.029135
2025-06-05T18:45:15.575Z,1749149115.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:15.578Z,1749149115.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 54.178387 m,
      bearing: 303.289729 deg,
      approach rate: -0.614246 m/s,
      LOS rate: 0.035383 deg/s,
      cmd heading: 305.275769 deg,
      new cmd heading: 305.313889 deg.

2025-06-05T18:45:15.579Z,1749149115.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328732 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:15.661Z,1749149115.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.280719
2025-06-05T18:45:15.843Z,1749149115.843 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:45:15.913Z,1749149115.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.532742
2025-06-05T18:45:15.991Z,1749149115.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:16.015Z,1749149116.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:16.045Z,1749149116.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 53.931435 m,
      bearing: 303.303737 deg,
      approach rate: -0.563033 m/s,
      LOS rate: 0.032084 deg/s,
      cmd heading: 305.313882 deg,
      new cmd heading: 305.356098 deg.

2025-06-05T18:45:16.060Z,1749149116.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.329469 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:16.166Z,1749149116.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.785481
2025-06-05T18:45:16.408Z,1749149116.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:16.410Z,1749149116.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 53.662048 m,
      bearing: 303.302153 deg,
      approach rate: -0.684977 m/s,
      LOS rate: -0.004049 deg/s,
      cmd heading: 305.356092 deg,
      new cmd heading: 305.351316 deg.

2025-06-05T18:45:16.417Z,1749149116.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.036503
2025-06-05T18:45:16.411Z,1749149116.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.329386 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:16.669Z,1749149116.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.288476
2025-06-05T18:45:16.800Z,1749149116.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:16.803Z,1749149116.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 53.426193 m,
      bearing: 303.300413 deg,
      approach rate: -0.605944 m/s,
      LOS rate: -0.004490 deg/s,
      cmd heading: 305.351311 deg,
      new cmd heading: 305.346069 deg.

2025-06-05T18:45:16.808Z,1749149116.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.329294 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:16.922Z,1749149116.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.542160
2025-06-05T18:45:17.174Z,1749149117.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.793558
2025-06-05T18:45:17.239Z,1749149117.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:17.246Z,1749149117.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 53.146511 m,
      bearing: 303.284940 deg,
      approach rate: -0.632046 m/s,
      LOS rate: -0.035152 deg/s,
      cmd heading: 305.346066 deg,
      new cmd heading: 305.299402 deg.

2025-06-05T18:45:17.247Z,1749149117.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328480 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:17.425Z,1749149117.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.044881
2025-06-05T18:45:17.604Z,1749149117.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:17.606Z,1749149117.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 52.898449 m,
      bearing: 303.270927 deg,
      approach rate: -0.710906 m/s,
      LOS rate: -0.040346 deg/s,
      cmd heading: 305.299402 deg,
      new cmd heading: 305.257168 deg.

2025-06-05T18:45:17.607Z,1749149117.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327743 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:17.678Z,1749149117.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.297766
2025-06-05T18:45:17.929Z,1749149117.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.548558
2025-06-05T18:45:18.082Z,1749149118.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:18.089Z,1749149118.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:18.097Z,1749149118.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 52.620945 m,
      bearing: 303.254939 deg,
      approach rate: -0.553844 m/s,
      LOS rate: -0.032077 deg/s,
      cmd heading: 305.257164 deg,
      new cmd heading: 305.208947 deg.

2025-06-05T18:45:18.098Z,1749149118.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326901 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:18.181Z,1749149118.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.800706
2025-06-05T18:45:18.431Z,1749149118.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:18.432Z,1749149118.432 [DAT](INFO): Reached modem response timeout
2025-06-05T18:45:18.433Z,1749149118.433 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:45:18.433Z,1749149118.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:18.454Z,1749149118.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 52.340366 m,
      bearing: 303.229494 deg,
      approach rate: -0.818383 m/s,
      LOS rate: -0.074617 deg/s,
      cmd heading: 305.208943 deg,
      new cmd heading: 305.132196 deg.

2025-06-05T18:45:18.455Z,1749149118.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325562 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:18.686Z,1749149118.686 [DAT](INFO): Reached modem response timeout
2025-06-05T18:45:18.686Z,1749149118.686 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:45:18.687Z,1749149118.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:18.803Z,1749149118.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:18.826Z,1749149118.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 52.091774 m,
      bearing: 303.206469 deg,
      approach rate: -0.671764 m/s,
      LOS rate: -0.062515 deg/s,
      cmd heading: 305.132199 deg,
      new cmd heading: 305.062797 deg.

2025-06-05T18:45:18.828Z,1749149118.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324350 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:18.937Z,1749149118.937 [DAT](INFO): Reached modem response timeout
2025-06-05T18:45:18.937Z,1749149118.937 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:45:18.938Z,1749149118.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:19.189Z,1749149119.189 [DAT](INFO): Reached modem response timeout
2025-06-05T18:45:19.189Z,1749149119.189 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:45:19.190Z,1749149119.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:19.271Z,1749149119.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:19.278Z,1749149119.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 51.786659 m,
      bearing: 303.179865 deg,
      approach rate: -0.649758 m/s,
      LOS rate: -0.056990 deg/s,
      cmd heading: 305.062804 deg,
      new cmd heading: 304.982519 deg.

2025-06-05T18:45:19.279Z,1749149119.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322949 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:19.441Z,1749149119.441 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:45:19.442Z,1749149119.442 [DAT](INFO): response not received
2025-06-05T18:45:19.442Z,1749149119.442 [DAT](INFO): DAT read: user:2811>

2025-06-05T18:45:19.443Z,1749149119.443 [DAT](INFO): DAT read: Tx time:18:45:18.4286

2025-06-05T18:45:19.443Z,1749149119.443 [DAT](INFO): Ping request sent.
2025-06-05T18:45:19.443Z,1749149119.443 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:19.443Z,1749149119.443 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:19.444Z,1749149119.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000862
2025-06-05T18:45:19.634Z,1749149119.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:19.638Z,1749149119.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 51.544106 m,
      bearing: 303.158231 deg,
      approach rate: -0.668253 m/s,
      LOS rate: -0.059881 deg/s,
      cmd heading: 304.982508 deg,
      new cmd heading: 304.917304 deg.

2025-06-05T18:45:19.638Z,1749149119.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321811 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:19.698Z,1749149119.698 [DAT](INFO): DAT read: TxSync time:18:45:18.4278

2025-06-05T18:45:19.701Z,1749149119.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257340
2025-06-05T18:45:19.945Z,1749149119.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501545
2025-06-05T18:45:20.175Z,1749149120.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:20.177Z,1749149120.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:20.181Z,1749149120.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 51.175068 m,
      bearing: 303.139581 deg,
      approach rate: -0.678863 m/s,
      LOS rate: -0.034557 deg/s,
      cmd heading: 304.917294 deg,
      new cmd heading: 304.860938 deg.

2025-06-05T18:45:20.182Z,1749149120.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320827 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:20.197Z,1749149120.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753415
2025-06-05T18:45:20.449Z,1749149120.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005307
2025-06-05T18:45:20.537Z,1749149120.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:20.539Z,1749149120.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 50.951817 m,
      bearing: 303.128166 deg,
      approach rate: -0.621621 m/s,
      LOS rate: -0.031921 deg/s,
      cmd heading: 304.860931 deg,
      new cmd heading: 304.826538 deg.

2025-06-05T18:45:20.544Z,1749149120.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320227 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:20.702Z,1749149120.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258848
2025-06-05T18:45:20.912Z,1749149120.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:20.915Z,1749149120.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 50.701122 m,
      bearing: 303.115608 deg,
      approach rate: -0.675283 m/s,
      LOS rate: -0.033995 deg/s,
      cmd heading: 304.826534 deg,
      new cmd heading: 304.788672 deg.

2025-06-05T18:45:20.920Z,1749149120.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319566 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:20.953Z,1749149120.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509502
2025-06-05T18:45:21.205Z,1749149121.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761450
2025-06-05T18:45:21.329Z,1749149121.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:21.333Z,1749149121.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 50.407856 m,
      bearing: 303.105284 deg,
      approach rate: -0.696153 m/s,
      LOS rate: -0.024649 deg/s,
      cmd heading: 304.788668 deg,
      new cmd heading: 304.757516 deg.

2025-06-05T18:45:21.334Z,1749149121.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319022 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:21.458Z,1749149121.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015114
2025-06-05T18:45:21.697Z,1749149121.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:21.709Z,1749149121.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265853
2025-06-05T18:45:21.724Z,1749149121.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 50.163364 m,
      bearing: 303.096194 deg,
      approach rate: -0.664451 m/s,
      LOS rate: -0.024826 deg/s,
      cmd heading: 304.757522 deg,
      new cmd heading: 304.730117 deg.

2025-06-05T18:45:21.725Z,1749149121.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318544 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:21.963Z,1749149121.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519463
2025-06-05T18:45:22.152Z,1749149122.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:22.155Z,1749149122.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 49.854427 m,
      bearing: 303.084579 deg,
      approach rate: -0.679749 m/s,
      LOS rate: -0.025713 deg/s,
      cmd heading: 304.730119 deg,
      new cmd heading: 304.695060 deg.

2025-06-05T18:45:22.157Z,1749149122.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317932 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:22.214Z,1749149122.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770618
2025-06-05T18:45:22.465Z,1749149122.465 [DAT](INFO): DAT read: Rx Time:18:45:20.9025

2025-06-05T18:45:22.465Z,1749149122.465 [DAT](INFO): Rx dataTimestamp_ set to:1749149122.464825
2025-06-05T18:45:22.466Z,1749149122.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022486
2025-06-05T18:45:22.572Z,1749149122.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:22.583Z,1749149122.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:22.590Z,1749149122.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 49.587727 m,
      bearing: 303.093294 deg,
      approach rate: -0.628575 m/s,
      LOS rate: 0.020650 deg/s,
      cmd heading: 304.695067 deg,
      new cmd heading: 304.721351 deg.

2025-06-05T18:45:22.591Z,1749149122.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318391 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:22.719Z,1749149122.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275379
2025-06-05T18:45:22.929Z,1749149122.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:45:22.931Z,1749149122.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.304527 m,
      nav range: 49.348015 m,
      bearing: 303.100958 deg,
      approach rate: -0.679434 m/s,
      LOS rate: 0.021829 deg/s,
      cmd heading: 304.721349 deg,
      new cmd heading: 304.744454 deg.

2025-06-05T18:45:22.933Z,1749149122.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318794 target range: 61.304527 and range: 61.80 m.
2025-06-05T18:45:22.976Z,1749149122.976 [DAT](INFO): DAT read: 18:45:20.9025 LVL= 22768, 25281, 18546, 27587, AGC= 68, IDX= 279,-0.38, 0.171,-1.104, 0.124,-0.212, PHS= 0.471,-0.845, 0.333, RAW= 144.5,   0.6, CAL= 148.3,  -8.3, ROT=   1.7,   8.3

2025-06-05T18:45:22.977Z,1749149122.977 [DAT](INFO): got valid direction response:
 18:45:20.9025 LVL= 22768, 25281, 18546, 27587, AGC= 68, IDX= 279,-0.38, 0.171,-1.104, 0.124,-0.212, PHS= 0.471,-0.845, 0.333, RAW= 144.5,   0.6, CAL= 148.3,  -8.3, ROT=   1.7,   8.3

2025-06-05T18:45:22.978Z,1749149122.978 [DAT](INFO): DAT read: Bearing   1.7,   8.3 (Local)

2025-06-05T18:45:22.978Z,1749149122.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,   8.3 (Local)

2025-06-05T18:45:22.980Z,1749149122.980 [DAT](INFO): DAT read: Range 10 to 50 : 52.3 m  (Round-trip  69.8 ms) speed  0.7 m/s

2025-06-05T18:45:22.981Z,1749149122.981 [DAT](INFO): DAT read: user:2812>

2025-06-05T18:45:22.981Z,1749149122.981 [DAT](INFO): DAT read: Tx time:18:45:22.0286

2025-06-05T18:45:22.982Z,1749149122.982 [DAT](INFO): Ping request sent.
2025-06-05T18:45:22.982Z,1749149122.982 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:22.982Z,1749149122.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:22.983Z,1749149122.983 [DAT](INFO): direction in FSK: [0.989090,0.029356,-0.144356]
2025-06-05T18:45:22.983Z,1749149122.983 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:22.988Z,1749149122.988 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:22.994Z,1749149122.994 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:22.994Z,1749149122.994 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:23.221Z,1749149123.221 [DAT](INFO): DAT read: TxSync time:18:45:22.0278

2025-06-05T18:45:23.380Z,1749149123.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.299999 m,
      deltaT: 14.634791 s,
      deltaX: -9.500000 m,
      approachRate: -0.649138 m/s,
      rangeRepo size: 4

2025-06-05T18:45:23.382Z,1749149123.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.880356 m,
      bearing: 307.396987 deg,
      lat: 36.906171 deg,
      lon: -122.116131 deg,
      deltaT: 14.634791 s,
      deltaX: -9.424171 m,
      approachRate: -0.643957 m/s,
      posRepo size: 4

2025-06-05T18:45:23.382Z,1749149123.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-06-05T18:45:23.383Z,1749149123.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.30 m.
2025-06-05T18:45:23.396Z,1749149123.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.880356 m,
      nav range: 49.407795 m,
      bearing: 304.788664 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021829 deg/s,
      cmd heading: 304.744463 deg,
      new cmd heading: 304.773410 deg.

2025-06-05T18:45:23.397Z,1749149123.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319300 target range: 51.880356 and range: 52.30 m.
2025-06-05T18:45:23.446Z,1749149123.446 [DockingStepper](INFO): Changing to mode: 2
2025-06-05T18:45:23.446Z,1749149123.446 [DockingStepper](INFO): Armed mode.
2025-06-05T18:45:23.512Z,1749149123.512 [DockingStepper](INFO): Commanding negative:54396
2025-06-05T18:45:23.759Z,1749149123.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-06-05T18:45:23.760Z,1749149123.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.30 m.
2025-06-05T18:45:23.763Z,1749149123.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.880356 m,
      nav range: 49.146572 m,
      bearing: 304.811521 deg,
      approach rate: -0.672574 m/s,
      LOS rate: 0.059163 deg/s,
      cmd heading: 304.773423 deg,
      new cmd heading: 304.842358 deg.

2025-06-05T18:45:23.764Z,1749149123.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320503 target range: 51.880356 and range: 52.30 m.
2025-06-05T18:45:24.224Z,1749149124.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-06-05T18:45:24.225Z,1749149124.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.30 m.
2025-06-05T18:45:24.229Z,1749149124.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.880356 m,
      nav range: 48.856766 m,
      bearing: 304.863833 deg,
      approach rate: -0.624919 m/s,
      LOS rate: 0.113470 deg/s,
      cmd heading: 304.842353 deg,
      new cmd heading: 305.000218 deg.

2025-06-05T18:45:24.230Z,1749149124.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323258 target range: 51.880356 and range: 52.30 m.
2025-06-05T18:45:24.571Z,1749149124.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-06-05T18:45:24.572Z,1749149124.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.30 m.
2025-06-05T18:45:24.576Z,1749149124.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.880356 m,
      nav range: 48.638798 m,
      bearing: 304.904014 deg,
      approach rate: -0.626028 m/s,
      LOS rate: 0.115924 deg/s,
      cmd heading: 305.000212 deg,
      new cmd heading: 305.121297 deg.

2025-06-05T18:45:24.577Z,1749149124.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325371 target range: 51.880356 and range: 52.30 m.
2025-06-05T18:45:24.976Z,1749149124.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:24.978Z,1749149124.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-06-05T18:45:24.979Z,1749149124.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.30 m.
2025-06-05T18:45:24.982Z,1749149124.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.880356 m,
      nav range: 48.384842 m,
      bearing: 304.950868 deg,
      approach rate: -0.623788 m/s,
      LOS rate: 0.115690 deg/s,
      cmd heading: 305.121298 deg,
      new cmd heading: 305.262597 deg.

2025-06-05T18:45:24.983Z,1749149124.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327837 target range: 51.880356 and range: 52.30 m.
2025-06-05T18:45:24.985Z,1749149124.985 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:24.985Z,1749149124.985 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:24.985Z,1749149124.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:25.237Z,1749149125.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255110
2025-06-05T18:45:25.416Z,1749149125.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-06-05T18:45:25.416Z,1749149125.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.30 m.
2025-06-05T18:45:25.419Z,1749149125.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.880356 m,
      nav range: 48.118626 m,
      bearing: 305.002074 deg,
      approach rate: -0.614220 m/s,
      LOS rate: 0.118796 deg/s,
      cmd heading: 305.262601 deg,
      new cmd heading: 305.417067 deg.

2025-06-05T18:45:25.425Z,1749149125.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330534 target range: 51.880356 and range: 52.30 m.
2025-06-05T18:45:25.489Z,1749149125.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507250
2025-06-05T18:45:25.741Z,1749149125.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758835
2025-06-05T18:45:25.790Z,1749149125.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-06-05T18:45:25.791Z,1749149125.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.30 m.
2025-06-05T18:45:25.798Z,1749149125.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.880356 m,
      nav range: 47.882141 m,
      bearing: 305.047635 deg,
      approach rate: -0.624481 m/s,
      LOS rate: 0.120908 deg/s,
      cmd heading: 305.417072 deg,
      new cmd heading: 305.554432 deg.

2025-06-05T18:45:25.820Z,1749149125.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332931 target range: 51.880356 and range: 52.30 m.
2025-06-05T18:45:25.993Z,1749149125.993 [DAT](INFO): DAT read: Rx Time:18:45:24.4993

2025-06-05T18:45:25.993Z,1749149125.993 [DAT](INFO): Rx dataTimestamp_ set to:1749149125.992916
2025-06-05T18:45:25.994Z,1749149125.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012042
2025-06-05T18:45:26.245Z,1749149126.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263240
2025-06-05T18:45:26.257Z,1749149126.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.88 m.
2025-06-05T18:45:26.257Z,1749149126.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.30 m.
2025-06-05T18:45:26.260Z,1749149126.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.880356 m,
      nav range: 47.597694 m,
      bearing: 305.104461 deg,
      approach rate: -0.611456 m/s,
      LOS rate: 0.122885 deg/s,
      cmd heading: 305.554441 deg,
      new cmd heading: 305.725938 deg.

2025-06-05T18:45:26.261Z,1749149126.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.335924 target range: 51.880356 and range: 52.30 m.
2025-06-05T18:45:26.502Z,1749149126.502 [DAT](INFO): DAT read: 18:45:24.4994 LVL= 17328, 26161, 17810, 29011, AGC= 63, IDX= 406,-0.27,-0.173,-1.603,-0.343,-0.635, PHS= 0.550,-0.921, 0.289, RAW= 140.4,   1.2, CAL= 144.7,  -7.5, ROT=   5.3,   7.5

2025-06-05T18:45:26.506Z,1749149126.506 [DAT](INFO): got valid direction response:
 18:45:24.4994 LVL= 17328, 26161, 17810, 29011, AGC= 63, IDX= 406,-0.27,-0.173,-1.603,-0.343,-0.635, PHS= 0.550,-0.921, 0.289, RAW= 140.4,   1.2, CAL= 144.7,  -7.5, ROT=   5.3,   7.5

2025-06-05T18:45:26.509Z,1749149126.509 [DAT](INFO): DAT read: Bearing   5.3,   7.5 (Local)

2025-06-05T18:45:26.510Z,1749149126.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.3,   7.5 (Local)

2025-06-05T18:45:26.511Z,1749149126.511 [DAT](INFO): DAT read: Range 10 to 50 : 49.9 m  (Round-trip  66.6 ms) speed  0.5 m/s

2025-06-05T18:45:26.512Z,1749149126.512 [DAT](INFO): DAT read: user:2813>

2025-06-05T18:45:26.513Z,1749149126.513 [DAT](INFO): DAT read: Tx time:18:45:25.5787

2025-06-05T18:45:26.513Z,1749149126.513 [DAT](INFO): Ping request sent.
2025-06-05T18:45:26.513Z,1749149126.513 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:26.514Z,1749149126.514 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:26.515Z,1749149126.515 [DAT](INFO): direction in FSK: [0.987206,0.091580,-0.130526]
2025-06-05T18:45:26.515Z,1749149126.515 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:26.515Z,1749149126.515 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:26.520Z,1749149126.520 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:26.520Z,1749149126.520 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:26.749Z,1749149126.749 [DAT](INFO): DAT read: TxSync time:18:45:25.5779

2025-06-05T18:45:26.791Z,1749149126.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.900002 m,
      deltaT: 3.528103 s,
      deltaX: -2.399998 m,
      approachRate: -0.680252 m/s,
      rangeRepo size: 4

2025-06-05T18:45:26.805Z,1749149126.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.499886 m,
      bearing: 311.009109 deg,
      lat: 36.906185 deg,
      lon: -122.116129 deg,
      deltaT: 3.528103 s,
      deltaX: -2.380470 m,
      approachRate: -0.674717 m/s,
      posRepo size: 4

2025-06-05T18:45:26.806Z,1749149126.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:26.806Z,1749149126.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.90 m.
2025-06-05T18:45:26.813Z,1749149126.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 48.080635 m,
      bearing: 306.910850 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.122885 deg/s,
      cmd heading: 305.725934 deg,
      new cmd heading: 305.922679 deg.

2025-06-05T18:45:26.814Z,1749149126.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339358 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:27.078Z,1749149127.078 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-05T18:45:27.129Z,1749149127.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:27.131Z,1749149127.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:27.131Z,1749149127.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.90 m.
2025-06-05T18:45:27.139Z,1749149127.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 47.873791 m,
      bearing: 306.959288 deg,
      approach rate: -0.605369 m/s,
      LOS rate: 0.142374 deg/s,
      cmd heading: 305.922670 deg,
      new cmd heading: 306.068610 deg.

2025-06-05T18:45:27.146Z,1749149127.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.341905 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:27.253Z,1749149127.253 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:27.253Z,1749149127.253 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:27.253Z,1749149127.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:27.504Z,1749149127.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991026
2025-06-05T18:45:27.555Z,1749149127.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:27.555Z,1749149127.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.90 m.
2025-06-05T18:45:27.559Z,1749149127.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 47.601784 m,
      bearing: 307.013411 deg,
      approach rate: -0.641815 m/s,
      LOS rate: 0.128437 deg/s,
      cmd heading: 306.068618 deg,
      new cmd heading: 306.231916 deg.

2025-06-05T18:45:27.576Z,1749149127.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344755 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:27.757Z,1749149127.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243123
2025-06-05T18:45:27.919Z,1749149127.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:27.919Z,1749149127.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.90 m.
2025-06-05T18:45:27.923Z,1749149127.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 47.380680 m,
      bearing: 307.056625 deg,
      approach rate: -0.607506 m/s,
      LOS rate: 0.119290 deg/s,
      cmd heading: 306.231914 deg,
      new cmd heading: 306.362161 deg.

2025-06-05T18:45:27.924Z,1749149127.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347028 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:28.009Z,1749149128.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495296
2025-06-05T18:45:28.261Z,1749149128.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747253
2025-06-05T18:45:28.350Z,1749149128.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:28.350Z,1749149128.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.90 m.
2025-06-05T18:45:28.353Z,1749149128.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 47.113873 m,
      bearing: 307.098915 deg,
      approach rate: -0.618888 m/s,
      LOS rate: 0.098651 deg/s,
      cmd heading: 306.362152 deg,
      new cmd heading: 306.489739 deg.

2025-06-05T18:45:28.354Z,1749149128.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349255 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:28.513Z,1749149128.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999126
2025-06-05T18:45:28.738Z,1749149128.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:28.738Z,1749149128.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.90 m.
2025-06-05T18:45:28.747Z,1749149128.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 46.873348 m,
      bearing: 307.136321 deg,
      approach rate: -0.619734 m/s,
      LOS rate: 0.096876 deg/s,
      cmd heading: 306.489740 deg,
      new cmd heading: 306.602535 deg.

2025-06-05T18:45:28.749Z,1749149128.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351224 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:28.777Z,1749149128.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263241
2025-06-05T18:45:29.029Z,1749149129.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515248
2025-06-05T18:45:29.124Z,1749149129.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:29.125Z,1749149129.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.90 m.
2025-06-05T18:45:29.128Z,1749149129.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 46.635216 m,
      bearing: 307.172708 deg,
      approach rate: -0.617836 m/s,
      LOS rate: 0.094887 deg/s,
      cmd heading: 306.602547 deg,
      new cmd heading: 306.712264 deg.

2025-06-05T18:45:29.129Z,1749149129.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353139 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:29.281Z,1749149129.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767285
2025-06-05T18:45:29.533Z,1749149129.533 [DAT](INFO): DAT read: Rx Time:18:45:28.0465

2025-06-05T18:45:29.533Z,1749149129.533 [DAT](INFO): Rx dataTimestamp_ set to:1749149129.532943
2025-06-05T18:45:29.534Z,1749149129.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020312
2025-06-05T18:45:29.544Z,1749149129.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:29.546Z,1749149129.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:29.547Z,1749149129.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 49.90 m.
2025-06-05T18:45:29.547Z,1749149129.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 49.90 m.
2025-06-05T18:45:29.547Z,1749149129.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-05T18:45:29.566Z,1749149129.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 46.374378 m,
      bearing: 307.196957 deg,
      approach rate: -0.616682 m/s,
      LOS rate: 0.057653 deg/s,
      cmd heading: 306.712267 deg,
      new cmd heading: 306.785423 deg.

2025-06-05T18:45:29.567Z,1749149129.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354416 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:29.786Z,1749149129.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272503
2025-06-05T18:45:29.924Z,1749149129.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-06-05T18:45:29.927Z,1749149129.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.499886 m,
      nav range: 46.140022 m,
      bearing: 307.217844 deg,
      approach rate: -0.619811 m/s,
      LOS rate: 0.055522 deg/s,
      cmd heading: 306.785432 deg,
      new cmd heading: 306.848413 deg.

2025-06-05T18:45:29.944Z,1749149129.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355515 target range: 49.499886 and range: 49.90 m.
2025-06-05T18:45:30.047Z,1749149130.047 [DAT](INFO): DAT read: 18:45:28.0465 LVL= 21968, 28081, 17986, 32755, AGC= 63, IDX= 408, 0.02,-0.523,-1.894,-0.602,-0.989, PHS= 0.554,-0.858, 0.384, RAW= 143.7,  -1.2, CAL= 148.0, -10.3, ROT=   2.0,  10.3

2025-06-05T18:45:30.049Z,1749149130.049 [DAT](INFO): got valid direction response:
 18:45:28.0465 LVL= 21968, 28081, 17986, 32755, AGC= 63, IDX= 408, 0.02,-0.523,-1.894,-0.602,-0.989, PHS= 0.554,-0.858, 0.384, RAW= 143.7,  -1.2, CAL= 148.0, -10.3, ROT=   2.0,  10.3

2025-06-05T18:45:30.050Z,1749149130.050 [DAT](INFO): DAT read: Bearing   2.0,  10.3 (Local)

2025-06-05T18:45:30.051Z,1749149130.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  10.3 (Local)

2025-06-05T18:45:30.054Z,1749149130.054 [DAT](INFO): DAT read: Range 10 to 50 : 47.7 m  (Round-trip  63.7 ms) speed  0.5 m/s

2025-06-05T18:45:30.065Z,1749149130.065 [DAT](INFO): DAT read: user:2814>

2025-06-05T18:45:30.068Z,1749149130.068 [DAT](INFO): DAT read: Tx time:18:45:29.1287

2025-06-05T18:45:30.069Z,1749149130.069 [DAT](INFO): Ping request sent.
2025-06-05T18:45:30.069Z,1749149130.069 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:30.069Z,1749149130.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:30.070Z,1749149130.070 [DAT](INFO): direction in FSK: [0.983286,0.034337,-0.178802]
2025-06-05T18:45:30.070Z,1749149130.070 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:30.070Z,1749149130.070 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:30.075Z,1749149130.075 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:30.080Z,1749149130.080 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:30.293Z,1749149130.293 [DAT](INFO): DAT read: TxSync time:18:45:29.1279

2025-06-05T18:45:30.424Z,1749149130.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.700001 m,
      deltaT: 3.543911 s,
      deltaX: -2.200001 m,
      approachRate: -0.620783 m/s,
      rangeRepo size: 4

2025-06-05T18:45:30.426Z,1749149130.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.318237 m,
      bearing: 309.649407 deg,
      lat: 36.906196 deg,
      lon: -122.116124 deg,
      deltaT: 3.543911 s,
      deltaX: -2.181648 m,
      approachRate: -0.615605 m/s,
      posRepo size: 4

2025-06-05T18:45:30.427Z,1749149130.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.32 m.
2025-06-05T18:45:30.438Z,1749149130.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.318237 m,
      nav range: 46.247044 m,
      bearing: 308.725169 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.055522 deg/s,
      cmd heading: 306.848407 deg,
      new cmd heading: 306.930777 deg.

2025-06-05T18:45:30.444Z,1749149130.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356953 target range: 47.318237 and range: 47.70 m.
2025-06-05T18:45:30.757Z,1749149130.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.32 m.
2025-06-05T18:45:30.760Z,1749149130.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.318237 m,
      nav range: 46.021034 m,
      bearing: 308.741290 deg,
      approach rate: -0.668556 m/s,
      LOS rate: 0.047922 deg/s,
      cmd heading: 306.930779 deg,
      new cmd heading: 306.979380 deg.

2025-06-05T18:45:30.761Z,1749149130.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357801 target range: 47.318237 and range: 47.70 m.
2025-06-05T18:45:31.153Z,1749149131.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.32 m.
2025-06-05T18:45:31.157Z,1749149131.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.318237 m,
      nav range: 45.778175 m,
      bearing: 308.758791 deg,
      approach rate: -0.613221 m/s,
      LOS rate: 0.044424 deg/s,
      cmd heading: 306.979383 deg,
      new cmd heading: 307.032163 deg.

2025-06-05T18:45:31.158Z,1749149131.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.358722 target range: 47.318237 and range: 47.70 m.
2025-06-05T18:45:31.582Z,1749149131.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:31.584Z,1749149131.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.32 m.
2025-06-05T18:45:31.587Z,1749149131.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.318237 m,
      nav range: 45.509411 m,
      bearing: 308.764980 deg,
      approach rate: -0.623177 m/s,
      LOS rate: 0.014435 deg/s,
      cmd heading: 307.032166 deg,
      new cmd heading: 307.050842 deg.

2025-06-05T18:45:31.588Z,1749149131.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359048 target range: 47.318237 and range: 47.70 m.
2025-06-05T18:45:31.805Z,1749149131.805 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:31.805Z,1749149131.805 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:31.806Z,1749149131.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:31.955Z,1749149131.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.32 m.
2025-06-05T18:45:31.959Z,1749149131.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.318237 m,
      nav range: 45.277946 m,
      bearing: 308.768744 deg,
      approach rate: -0.625000 m/s,
      LOS rate: 0.010215 deg/s,
      cmd heading: 307.050854 deg,
      new cmd heading: 307.062203 deg.

2025-06-05T18:45:31.960Z,1749149131.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359246 target range: 47.318237 and range: 47.70 m.
2025-06-05T18:45:32.058Z,1749149132.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989104
2025-06-05T18:45:32.309Z,1749149132.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239758
2025-06-05T18:45:32.393Z,1749149132.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.32 m.
2025-06-05T18:45:32.400Z,1749149132.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.318237 m,
      nav range: 45.016991 m,
      bearing: 308.771136 deg,
      approach rate: -0.595579 m/s,
      LOS rate: 0.005491 deg/s,
      cmd heading: 307.062192 deg,
      new cmd heading: 307.069410 deg.

2025-06-05T18:45:32.401Z,1749149132.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359372 target range: 47.318237 and range: 47.70 m.
2025-06-05T18:45:32.561Z,1749149132.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492106
2025-06-05T18:45:32.788Z,1749149132.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.32 m.
2025-06-05T18:45:32.790Z,1749149132.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.318237 m,
      nav range: 44.773125 m,
      bearing: 308.772224 deg,
      approach rate: -0.624110 m/s,
      LOS rate: 0.002801 deg/s,
      cmd heading: 307.069404 deg,
      new cmd heading: 307.072687 deg.

2025-06-05T18:45:32.800Z,1749149132.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359429 target range: 47.318237 and range: 47.70 m.
2025-06-05T18:45:32.815Z,1749149132.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745766
2025-06-05T18:45:33.065Z,1749149133.065 [DAT](INFO): DAT read: Rx Time:18:45:31.5937

2025-06-05T18:45:33.065Z,1749149133.065 [DAT](INFO): Rx dataTimestamp_ set to:1749149133.064798
2025-06-05T18:45:33.066Z,1749149133.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996815
2025-06-05T18:45:33.246Z,1749149133.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.32 m.
2025-06-05T18:45:33.258Z,1749149133.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.318237 m,
      nav range: 44.476009 m,
      bearing: 308.772272 deg,
      approach rate: -0.641980 m/s,
      LOS rate: 0.000103 deg/s,
      cmd heading: 307.072683 deg,
      new cmd heading: 307.072826 deg.

2025-06-05T18:45:33.262Z,1749149133.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359432 target range: 47.318237 and range: 47.70 m.
2025-06-05T18:45:33.318Z,1749149133.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249433
2025-06-05T18:45:33.597Z,1749149133.597 [DAT](INFO): DAT read: 18:45:31.5937 LVL= 22112, 31505, 20210, 32755, AGC= 67, IDX= 411, 0.09, 1.806, 0.467, 1.843, 1.394, PHS= 0.500,-0.880, 0.446, RAW= 148.0,  -1.0, CAL= 151.8, -10.0, ROT= 358.2,  10.0

2025-06-05T18:45:33.598Z,1749149133.598 [DAT](INFO): got valid direction response:
 18:45:31.5937 LVL= 22112, 31505, 20210, 32755, AGC= 67, IDX= 411, 0.09, 1.806, 0.467, 1.843, 1.394, PHS= 0.500,-0.880, 0.446, RAW= 148.0,  -1.0, CAL= 151.8, -10.0, ROT= 358.2,  10.0

2025-06-05T18:45:33.599Z,1749149133.599 [DAT](INFO): DAT read: Bearing 358.2,  10.0 (Local)

2025-06-05T18:45:33.599Z,1749149133.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  10.0 (Local)

2025-06-05T18:45:33.605Z,1749149133.605 [DAT](INFO): DAT read: Range 10 to 50 : 45.6 m  (Round-trip  60.9 ms) speed  0.5 m/s

2025-06-05T18:45:33.606Z,1749149133.606 [DAT](INFO): DAT read: user:2815>

2025-06-05T18:45:33.607Z,1749149133.607 [DAT](INFO): DAT read: Tx time:18:45:32.6787

2025-06-05T18:45:33.612Z,1749149133.612 [DAT](INFO): Ping request sent.
2025-06-05T18:45:33.613Z,1749149133.613 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:33.613Z,1749149133.613 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:33.614Z,1749149133.614 [DAT](INFO): direction in FSK: [0.984322,-0.030933,-0.173648]
2025-06-05T18:45:33.614Z,1749149133.614 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:33.614Z,1749149133.614 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:33.622Z,1749149133.622 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:33.623Z,1749149133.623 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:33.821Z,1749149133.821 [DAT](INFO): DAT read: TxSync time:18:45:32.6779

2025-06-05T18:45:33.837Z,1749149133.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.599998 m,
      deltaT: 3.529603 s,
      deltaX: -2.100002 m,
      approachRate: -0.594968 m/s,
      rangeRepo size: 4

2025-06-05T18:45:33.839Z,1749149133.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.235268 m,
      bearing: 307.449392 deg,
      lat: 36.906196 deg,
      lon: -122.116124 deg,
      deltaT: 3.529603 s,
      deltaX: -2.082970 m,
      approachRate: -0.590143 m/s,
      posRepo size: 4

2025-06-05T18:45:33.844Z,1749149133.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:33.847Z,1749149133.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 44.131180 m,
      bearing: 308.774306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000103 deg/s,
      cmd heading: 307.072819 deg,
      new cmd heading: 307.073002 deg.

2025-06-05T18:45:33.852Z,1749149133.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359435 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:34.183Z,1749149134.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:34.190Z,1749149134.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:34.205Z,1749149134.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 43.884129 m,
      bearing: 308.774961 deg,
      approach rate: -0.698275 m/s,
      LOS rate: 0.001864 deg/s,
      cmd heading: 307.073011 deg,
      new cmd heading: 307.074989 deg.

2025-06-05T18:45:34.207Z,1749149134.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359469 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:34.325Z,1749149134.325 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:34.325Z,1749149134.325 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:34.325Z,1749149134.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:34.576Z,1749149134.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963926
2025-06-05T18:45:34.612Z,1749149134.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:34.615Z,1749149134.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 43.613674 m,
      bearing: 308.778406 deg,
      approach rate: -0.641369 m/s,
      LOS rate: 0.008219 deg/s,
      cmd heading: 307.074978 deg,
      new cmd heading: 307.085376 deg.

2025-06-05T18:45:34.616Z,1749149134.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359651 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:34.831Z,1749149134.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218762
2025-06-05T18:45:34.980Z,1749149134.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:34.990Z,1749149134.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 43.395065 m,
      bearing: 308.780323 deg,
      approach rate: -0.592846 m/s,
      LOS rate: 0.005225 deg/s,
      cmd heading: 307.085387 deg,
      new cmd heading: 307.091167 deg.

2025-06-05T18:45:34.991Z,1749149134.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359752 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:35.086Z,1749149135.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473096
2025-06-05T18:45:35.339Z,1749149135.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726037
2025-06-05T18:45:35.437Z,1749149135.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:35.445Z,1749149135.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 43.105392 m,
      bearing: 308.789325 deg,
      approach rate: -0.633939 m/s,
      LOS rate: 0.019833 deg/s,
      cmd heading: 307.091179 deg,
      new cmd heading: 307.118367 deg.

2025-06-05T18:45:35.446Z,1749149135.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360227 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:35.591Z,1749149135.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978420
2025-06-05T18:45:35.762Z,1749149135.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:35.765Z,1749149135.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 42.895031 m,
      bearing: 308.794974 deg,
      approach rate: -0.648263 m/s,
      LOS rate: 0.017494 deg/s,
      cmd heading: 307.118363 deg,
      new cmd heading: 307.135393 deg.

2025-06-05T18:45:35.766Z,1749149135.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360524 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:35.842Z,1749149135.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229100
2025-06-05T18:45:36.093Z,1749149136.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480073
2025-06-05T18:45:36.185Z,1749149136.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:36.187Z,1749149136.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:36.190Z,1749149136.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 42.631702 m,
      bearing: 308.801415 deg,
      approach rate: -0.619866 m/s,
      LOS rate: 0.015256 deg/s,
      cmd heading: 307.135384 deg,
      new cmd heading: 307.154827 deg.

2025-06-05T18:45:36.216Z,1749149136.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360863 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:36.348Z,1749149136.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734992
2025-06-05T18:45:36.597Z,1749149136.597 [DAT](INFO): DAT read: Rx Time:18:45:35.1406

2025-06-05T18:45:36.597Z,1749149136.597 [DAT](INFO): Rx dataTimestamp_ set to:1749149136.596969
2025-06-05T18:45:36.598Z,1749149136.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985241
2025-06-05T18:45:36.614Z,1749149136.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:36.641Z,1749149136.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 42.365402 m,
      bearing: 308.817315 deg,
      approach rate: -0.623492 m/s,
      LOS rate: 0.037460 deg/s,
      cmd heading: 307.154836 deg,
      new cmd heading: 307.202835 deg.

2025-06-05T18:45:36.642Z,1749149136.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361701 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:36.848Z,1749149136.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235926
2025-06-05T18:45:36.990Z,1749149136.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.24 m.
2025-06-05T18:45:37.013Z,1749149137.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.235268 m,
      nav range: 42.131256 m,
      bearing: 308.830935 deg,
      approach rate: -0.623505 m/s,
      LOS rate: 0.036471 deg/s,
      cmd heading: 307.202839 deg,
      new cmd heading: 307.243927 deg.

2025-06-05T18:45:37.014Z,1749149137.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.362418 target range: 45.235268 and range: 45.60 m.
2025-06-05T18:45:37.103Z,1749149137.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490076
2025-06-05T18:45:37.385Z,1749149137.385 [DAT](INFO): DAT read: 18:45:35.1406 LVL= 20144, 27409, 16322, 31331, AGC= 66, IDX= 412,-0.17, 0.389,-0.966, 0.497, 0.028, PHS= 0.450,-0.946, 0.467, RAW= 150.6,   0.4, CAL= 153.6,  -8.4, ROT= 356.4,   8.4

2025-06-05T18:45:37.387Z,1749149137.387 [DAT](INFO): got valid direction response:
 18:45:35.1406 LVL= 20144, 27409, 16322, 31331, AGC= 66, IDX= 412,-0.17, 0.389,-0.966, 0.497, 0.028, PHS= 0.450,-0.946, 0.467, RAW= 150.6,   0.4, CAL= 153.6,  -8.4, ROT= 356.4,   8.4

2025-06-05T18:45:37.396Z,1749149137.396 [DAT](INFO): DAT read: Bearing 356.4,   8.4 (Local)

2025-06-05T18:45:37.396Z,1749149137.396 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,   8.4 (Local)

2025-06-05T18:45:37.398Z,1749149137.398 [DAT](INFO): DAT read: Range 10 to 50 : 43.3 m  (Round-trip  57.8 ms) speed  0.6 m/s

2025-06-05T18:45:37.398Z,1749149137.398 [DAT](INFO): DAT read: user:2816>

2025-06-05T18:45:37.399Z,1749149137.399 [DAT](INFO): DAT read: Tx time:18:45:36.2287

2025-06-05T18:45:37.401Z,1749149137.401 [DAT](INFO): Ping request sent.
2025-06-05T18:45:37.401Z,1749149137.401 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:37.401Z,1749149137.401 [DAT](INFO): DAT read: TxSync time:18:45:36.2279

2025-06-05T18:45:37.402Z,1749149137.402 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:37.403Z,1749149137.403 [DAT](INFO): direction in FSK: [0.987320,-0.062117,-0.146083]
2025-06-05T18:45:37.403Z,1749149137.403 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:37.403Z,1749149137.403 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:37.408Z,1749149137.408 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:37.408Z,1749149137.408 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:37.568Z,1749149137.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.299999 m,
      deltaT: 3.784457 s,
      deltaX: -2.299999 m,
      approachRate: -0.607749 m/s,
      rangeRepo size: 4

2025-06-05T18:45:37.570Z,1749149137.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.953781 m,
      bearing: 306.328537 deg,
      lat: 36.906196 deg,
      lon: -122.116131 deg,
      deltaT: 3.784457 s,
      deltaX: -2.281487 m,
      approachRate: -0.602857 m/s,
      posRepo size: 4

2025-06-05T18:45:37.571Z,1749149137.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:37.591Z,1749149137.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 42.291424 m,
      bearing: 308.314258 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.036471 deg/s,
      cmd heading: 307.243929 deg,
      new cmd heading: 307.306675 deg.

2025-06-05T18:45:37.596Z,1749149137.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363513 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:37.923Z,1749149137.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:37.933Z,1749149137.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 42.067341 m,
      bearing: 308.330494 deg,
      approach rate: -0.627722 m/s,
      LOS rate: 0.045726 deg/s,
      cmd heading: 307.306685 deg,
      new cmd heading: 307.355655 deg.

2025-06-05T18:45:37.934Z,1749149137.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364368 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:38.337Z,1749149138.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:38.362Z,1749149138.362 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:38.363Z,1749149138.363 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:38.363Z,1749149138.363 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:38.370Z,1749149138.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:38.379Z,1749149138.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 41.819004 m,
      bearing: 308.348229 deg,
      approach rate: -0.586163 m/s,
      LOS rate: 0.042108 deg/s,
      cmd heading: 307.355644 deg,
      new cmd heading: 307.409163 deg.

2025-06-05T18:45:38.384Z,1749149138.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365302 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:38.615Z,1749149138.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214078
2025-06-05T18:45:38.748Z,1749149138.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:38.751Z,1749149138.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 41.558899 m,
      bearing: 308.371107 deg,
      approach rate: -0.643805 m/s,
      LOS rate: 0.056983 deg/s,
      cmd heading: 307.409165 deg,
      new cmd heading: 307.478230 deg.

2025-06-05T18:45:38.757Z,1749149138.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366508 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:38.865Z,1749149138.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464454
2025-06-05T18:45:39.110Z,1749149139.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:39.117Z,1749149139.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716004
2025-06-05T18:45:39.118Z,1749149139.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 41.332527 m,
      bearing: 308.390591 deg,
      approach rate: -0.625252 m/s,
      LOS rate: 0.054109 deg/s,
      cmd heading: 307.478232 deg,
      new cmd heading: 307.537003 deg.

2025-06-05T18:45:39.119Z,1749149139.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367533 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:39.373Z,1749149139.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971785
2025-06-05T18:45:39.525Z,1749149139.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:39.528Z,1749149139.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 41.075356 m,
      bearing: 308.412176 deg,
      approach rate: -0.619043 m/s,
      LOS rate: 0.052284 deg/s,
      cmd heading: 307.536999 deg,
      new cmd heading: 307.602161 deg.

2025-06-05T18:45:39.529Z,1749149139.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368670 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:39.621Z,1749149139.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220089
2025-06-05T18:45:39.873Z,1749149139.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471922
2025-06-05T18:45:39.948Z,1749149139.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:39.951Z,1749149139.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 40.833988 m,
      bearing: 308.432683 deg,
      approach rate: -0.571208 m/s,
      LOS rate: 0.048817 deg/s,
      cmd heading: 307.602159 deg,
      new cmd heading: 307.664043 deg.

2025-06-05T18:45:39.952Z,1749149139.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.369750 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:40.125Z,1749149140.125 [DAT](INFO): DAT read: Rx Time:18:45:38.6875

2025-06-05T18:45:40.126Z,1749149140.126 [DAT](INFO): Rx dataTimestamp_ set to:1749149140.125452
2025-06-05T18:45:40.126Z,1749149140.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725632
2025-06-05T18:45:40.325Z,1749149140.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:40.328Z,1749149140.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 40.600037 m,
      bearing: 308.451866 deg,
      approach rate: -0.624814 m/s,
      LOS rate: 0.051528 deg/s,
      cmd heading: 307.664041 deg,
      new cmd heading: 307.721922 deg.

2025-06-05T18:45:40.329Z,1749149140.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370761 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:40.380Z,1749149140.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978693
2025-06-05T18:45:40.631Z,1749149140.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229734
2025-06-05T18:45:40.754Z,1749149140.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:40.758Z,1749149140.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-06-05T18:45:40.761Z,1749149140.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.953781 m,
      nav range: 40.340324 m,
      bearing: 308.475082 deg,
      approach rate: -0.595371 m/s,
      LOS rate: 0.053563 deg/s,
      cmd heading: 307.721933 deg,
      new cmd heading: 307.792029 deg.

2025-06-05T18:45:40.762Z,1749149140.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371984 target range: 42.953781 and range: 43.30 m.
2025-06-05T18:45:40.892Z,1749149140.892 [DAT](INFO): DAT read: 18:45:38.6875 LVL= 22736, 29937, 18658, 32147, AGC= 65, IDX= 412,-0.10, 0.116,-1.278, 0.313,-0.216, PHS= 0.421,-1.014, 0.527, RAW= 153.5,   0.9, CAL= 156.1,  -7.9, ROT= 353.9,   7.9

2025-06-05T18:45:40.893Z,1749149140.893 [DAT](INFO): got valid direction response:
 18:45:38.6875 LVL= 22736, 29937, 18658, 32147, AGC= 65, IDX= 412,-0.10, 0.116,-1.278, 0.313,-0.216, PHS= 0.421,-1.014, 0.527, RAW= 153.5,   0.9, CAL= 156.1,  -7.9, ROT= 353.9,   7.9

2025-06-05T18:45:40.894Z,1749149140.894 [DAT](INFO): DAT read: Bearing 353.9,   7.9 (Local)

2025-06-05T18:45:40.895Z,1749149140.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,   7.9 (Local)

2025-06-05T18:45:40.900Z,1749149140.900 [DAT](INFO): DAT read: Range 10 to 50 : 40.9 m  (Round-trip  54.6 ms) speed  0.6 m/s

2025-06-05T18:45:40.901Z,1749149140.901 [DAT](INFO): DAT read: user:2817>

2025-06-05T18:45:40.902Z,1749149140.902 [DAT](INFO): DAT read: Tx time:18:45:39.7788

2025-06-05T18:45:40.902Z,1749149140.902 [DAT](INFO): Ping request sent.
2025-06-05T18:45:40.902Z,1749149140.902 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:40.903Z,1749149140.903 [DAT](INFO): DAT read: TxSync time:18:45:39.7780

2025-06-05T18:45:40.909Z,1749149140.909 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:40.910Z,1749149140.910 [DAT](INFO): direction in FSK: [0.984901,-0.105256,-0.137445]
2025-06-05T18:45:40.910Z,1749149140.910 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:40.911Z,1749149140.911 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:40.918Z,1749149140.918 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:40.918Z,1749149140.918 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:41.154Z,1749149141.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.900002 m,
      deltaT: 3.526432 s,
      deltaX: -2.399998 m,
      approachRate: -0.680574 m/s,
      rangeRepo size: 4

2025-06-05T18:45:41.168Z,1749149141.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.573162 m,
      bearing: 304.187005 deg,
      lat: 36.906190 deg,
      lon: -122.116132 deg,
      deltaT: 3.526432 s,
      deltaX: -2.380619 m,
      approachRate: -0.675079 m/s,
      posRepo size: 4

2025-06-05T18:45:41.169Z,1749149141.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:41.176Z,1749149141.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 39.735867 m,
      bearing: 307.595136 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.053563 deg/s,
      cmd heading: 307.792038 deg,
      new cmd heading: 307.855481 deg.

2025-06-05T18:45:41.177Z,1749149141.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.373092 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:41.550Z,1749149141.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:41.553Z,1749149141.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 39.492203 m,
      bearing: 307.612013 deg,
      approach rate: -0.614286 m/s,
      LOS rate: 0.042810 deg/s,
      cmd heading: 307.855477 deg,
      new cmd heading: 307.906421 deg.

2025-06-05T18:45:41.554Z,1749149141.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.373981 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:41.931Z,1749149141.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:41.934Z,1749149141.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 39.269558 m,
      bearing: 307.627897 deg,
      approach rate: -0.583858 m/s,
      LOS rate: 0.041891 deg/s,
      cmd heading: 307.906430 deg,
      new cmd heading: 307.954354 deg.

2025-06-05T18:45:41.935Z,1749149141.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374817 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:42.355Z,1749149142.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:42.359Z,1749149142.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 39.025063 m,
      bearing: 307.645550 deg,
      approach rate: -0.576771 m/s,
      LOS rate: 0.041904 deg/s,
      cmd heading: 307.954351 deg,
      new cmd heading: 308.007641 deg.

2025-06-05T18:45:42.361Z,1749149142.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.375748 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:42.803Z,1749149142.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:42.810Z,1749149142.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:42.817Z,1749149142.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 38.784420 m,
      bearing: 307.658907 deg,
      approach rate: -0.529287 m/s,
      LOS rate: 0.029561 deg/s,
      cmd heading: 308.007654 deg,
      new cmd heading: 308.047974 deg.

2025-06-05T18:45:42.818Z,1749149142.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.376451 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:42.897Z,1749149142.897 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:42.897Z,1749149142.897 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:42.897Z,1749149142.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:43.138Z,1749149143.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:43.143Z,1749149143.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 38.560837 m,
      bearing: 307.670921 deg,
      approach rate: -0.680035 m/s,
      LOS rate: 0.036754 deg/s,
      cmd heading: 308.047979 deg,
      new cmd heading: 308.084231 deg.

2025-06-05T18:45:43.144Z,1749149143.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.377084 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:43.149Z,1749149143.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246389
2025-06-05T18:45:43.404Z,1749149143.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500814
2025-06-05T18:45:43.569Z,1749149143.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:43.572Z,1749149143.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 38.309052 m,
      bearing: 307.687263 deg,
      approach rate: -0.584947 m/s,
      LOS rate: 0.038214 deg/s,
      cmd heading: 308.084234 deg,
      new cmd heading: 308.133581 deg.

2025-06-05T18:45:43.574Z,1749149143.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.377945 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:43.656Z,1749149143.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752811
2025-06-05T18:45:43.907Z,1749149143.907 [DAT](INFO): DAT read: Rx Time:18:45:42.2348

2025-06-05T18:45:43.910Z,1749149143.910 [DAT](INFO): Rx dataTimestamp_ set to:1749149143.908827
2025-06-05T18:45:43.910Z,1749149143.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008074
2025-06-05T18:45:43.984Z,1749149143.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:44.024Z,1749149144.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 38.066250 m,
      bearing: 307.702236 deg,
      approach rate: -0.585265 m/s,
      LOS rate: 0.036321 deg/s,
      cmd heading: 308.133575 deg,
      new cmd heading: 308.178780 deg.

2025-06-05T18:45:44.025Z,1749149144.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.378735 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:44.158Z,1749149144.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255806
2025-06-05T18:45:44.386Z,1749149144.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m.
2025-06-05T18:45:44.393Z,1749149144.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.573162 m,
      nav range: 37.837078 m,
      bearing: 307.716052 deg,
      approach rate: -0.569682 m/s,
      LOS rate: 0.034554 deg/s,
      cmd heading: 308.178791 deg,
      new cmd heading: 308.220492 deg.

2025-06-05T18:45:44.394Z,1749149144.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379462 target range: 40.573162 and range: 40.90 m.
2025-06-05T18:45:44.454Z,1749149144.454 [DAT](INFO): DAT read: 18:45:42.2348 LVL= 23872, 26817, 19106, 32755, AGC= 66, IDX= 416, 0.01, 0.552,-0.806, 0.762, 0.216, PHS= 0.424,-0.975, 0.543, RAW= 154.0,   0.1, CAL= 156.8,  -8.7, ROT= 353.2,   8.7

2025-06-05T18:45:44.476Z,1749149144.476 [DAT](INFO): got valid direction response:
 18:45:42.2348 LVL= 23872, 26817, 19106, 32755, AGC= 66, IDX= 416, 0.01, 0.552,-0.806, 0.762, 0.216, PHS= 0.424,-0.975, 0.543, RAW= 154.0,   0.1, CAL= 156.8,  -8.7, ROT= 353.2,   8.7

2025-06-05T18:45:44.477Z,1749149144.477 [DAT](INFO): DAT read: Bearing 353.2,   8.7 (Local)

2025-06-05T18:45:44.477Z,1749149144.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,   8.7 (Local)

2025-06-05T18:45:44.479Z,1749149144.479 [DAT](INFO): DAT read: Range 10 to 50 : 38.9 m  (Round-trip  51.9 ms) speed  0.6 m/s

2025-06-05T18:45:44.492Z,1749149144.492 [DAT](INFO): DAT read: user:2818>

2025-06-05T18:45:44.500Z,1749149144.500 [DAT](INFO): DAT read: Tx time:18:45:43.3288

2025-06-05T18:45:44.500Z,1749149144.500 [DAT](INFO): Ping request sent.
2025-06-05T18:45:44.501Z,1749149144.501 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:44.501Z,1749149144.501 [DAT](INFO): DAT read: TxSync time:18:45:43.3280

2025-06-05T18:45:44.502Z,1749149144.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:44.503Z,1749149144.503 [DAT](INFO): direction in FSK: [0.981540,-0.117041,-0.151261]
2025-06-05T18:45:44.503Z,1749149144.503 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:44.503Z,1749149144.503 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:44.529Z,1749149144.529 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:44.529Z,1749149144.529 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:44.849Z,1749149144.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.900002 m,
      deltaT: 3.529050 s,
      deltaX: -2.000000 m,
      approachRate: -0.566725 m/s,
      rangeRepo size: 4

2025-06-05T18:45:44.857Z,1749149144.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.588982 m,
      bearing: 303.731841 deg,
      lat: 36.906185 deg,
      lon: -122.116141 deg,
      deltaT: 3.529050 s,
      deltaX: -1.984180 m,
      approachRate: -0.562242 m/s,
      posRepo size: 4

2025-06-05T18:45:44.860Z,1749149144.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.59 m.
2025-06-05T18:45:44.863Z,1749149144.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.588982 m,
      nav range: 37.879471 m,
      bearing: 306.464843 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034554 deg/s,
      cmd heading: 308.220483 deg,
      new cmd heading: 308.268421 deg.

2025-06-05T18:45:44.865Z,1749149144.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380299 target range: 38.588982 and range: 38.90 m.
2025-06-05T18:45:45.163Z,1749149145.163 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-05T18:45:45.163Z,1749149145.163 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T18:45:45.184Z,1749149145.184 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-05T18:45:45.185Z,1749149145.185 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.900002 m (mode  2.000000 count ).
2025-06-05T18:45:45.185Z,1749149145.185 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-05T18:45:45.185Z,1749149145.185 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-05T18:45:45.186Z,1749149145.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:45.192Z,1749149145.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.59 m.
2025-06-05T18:45:45.195Z,1749149145.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.588982 m,
      nav range: 37.675556 m,
      bearing: 306.466803 deg,
      approach rate: -0.600558 m/s,
      LOS rate: 0.005804 deg/s,
      cmd heading: 308.268430 deg,
      new cmd heading: 308.274342 deg.

2025-06-05T18:45:45.200Z,1749149145.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380402 target range: 38.588982 and range: 38.90 m.
2025-06-05T18:45:45.417Z,1749149145.417 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:45.417Z,1749149145.417 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:45.417Z,1749149145.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:45:45.587Z,1749149145.587 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-05T18:45:45.587Z,1749149145.587 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-05T18:45:45.591Z,1749149145.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.59 m.
2025-06-05T18:45:45.595Z,1749149145.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.588982 m,
      nav range: 37.422131 m,
      bearing: 306.464246 deg,
      approach rate: -0.628210 m/s,
      LOS rate: -0.006381 deg/s,
      cmd heading: 308.274332 deg,
      new cmd heading: 308.266609 deg.

2025-06-05T18:45:45.596Z,1749149145.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380267 target range: 38.588982 and range: 38.90 m.
2025-06-05T18:45:45.670Z,1749149145.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.169111
2025-06-05T18:45:45.921Z,1749149145.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.419962
2025-06-05T18:45:45.964Z,1749149145.964 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:45:45.976Z,1749149145.976 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-05T18:45:45.976Z,1749149145.976 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-05T18:45:45.978Z,1749149145.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.59 m.
2025-06-05T18:45:45.000Z,1749149146.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.588982 m,
      nav range: 37.189667 m,
      bearing: 306.461605 deg,
      approach rate: -0.600496 m/s,
      LOS rate: -0.006864 deg/s,
      cmd heading: 308.266600 deg,
      new cmd heading: 308.258628 deg.

2025-06-05T18:45:46.002Z,1749149146.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380128 target range: 38.588982 and range: 38.90 m.
2025-06-05T18:45:46.175Z,1749149146.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673911
2025-06-05T18:45:46.385Z,1749149146.385 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-05T18:45:46.385Z,1749149146.385 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T18:45:46.385Z,1749149146.385 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-05T18:45:46.386Z,1749149146.386 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T18:45:46.388Z,1749149146.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.59 m.
2025-06-05T18:45:46.393Z,1749149146.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.588982 m,
      nav range: 36.945412 m,
      bearing: 306.457764 deg,
      approach rate: -0.596715 m/s,
      LOS rate: -0.009446 deg/s,
      cmd heading: 308.258622 deg,
      new cmd heading: 308.247023 deg.

2025-06-05T18:45:46.394Z,1749149146.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379925 target range: 38.588982 and range: 38.90 m.
2025-06-05T18:45:46.425Z,1749149146.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924287
2025-06-05T18:45:46.677Z,1749149146.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176013
2025-06-05T18:45:46.899Z,1749149146.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.59 m.
2025-06-05T18:45:46.912Z,1749149146.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.588982 m,
      nav range: 36.646130 m,
      bearing: 306.450415 deg,
      approach rate: -0.585183 m/s,
      LOS rate: -0.014487 deg/s,
      cmd heading: 308.247011 deg,
      new cmd heading: 308.224784 deg.

2025-06-05T18:45:46.913Z,1749149146.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379537 target range: 38.588982 and range: 38.90 m.
2025-06-05T18:45:46.929Z,1749149146.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.428082
2025-06-05T18:45:46.969Z,1749149146.969 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:45:47.181Z,1749149147.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680141
2025-06-05T18:45:47.234Z,1749149147.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:47.237Z,1749149147.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.59 m.
2025-06-05T18:45:47.241Z,1749149147.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.588982 m,
      nav range: 36.428574 m,
      bearing: 306.443717 deg,
      approach rate: -0.644345 m/s,
      LOS rate: -0.019957 deg/s,
      cmd heading: 308.224772 deg,
      new cmd heading: 308.204558 deg.

2025-06-05T18:45:47.242Z,1749149147.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379184 target range: 38.588982 and range: 38.90 m.
2025-06-05T18:45:47.433Z,1749149147.433 [DAT](INFO): DAT read: Rx Time:18:45:45.7822

2025-06-05T18:45:47.433Z,1749149147.433 [DAT](INFO): Rx dataTimestamp_ set to:1749149147.432813
2025-06-05T18:45:47.434Z,1749149147.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933008
2025-06-05T18:45:47.669Z,1749149147.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.59 m.
2025-06-05T18:45:47.671Z,1749149147.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.588982 m,
      nav range: 36.165504 m,
      bearing: 306.432280 deg,
      approach rate: -0.609253 m/s,
      LOS rate: -0.026679 deg/s,
      cmd heading: 308.204555 deg,
      new cmd heading: 308.169995 deg.

2025-06-05T18:45:47.674Z,1749149147.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.378581 target range: 38.588982 and range: 38.90 m.
2025-06-05T18:45:47.686Z,1749149147.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.184624
2025-06-05T18:45:47.946Z,1749149147.946 [DAT](INFO): DAT read: 18:45:45.7822 LVL= 20400, 26609, 19154, 28115, AGC= 68, IDX= 420, 0.14,-2.441, 2.466,-2.221,-2.759, PHS= 0.406,-1.011, 0.535, RAW= 154.3,   1.0, CAL= 156.8,  -7.9, ROT= 353.2,   7.9

2025-06-05T18:45:47.947Z,1749149147.947 [DAT](INFO): got valid direction response:
 18:45:45.7822 LVL= 20400, 26609, 19154, 28115, AGC= 68, IDX= 420, 0.14,-2.441, 2.466,-2.221,-2.759, PHS= 0.406,-1.011, 0.535, RAW= 154.3,   1.0, CAL= 156.8,  -7.9, ROT= 353.2,   7.9

2025-06-05T18:45:47.949Z,1749149147.949 [DAT](INFO): DAT read: Bearing 353.2,   7.9 (Local)

2025-06-05T18:45:47.950Z,1749149147.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,   7.9 (Local)

2025-06-05T18:45:47.953Z,1749149147.953 [DAT](INFO): DAT read: Range 10 to 50 : 36.9 m  (Round-trip  49.3 ms) speed  0.5 m/s

2025-06-05T18:45:47.955Z,1749149147.955 [DAT](INFO): DAT read: user:2819>

2025-06-05T18:45:47.964Z,1749149147.964 [DAT](INFO): DAT read: Tx time:18:45:46.8788

2025-06-05T18:45:47.965Z,1749149147.965 [DAT](INFO): Ping request sent.
2025-06-05T18:45:47.965Z,1749149147.965 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:47.965Z,1749149147.965 [DAT](INFO): DAT read: TxSync time:18:45:46.8780

2025-06-05T18:45:47.966Z,1749149147.966 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:47.967Z,1749149147.967 [DAT](INFO): direction in FSK: [0.983542,-0.117280,-0.137445]
2025-06-05T18:45:47.967Z,1749149147.967 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:47.968Z,1749149147.968 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:47.971Z,1749149147.971 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:47.971Z,1749149147.971 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:48.125Z,1749149148.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.900002 m,
      deltaT: 3.526365 s,
      deltaX: -2.000000 m,
      approachRate: -0.567156 m/s,
      rangeRepo size: 4

2025-06-05T18:45:48.134Z,1749149148.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.605240 m,
      bearing: 304.313911 deg,
      lat: 36.906176 deg,
      lon: -122.116150 deg,
      deltaT: 3.526365 s,
      deltaX: -1.983742 m,
      approachRate: -0.562546 m/s,
      posRepo size: 4

2025-06-05T18:45:48.137Z,1749149148.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:48.143Z,1749149148.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 35.962021 m,
      bearing: 304.345104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026679 deg/s,
      cmd heading: 308.169994 deg,
      new cmd heading: 308.134214 deg.

2025-06-05T18:45:48.156Z,1749149148.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.377956 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:48.545Z,1749149148.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:48.553Z,1749149148.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 35.677792 m,
      bearing: 304.315815 deg,
      approach rate: -0.661264 m/s,
      LOS rate: -0.068685 deg/s,
      cmd heading: 308.134204 deg,
      new cmd heading: 308.045635 deg.

2025-06-05T18:45:48.554Z,1749149148.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.376410 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:48.921Z,1749149148.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:48.926Z,1749149148.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 35.449795 m,
      bearing: 304.288397 deg,
      approach rate: -0.607146 m/s,
      LOS rate: -0.073483 deg/s,
      cmd heading: 308.045630 deg,
      new cmd heading: 307.962847 deg.

2025-06-05T18:45:48.927Z,1749149148.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374966 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:49.288Z,1749149149.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:49.292Z,1749149149.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:49.295Z,1749149149.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 35.228443 m,
      bearing: 304.261471 deg,
      approach rate: -0.596828 m/s,
      LOS rate: -0.073057 deg/s,
      cmd heading: 307.962848 deg,
      new cmd heading: 307.881561 deg.

2025-06-05T18:45:49.296Z,1749149149.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.373547 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:49.448Z,1749149149.448 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:45:49.448Z,1749149149.448 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:45:49.449Z,1749149149.449 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T18:45:49.701Z,1749149149.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736041
2025-06-05T18:45:49.766Z,1749149149.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:49.774Z,1749149149.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 34.956326 m,
      bearing: 304.226200 deg,
      approach rate: -0.574354 m/s,
      LOS rate: -0.075025 deg/s,
      cmd heading: 307.881569 deg,
      new cmd heading: 307.774933 deg.

2025-06-05T18:45:49.780Z,1749149149.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371686 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:49.953Z,1749149149.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987990
2025-06-05T18:45:50.090Z,1749149150.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:50.116Z,1749149150.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 34.740856 m,
      bearing: 304.196143 deg,
      approach rate: -0.666543 m/s,
      LOS rate: -0.093557 deg/s,
      cmd heading: 307.774936 deg,
      new cmd heading: 307.684205 deg.

2025-06-05T18:45:50.117Z,1749149150.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370102 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:50.206Z,1749149150.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241255
2025-06-05T18:45:50.457Z,1749149150.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492313
2025-06-05T18:45:50.565Z,1749149150.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:50.572Z,1749149150.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 34.476513 m,
      bearing: 304.158189 deg,
      approach rate: -0.555666 m/s,
      LOS rate: -0.080392 deg/s,
      cmd heading: 307.684203 deg,
      new cmd heading: 307.569470 deg.

2025-06-05T18:45:50.574Z,1749149150.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368100 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:50.717Z,1749149150.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750682
2025-06-05T18:45:50.948Z,1749149150.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:50.951Z,1749149150.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 34.222073 m,
      bearing: 304.120207 deg,
      approach rate: -0.664798 m/s,
      LOS rate: -0.099976 deg/s,
      cmd heading: 307.569484 deg,
      new cmd heading: 307.454691 deg.

2025-06-05T18:45:50.952Z,1749149150.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366096 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:50.965Z,1749149150.965 [DAT](INFO): DAT read: Rx Time:18:45:49.3291

2025-06-05T18:45:50.965Z,1749149150.965 [DAT](INFO): Rx dataTimestamp_ set to:1749149150.964957
2025-06-05T18:45:50.966Z,1749149150.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000969
2025-06-05T18:45:51.218Z,1749149151.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253310
2025-06-05T18:45:51.345Z,1749149151.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:51.347Z,1749149151.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-05T18:45:51.350Z,1749149151.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.605240 m,
      nav range: 33.981853 m,
      bearing: 304.083824 deg,
      approach rate: -0.601447 m/s,
      LOS rate: -0.091738 deg/s,
      cmd heading: 307.454682 deg,
      new cmd heading: 307.344761 deg.

2025-06-05T18:45:51.351Z,1749149151.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364178 target range: 36.605240 and range: 36.90 m.
2025-06-05T18:45:51.481Z,1749149151.481 [DAT](INFO): DAT read: 18:45:49.3292 LVL= 21552, 27505, 17650, 29875, AGC= 65, IDX= 405, 0.21,-1.467,-2.885,-1.185,-1.781, PHS= 0.402,-1.057, 0.593, RAW= 156.1,   0.8, CAL= 158.4,  -8.0, ROT= 351.6,   8.0

2025-06-05T18:45:51.482Z,1749149151.482 [DAT](INFO): got valid direction response:
 18:45:49.3292 LVL= 21552, 27505, 17650, 29875, AGC= 65, IDX= 405, 0.21,-1.467,-2.885,-1.185,-1.781, PHS= 0.402,-1.057, 0.593, RAW= 156.1,   0.8, CAL= 158.4,  -8.0, ROT= 351.6,   8.0

2025-06-05T18:45:51.483Z,1749149151.483 [DAT](INFO): DAT read: Bearing 351.6,   8.0 (Local)

2025-06-05T18:45:51.483Z,1749149151.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.6,   8.0 (Local)

2025-06-05T18:45:51.490Z,1749149151.490 [DAT](INFO): DAT read: Range 10 to 50 : 34.6 m  (Round-trip  46.2 ms) speed  0.5 m/s

2025-06-05T18:45:51.491Z,1749149151.491 [DAT](INFO): DAT read: user:2820>

2025-06-05T18:45:51.492Z,1749149151.492 [DAT](INFO): DAT read: Tx time:18:45:50.4289

2025-06-05T18:45:51.492Z,1749149151.492 [DAT](INFO): Ping request sent.
2025-06-05T18:45:51.492Z,1749149151.492 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:51.492Z,1749149151.492 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:45:51.493Z,1749149151.493 [DAT](INFO): direction in FSK: [0.979645,-0.144661,-0.139173]
2025-06-05T18:45:51.494Z,1749149151.494 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:51.494Z,1749149151.494 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:51.512Z,1749149151.512 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:51.513Z,1749149151.513 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:51.521Z,1749149151.521 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.028230
2025-06-05T18:45:51.721Z,1749149151.721 [DAT](INFO): DAT read: TxSync time:18:45:50.4281

2025-06-05T18:45:51.724Z,1749149151.724 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.232182
2025-06-05T18:45:51.817Z,1749149151.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.599998 m,
      deltaT: 3.532878 s,
      deltaX: -2.300003 m,
      approachRate: -0.651028 m/s,
      rangeRepo size: 4

2025-06-05T18:45:51.825Z,1749149151.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.326748 m,
      bearing: 302.850416 deg,
      lat: 36.906173 deg,
      lon: -122.116150 deg,
      deltaT: 3.532878 s,
      deltaX: -2.278492 m,
      approachRate: -0.644939 m/s,
      posRepo size: 4

2025-06-05T18:45:51.826Z,1749149151.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.33 m.
2025-06-05T18:45:51.833Z,1749149151.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.326748 m,
      nav range: 33.583172 m,
      bearing: 303.588528 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091738 deg/s,
      cmd heading: 307.344770 deg,
      new cmd heading: 307.217057 deg.

2025-06-05T18:45:51.834Z,1749149151.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361949 target range: 34.326748 and range: 34.60 m.
2025-06-05T18:45:51.974Z,1749149151.974 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.481770
2025-06-05T18:45:52.155Z,1749149152.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.33 m.
2025-06-05T18:45:52.159Z,1749149152.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.326748 m,
      nav range: 33.354836 m,
      bearing: 303.550567 deg,
      approach rate: -0.663194 m/s,
      LOS rate: -0.111011 deg/s,
      cmd heading: 307.217046 deg,
      new cmd heading: 307.102383 deg.

2025-06-05T18:45:52.160Z,1749149152.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359948 target range: 34.326748 and range: 34.60 m.
2025-06-05T18:45:52.226Z,1749149152.226 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.733536
2025-06-05T18:45:52.477Z,1749149152.477 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.984449
2025-06-05T18:45:52.638Z,1749149152.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.33 m.
2025-06-05T18:45:52.643Z,1749149152.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.326748 m,
      nav range: 33.063129 m,
      bearing: 303.497641 deg,
      approach rate: -0.603845 m/s,
      LOS rate: -0.110526 deg/s,
      cmd heading: 307.102381 deg,
      new cmd heading: 306.942201 deg.

2025-06-05T18:45:52.644Z,1749149152.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357152 target range: 34.326748 and range: 34.60 m.
2025-06-05T18:45:52.730Z,1749149152.730 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.237544
2025-06-05T18:45:52.981Z,1749149152.981 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.488729
2025-06-05T18:45:52.999Z,1749149152.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.33 m.
2025-06-05T18:45:53.012Z,1749149153.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.326748 m,
      nav range: 32.853168 m,
      bearing: 303.458932 deg,
      approach rate: -0.581867 m/s,
      LOS rate: -0.107960 deg/s,
      cmd heading: 306.942199 deg,
      new cmd heading: 306.825330 deg.

2025-06-05T18:45:53.013Z,1749149153.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355112 target range: 34.326748 and range: 34.60 m.
2025-06-05T18:45:53.234Z,1749149153.234 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.741818
2025-06-05T18:45:53.397Z,1749149153.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:53.399Z,1749149153.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.33 m.
2025-06-05T18:45:53.422Z,1749149153.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.326748 m,
      nav range: 32.603870 m,
      bearing: 303.412320 deg,
      approach rate: -0.623490 m/s,
      LOS rate: -0.117466 deg/s,
      cmd heading: 306.825321 deg,
      new cmd heading: 306.684417 deg.

2025-06-05T18:45:53.428Z,1749149153.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352653 target range: 34.326748 and range: 34.60 m.
2025-06-05T18:45:53.485Z,1749149153.485 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.992508
2025-06-05T18:45:53.737Z,1749149153.737 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.244546
2025-06-05T18:45:53.913Z,1749149153.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.33 m.
2025-06-05T18:45:53.925Z,1749149153.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.326748 m,
      nav range: 32.312599 m,
      bearing: 303.363841 deg,
      approach rate: -0.566353 m/s,
      LOS rate: -0.095112 deg/s,
      cmd heading: 306.684428 deg,
      new cmd heading: 306.537681 deg.

2025-06-05T18:45:53.926Z,1749149153.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.350092 target range: 34.326748 and range: 34.60 m.
2025-06-05T18:45:53.991Z,1749149153.991 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.498641
2025-06-05T18:45:54.241Z,1749149154.241 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.749224
2025-06-05T18:45:54.334Z,1749149154.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.33 m.
2025-06-05T18:45:54.337Z,1749149154.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.326748 m,
      nav range: 32.045910 m,
      bearing: 303.319284 deg,
      approach rate: -0.633617 m/s,
      LOS rate: -0.106743 deg/s,
      cmd heading: 306.537688 deg,
      new cmd heading: 306.402903 deg.

2025-06-05T18:45:54.338Z,1749149154.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347740 target range: 34.326748 and range: 34.60 m.
2025-06-05T18:45:54.493Z,1749149154.493 [DAT](INFO): DAT read: Rx Time:18:45:52.8763

2025-06-05T18:45:54.493Z,1749149154.493 [DAT](INFO): Rx dataTimestamp_ set to:1749149154.493132
2025-06-05T18:45:54.494Z,1749149154.494 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.001768
2025-06-05T18:45:54.745Z,1749149154.745 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.252458
2025-06-05T18:45:54.872Z,1749149154.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.33 m.
2025-06-05T18:45:54.881Z,1749149154.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.326748 m,
      nav range: 31.750784 m,
      bearing: 303.273656 deg,
      approach rate: -0.553225 m/s,
      LOS rate: -0.086326 deg/s,
      cmd heading: 306.402915 deg,
      new cmd heading: 306.264759 deg.

2025-06-05T18:45:54.882Z,1749149154.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345328 target range: 34.326748 and range: 34.60 m.
2025-06-05T18:45:55.004Z,1749149155.004 [DAT](INFO): DAT read: 18:45:52.8763 LVL= 24240, 29537, 20018, 31731, AGC= 64, IDX= 408,-0.37, 2.156, 0.834, 2.442, 1.857, PHS= 0.387,-0.976, 0.581, RAW= 156.6,   0.1, CAL= 159.1,  -8.6, ROT= 350.9,   8.6

2025-06-05T18:45:55.006Z,1749149155.006 [DAT](INFO): got valid direction response:
 18:45:52.8763 LVL= 24240, 29537, 20018, 31731, AGC= 64, IDX= 408,-0.37, 2.156, 0.834, 2.442, 1.857, PHS= 0.387,-0.976, 0.581, RAW= 156.6,   0.1, CAL= 159.1,  -8.6, ROT= 350.9,   8.6

2025-06-05T18:45:55.008Z,1749149155.008 [DAT](INFO): DAT read: Bearing 350.9,   8.6 (Local)

2025-06-05T18:45:55.008Z,1749149155.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.9,   8.6 (Local)

2025-06-05T18:45:55.009Z,1749149155.009 [DAT](INFO): DAT read: Range 10 to 50 : 32.4 m  (Round-trip  43.3 ms) speed  0.5 m/s

2025-06-05T18:45:55.010Z,1749149155.010 [DAT](INFO): DAT read: user:2821>

2025-06-05T18:45:55.011Z,1749149155.011 [DAT](INFO): DAT read: Tx time:18:45:53.9789

2025-06-05T18:45:55.011Z,1749149155.011 [DAT](INFO): Ping request sent.
2025-06-05T18:45:55.011Z,1749149155.011 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:55.012Z,1749149155.012 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T18:45:55.013Z,1749149155.013 [DAT](INFO): direction in FSK: [0.976312,-0.156380,-0.149535]
2025-06-05T18:45:55.013Z,1749149155.013 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:55.014Z,1749149155.014 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:55.017Z,1749149155.017 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:55.017Z,1749149155.017 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:55.020Z,1749149155.020 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.009276
2025-06-05T18:45:55.245Z,1749149155.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.400002 m,
      deltaT: 3.527061 s,
      deltaX: -2.199997 m,
      approachRate: -0.623748 m/s,
      rangeRepo size: 4

2025-06-05T18:45:55.250Z,1749149155.250 [DAT](INFO): DAT read: TxSync time:18:45:53.9781

2025-06-05T18:45:55.253Z,1749149155.253 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.241051
2025-06-05T18:45:55.247Z,1749149155.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.144627 m,
      bearing: 301.561789 deg,
      lat: 36.906172 deg,
      lon: -122.116152 deg,
      deltaT: 3.527061 s,
      deltaX: -2.182121 m,
      approachRate: -0.618680 m/s,
      posRepo size: 4

2025-06-05T18:45:55.257Z,1749149155.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:55.265Z,1749149155.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 31.583078 m,
      bearing: 302.804900 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.086326 deg/s,
      cmd heading: 306.264753 deg,
      new cmd heading: 306.167081 deg.

2025-06-05T18:45:55.266Z,1749149155.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343624 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:55.501Z,1749149155.501 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.489616
2025-06-05T18:45:55.666Z,1749149155.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:55.674Z,1749149155.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:55.681Z,1749149155.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 31.316410 m,
      bearing: 302.760071 deg,
      approach rate: -0.623612 m/s,
      LOS rate: -0.105726 deg/s,
      cmd heading: 306.167082 deg,
      new cmd heading: 306.031450 deg.

2025-06-05T18:45:55.682Z,1749149155.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.341257 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:55.753Z,1749149155.753 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.741451
2025-06-05T18:45:56.005Z,1749149156.005 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.993533
2025-06-05T18:45:56.104Z,1749149156.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:56.109Z,1749149156.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 31.051910 m,
      bearing: 302.730631 deg,
      approach rate: -0.612166 m/s,
      LOS rate: -0.068718 deg/s,
      cmd heading: 306.031462 deg,
      new cmd heading: 305.942388 deg.

2025-06-05T18:45:56.110Z,1749149156.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339702 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:56.257Z,1749149156.257 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.245677
2025-06-05T18:45:56.429Z,1749149156.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:56.432Z,1749149156.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 30.853439 m,
      bearing: 302.709463 deg,
      approach rate: -0.610804 m/s,
      LOS rate: -0.065563 deg/s,
      cmd heading: 305.942396 deg,
      new cmd heading: 305.878485 deg.

2025-06-05T18:45:56.433Z,1749149156.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.338587 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:56.509Z,1749149156.509 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.497976
2025-06-05T18:45:56.761Z,1749149156.761 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.749400
2025-06-05T18:45:56.854Z,1749149156.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:56.881Z,1749149156.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 30.603865 m,
      bearing: 302.693887 deg,
      approach rate: -0.588130 m/s,
      LOS rate: -0.037007 deg/s,
      cmd heading: 305.878493 deg,
      new cmd heading: 305.831381 deg.

2025-06-05T18:45:56.882Z,1749149156.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337765 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:57.013Z,1749149157.013 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.001954
2025-06-05T18:45:57.233Z,1749149157.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:57.236Z,1749149157.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 30.382217 m,
      bearing: 302.680816 deg,
      approach rate: -0.583533 m/s,
      LOS rate: -0.034662 deg/s,
      cmd heading: 305.831392 deg,
      new cmd heading: 305.791893 deg.

2025-06-05T18:45:57.237Z,1749149157.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337075 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:57.265Z,1749149157.265 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.253857
2025-06-05T18:45:57.517Z,1749149157.517 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.505447
2025-06-05T18:45:57.712Z,1749149157.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:57.720Z,1749149157.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:57.728Z,1749149157.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 30.112202 m,
      bearing: 302.665960 deg,
      approach rate: -0.560223 m/s,
      LOS rate: -0.031099 deg/s,
      cmd heading: 305.791886 deg,
      new cmd heading: 305.746919 deg.

2025-06-05T18:45:57.729Z,1749149157.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.336290 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:57.769Z,1749149157.769 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.757580
2025-06-05T18:45:58.021Z,1749149158.021 [DAT](INFO): DAT read: Rx Time:18:45:56.4235

2025-06-05T18:45:58.021Z,1749149158.021 [DAT](INFO): Rx dataTimestamp_ set to:1749149158.020888
2025-06-05T18:45:58.022Z,1749149158.022 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.010552
2025-06-05T18:45:58.098Z,1749149158.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:58.105Z,1749149158.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 29.893452 m,
      bearing: 302.656134 deg,
      approach rate: -0.571904 m/s,
      LOS rate: -0.025877 deg/s,
      cmd heading: 305.746916 deg,
      new cmd heading: 305.717222 deg.

2025-06-05T18:45:58.112Z,1749149158.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.335772 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:58.278Z,1749149158.278 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.265963
2025-06-05T18:45:58.460Z,1749149158.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:45:58.462Z,1749149158.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.144627 m,
      nav range: 29.657421 m,
      bearing: 302.646892 deg,
      approach rate: -0.653025 m/s,
      LOS rate: -0.025773 deg/s,
      cmd heading: 305.717218 deg,
      new cmd heading: 305.689272 deg.

2025-06-05T18:45:58.463Z,1749149158.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.335284 target range: 32.144627 and range: 32.40 m.
2025-06-05T18:45:58.531Z,1749149158.531 [DAT](INFO): DAT read: 18:45:56.4235 LVL= 22048, 32081, 19602, 32755, AGC= 65, IDX= 410, 0.50,-1.133,-2.546,-0.975,-1.443, PHS= 0.398,-1.056, 0.465, RAW= 152.2,   2.6, CAL= 154.4,  -6.3, ROT= 355.6,   6.3

2025-06-05T18:45:58.532Z,1749149158.532 [DAT](INFO): got valid direction response:
 18:45:56.4235 LVL= 22048, 32081, 19602, 32755, AGC= 65, IDX= 410, 0.50,-1.133,-2.546,-0.975,-1.443, PHS= 0.398,-1.056, 0.465, RAW= 152.2,   2.6, CAL= 154.4,  -6.3, ROT= 355.6,   6.3

2025-06-05T18:45:58.533Z,1749149158.533 [DAT](INFO): DAT read: Bearing 355.6,   6.3 (Local)

2025-06-05T18:45:58.533Z,1749149158.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,   6.3 (Local)

2025-06-05T18:45:58.535Z,1749149158.535 [DAT](INFO): DAT read: Range 10 to 50 : 30.3 m  (Round-trip  40.5 ms) speed  0.7 m/s

2025-06-05T18:45:58.536Z,1749149158.536 [DAT](INFO): DAT read: user:2822>

2025-06-05T18:45:58.536Z,1749149158.536 [DAT](INFO): DAT read: Tx time:18:45:57.5289

2025-06-05T18:45:58.537Z,1749149158.537 [DAT](INFO): Ping request sent.
2025-06-05T18:45:58.537Z,1749149158.537 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:45:58.537Z,1749149158.537 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T18:45:58.538Z,1749149158.538 [DAT](INFO): direction in FSK: [0.991032,-0.076256,-0.109734]
2025-06-05T18:45:58.538Z,1749149158.538 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:58.540Z,1749149158.540 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:58.544Z,1749149158.544 [DAT](INFO): publishing transmit ping time
2025-06-05T18:45:58.544Z,1749149158.544 [DAT](INFO): publishing direction and range info
2025-06-05T18:45:58.547Z,1749149158.547 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.010177
2025-06-05T18:45:58.777Z,1749149158.777 [DAT](INFO): DAT read: TxSync time:18:45:57.5281

2025-06-05T18:45:58.778Z,1749149158.778 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.240777
2025-06-05T18:45:58.919Z,1749149158.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 3.528400 s,
      deltaX: -2.100002 m,
      approachRate: -0.595171 m/s,
      rangeRepo size: 4

2025-06-05T18:45:58.922Z,1749149158.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.061516 m,
      bearing: 304.775411 deg,
      lat: 36.906172 deg,
      lon: -122.116152 deg,
      deltaT: 3.528400 s,
      deltaX: -2.083111 m,
      approachRate: -0.590384 m/s,
      posRepo size: 4

2025-06-05T18:45:58.941Z,1749149158.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-05T18:45:58.948Z,1749149158.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.061516 m,
      nav range: 29.402185 m,
      bearing: 302.639063 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025773 deg/s,
      cmd heading: 305.689269 deg,
      new cmd heading: 305.653759 deg.

2025-06-05T18:45:58.949Z,1749149158.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334664 target range: 30.061516 and range: 30.30 m.
2025-06-05T18:45:59.029Z,1749149159.029 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.492194
2025-06-05T18:45:59.281Z,1749149159.281 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.743866
2025-06-05T18:45:59.288Z,1749149159.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-05T18:45:59.296Z,1749149159.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.061516 m,
      nav range: 29.183161 m,
      bearing: 302.635348 deg,
      approach rate: -0.599690 m/s,
      LOS rate: -0.010248 deg/s,
      cmd heading: 305.653752 deg,
      new cmd heading: 305.642523 deg.

2025-06-05T18:45:59.298Z,1749149159.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334468 target range: 30.061516 and range: 30.30 m.
2025-06-05T18:45:59.533Z,1749149159.533 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.996176
2025-06-05T18:45:59.731Z,1749149159.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:45:59.738Z,1749149159.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-05T18:45:59.746Z,1749149159.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.061516 m,
      nav range: 28.917273 m,
      bearing: 302.631257 deg,
      approach rate: -0.585950 m/s,
      LOS rate: -0.009099 deg/s,
      cmd heading: 305.642523 deg,
      new cmd heading: 305.630137 deg.

2025-06-05T18:45:59.747Z,1749149159.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334252 target range: 30.061516 and range: 30.30 m.
2025-06-05T18:45:59.785Z,1749149159.785 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.247881
2025-06-05T18:46:00.037Z,1749149160.037 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.499822
2025-06-05T18:46:00.093Z,1749149160.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-05T18:46:00.116Z,1749149160.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.061516 m,
      nav range: 28.698914 m,
      bearing: 302.624474 deg,
      approach rate: -0.614857 m/s,
      LOS rate: -0.019244 deg/s,
      cmd heading: 305.630147 deg,
      new cmd heading: 305.609645 deg.

2025-06-05T18:46:00.117Z,1749149160.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.333895 target range: 30.061516 and range: 30.30 m.
2025-06-05T18:46:00.289Z,1749149160.289 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.751817
2025-06-05T18:46:00.535Z,1749149160.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-05T18:46:00.538Z,1749149160.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.061516 m,
      nav range: 28.434387 m,
      bearing: 302.615831 deg,
      approach rate: -0.598372 m/s,
      LOS rate: -0.019733 deg/s,
      cmd heading: 305.609656 deg,
      new cmd heading: 305.583486 deg.

2025-06-05T18:46:00.542Z,1749149160.542 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.004700
2025-06-05T18:46:00.542Z,1749149160.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.333438 target range: 30.061516 and range: 30.30 m.
2025-06-05T18:46:00.793Z,1749149160.793 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.255822
2025-06-05T18:46:00.915Z,1749149160.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-05T18:46:00.958Z,1749149160.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.061516 m,
      nav range: 28.210943 m,
      bearing: 302.591110 deg,
      approach rate: -0.587836 m/s,
      LOS rate: -0.065550 deg/s,
      cmd heading: 305.583483 deg,
      new cmd heading: 305.508734 deg.

2025-06-05T18:46:00.960Z,1749149160.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332133 target range: 30.061516 and range: 30.30 m.
2025-06-05T18:46:01.047Z,1749149161.047 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.510273
2025-06-05T18:46:01.301Z,1749149161.301 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.763799
2025-06-05T18:46:01.308Z,1749149161.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-05T18:46:01.310Z,1749149161.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.061516 m,
      nav range: 27.979622 m,
      bearing: 302.565677 deg,
      approach rate: -0.589408 m/s,
      LOS rate: -0.065339 deg/s,
      cmd heading: 305.508733 deg,
      new cmd heading: 305.431804 deg.

2025-06-05T18:46:01.312Z,1749149161.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330791 target range: 30.061516 and range: 30.30 m.
2025-06-05T18:46:01.554Z,1749149161.554 [DAT](INFO): DAT read: Rx Time:18:45:59.9707

2025-06-05T18:46:01.554Z,1749149161.554 [DAT](INFO): Rx dataTimestamp_ set to:1749149161.553806
2025-06-05T18:46:01.555Z,1749149161.555 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.018131
2025-06-05T18:46:01.764Z,1749149161.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:01.766Z,1749149161.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-05T18:46:01.769Z,1749149161.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.061516 m,
      nav range: 27.715174 m,
      bearing: 302.536681 deg,
      approach rate: -0.576393 m/s,
      LOS rate: -0.063805 deg/s,
      cmd heading: 305.431798 deg,
      new cmd heading: 305.343978 deg.

2025-06-05T18:46:01.770Z,1749149161.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.329258 target range: 30.061516 and range: 30.30 m.
2025-06-05T18:46:01.805Z,1749149161.805 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.268148
2025-06-05T18:46:02.063Z,1749149162.063 [DAT](INFO): DAT read: 18:45:59.9707 LVL= 24736, 32753, 20898, 32755, AGC= 62, IDX= 414,-0.11,-2.793, 2.047,-2.825,-3.074, PHS= 0.368,-1.115, 0.246, RAW= 145.7,   7.1, CAL= 147.8,  -1.3, ROT=   2.2,   1.3

2025-06-05T18:46:02.064Z,1749149162.064 [DAT](INFO): got valid direction response:
 18:45:59.9707 LVL= 24736, 32753, 20898, 32755, AGC= 62, IDX= 414,-0.11,-2.793, 2.047,-2.825,-3.074, PHS= 0.368,-1.115, 0.246, RAW= 145.7,   7.1, CAL= 147.8,  -1.3, ROT=   2.2,   1.3

2025-06-05T18:46:02.065Z,1749149162.065 [DAT](INFO): DAT read: Bearing   2.2,   1.3 (Local)

2025-06-05T18:46:02.065Z,1749149162.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,   1.3 (Local)

2025-06-05T18:46:02.067Z,1749149162.067 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m  (Round-trip  37.6 ms) speed  0.6 m/s

2025-06-05T18:46:02.068Z,1749149162.068 [DAT](INFO): DAT read: user:2823>

2025-06-05T18:46:02.068Z,1749149162.068 [DAT](INFO): DAT read: Tx time:18:46:01.0789

2025-06-05T18:46:02.069Z,1749149162.069 [DAT](INFO): Ping request sent.
2025-06-05T18:46:02.069Z,1749149162.069 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:02.069Z,1749149162.069 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T18:46:02.070Z,1749149162.070 [DAT](INFO): direction in FSK: [0.999006,0.038378,-0.022687]
2025-06-05T18:46:02.070Z,1749149162.070 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:02.071Z,1749149162.071 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:02.075Z,1749149162.075 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:02.075Z,1749149162.075 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:02.079Z,1749149162.079 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.009802
2025-06-05T18:46:02.201Z,1749149162.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 3.531836 s,
      deltaX: -2.099998 m,
      approachRate: -0.594591 m/s,
      rangeRepo size: 4

2025-06-05T18:46:02.203Z,1749149162.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.977648 m,
      bearing: 310.359304 deg,
      lat: 36.906176 deg,
      lon: -122.116150 deg,
      deltaT: 3.531836 s,
      deltaX: -2.083868 m,
      approachRate: -0.590024 m/s,
      posRepo size: 4

2025-06-05T18:46:02.208Z,1749149162.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:02.211Z,1749149162.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 27.548723 m,
      bearing: 303.520893 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.063805 deg/s,
      cmd heading: 305.343989 deg,
      new cmd heading: 305.261811 deg.

2025-06-05T18:46:02.217Z,1749149162.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327824 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:02.310Z,1749149162.310 [DAT](INFO): DAT read: TxSync time:18:46:01.0782

2025-06-05T18:46:02.312Z,1749149162.312 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.243170
2025-06-05T18:46:02.553Z,1749149162.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:02.561Z,1749149162.561 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492031
2025-06-05T18:46:02.561Z,1749149162.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 27.333151 m,
      bearing: 303.501277 deg,
      approach rate: -0.603964 m/s,
      LOS rate: -0.055392 deg/s,
      cmd heading: 305.261808 deg,
      new cmd heading: 305.202496 deg.

2025-06-05T18:46:02.562Z,1749149162.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326788 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:02.813Z,1749149162.813 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.743924
2025-06-05T18:46:02.944Z,1749149162.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:02.947Z,1749149162.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 27.079353 m,
      bearing: 303.459811 deg,
      approach rate: -0.648535 m/s,
      LOS rate: -0.106951 deg/s,
      cmd heading: 305.202495 deg,
      new cmd heading: 305.076933 deg.

2025-06-05T18:46:02.948Z,1749149162.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324597 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:03.066Z,1749149163.066 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.997252
2025-06-05T18:46:03.318Z,1749149163.318 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.249294
2025-06-05T18:46:03.347Z,1749149163.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:03.350Z,1749149163.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 26.827055 m,
      bearing: 303.419503 deg,
      approach rate: -0.626602 m/s,
      LOS rate: -0.101050 deg/s,
      cmd heading: 305.076929 deg,
      new cmd heading: 304.954867 deg.

2025-06-05T18:46:03.350Z,1749149163.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322466 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:03.569Z,1749149163.569 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.499959
2025-06-05T18:46:03.821Z,1749149163.821 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.752016
2025-06-05T18:46:03.838Z,1749149163.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:03.842Z,1749149163.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:03.845Z,1749149163.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 26.522861 m,
      bearing: 303.363718 deg,
      approach rate: -0.614435 m/s,
      LOS rate: -0.113972 deg/s,
      cmd heading: 304.954860 deg,
      new cmd heading: 304.785585 deg.

2025-06-05T18:46:03.846Z,1749149163.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319512 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:04.074Z,1749149164.074 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.004887
2025-06-05T18:46:04.317Z,1749149164.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:04.319Z,1749149164.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 26.228661 m,
      bearing: 303.308335 deg,
      approach rate: -0.619469 m/s,
      LOS rate: -0.117922 deg/s,
      cmd heading: 304.785580 deg,
      new cmd heading: 304.617568 deg.

2025-06-05T18:46:04.320Z,1749149164.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316579 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:04.327Z,1749149164.327 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.257548
2025-06-05T18:46:04.577Z,1749149164.577 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.507995
2025-06-05T18:46:04.829Z,1749149164.829 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.759984
2025-06-05T18:46:04.848Z,1749149164.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:04.851Z,1749149164.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 25.920998 m,
      bearing: 303.244826 deg,
      approach rate: -0.583449 m/s,
      LOS rate: -0.121866 deg/s,
      cmd heading: 304.617558 deg,
      new cmd heading: 304.424771 deg.

2025-06-05T18:46:04.857Z,1749149164.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313215 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:05.081Z,1749149165.081 [DAT](INFO): DAT read: Rx Time:18:46:03.5179

2025-06-05T18:46:05.081Z,1749149165.081 [DAT](INFO): Rx dataTimestamp_ set to:1749149165.081052
2025-06-05T18:46:05.082Z,1749149165.082 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.013157
2025-06-05T18:46:05.171Z,1749149165.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:05.176Z,1749149165.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 25.705614 m,
      bearing: 303.199741 deg,
      approach rate: -0.657698 m/s,
      LOS rate: -0.138826 deg/s,
      cmd heading: 304.424782 deg,
      new cmd heading: 304.288394 deg.

2025-06-05T18:46:05.177Z,1749149165.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310834 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:05.334Z,1749149165.334 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.264303
2025-06-05T18:46:05.577Z,1749149165.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-06-05T18:46:05.580Z,1749149165.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.977648 m,
      nav range: 25.457724 m,
      bearing: 303.147297 deg,
      approach rate: -0.610572 m/s,
      LOS rate: -0.130432 deg/s,
      cmd heading: 304.288397 deg,
      new cmd heading: 304.129533 deg.

2025-06-05T18:46:05.581Z,1749149165.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308062 target range: 27.977648 and range: 28.20 m.
2025-06-05T18:46:05.592Z,1749149165.592 [DAT](INFO): DAT read: 18:46:03.5179 LVL= 23328, 30833, 20466, 32755, AGC= 63, IDX= 417,-0.22,-2.278, 2.599,-2.409,-2.564, PHS= 0.374,-1.073, 0.152, RAW= 141.8,   8.2, CAL= 144.7,   0.5, ROT=   5.3,  -0.5

2025-06-05T18:46:05.594Z,1749149165.594 [DAT](INFO): got valid direction response:
 18:46:03.5179 LVL= 23328, 30833, 20466, 32755, AGC= 63, IDX= 417,-0.22,-2.278, 2.599,-2.409,-2.564, PHS= 0.374,-1.073, 0.152, RAW= 141.8,   8.2, CAL= 144.7,   0.5, ROT=   5.3,  -0.5

2025-06-05T18:46:05.594Z,1749149165.594 [DAT](INFO): DAT read: Bearing   5.3,  -0.5 (Local)

2025-06-05T18:46:05.595Z,1749149165.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.3,  -0.5 (Local)

2025-06-05T18:46:05.612Z,1749149165.612 [DAT](INFO): DAT read: Range 10 to 50 : 26.1 m  (Round-trip  34.8 ms) speed  0.8 m/s

2025-06-05T18:46:05.613Z,1749149165.613 [DAT](INFO): DAT read: user:2824>

2025-06-05T18:46:05.614Z,1749149165.614 [DAT](INFO): DAT read: Tx time:18:46:04.6305

2025-06-05T18:46:05.614Z,1749149165.614 [DAT](INFO): Ping request sent.
2025-06-05T18:46:05.614Z,1749149165.614 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:05.615Z,1749149165.615 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T18:46:05.618Z,1749149165.618 [DAT](INFO): direction in FSK: [0.995687,0.092367,0.008727]
2025-06-05T18:46:05.618Z,1749149165.618 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:05.618Z,1749149165.618 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:05.629Z,1749149165.629 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:05.630Z,1749149165.630 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:05.643Z,1749149165.643 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.028851
2025-06-05T18:46:05.838Z,1749149165.838 [DAT](INFO): DAT read: TxSync time:18:46:04.6297

2025-06-05T18:46:05.839Z,1749149165.839 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.224431
2025-06-05T18:46:06.050Z,1749149166.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 3.528408 s,
      deltaX: -2.100000 m,
      approachRate: -0.595169 m/s,
      rangeRepo size: 4

2025-06-05T18:46:06.056Z,1749149166.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.893677 m,
      bearing: 312.652892 deg,
      lat: 36.906181 deg,
      lon: -122.116148 deg,
      deltaT: 3.528408 s,
      deltaX: -2.083971 m,
      approachRate: -0.590626 m/s,
      posRepo size: 4

2025-06-05T18:46:06.058Z,1749149166.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-06-05T18:46:06.065Z,1749149166.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.893677 m,
      nav range: 25.354284 m,
      bearing: 304.487692 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.130432 deg/s,
      cmd heading: 304.129527 deg,
      new cmd heading: 303.944997 deg.

2025-06-05T18:46:06.066Z,1749149166.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304841 target range: 25.893677 and range: 26.10 m.
2025-06-05T18:46:06.090Z,1749149166.090 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.474867
2025-06-05T18:46:06.341Z,1749149166.341 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.726225
2025-06-05T18:46:06.402Z,1749149166.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:06.404Z,1749149166.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-06-05T18:46:06.407Z,1749149166.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.893677 m,
      nav range: 25.130798 m,
      bearing: 304.460502 deg,
      approach rate: -0.628957 m/s,
      LOS rate: -0.077202 deg/s,
      cmd heading: 303.945003 deg,
      new cmd heading: 303.862706 deg.

2025-06-05T18:46:06.409Z,1749149166.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303405 target range: 25.893677 and range: 26.10 m.
2025-06-05T18:46:06.593Z,1749149166.593 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.978554
2025-06-05T18:46:06.845Z,1749149166.845 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.230414
2025-06-05T18:46:06.895Z,1749149166.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-06-05T18:46:06.898Z,1749149166.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.893677 m,
      nav range: 24.834282 m,
      bearing: 304.442994 deg,
      approach rate: -0.603922 m/s,
      LOS rate: -0.036086 deg/s,
      cmd heading: 303.862713 deg,
      new cmd heading: 303.809560 deg.

2025-06-05T18:46:06.899Z,1749149166.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302477 target range: 25.893677 and range: 26.10 m.
2025-06-05T18:46:07.097Z,1749149167.097 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.482983
2025-06-05T18:46:07.200Z,1749149167.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-06-05T18:46:07.202Z,1749149167.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.893677 m,
      nav range: 24.627405 m,
      bearing: 304.433242 deg,
      approach rate: -0.680028 m/s,
      LOS rate: -0.032323 deg/s,
      cmd heading: 303.809546 deg,
      new cmd heading: 303.780047 deg.

2025-06-05T18:46:07.203Z,1749149167.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301962 target range: 25.893677 and range: 26.10 m.
2025-06-05T18:46:07.349Z,1749149167.349 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.734245
2025-06-05T18:46:07.603Z,1749149167.603 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.987884
2025-06-05T18:46:07.615Z,1749149167.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-06-05T18:46:07.618Z,1749149167.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.893677 m,
      nav range: 24.369270 m,
      bearing: 304.420431 deg,
      approach rate: -0.621117 m/s,
      LOS rate: -0.031153 deg/s,
      cmd heading: 303.780040 deg,
      new cmd heading: 303.741198 deg.

2025-06-05T18:46:07.619Z,1749149167.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301284 target range: 25.893677 and range: 26.10 m.
2025-06-05T18:46:07.856Z,1749149167.856 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.241588
2025-06-05T18:46:08.063Z,1749149168.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-06-05T18:46:08.066Z,1749149168.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.893677 m,
      nav range: 24.111914 m,
      bearing: 304.428323 deg,
      approach rate: -0.574738 m/s,
      LOS rate: 0.017814 deg/s,
      cmd heading: 303.741190 deg,
      new cmd heading: 303.765120 deg.

2025-06-05T18:46:08.067Z,1749149168.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301702 target range: 25.893677 and range: 26.10 m.
2025-06-05T18:46:08.105Z,1749149168.105 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.490403
2025-06-05T18:46:08.357Z,1749149168.357 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.742341
2025-06-05T18:46:08.418Z,1749149168.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:08.421Z,1749149168.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-06-05T18:46:08.432Z,1749149168.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.893677 m,
      nav range: 23.891491 m,
      bearing: 304.435218 deg,
      approach rate: -0.615723 m/s,
      LOS rate: 0.019438 deg/s,
      cmd heading: 303.765123 deg,
      new cmd heading: 303.785999 deg.

2025-06-05T18:46:08.433Z,1749149168.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302066 target range: 25.893677 and range: 26.10 m.
2025-06-05T18:46:08.609Z,1749149168.609 [DAT](INFO): DAT read: Rx Time:18:46:07.0666

2025-06-05T18:46:08.609Z,1749149168.609 [DAT](INFO): Rx dataTimestamp_ set to:1749149168.609050
2025-06-05T18:46:08.610Z,1749149168.610 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.995524
2025-06-05T18:46:08.874Z,1749149168.874 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.259851
2025-06-05T18:46:08.891Z,1749149168.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-06-05T18:46:08.894Z,1749149168.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.893677 m,
      nav range: 23.607775 m,
      bearing: 304.474296 deg,
      approach rate: -0.605465 m/s,
      LOS rate: 0.084397 deg/s,
      cmd heading: 303.785996 deg,
      new cmd heading: 303.904639 deg.

2025-06-05T18:46:08.895Z,1749149168.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304137 target range: 25.893677 and range: 26.10 m.
2025-06-05T18:46:09.131Z,1749149169.131 [DAT](INFO): DAT read: 18:46:07.0666 LVL= 27936, 32225, 23506, 32755, AGC= 61, IDX= 418, 0.34,-1.097,-2.553,-1.250,-1.376, PHS= 0.367,-1.130, 0.123, RAW= 141.3,   9.2, CAL= 144.3,   1.9, ROT=   5.7,  -1.9

2025-06-05T18:46:09.132Z,1749149169.132 [DAT](INFO): got valid direction response:
 18:46:07.0666 LVL= 27936, 32225, 23506, 32755, AGC= 61, IDX= 418, 0.34,-1.097,-2.553,-1.250,-1.376, PHS= 0.367,-1.130, 0.123, RAW= 141.3,   9.2, CAL= 144.3,   1.9, ROT=   5.7,  -1.9

2025-06-05T18:46:09.133Z,1749149169.133 [DAT](INFO): DAT read: Bearing   5.7,  -1l)

2025-06-05T18:46:09.133Z,1749149169.133 [DAT](INFO): unknown deviceResponse_: Bearing   5.7,  -1l)

2025-06-05T18:46:09.135Z,1749149169.135 [DAT](INFO): DAT read: Range 10 to 50 : 23.9 m  (Round-trip  31.9 ms) speed  0.5 m/s

2025-06-05T18:46:09.136Z,1749149169.136 [DAT](INFO): DAT read: user:2825>

2025-06-05T18:46:09.136Z,1749149169.136 [DAT](INFO): DAT read: Tx time:18:46:08.1805

2025-06-05T18:46:09.137Z,1749149169.137 [DAT](INFO): Ping request sent.
2025-06-05T18:46:09.137Z,1749149169.137 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:09.137Z,1749149169.137 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T18:46:09.138Z,1749149169.138 [DAT](INFO): direction in FSK: [0.994509,0.099265,0.033155]
2025-06-05T18:46:09.138Z,1749149169.138 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:09.139Z,1749149169.139 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:09.144Z,1749149169.144 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:09.144Z,1749149169.144 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:09.147Z,1749149169.147 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.010075
2025-06-05T18:46:09.308Z,1749149169.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 3.539944 s,
      deltaX: -2.200001 m,
      approachRate: -0.621479 m/s,
      rangeRepo size: 4

2025-06-05T18:46:09.310Z,1749149169.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.710979 m,
      bearing: 312.274228 deg,
      lat: 36.906202 deg,
      lon: -122.116131 deg,
      deltaT: 3.539944 s,
      deltaX: -2.182697 m,
      approachRate: -0.616591 m/s,
      posRepo size: 4

2025-06-05T18:46:09.311Z,1749149169.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:09.318Z,1749149169.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 23.557283 m,
      bearing: 311.101180 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084397 deg/s,
      cmd heading: 303.904650 deg,
      new cmd heading: 304.005912 deg.

2025-06-05T18:46:09.319Z,1749149169.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305904 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:09.378Z,1749149169.378 [DAT](INFO): DAT read: TxSync time:18:46:08.1797

2025-06-05T18:46:09.379Z,1749149169.379 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.241911
2025-06-05T18:46:09.629Z,1749149169.629 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.491938
2025-06-05T18:46:09.643Z,1749149169.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:09.650Z,1749149169.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 23.336987 m,
      bearing: 311.196701 deg,
      approach rate: -0.622886 m/s,
      LOS rate: 0.272633 deg/s,
      cmd heading: 304.005901 deg,
      new cmd heading: 304.295166 deg.

2025-06-05T18:46:09.651Z,1749149169.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310953 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:09.881Z,1749149169.881 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.743848
2025-06-05T18:46:10.065Z,1749149170.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:10.076Z,1749149170.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 23.085501 m,
      bearing: 311.325202 deg,
      approach rate: -0.596072 m/s,
      LOS rate: 0.307890 deg/s,
      cmd heading: 304.295173 deg,
      new cmd heading: 304.684868 deg.

2025-06-05T18:46:10.077Z,1749149170.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317754 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:10.133Z,1749149170.133 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996591
2025-06-05T18:46:10.385Z,1749149170.385 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248092
2025-06-05T18:46:10.426Z,1749149170.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:10.428Z,1749149170.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:10.431Z,1749149170.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 22.871302 m,
      bearing: 311.437491 deg,
      approach rate: -0.590368 m/s,
      LOS rate: 0.312387 deg/s,
      cmd heading: 304.684876 deg,
      new cmd heading: 305.024895 deg.

2025-06-05T18:46:10.432Z,1749149170.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323689 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:10.637Z,1749149170.637 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.499835
2025-06-05T18:46:10.890Z,1749149170.890 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752081
2025-06-05T18:46:10.905Z,1749149170.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:10.911Z,1749149170.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 22.589901 m,
      bearing: 311.611350 deg,
      approach rate: -0.592727 m/s,
      LOS rate: 0.370767 deg/s,
      cmd heading: 305.024883 deg,
      new cmd heading: 305.552939 deg.

2025-06-05T18:46:10.912Z,1749149170.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332905 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:11.141Z,1749149171.141 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004305
2025-06-05T18:46:11.231Z,1749149171.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:11.234Z,1749149171.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 22.396254 m,
      bearing: 311.733027 deg,
      approach rate: -0.588918 m/s,
      LOS rate: 0.373244 deg/s,
      cmd heading: 305.552938 deg,
      new cmd heading: 305.921122 deg.

2025-06-05T18:46:11.235Z,1749149171.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339331 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:11.395Z,1749149171.395 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.258028
2025-06-05T18:46:11.628Z,1749149171.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:11.631Z,1749149171.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 22.161259 m,
      bearing: 311.883394 deg,
      approach rate: -0.592823 m/s,
      LOS rate: 0.383353 deg/s,
      cmd heading: 305.921113 deg,
      new cmd heading: 306.376987 deg.

2025-06-05T18:46:11.632Z,1749149171.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347287 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:11.649Z,1749149171.649 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.511658
2025-06-05T18:46:11.901Z,1749149171.901 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.763841
2025-06-05T18:46:12.097Z,1749149172.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:12.103Z,1749149172.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 21.905811 m,
      bearing: 312.040528 deg,
      approach rate: -0.545054 m/s,
      LOS rate: 0.339190 deg/s,
      cmd heading: 306.376987 deg,
      new cmd heading: 306.853875 deg.

2025-06-05T18:46:12.125Z,1749149172.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355610 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:12.153Z,1749149172.153 [DAT](INFO): DAT read: Rx Time:18:46:10.6136

2025-06-05T18:46:12.153Z,1749149172.153 [DAT](INFO): Rx dataTimestamp_ set to:1749149172.153135
2025-06-05T18:46:12.154Z,1749149172.154 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.017143
2025-06-05T18:46:12.405Z,1749149172.405 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.267814
2025-06-05T18:46:12.447Z,1749149172.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:12.450Z,1749149172.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.71 m.
2025-06-05T18:46:12.453Z,1749149172.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.710979 m,
      nav range: 21.675388 m,
      bearing: 312.185538 deg,
      approach rate: -0.652444 m/s,
      LOS rate: 0.414959 deg/s,
      cmd heading: 306.853871 deg,
      new cmd heading: 307.293514 deg.

2025-06-05T18:46:12.453Z,1749149172.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363284 target range: 23.710979 and range: 23.90 m.
2025-06-05T18:46:12.668Z,1749149172.668 [DAT](INFO): DAT read: 18:46:10.6136 LVL= 28208, 32753, 24226, 32755, AGC= 64, IDX= 405, 0.48,-0.833,-2.353,-1.098,-1.170, PHS= 0.425,-1.136, 0.069, RAW= 137.4,   9.1, CAL= 141.5,   2.4, ROT=   8.5,  -2.4

2025-06-05T18:46:12.670Z,1749149172.670 [DAT](INFO): got valid direction response:
 18:46:10.6136 LVL= 28208, 32753, 24226, 32755, AGC= 64, IDX= 405, 0.48,-0.833,-2.353,-1.098,-1.170, PHS= 0.425,-1.136, 0.069, RAW= 137.4,   9.1, CAL= 141.5,   2.4, ROT=   8.5,  -2.4

2025-06-05T18:46:12.671Z,1749149172.671 [DAT](INFO): DAT read: Bearing   8.5,  -2.4 (Local)

2025-06-05T18:46:12.671Z,1749149172.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,  -2.4 (Local)

2025-06-05T18:46:12.677Z,1749149172.677 [DAT](INFO): DAT read: Range 10 to 50 : 21.7 m  (Round-trip  29.0 ms) speed  0.5 m/s

2025-06-05T18:46:12.678Z,1749149172.678 [DAT](INFO): DAT read: user:2826>

2025-06-05T18:46:12.679Z,1749149172.679 [DAT](INFO): DAT read: Tx time:18:46:11.7290

2025-06-05T18:46:12.684Z,1749149172.684 [DAT](INFO): Ping request sent.
2025-06-05T18:46:12.684Z,1749149172.684 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:12.685Z,1749149172.685 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T18:46:12.687Z,1749149172.687 [DAT](INFO): direction in FSK: [0.988148,0.147680,0.041876]
2025-06-05T18:46:12.687Z,1749149172.687 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:12.700Z,1749149172.700 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:12.714Z,1749149172.714 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:12.714Z,1749149172.714 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:12.726Z,1749149172.726 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.042136
2025-06-05T18:46:12.909Z,1749149172.909 [DAT](INFO): DAT read: TxSync time:18:46:11.7282

2025-06-05T18:46:12.910Z,1749149172.910 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.225602
2025-06-05T18:46:13.028Z,1749149173.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.700001 m,
      deltaT: 3.532866 s,
      deltaX: -2.199999 m,
      approachRate: -0.622724 m/s,
      rangeRepo size: 4

2025-06-05T18:46:13.030Z,1749149173.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.529095 m,
      bearing: 314.802924 deg,
      lat: 36.906206 deg,
      lon: -122.116128 deg,
      deltaT: 3.532866 s,
      deltaX: -2.181885 m,
      approachRate: -0.617596 m/s,
      posRepo size: 4

2025-06-05T18:46:13.031Z,1749149173.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.53 m.
2025-06-05T18:46:13.038Z,1749149173.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.529095 m,
      nav range: 21.501131 m,
      bearing: 313.646287 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.414959 deg/s,
      cmd heading: 307.293517 deg,
      new cmd heading: 308.005675 deg.

2025-06-05T18:46:13.044Z,1749149173.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.375713 target range: 21.529095 and range: 21.70 m.
2025-06-05T18:46:13.161Z,1749149173.161 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.476790
2025-06-05T18:46:13.360Z,1749149173.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.53 m.
2025-06-05T18:46:13.363Z,1749149173.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.529095 m,
      nav range: 21.294357 m,
      bearing: 313.771988 deg,
      approach rate: -0.611283 m/s,
      LOS rate: 0.375214 deg/s,
      cmd heading: 308.005687 deg,
      new cmd heading: 308.386443 deg.

2025-06-05T18:46:13.364Z,1749149173.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382359 target range: 21.529095 and range: 21.70 m.
2025-06-05T18:46:13.413Z,1749149173.413 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.728870
2025-06-05T18:46:13.665Z,1749149173.665 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.980874
2025-06-05T18:46:13.842Z,1749149173.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.53 m.
2025-06-05T18:46:13.845Z,1749149173.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.529095 m,
      nav range: 21.004532 m,
      bearing: 313.948958 deg,
      approach rate: -0.601578 m/s,
      LOS rate: 0.372397 deg/s,
      cmd heading: 308.386456 deg,
      new cmd heading: 308.924675 deg.

2025-06-05T18:46:13.846Z,1749149173.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391753 target range: 21.529095 and range: 21.70 m.
2025-06-05T18:46:13.918Z,1749149173.918 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.234195
2025-06-05T18:46:14.169Z,1749149174.169 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.484524
2025-06-05T18:46:14.229Z,1749149174.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.53 m.
2025-06-05T18:46:14.231Z,1749149174.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.529095 m,
      nav range: 20.771200 m,
      bearing: 314.075627 deg,
      approach rate: -0.603230 m/s,
      LOS rate: 0.331155 deg/s,
      cmd heading: 308.924675 deg,
      new cmd heading: 309.308946 deg.

2025-06-05T18:46:14.233Z,1749149174.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398459 target range: 21.529095 and range: 21.70 m.
2025-06-05T18:46:14.424Z,1749149174.424 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.739844
2025-06-05T18:46:14.608Z,1749149174.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:14.610Z,1749149174.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.53 m.
2025-06-05T18:46:14.624Z,1749149174.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.529095 m,
      nav range: 20.558210 m,
      bearing: 314.189160 deg,
      approach rate: -0.557648 m/s,
      LOS rate: 0.300330 deg/s,
      cmd heading: 309.308941 deg,
      new cmd heading: 309.653064 deg.

2025-06-05T18:46:14.627Z,1749149174.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404466 target range: 21.529095 and range: 21.70 m.
2025-06-05T18:46:14.674Z,1749149174.674 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.989851
2025-06-05T18:46:14.925Z,1749149174.925 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.241020
2025-06-05T18:46:15.045Z,1749149175.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.53 m.
2025-06-05T18:46:15.053Z,1749149175.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.529095 m,
      nav range: 20.299196 m,
      bearing: 314.295186 deg,
      approach rate: -0.595364 m/s,
      LOS rate: 0.246820 deg/s,
      cmd heading: 309.653074 deg,
      new cmd heading: 309.975208 deg.

2025-06-05T18:46:15.054Z,1749149175.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410088 target range: 21.529095 and range: 21.70 m.
2025-06-05T18:46:15.177Z,1749149175.177 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.492946
2025-06-05T18:46:15.379Z,1749149175.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.53 m.
2025-06-05T18:46:15.382Z,1749149175.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.529095 m,
      nav range: 20.090887 m,
      bearing: 314.373618 deg,
      approach rate: -0.624235 m/s,
      LOS rate: 0.237471 deg/s,
      cmd heading: 309.975213 deg,
      new cmd heading: 310.212946 deg.

2025-06-05T18:46:15.383Z,1749149175.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414237 target range: 21.529095 and range: 21.70 m.
2025-06-05T18:46:15.429Z,1749149175.429 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.744758
2025-06-05T18:46:15.681Z,1749149175.681 [DAT](INFO): DAT read: Rx Time:18:46:14.1593

2025-06-05T18:46:15.681Z,1749149175.681 [DAT](INFO): Rx dataTimestamp_ set to:1749149175.680834
2025-06-05T18:46:15.682Z,1749149175.682 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.997834
2025-06-05T18:46:15.785Z,1749149175.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.53 m.
2025-06-05T18:46:15.788Z,1749149175.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.529095 m,
      nav range: 19.848993 m,
      bearing: 314.461919 deg,
      approach rate: -0.596192 m/s,
      LOS rate: 0.220286 deg/s,
      cmd heading: 310.212958 deg,
      new cmd heading: 310.481086 deg.

2025-06-05T18:46:15.790Z,1749149175.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418917 target range: 21.529095 and range: 21.70 m.
2025-06-05T18:46:15.937Z,1749149175.937 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.251478
2025-06-05T18:46:16.195Z,1749149176.195 [DAT](INFO): DAT read: 18:46:14.1593 LVL= 32464, 32753, 24706, 32755, AGC= 61, IDX= 408, 0.34, 0.342,-1.152, 0.153, 0.040, PHS= 0.389,-1.145, 0.110, RAW= 140.1,   9.2, CAL= 143.5,   2.0, ROT=   6.5,  -2.0

2025-06-05T18:46:16.196Z,1749149176.196 [DAT](INFO): got valid direction response:
 18:46:14.1593 LVL= 32464, 32753, 24706, 32755, AGC= 61, IDX= 408, 0.34, 0.342,-1.152, 0.153, 0.040, PHS= 0.389,-1.145, 0.110, RAW= 140.1,   9.2, CAL= 143.5,   2.0, ROT=   6.5,  -2.0

2025-06-05T18:46:16.197Z,1749149176.197 [DAT](INFO): DAT read: Bearing   6.5,  -2.0 (Local)

2025-06-05T18:46:16.197Z,1749149176.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  -2.0 (Local)

2025-06-05T18:46:16.198Z,1749149176.198 [DAT](INFO): DAT read: Range 10 to 50 : 19.5 m  (Round-trip  26.1 ms) speed  0.4 m/s

2025-06-05T18:46:16.199Z,1749149176.199 [DAT](INFO): DAT read: user:2827>

2025-06-05T18:46:16.212Z,1749149176.212 [DAT](INFO): DAT read: Tx time:18:46:15.2791

2025-06-05T18:46:16.212Z,1749149176.212 [DAT](INFO): Ping request sent.
2025-06-05T18:46:16.212Z,1749149176.212 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:16.213Z,1749149176.213 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T18:46:16.214Z,1749149176.214 [DAT](INFO): direction in FSK: [0.992967,0.113134,0.034899]
2025-06-05T18:46:16.214Z,1749149176.214 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:16.214Z,1749149176.214 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:16.230Z,1749149176.230 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:16.230Z,1749149176.230 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:16.243Z,1749149176.243 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.030050
2025-06-05T18:46:16.322Z,1749149176.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 3.526567 s,
      deltaX: -2.200001 m,
      approachRate: -0.623836 m/s,
      rangeRepo size: 4

2025-06-05T18:46:16.329Z,1749149176.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.346655 m,
      bearing: 315.379073 deg,
      lat: 36.906206 deg,
      lon: -122.116127 deg,
      deltaT: 3.526567 s,
      deltaX: -2.182440 m,
      approachRate: -0.618857 m/s,
      posRepo size: 4

2025-06-05T18:46:16.330Z,1749149176.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:16.337Z,1749149176.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 19.490366 m,
      bearing: 314.943610 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.220286 deg/s,
      cmd heading: 310.481084 deg,
      new cmd heading: 310.835325 deg.

2025-06-05T18:46:16.338Z,1749149176.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425100 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:16.437Z,1749149176.437 [DAT](INFO): DAT read: TxSync time:18:46:15.2783

2025-06-05T18:46:16.438Z,1749149176.438 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.225009
2025-06-05T18:46:16.691Z,1749149176.691 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.477843
2025-06-05T18:46:16.711Z,1749149176.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:16.719Z,1749149176.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:16.727Z,1749149176.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 19.244724 m,
      bearing: 315.016155 deg,
      approach rate: -0.617791 m/s,
      LOS rate: 0.184779 deg/s,
      cmd heading: 310.835325 deg,
      new cmd heading: 311.055736 deg.

2025-06-05T18:46:16.732Z,1749149176.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428947 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:16.948Z,1749149176.948 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.730770
2025-06-05T18:46:17.088Z,1749149177.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:46:17.118Z,1749149177.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:17.121Z,1749149177.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 18.993420 m,
      bearing: 315.075195 deg,
      approach rate: -0.629037 m/s,
      LOS rate: 0.149738 deg/s,
      cmd heading: 311.055749 deg,
      new cmd heading: 311.235212 deg.

2025-06-05T18:46:17.123Z,1749149177.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432079 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:17.194Z,1749149177.194 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.980766
2025-06-05T18:46:17.445Z,1749149177.445 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.232280
2025-06-05T18:46:17.474Z,1749149177.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:17.482Z,1749149177.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 18.798347 m,
      bearing: 315.115270 deg,
      approach rate: -0.550484 m/s,
      LOS rate: 0.114264 deg/s,
      cmd heading: 311.235219 deg,
      new cmd heading: 311.356692 deg.

2025-06-05T18:46:17.483Z,1749149177.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434199 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:17.698Z,1749149177.698 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.485026
2025-06-05T18:46:17.851Z,1749149177.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:17.854Z,1749149177.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 18.557592 m,
      bearing: 315.161642 deg,
      approach rate: -0.635978 m/s,
      LOS rate: 0.124086 deg/s,
      cmd heading: 311.356687 deg,
      new cmd heading: 311.497609 deg.

2025-06-05T18:46:17.855Z,1749149177.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436659 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:17.953Z,1749149177.953 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.740189
2025-06-05T18:46:18.092Z,1749149178.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:46:18.201Z,1749149178.201 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.988527
2025-06-05T18:46:18.308Z,1749149178.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:18.311Z,1749149178.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 18.295177 m,
      bearing: 315.197605 deg,
      approach rate: -0.595304 m/s,
      LOS rate: 0.082754 deg/s,
      cmd heading: 311.497607 deg,
      new cmd heading: 311.607043 deg.

2025-06-05T18:46:18.312Z,1749149178.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438569 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:18.453Z,1749149178.453 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.240615
2025-06-05T18:46:18.670Z,1749149178.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:18.673Z,1749149178.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 18.068035 m,
      bearing: 315.224978 deg,
      approach rate: -0.601096 m/s,
      LOS rate: 0.073350 deg/s,
      cmd heading: 311.607054 deg,
      new cmd heading: 311.690206 deg.

2025-06-05T18:46:18.674Z,1749149178.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440021 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:18.706Z,1749149178.706 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.492642
2025-06-05T18:46:18.960Z,1749149178.960 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.747148
2025-06-05T18:46:19.137Z,1749149179.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:19.142Z,1749149179.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:19.145Z,1749149179.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 17.780010 m,
      bearing: 315.294125 deg,
      approach rate: -0.613507 m/s,
      LOS rate: 0.149672 deg/s,
      cmd heading: 311.690219 deg,
      new cmd heading: 311.901019 deg.

2025-06-05T18:46:19.146Z,1749149179.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443700 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:19.210Z,1749149179.210 [DAT](INFO): DAT read: Rx Time:18:46:17.7066

2025-06-05T18:46:19.211Z,1749149179.211 [DAT](INFO): Rx dataTimestamp_ set to:1749149179.209859
2025-06-05T18:46:19.212Z,1749149179.212 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.998594
2025-06-05T18:46:19.461Z,1749149179.461 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.248196
2025-06-05T18:46:19.497Z,1749149179.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.35 m.
2025-06-05T18:46:19.504Z,1749149179.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.346655 m,
      nav range: 17.573273 m,
      bearing: 315.342055 deg,
      approach rate: -0.577079 m/s,
      LOS rate: 0.135364 deg/s,
      cmd heading: 311.901026 deg,
      new cmd heading: 312.046507 deg.

2025-06-05T18:46:19.506Z,1749149179.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446239 target range: 19.346655 and range: 19.50 m.
2025-06-05T18:46:19.731Z,1749149179.731 [DAT](INFO): DAT read: 18:46:17.7066 LVL= 26656, 32625, 25058, 32755, AGC= 61, IDX= 412,-0.23, 1.854, 0.500, 2.000, 1.696, PHS= 0.246,-1.149, 0.301, RAW= 151.9,   8.5, CAL= 152.3,  -0.6, ROT= 357.7,   0.6

2025-06-05T18:46:19.732Z,1749149179.732 [DAT](INFO): got valid direction response:
 18:46:17.7066 LVL= 26656, 32625, 25058, 32755, AGC= 61, IDX= 412,-0.23, 1.854, 0.500, 2.000, 1.696, PHS= 0.246,-1.149, 0.301, RAW= 151.9,   8.5, CAL= 152.3,  -0.6, ROT= 357.7,   0.6

2025-06-05T18:46:19.733Z,1749149179.733 [DAT](INFO): DAT read: Bearing 357.7,   0.6 (Local)

2025-06-05T18:46:19.733Z,1749149179.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,   0.6 (Local)

2025-06-05T18:46:19.735Z,1749149179.735 [DAT](INFO): DAT read: Range 10 to 50 : 17.5 m  (Round-trip  23.4 ms) speed  0.4 m/s

2025-06-05T18:46:19.736Z,1749149179.736 [DAT](INFO): DAT read: user:2828>

2025-06-05T18:46:19.737Z,1749149179.737 [DAT](INFO): DAT read: Tx time:18:46:18.8291

2025-06-05T18:46:19.737Z,1749149179.737 [DAT](INFO): Ping request sent.
2025-06-05T18:46:19.737Z,1749149179.737 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:19.737Z,1749149179.737 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T18:46:19.738Z,1749149179.738 [DAT](INFO): direction in FSK: [0.999140,-0.040129,-0.010472]
2025-06-05T18:46:19.738Z,1749149179.738 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:19.739Z,1749149179.739 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:19.748Z,1749149179.748 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:19.749Z,1749149179.749 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:19.752Z,1749149179.752 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.015365
2025-06-05T18:46:19.927Z,1749149179.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.500000 m,
      deltaT: 3.533535 s,
      deltaX: -2.000000 m,
      approachRate: -0.566005 m/s,
      rangeRepo size: 4

2025-06-05T18:46:19.933Z,1749149179.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.362366 m,
      bearing: 309.958691 deg,
      lat: 36.906206 deg,
      lon: -122.116127 deg,
      deltaT: 3.533535 s,
      deltaX: -1.984289 m,
      approachRate: -0.561559 m/s,
      posRepo size: 4

2025-06-05T18:46:19.934Z,1749149179.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.36 m.
2025-06-05T18:46:19.965Z,1749149179.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.362366 m,
      nav range: 17.318909 m,
      bearing: 315.398880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.135364 deg/s,
      cmd heading: 312.046509 deg,
      new cmd heading: 312.220798 deg.

2025-06-05T18:46:19.973Z,1749149179.973 [DAT](INFO): DAT read: TxSync time:18:46:18.8283

2025-06-05T18:46:19.978Z,1749149179.978 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.240356
2025-06-05T18:46:19.985Z,1749149179.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449281 target range: 17.362366 and range: 17.50 m.
2025-06-05T18:46:20.221Z,1749149180.221 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.483828
2025-06-05T18:46:20.369Z,1749149180.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.36 m.
2025-06-05T18:46:20.374Z,1749149180.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.362366 m,
      nav range: 17.022675 m,
      bearing: 315.494189 deg,
      approach rate: -0.668957 m/s,
      LOS rate: 0.218971 deg/s,
      cmd heading: 312.220788 deg,
      new cmd heading: 312.511686 deg.

2025-06-05T18:46:20.375Z,1749149180.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454358 target range: 17.362366 and range: 17.50 m.
2025-06-05T18:46:20.474Z,1749149180.474 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.737176
2025-06-05T18:46:20.727Z,1749149180.727 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.989576
2025-06-05T18:46:20.762Z,1749149180.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.36 m.
2025-06-05T18:46:20.765Z,1749149180.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.362366 m,
      nav range: 16.780319 m,
      bearing: 315.571365 deg,
      approach rate: -0.617428 m/s,
      LOS rate: 0.199457 deg/s,
      cmd heading: 312.511699 deg,
      new cmd heading: 312.746572 deg.

2025-06-05T18:46:20.766Z,1749149180.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458457 target range: 17.362366 and range: 17.50 m.
2025-06-05T18:46:20.980Z,1749149180.980 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.242117
2025-06-05T18:46:21.209Z,1749149181.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:21.211Z,1749149181.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.36 m.
2025-06-05T18:46:21.225Z,1749149181.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.362366 m,
      nav range: 16.505316 m,
      bearing: 315.700801 deg,
      approach rate: -0.612951 m/s,
      LOS rate: 0.293303 deg/s,
      cmd heading: 312.746576 deg,
      new cmd heading: 313.141345 deg.

2025-06-05T18:46:21.226Z,1749149181.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465347 target range: 17.362366 and range: 17.50 m.
2025-06-05T18:46:21.229Z,1749149181.229 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.492111
2025-06-05T18:46:21.481Z,1749149181.481 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.743599
2025-06-05T18:46:21.550Z,1749149181.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.36 m.
2025-06-05T18:46:21.553Z,1749149181.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.362366 m,
      nav range: 16.289721 m,
      bearing: 315.804316 deg,
      approach rate: -0.636136 m/s,
      LOS rate: 0.309475 deg/s,
      cmd heading: 313.141333 deg,
      new cmd heading: 313.455987 deg.

2025-06-05T18:46:21.554Z,1749149181.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470839 target range: 17.362366 and range: 17.50 m.
2025-06-05T18:46:21.735Z,1749149181.735 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.997272
2025-06-05T18:46:21.948Z,1749149181.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.36 m.
2025-06-05T18:46:21.955Z,1749149181.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.362366 m,
      nav range: 16.041569 m,
      bearing: 315.923352 deg,
      approach rate: -0.623699 m/s,
      LOS rate: 0.303809 deg/s,
      cmd heading: 313.455986 deg,
      new cmd heading: 313.818612 deg.

2025-06-05T18:46:21.988Z,1749149181.988 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.250347
2025-06-05T18:46:21.996Z,1749149181.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477168 target range: 17.362366 and range: 17.50 m.
2025-06-05T18:46:22.241Z,1749149182.241 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.504067
2025-06-05T18:46:22.452Z,1749149182.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.36 m.
2025-06-05T18:46:22.455Z,1749149182.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.362366 m,
      nav range: 15.748854 m,
      bearing: 316.096841 deg,
      approach rate: -0.604142 m/s,
      LOS rate: 0.364722 deg/s,
      cmd heading: 313.818615 deg,
      new cmd heading: 314.348738 deg.

2025-06-05T18:46:22.472Z,1749149182.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486421 target range: 17.362366 and range: 17.50 m.
2025-06-05T18:46:22.490Z,1749149182.490 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.752759
2025-06-05T18:46:22.742Z,1749149182.742 [DAT](INFO): DAT read: Rx Time:18:46:21.2538

2025-06-05T18:46:22.743Z,1749149182.743 [DAT](INFO): Rx dataTimestamp_ set to:1749149182.742207
2025-06-05T18:46:22.744Z,1749149182.744 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.006496
2025-06-05T18:46:22.835Z,1749149182.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.36 m.
2025-06-05T18:46:22.838Z,1749149182.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.362366 m,
      nav range: 15.503856 m,
      bearing: 316.244397 deg,
      approach rate: -0.607324 m/s,
      LOS rate: 0.371557 deg/s,
      cmd heading: 314.348747 deg,
      new cmd heading: 314.798402 deg.

2025-06-05T18:46:22.841Z,1749149182.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494268 target range: 17.362366 and range: 17.50 m.
2025-06-05T18:46:22.995Z,1749149182.995 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.257198
2025-06-05T18:46:23.250Z,1749149183.250 [DAT](INFO): DAT read: 18:46:21.2538 LVL= 23280, 26993, 19794, 28723, AGC= 63, IDX= 414, 0.12,-1.676,-2.962,-1.253,-1.750, PHS= 0.162,-1.165, 0.494, RAW= 160.9,   6.7, CAL= 160.8,  -2.8, ROT= 349.2,   2.8

2025-06-05T18:46:23.251Z,1749149183.251 [DAT](INFO): got valid direction response:
 18:46:21.2538 LVL= 23280, 26993, 19794, 28723, AGC= 63, IDX= 414, 0.12,-1.676,-2.962,-1.253,-1.750, PHS= 0.162,-1.165, 0.494, RAW= 160.9,   6.7, CAL= 160.8,  -2.8, ROT= 349.2,   2.8

2025-06-05T18:46:23.253Z,1749149183.253 [DAT](INFO): DAT read: Bearing 349.2,   2.8 (Local)

2025-06-05T18:46:23.254Z,1749149183.254 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,   2.8 (Local)

2025-06-05T18:46:23.258Z,1749149183.258 [DAT](INFO): DAT read: Range 10 to 50 : 15.4 m  (Round-trip  20.6 ms) speed  0.5 m/s

2025-06-05T18:46:23.258Z,1749149183.258 [DAT](INFO): DAT read: user:2829>

2025-06-05T18:46:23.259Z,1749149183.259 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-05T18:46:23.268Z,1749149183.268 [DAT](INFO): direction in FSK: [0.981115,-0.187158,-0.048850]
2025-06-05T18:46:23.269Z,1749149183.269 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:23.280Z,1749149183.280 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.543133
2025-06-05T18:46:23.354Z,1749149183.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.400000 m,
      deltaT: 3.526523 s,
      deltaX: -2.100000 m,
      approachRate: -0.595487 m/s,
      rangeRepo size: 4

2025-06-05T18:46:23.363Z,1749149183.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.278859 m,
      bearing: 303.079754 deg,
      lat: 36.906206 deg,
      lon: -122.116128 deg,
      deltaT: 3.526523 s,
      deltaX: -2.083507 m,
      approachRate: -0.590810 m/s,
      posRepo size: 4

2025-06-05T18:46:23.369Z,1749149183.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.28 m.
2025-06-05T18:46:23.378Z,1749149183.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.278859 m,
      nav range: 15.279036 m,
      bearing: 315.921119 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.371557 deg/s,
      cmd heading: 314.798392 deg,
      new cmd heading: 315.368880 deg.

2025-06-05T18:46:23.385Z,1749149183.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504225 target range: 15.278859 and range: 15.40 m.
2025-06-05T18:46:23.498Z,1749149183.498 [DAT](INFO): DAT read: Tx time:18:46:22.3791

2025-06-05T18:46:23.498Z,1749149183.498 [DAT](INFO): Ping request sent.
2025-06-05T18:46:23.498Z,1749149183.498 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:23.499Z,1749149183.499 [DAT](INFO): DAT read: TxSync time:18:46:22.3783

2025-06-05T18:46:23.500Z,1749149183.500 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:23.500Z,1749149183.500 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.001679
2025-06-05T18:46:23.749Z,1749149183.749 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.250171
2025-06-05T18:46:23.796Z,1749149183.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:23.798Z,1749149183.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.28 m.
2025-06-05T18:46:23.805Z,1749149183.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.278859 m,
      nav range: 14.995376 m,
      bearing: 316.103249 deg,
      approach rate: -0.628789 m/s,
      LOS rate: 0.411365 deg/s,
      cmd heading: 315.368877 deg,
      new cmd heading: 315.925585 deg.

2025-06-05T18:46:23.807Z,1749149183.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513942 target range: 15.278859 and range: 15.40 m.
2025-06-05T18:46:24.005Z,1749149184.005 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.505585
2025-06-05T18:46:24.185Z,1749149184.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.28 m.
2025-06-05T18:46:24.187Z,1749149184.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.278859 m,
      nav range: 14.765031 m,
      bearing: 316.245190 deg,
      approach rate: -0.596312 m/s,
      LOS rate: 0.373185 deg/s,
      cmd heading: 315.925592 deg,
      new cmd heading: 316.358047 deg.

2025-06-05T18:46:24.193Z,1749149184.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521490 target range: 15.278859 and range: 15.40 m.
2025-06-05T18:46:24.253Z,1749149184.253 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.754361
2025-06-05T18:46:24.505Z,1749149184.505 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.006892
2025-06-05T18:46:24.659Z,1749149184.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.28 m.
2025-06-05T18:46:24.669Z,1749149184.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.278859 m,
      nav range: 14.485082 m,
      bearing: 316.423854 deg,
      approach rate: -0.590361 m/s,
      LOS rate: 0.384052 deg/s,
      cmd heading: 316.358052 deg,
      new cmd heading: 316.904387 deg.

2025-06-05T18:46:24.670Z,1749149184.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531025 target range: 15.278859 and range: 15.40 m.
2025-06-05T18:46:24.758Z,1749149184.758 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.259233
2025-06-05T18:46:25.012Z,1749149185.012 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.512635
2025-06-05T18:46:25.162Z,1749149185.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.28 m.
2025-06-05T18:46:25.165Z,1749149185.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.278859 m,
      nav range: 14.172914 m,
      bearing: 316.566965 deg,
      approach rate: -0.620504 m/s,
      LOS rate: 0.290729 deg/s,
      cmd heading: 316.904385 deg,
      new cmd heading: 317.343163 deg.

2025-06-05T18:46:25.166Z,1749149185.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538683 target range: 15.278859 and range: 15.40 m.
2025-06-05T18:46:25.261Z,1749149185.261 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.762465
2025-06-05T18:46:25.514Z,1749149185.514 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.015742
2025-06-05T18:46:25.617Z,1749149185.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.28 m.
2025-06-05T18:46:25.640Z,1749149185.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.278859 m,
      nav range: 13.913894 m,
      bearing: 316.677305 deg,
      approach rate: -0.570706 m/s,
      LOS rate: 0.247641 deg/s,
      cmd heading: 317.343156 deg,
      new cmd heading: 317.680335 deg.

2025-06-05T18:46:25.641Z,1749149185.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544568 target range: 15.278859 and range: 15.40 m.
2025-06-05T18:46:25.765Z,1749149185.765 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.266353
2025-06-05T18:46:25.994Z,1749149185.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:26.012Z,1749149186.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.28 m.
2025-06-05T18:46:26.017Z,1749149186.017 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.518297
2025-06-05T18:46:26.021Z,1749149186.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.278859 m,
      nav range: 13.676649 m,
      bearing: 316.775670 deg,
      approach rate: -0.624502 m/s,
      LOS rate: 0.263420 deg/s,
      cmd heading: 317.680322 deg,
      new cmd heading: 317.980534 deg.

2025-06-05T18:46:26.022Z,1749149186.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.549807 target range: 15.278859 and range: 15.40 m.
2025-06-05T18:46:26.269Z,1749149186.269 [DAT](INFO): DAT read: Rx Time:18:46:24.8009

2025-06-05T18:46:26.270Z,1749149186.270 [DAT](INFO): Rx dataTimestamp_ set to:1749149186.269348
2025-06-05T18:46:26.270Z,1749149186.270 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.771724
2025-06-05T18:46:26.444Z,1749149186.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.28 m.
2025-06-05T18:46:26.446Z,1749149186.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.278859 m,
      nav range: 13.410401 m,
      bearing: 316.870378 deg,
      approach rate: -0.594570 m/s,
      LOS rate: 0.215696 deg/s,
      cmd heading: 317.980522 deg,
      new cmd heading: 318.270286 deg.

2025-06-05T18:46:26.448Z,1749149186.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554864 target range: 15.278859 and range: 15.40 m.
2025-06-05T18:46:26.521Z,1749149186.521 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.022338
2025-06-05T18:46:26.796Z,1749149186.796 [DAT](INFO): DAT read: 18:46:24.8009 LVL= 23872, 28529, 16002, 32227, AGC= 57, IDX= 416, 0.30,-2.251, 2.774,-1.704,-2.248, PHS= 0.085,-1.214, 0.541, RAW= 164.5,   7.5, CAL= 164.1,  -2.2, ROT= 345.9,   2.2

2025-06-05T18:46:26.797Z,1749149186.797 [DAT](INFO): got valid direction response:
 18:46:24.8009 LVL= 23872, 28529, 16002, 32227, AGC= 57, IDX= 416, 0.30,-2.251, 2.774,-1.704,-2.248, PHS= 0.085,-1.214, 0.541, RAW= 164.5,   7.5, CAL= 164.1,  -2.2, ROT= 345.9,   2.2

2025-06-05T18:46:26.798Z,1749149186.798 [DAT](INFO): DAT read: Bearing 345.9,   2.2 (Local)

2025-06-05T18:46:26.798Z,1749149186.798 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.9,   2.2 (Local)

2025-06-05T18:46:26.812Z,1749149186.812 [DAT](INFO): DAT read: Range 10 to 50 : 13.2 m  (Round-trip  17.6 ms) speed  0.4 m/s

2025-06-05T18:46:26.813Z,1749149186.813 [DAT](INFO): DAT read: user:2830>

2025-06-05T18:46:26.813Z,1749149186.813 [DAT](INFO): DAT read: Tx time:18:46:25.8791

2025-06-05T18:46:26.814Z,1749149186.814 [DAT](INFO): Ping request sent.
2025-06-05T18:46:26.814Z,1749149186.814 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:26.814Z,1749149186.814 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-05T18:46:26.815Z,1749149186.815 [DAT](INFO): direction in FSK: [0.969157,-0.243436,-0.038388]
2025-06-05T18:46:26.816Z,1749149186.816 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:26.817Z,1749149186.817 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:26.846Z,1749149186.846 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:26.846Z,1749149186.846 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:26.858Z,1749149186.858 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.044697
2025-06-05T18:46:26.929Z,1749149186.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 3.529017 s,
      deltaX: -2.200000 m,
      approachRate: -0.623403 m/s,
      rangeRepo size: 4

2025-06-05T18:46:26.931Z,1749149186.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.096354 m,
      bearing: 302.417661 deg,
      lat: 36.906195 deg,
      lon: -122.116139 deg,
      deltaT: 3.529017 s,
      deltaX: -2.182505 m,
      approachRate: -0.618446 m/s,
      posRepo size: 4

2025-06-05T18:46:26.936Z,1749149186.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:26.938Z,1749149186.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 13.047285 m,
      bearing: 310.345771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.215696 deg/s,
      cmd heading: 318.270286 deg,
      new cmd heading: 318.578623 deg.

2025-06-05T18:46:26.944Z,1749149186.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560246 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:27.025Z,1749149187.025 [DAT](INFO): DAT read: TxSync time:18:46:25.8784

2025-06-05T18:46:27.026Z,1749149187.026 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.212278
2025-06-05T18:46:27.277Z,1749149187.277 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.463252
2025-06-05T18:46:27.431Z,1749149187.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:27.438Z,1749149187.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 12.739057 m,
      bearing: 310.264535 deg,
      approach rate: -0.603303 m/s,
      LOS rate: -0.162853 deg/s,
      cmd heading: 318.578628 deg,
      new cmd heading: 318.329024 deg.

2025-06-05T18:46:27.444Z,1749149187.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555890 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:27.529Z,1749149187.529 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.715042
2025-06-05T18:46:27.781Z,1749149187.781 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.967755
2025-06-05T18:46:27.794Z,1749149187.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:27.817Z,1749149187.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 12.508968 m,
      bearing: 310.191100 deg,
      approach rate: -0.634056 m/s,
      LOS rate: -0.206086 deg/s,
      cmd heading: 318.329026 deg,
      new cmd heading: 318.104671 deg.

2025-06-05T18:46:27.818Z,1749149187.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551974 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:28.033Z,1749149188.033 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.218930
2025-06-05T18:46:28.229Z,1749149188.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:28.231Z,1749149188.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:28.251Z,1749149188.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 12.243024 m,
      bearing: 310.047678 deg,
      approach rate: -0.607640 m/s,
      LOS rate: -0.334815 deg/s,
      cmd heading: 318.104668 deg,
      new cmd heading: 317.665063 deg.

2025-06-05T18:46:28.258Z,1749149188.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544301 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:28.285Z,1749149188.285 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.471237
2025-06-05T18:46:28.537Z,1749149188.537 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.722932
2025-06-05T18:46:28.625Z,1749149188.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:28.629Z,1749149188.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 12.009967 m,
      bearing: 309.909830 deg,
      approach rate: -0.591404 m/s,
      LOS rate: -0.356588 deg/s,
      cmd heading: 317.665050 deg,
      new cmd heading: 317.243491 deg.

2025-06-05T18:46:28.630Z,1749149188.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536943 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:28.789Z,1749149188.789 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.974955
2025-06-05T18:46:29.025Z,1749149189.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:29.032Z,1749149189.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 11.777453 m,
      bearing: 309.758723 deg,
      approach rate: -0.581438 m/s,
      LOS rate: -0.385327 deg/s,
      cmd heading: 317.243490 deg,
      new cmd heading: 316.781231 deg.

2025-06-05T18:46:29.033Z,1749149189.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528875 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:29.044Z,1749149189.044 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.230368
2025-06-05T18:46:29.293Z,1749149189.293 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.478906
2025-06-05T18:46:29.435Z,1749149189.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:29.438Z,1749149189.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 11.505702 m,
      bearing: 309.558242 deg,
      approach rate: -0.663584 m/s,
      LOS rate: -0.501112 deg/s,
      cmd heading: 316.781223 deg,
      new cmd heading: 316.165599 deg.

2025-06-05T18:46:29.440Z,1749149189.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518131 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:29.546Z,1749149189.546 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.731908
2025-06-05T18:46:29.797Z,1749149189.797 [DAT](INFO): DAT read: Rx Time:18:46:28.2983

2025-06-05T18:46:29.797Z,1749149189.797 [DAT](INFO): Rx dataTimestamp_ set to:1749149189.796941
2025-06-05T18:46:29.798Z,1749149189.798 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.984113
2025-06-05T18:46:29.807Z,1749149189.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:29.849Z,1749149189.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 11.276739 m,
      bearing: 309.369722 deg,
      approach rate: -0.615050 m/s,
      LOS rate: -0.516692 deg/s,
      cmd heading: 316.165604 deg,
      new cmd heading: 315.588582 deg.

2025-06-05T18:46:29.856Z,1749149189.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508060 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:30.049Z,1749149190.049 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.234938
2025-06-05T18:46:30.299Z,1749149190.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:30.308Z,1749149190.308 [DAT](INFO): DAT read: 18:46:28.2983 LVL= 24160, 32753, 20594, 32755, AGC= 55, IDX= 421, 0.17, 1.182, 0.003, 1.940, 1.292, PHS=-0.022,-1.242, 0.645, RAW= 170.4,   7.5, CAL= 169.8,  -2.1, ROT= 340.2,   2.1

2025-06-05T18:46:30.309Z,1749149190.309 [DAT](INFO): got valid direction response:
 18:46:28.2983 LVL= 24160, 32753, 20594, 32755, AGC= 55, IDX= 421, 0.17, 1.182, 0.003, 1.940, 1.292, PHS=-0.022,-1.242, 0.645, RAW= 170.4,   7.5, CAL= 169.8,  -2.1, ROT= 340.2,   2.1

2025-06-05T18:46:30.310Z,1749149190.310 [DAT](INFO): DAT read: Bearing 340.2,   2.1 (Local)

2025-06-05T18:46:30.310Z,1749149190.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.2,   2.1 (Local)

2025-06-05T18:46:30.312Z,1749149190.312 [DAT](INFO): DAT read: Range 10 to 50 : 11.2 m  (Round-trip  15.0 ms) speed  0.5 m/s

2025-06-05T18:46:30.312Z,1749149190.312 [DAT](INFO): DAT read: user:2831>

2025-06-05T18:46:30.313Z,1749149190.313 [DAT](INFO): DAT read: Tx time:18:46:29.3791

2025-06-05T18:46:30.313Z,1749149190.313 [DAT](INFO): Ping request sent.
2025-06-05T18:46:30.314Z,1749149190.314 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:30.314Z,1749149190.314 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T18:46:30.315Z,1749149190.315 [DAT](INFO): direction in FSK: [0.940249,-0.338510,-0.036644]
2025-06-05T18:46:30.315Z,1749149190.315 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:30.321Z,1749149190.321 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:30.324Z,1749149190.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-05T18:46:30.327Z,1749149190.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096354 m,
      nav range: 10.976775 m,
      bearing: 309.138610 deg,
      approach rate: -0.583312 m/s,
      LOS rate: -0.461702 deg/s,
      cmd heading: 315.588590 deg,
      new cmd heading: 314.876346 deg.

2025-06-05T18:46:30.330Z,1749149190.330 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:30.331Z,1749149190.331 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:30.333Z,1749149190.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495629 target range: 13.096354 and range: 13.20 m.
2025-06-05T18:46:30.338Z,1749149190.338 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.024512
2025-06-05T18:46:30.553Z,1749149190.553 [DAT](INFO): DAT read: TxSync time:18:46:29.3784

2025-06-05T18:46:30.554Z,1749149190.554 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.240036
2025-06-05T18:46:30.693Z,1749149190.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.200000 m,
      deltaT: 3.527011 s,
      deltaX: -2.000000 m,
      approachRate: -0.567052 m/s,
      rangeRepo size: 4

2025-06-05T18:46:30.701Z,1749149190.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.112393 m,
      bearing: 299.036533 deg,
      lat: 36.906183 deg,
      lon: -122.116151 deg,
      deltaT: 3.527011 s,
      deltaX: -1.983961 m,
      approachRate: -0.562505 m/s,
      posRepo size: 4

2025-06-05T18:46:30.702Z,1749149190.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.11 m.
2025-06-05T18:46:30.718Z,1749149190.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.112393 m,
      nav range: 10.846592 m,
      bearing: 299.691947 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.461702 deg/s,
      cmd heading: 314.876338 deg,
      new cmd heading: 314.374562 deg.

2025-06-05T18:46:30.724Z,1749149190.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486871 target range: 11.112393 and range: 11.20 m.
2025-06-05T18:46:30.805Z,1749149190.805 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.491163
2025-06-05T18:46:31.030Z,1749149191.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.11 m.
2025-06-05T18:46:31.049Z,1749149191.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.112393 m,
      nav range: 10.630334 m,
      bearing: 299.302487 deg,
      approach rate: -0.623779 m/s,
      LOS rate: -1.146212 deg/s,
      cmd heading: 314.374565 deg,
      new cmd heading: 313.182596 deg.

2025-06-05T18:46:31.050Z,1749149191.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466067 target range: 11.112393 and range: 11.20 m.
2025-06-05T18:46:31.058Z,1749149191.058 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.744088
2025-06-05T18:46:31.309Z,1749149191.309 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.995056
2025-06-05T18:46:31.464Z,1749149191.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.11 m.
2025-06-05T18:46:31.467Z,1749149191.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.112393 m,
      nav range: 10.372171 m,
      bearing: 298.830319 deg,
      approach rate: -0.595452 m/s,
      LOS rate: -1.116149 deg/s,
      cmd heading: 313.182588 deg,
      new cmd heading: 311.731156 deg.

2025-06-05T18:46:31.468Z,1749149191.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440735 target range: 11.112393 and range: 11.20 m.
2025-06-05T18:46:31.561Z,1749149191.561 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.247262
2025-06-05T18:46:31.813Z,1749149191.813 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.499344
2025-06-05T18:46:31.856Z,1749149191.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.11 m.
2025-06-05T18:46:31.859Z,1749149191.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.112393 m,
      nav range: 10.138391 m,
      bearing: 298.388305 deg,
      approach rate: -0.595880 m/s,
      LOS rate: -1.152615 deg/s,
      cmd heading: 311.731145 deg,
      new cmd heading: 310.374793 deg.

2025-06-05T18:46:31.860Z,1749149191.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417062 target range: 11.112393 and range: 11.20 m.
2025-06-05T18:46:32.065Z,1749149192.065 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.751022
2025-06-05T18:46:32.275Z,1749149192.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.11 m.
2025-06-05T18:46:32.278Z,1749149192.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.112393 m,
      nav range: 9.898190 m,
      bearing: 297.942663 deg,
      approach rate: -0.573634 m/s,
      LOS rate: -1.090070 deg/s,
      cmd heading: 310.374806 deg,
      new cmd heading: 309.005709 deg.

2025-06-05T18:46:32.279Z,1749149192.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393167 target range: 11.112393 and range: 11.20 m.
2025-06-05T18:46:32.317Z,1749149192.317 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.003373
2025-06-05T18:46:32.569Z,1749149192.569 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.255092
2025-06-05T18:46:32.649Z,1749149192.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:32.651Z,1749149192.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.11 m.
2025-06-05T18:46:32.654Z,1749149192.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.112393 m,
      nav range: 9.681504 m,
      bearing: 297.525016 deg,
      approach rate: -0.575923 m/s,
      LOS rate: -1.134888 deg/s,
      cmd heading: 309.005708 deg,
      new cmd heading: 307.724951 deg.

2025-06-05T18:46:32.656Z,1749149192.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370813 target range: 11.112393 and range: 11.20 m.
2025-06-05T18:46:32.821Z,1749149192.821 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.507073
2025-06-05T18:46:33.062Z,1749149193.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.11 m.
2025-06-05T18:46:33.065Z,1749149193.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.112393 m,
      nav range: 9.446999 m,
      bearing: 297.055846 deg,
      approach rate: -0.571289 m/s,
      LOS rate: -1.171324 deg/s,
      cmd heading: 307.724939 deg,
      new cmd heading: 306.282810 deg.

2025-06-05T18:46:33.066Z,1749149193.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345644 target range: 11.112393 and range: 11.20 m.
2025-06-05T18:46:33.074Z,1749149193.074 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.760310
2025-06-05T18:46:33.325Z,1749149193.325 [DAT](INFO): DAT read: Rx Time:18:46:31.7954

2025-06-05T18:46:33.325Z,1749149193.325 [DAT](INFO): Rx dataTimestamp_ set to:1749149193.324982
2025-06-05T18:46:33.326Z,1749149193.326 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.012246
2025-06-05T18:46:33.479Z,1749149193.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.11 m.
2025-06-05T18:46:33.483Z,1749149193.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.112393 m,
      nav range: 9.213367 m,
      bearing: 296.579830 deg,
      approach rate: -0.559579 m/s,
      LOS rate: -1.169018 deg/s,
      cmd heading: 306.282812 deg,
      new cmd heading: 304.818887 deg.

2025-06-05T18:46:33.484Z,1749149193.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320093 target range: 11.112393 and range: 11.20 m.
2025-06-05T18:46:33.578Z,1749149193.578 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.264671
2025-06-05T18:46:33.838Z,1749149193.838 [DAT](INFO): DAT read: 18:46:31.7954 LVL= 28848, 32753, 25778, 32755, AGC= 55, IDX= 408, 0.23, 2.680, 1.728,-2.546, 2.976, PHS=-0.207,-1.200, 0.758, RAW= 179.5,   7.7, CAL= 179.1,  -1.8, ROT= 330.9,   1.8

2025-06-05T18:46:33.839Z,1749149193.839 [DAT](INFO): got valid direction response:
 18:46:31.7954 LVL= 28848, 32753, 25778, 32755, AGC= 55, IDX= 408, 0.23, 2.680, 1.728,-2.546, 2.976, PHS=-0.207,-1.200, 0.758, RAW= 179.5,   7.7, CAL= 179.1,  -1.8, ROT= 330.9,   1.8

2025-06-05T18:46:33.842Z,1749149193.842 [DAT](INFO): DAT read: Bearing 330.9,   1.8 (Local)

2025-06-05T18:46:33.843Z,1749149193.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.9,   1.8 (Local)

2025-06-05T18:46:33.846Z,1749149193.846 [DAT](INFO): DAT read: Range 10 to 50 : 9.0 m  (Round-trip  12.1 ms) speed  0.5 m/s

2025-06-05T18:46:33.846Z,1749149193.846 [DAT](INFO): DAT read: user:2832>

2025-06-05T18:46:33.847Z,1749149193.847 [DAT](INFO): DAT read: Tx time:18:46:32.8791

2025-06-05T18:46:33.847Z,1749149193.847 [DAT](INFO): Ping request sent.
2025-06-05T18:46:33.847Z,1749149193.847 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:33.848Z,1749149193.848 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-05T18:46:33.849Z,1749149193.849 [DAT](INFO): direction in FSK: [0.873341,-0.486096,-0.031411]
2025-06-05T18:46:33.849Z,1749149193.849 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:33.849Z,1749149193.849 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:33.853Z,1749149193.853 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:33.853Z,1749149193.853 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:33.857Z,1749149193.857 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.009183
2025-06-05T18:46:33.998Z,1749149193.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 3.528950 s,
      deltaX: -2.200000 m,
      approachRate: -0.623415 m/s,
      rangeRepo size: 4

2025-06-05T18:46:34.004Z,1749149194.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.929740 m,
      bearing: 288.508721 deg,
      lat: 36.906182 deg,
      lon: -122.116152 deg,
      deltaT: 3.528950 s,
      deltaX: -2.182653 m,
      approachRate: -0.618499 m/s,
      posRepo size: 4

2025-06-05T18:46:34.005Z,1749149194.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.93 m.
2025-06-05T18:46:34.006Z,1749149194.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.00 m.
2025-06-05T18:46:34.006Z,1749149194.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-05T18:46:34.014Z,1749149194.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 8.961718 m,
      bearing: 295.411497 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.169018 deg/s,
      cmd heading: 304.818884 deg,
      new cmd heading: 303.002464 deg.

2025-06-05T18:46:34.014Z,1749149194.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288391 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:34.081Z,1749149194.081 [DAT](INFO): DAT read: TxSync time:18:46:32.8784

2025-06-05T18:46:34.082Z,1749149194.082 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.234383
2025-06-05T18:46:34.333Z,1749149194.333 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.485490
2025-06-05T18:46:34.370Z,1749149194.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:34.377Z,1749149194.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 8.749391 m,
      bearing: 294.923088 deg,
      approach rate: -0.569530 m/s,
      LOS rate: -1.341846 deg/s,
      cmd heading: 303.002464 deg,
      new cmd heading: 301.502042 deg.

2025-06-05T18:46:34.378Z,1749149194.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.262203 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:34.585Z,1749149194.585 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.737535
2025-06-05T18:46:34.750Z,1749149194.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:34.753Z,1749149194.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:34.755Z,1749149194.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 8.539264 m,
      bearing: 294.446964 deg,
      approach rate: -0.549735 m/s,
      LOS rate: -1.276276 deg/s,
      cmd heading: 301.502035 deg,
      new cmd heading: 300.038849 deg.

2025-06-05T18:46:34.757Z,1749149194.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.236666 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:34.784Z,1749149194.784 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:46:34.837Z,1749149194.837 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.989509
2025-06-05T18:46:35.068Z,1749149195.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:35.071Z,1749149195.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 8.366898 m,
      bearing: 294.052249 deg,
      approach rate: -0.546869 m/s,
      LOS rate: -1.278110 deg/s,
      cmd heading: 300.038845 deg,
      new cmd heading: 298.830493 deg.

2025-06-05T18:46:35.072Z,1749149195.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215576 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:35.089Z,1749149195.089 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.241220
2025-06-05T18:46:35.341Z,1749149195.341 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.493792
2025-06-05T18:46:35.498Z,1749149195.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:35.501Z,1749149195.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 8.134808 m,
      bearing: 293.551986 deg,
      approach rate: -0.539107 m/s,
      LOS rate: -1.195166 deg/s,
      cmd heading: 298.830502 deg,
      new cmd heading: 297.287290 deg.

2025-06-05T18:46:35.502Z,1749149195.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188642 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:35.594Z,1749149195.594 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.746315
2025-06-05T18:46:35.845Z,1749149195.845 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.997282
2025-06-05T18:46:35.902Z,1749149195.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:35.905Z,1749149195.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 7.914633 m,
      bearing: 293.069537 deg,
      approach rate: -0.545369 m/s,
      LOS rate: -1.228251 deg/s,
      cmd heading: 297.287289 deg,
      new cmd heading: 295.800030 deg.

2025-06-05T18:46:35.906Z,1749149195.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162684 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:36.097Z,1749149196.097 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.249212
2025-06-05T18:46:36.333Z,1749149196.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:36.338Z,1749149196.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 7.683902 m,
      bearing: 292.540532 deg,
      approach rate: -0.534867 m/s,
      LOS rate: -1.263111 deg/s,
      cmd heading: 295.800029 deg,
      new cmd heading: 294.165827 deg.

2025-06-05T18:46:36.341Z,1749149196.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134162 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:36.349Z,1749149196.349 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.501626
2025-06-05T18:46:36.601Z,1749149196.601 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.753207
2025-06-05T18:46:36.695Z,1749149196.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:36.701Z,1749149196.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 7.489967 m,
      bearing: 292.116572 deg,
      approach rate: -0.537263 m/s,
      LOS rate: -1.204908 deg/s,
      cmd heading: 294.165838 deg,
      new cmd heading: 292.861264 deg.

2025-06-05T18:46:36.702Z,1749149196.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111393 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:36.853Z,1749149196.853 [DAT](INFO): DAT read: Rx Time:18:46:35.2927

2025-06-05T18:46:36.854Z,1749149196.854 [DAT](INFO): Rx dataTimestamp_ set to:1749149196.853250
2025-06-05T18:46:36.854Z,1749149196.854 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.006732
2025-06-05T18:46:37.094Z,1749149197.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:37.097Z,1749149197.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:37.105Z,1749149197.105 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.257420
2025-06-05T18:46:37.106Z,1749149197.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 7.269918 m,
      bearing: 291.638035 deg,
      approach rate: -0.546662 m/s,
      LOS rate: -1.224790 deg/s,
      cmd heading: 292.861272 deg,
      new cmd heading: 291.382553 deg.

2025-06-05T18:46:37.108Z,1749149197.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085585 target range: 8.929740 and range: 9.00 m.
2025-06-05T18:46:37.364Z,1749149197.364 [DAT](INFO): DAT read: 18:46:35.2927 LVL= 20560, 27633, 2174, AGC= 52, IDX= 413, 0.47, 0.739,-0.218, 1.831, 1.123, PHS=-0.296,-1.294, 0.705, RAW= 180.0,  10.2, CAL= 179.4,   0.5, ROT= 330.6,  -0.5

2025-06-05T18:46:37.365Z,1749149197.365 [DAT](INFO): unknown deviceResponse_: 18:46:35.2927 LVL= 20560, 27633, 2174, AGC= 52, IDX= 413, 0.47, 0.739,-0.218, 1.831, 1.123, PHS=-0.296,-1.294, 0.705, RAW= 180.0,  10.2, CAL= 179.4,   0.5, ROT= 330.6,  -0.5

2025-06-05T18:46:37.366Z,1749149197.366 [DAT](INFO): DAT read: Bearing 330.6,  -0.5 (Local)

2025-06-05T18:46:37.366Z,1749149197.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.6,  -0.5 (Local)

2025-06-05T18:46:37.368Z,1749149197.368 [DAT](INFO): DAT read: Range 10 to 50 : 7.0 m  (Round-trip  9.4 ms) speed  0.4 m/s

2025-06-05T18:46:37.368Z,1749149197.368 [DAT](INFO): DAT read: user:2833>

2025-06-05T18:46:37.369Z,1749149197.369 [DAT](INFO): DAT read: Tx time:18:46:36.3791

2025-06-05T18:46:37.369Z,1749149197.369 [DAT](INFO): Ping request sent.
2025-06-05T18:46:37.369Z,1749149197.369 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:37.370Z,1749149197.370 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-05T18:46:37.370Z,1749149197.370 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:37.370Z,1749149197.370 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:37.371Z,1749149197.371 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.001865
2025-06-05T18:46:37.584Z,1749149197.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.000000 m,
      deltaT: 3.528644 s,
      deltaX: -2.000000 m,
      approachRate: -0.566790 m/s,
      rangeRepo size: 4

2025-06-05T18:46:37.585Z,1749149197.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:37.587Z,1749149197.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 7.014812 m,
      bearing: 291.079896 deg,
      approach rate: -0.533440 m/s,
      LOS rate: -1.209521 deg/s,
      cmd heading: 291.382564 deg,
      new cmd heading: 289.647810 deg.

2025-06-05T18:46:37.588Z,1749149197.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055308 target range: 8.929740 and range: 7.00 m.
2025-06-05T18:46:37.609Z,1749149197.609 [DAT](INFO): DAT read: TxSync time:18:46:36.3784

2025-06-05T18:46:37.610Z,1749149197.610 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.240825
2025-06-05T18:46:37.861Z,1749149197.861 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.491263
2025-06-05T18:46:37.961Z,1749149197.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:37.963Z,1749149197.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 6.806457 m,
      bearing: 290.625227 deg,
      approach rate: -0.552699 m/s,
      LOS rate: -1.242995 deg/s,
      cmd heading: 289.647805 deg,
      new cmd heading: 288.242341 deg.

2025-06-05T18:46:37.970Z,1749149197.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.030778 target range: 8.929740 and range: 7.00 m.
2025-06-05T18:46:38.113Z,1749149198.113 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.743430
2025-06-05T18:46:38.365Z,1749149198.365 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.995331
2025-06-05T18:46:38.376Z,1749149198.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:38.379Z,1749149198.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 6.564145 m,
      bearing: 290.090857 deg,
      approach rate: -0.571341 m/s,
      LOS rate: -1.306474 deg/s,
      cmd heading: 288.242343 deg,
      new cmd heading: 286.580543 deg.

2025-06-05T18:46:38.404Z,1749149198.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001774 target range: 8.929740 and range: 7.00 m.
2025-06-05T18:46:38.617Z,1749149198.617 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.247247
2025-06-05T18:46:38.748Z,1749149198.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:38.750Z,1749149198.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 6.341826 m,
      bearing: 289.633014 deg,
      approach rate: -0.598752 m/s,
      LOS rate: -1.276280 deg/s,
      cmd heading: 286.580531 deg,
      new cmd heading: 285.159159 deg.

2025-06-05T18:46:38.751Z,1749149198.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976966 target range: 8.929740 and range: 7.00 m.
2025-06-05T18:46:38.869Z,1749149198.869 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.499253
2025-06-05T18:46:39.121Z,1749149199.121 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.751093
2025-06-05T18:46:39.159Z,1749149199.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:39.200Z,1749149199.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:39.202Z,1749149199.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 6.104447 m,
      bearing: 289.141483 deg,
      approach rate: -0.570358 m/s,
      LOS rate: -1.226929 deg/s,
      cmd heading: 285.159168 deg,
      new cmd heading: 283.627620 deg.

2025-06-05T18:46:39.208Z,1749149199.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.950236 target range: 8.929740 and range: 7.00 m.
2025-06-05T18:46:39.375Z,1749149199.375 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.005489
2025-06-05T18:46:39.603Z,1749149199.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:39.606Z,1749149199.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 5.838354 m,
      bearing: 288.565561 deg,
      approach rate: -0.606328 m/s,
      LOS rate: -1.372102 deg/s,
      cmd heading: 283.627621 deg,
      new cmd heading: 281.821737 deg.

2025-06-05T18:46:39.625Z,1749149199.625 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.255521
2025-06-05T18:46:39.626Z,1749149199.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918717 target range: 8.929740 and range: 7.00 m.
2025-06-05T18:46:39.877Z,1749149199.877 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.507394
2025-06-05T18:46:39.975Z,1749149199.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:39.989Z,1749149199.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 5.618132 m,
      bearing: 288.084265 deg,
      approach rate: -0.592392 m/s,
      LOS rate: -1.345408 deg/s,
      cmd heading: 281.821747 deg,
      new cmd heading: 280.321619 deg.

2025-06-05T18:46:39.990Z,1749149199.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892535 target range: 8.929740 and range: 7.00 m.
2025-06-05T18:46:40.133Z,1749149200.133 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.763772
2025-06-05T18:46:40.385Z,1749149200.385 [DAT](INFO): DAT read: Rx Time:18:46:38.7909

2025-06-05T18:46:40.385Z,1749149200.385 [DAT](INFO): Rx dataTimestamp_ set to:1749149200.384893
2025-06-05T18:46:40.386Z,1749149200.386 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.016345
2025-06-05T18:46:40.470Z,1749149200.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:40.474Z,1749149200.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 5.322057 m,
      bearing: 287.446505 deg,
      approach rate: -0.597526 m/s,
      LOS rate: -1.358675 deg/s,
      cmd heading: 280.321619 deg,
      new cmd heading: 278.302780 deg.

2025-06-05T18:46:40.476Z,1749149200.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857300 target range: 8.929740 and range: 7.00 m.
2025-06-05T18:46:40.637Z,1749149200.637 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.267226
2025-06-05T18:46:40.894Z,1749149200.894 [DAT](INFO): DAT read: 18:46:38.7909 LVL= 24464, 32753, 12706, 26099, AGC= 47, IDX= 425,-0.44, 0.881,-0.659, 1.145, 1.000, PHS=-0.031,-1.611, 0.142, RAW= 155.2,  17.6, CAL= 156.3,  11.4, ROT= 353.7, -11.4

2025-06-05T18:46:40.912Z,1749149200.912 [DAT](INFO): got valid direction response:
 18:46:38.7909 LVL= 24464, 32753, 12706, 26099, AGC= 47, IDX= 425,-0.44, 0.881,-0.659, 1.145, 1.000, PHS=-0.031,-1.611, 0.142, RAW= 155.2,  17.6, CAL= 156.3,  11.4, ROT= 353.7, -11.4

2025-06-05T18:46:40.913Z,1749149200.913 [DAT](INFO): DAT read: Bearing 353.7, -11.4 (Local)

2025-06-05T18:46:40.913Z,1749149200.913 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7, -11.4 (Local)

2025-06-05T18:46:40.914Z,1749149200.914 [DAT](INFO): DAT read: Range 10 to 50 : 5.6 m  (Round-trip  7.5 ms) speed  0.4 m/s

2025-06-05T18:46:40.915Z,1749149200.915 [DAT](INFO): DAT read: user:2834>

2025-06-05T18:46:40.916Z,1749149200.916 [DAT](INFO): DAT read: Tx time:18:46:39.8792

2025-06-05T18:46:40.916Z,1749149200.916 [DAT](INFO): Ping request sent.
2025-06-05T18:46:40.916Z,1749149200.916 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:40.917Z,1749149200.917 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T18:46:40.918Z,1749149200.918 [DAT](INFO): direction in FSK: [0.974351,-0.107569,0.197657]
2025-06-05T18:46:40.918Z,1749149200.918 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:40.918Z,1749149200.918 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:40.968Z,1749149200.968 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:40.969Z,1749149200.969 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:40.988Z,1749149200.988 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.071645
2025-06-05T18:46:41.001Z,1749149201.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 3.530501 s,
      deltaX: -1.400000 m,
      approachRate: -0.396544 m/s,
      rangeRepo size: 4

2025-06-05T18:46:41.003Z,1749149201.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.556100 m,
      bearing: 296.925574 deg,
      lat: 36.906182 deg,
      lon: -122.116152 deg,
      deltaT: 7.059145 s,
      deltaX: -3.373640 m,
      approachRate: -0.477911 m/s,
      posRepo size: 4

2025-06-05T18:46:41.008Z,1749149201.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.56 m. 8.93 m.
2025-06-05T18:46:41.011Z,1749149201.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 5.037357 m,
      bearing: 286.817248 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.169018 deg/s,
      cmd heading: 278.302779 deg,
      new cmd heading: 276.441970 deg.

2025-06-05T18:46:41.016Z,1749149201.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824822 target range: 8.929740 and range: 5.60 m.
2025-06-05T18:46:41.141Z,1749149201.141 [DAT](INFO): DAT read: TxSync time:18:46:39.8785

2025-06-05T18:46:41.142Z,1749149201.142 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.225698
2025-06-05T18:46:41.395Z,1749149201.395 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.477668
2025-06-05T18:46:41.541Z,1749149201.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:41.548Z,1749149201.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 4.697324 m,
      bearing: 285.857036 deg,
      approach rate: -0.635073 m/s,
      LOS rate: -1.923096 deg/s,
      cmd heading: 276.441962 deg,
      new cmd heading: 273.355934 deg.

2025-06-05T18:46:41.549Z,1749149201.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.770961 target range: 8.929740 and range: 5.60 m.
2025-06-05T18:46:41.645Z,1749149201.645 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.728561
2025-06-05T18:46:41.899Z,1749149201.899 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.982132
2025-06-05T18:46:41.980Z,1749149201.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:41.982Z,1749149201.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:41.985Z,1749149201.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 4.423044 m,
      bearing: 285.187800 deg,
      approach rate: -0.614968 m/s,
      LOS rate: -1.593519 deg/s,
      cmd heading: 273.355946 deg,
      new cmd heading: 271.224767 deg.

2025-06-05T18:46:41.986Z,1749149201.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733765 target range: 8.929740 and range: 5.60 m.
2025-06-05T18:46:42.149Z,1749149202.149 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.232358
2025-06-05T18:46:42.401Z,1749149202.401 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.484377
2025-06-05T18:46:42.422Z,1749149202.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:42.426Z,1749149202.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 4.162558 m,
      bearing: 284.505920 deg,
      approach rate: -0.592400 m/s,
      LOS rate: -1.647742 deg/s,
      cmd heading: 271.224763 deg,
      new cmd heading: 269.052204 deg.

2025-06-05T18:46:42.427Z,1749149202.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695847 target range: 8.929740 and range: 5.60 m.
2025-06-05T18:46:42.653Z,1749149202.653 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.736191
2025-06-05T18:46:42.769Z,1749149202.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:42.776Z,1749149202.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 3.967914 m,
      bearing: 283.989354 deg,
      approach rate: -0.560244 m/s,
      LOS rate: -1.559748 deg/s,
      cmd heading: 269.052216 deg,
      new cmd heading: 267.426956 deg.

2025-06-05T18:46:42.777Z,1749149202.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667481 target range: 8.929740 and range: 5.60 m.
2025-06-05T18:46:42.906Z,1749149202.906 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.988985
2025-06-05T18:46:43.158Z,1749149203.158 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.241571
2025-06-05T18:46:43.185Z,1749149203.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:43.187Z,1749149203.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 3.726607 m,
      bearing: 283.338885 deg,
      approach rate: -0.580636 m/s,
      LOS rate: -1.666482 deg/s,
      cmd heading: 267.426959 deg,
      new cmd heading: 265.350150 deg.

2025-06-05T18:46:43.193Z,1749149203.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631234 target range: 8.929740 and range: 5.60 m.
2025-06-05T18:46:43.410Z,1749149203.410 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.493069
2025-06-05T18:46:43.662Z,1749149203.662 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.746002
2025-06-05T18:46:43.676Z,1749149203.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:43.678Z,1749149203.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 3.462685 m,
      bearing: 282.380152 deg,
      approach rate: -0.543223 m/s,
      LOS rate: -2.123637 deg/s,
      cmd heading: 265.350145 deg,
      new cmd heading: 262.257874 deg.

2025-06-05T18:46:43.679Z,1749149203.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577263 target range: 8.929740 and range: 5.60 m.
2025-06-05T18:46:43.913Z,1749149203.913 [DAT](INFO): DAT read: Rx Time:18:46:42.2881

2025-06-05T18:46:43.913Z,1749149203.913 [DAT](INFO): Rx dataTimestamp_ set to:1749149203.913038
2025-06-05T18:46:43.914Z,1749149203.914 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.997888
2025-06-05T18:46:44.032Z,1749149204.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:44.034Z,1749149204.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:44.042Z,1749149204.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 3.246072 m,
      bearing: 281.614114 deg,
      approach rate: -0.595202 m/s,
      LOS rate: -2.245282 deg/s,
      cmd heading: 262.257872 deg,
      new cmd heading: 259.807970 deg.

2025-06-05T18:46:44.057Z,1749149204.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534504 target range: 8.929740 and range: 5.60 m.
2025-06-05T18:46:44.165Z,1749149204.165 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.248655
2025-06-05T18:46:44.430Z,1749149204.430 [DAT](INFO): DAT read: 18:46:42.2881 LVL= 19168, 15585, 16930, 17779, AGC= 49, IDX= 416,-0.22, 2.034, 2.152, 0.986, 2.624, PHS=-0.501,-0.425,-1.641, RAW=  26.8,  37.6, CAL=  21.4,  42.7, ROT= 128.6, -42.7

2025-06-05T18:46:44.431Z,1749149204.431 [DAT](INFO): got valid direction response:
 18:46:42.2881 LVL= 19168, 15585, 16930, 17779, AGC= 49, IDX= 416,-0.22, 2.034, 2.152, 0.986, 2.624, PHS=-0.501,-0.425,-1.641, RAW=  26.8,  37.6, CAL=  21.4,  42.7, ROT= 128.6, -42.7

2025-06-05T18:46:44.432Z,1749149204.432 [DAT](INFO): DAT read: Bearing 128.6, -42.7 (Local)

2025-06-05T18:46:44.433Z,1749149204.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 128.6, -42.7 (Local)

2025-06-05T18:46:44.434Z,1749149204.434 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m  (Round-trip  4.7 ms) speed  0.4 m/s

2025-06-05T18:46:44.435Z,1749149204.435 [DAT](INFO): DAT read: user:2835>

2025-06-05T18:46:44.436Z,1749149204.436 [DAT](INFO): DAT read: Tx time:18:46:43.3792

2025-06-05T18:46:44.436Z,1749149204.436 [DAT](INFO): Ping request sent.
2025-06-05T18:46:44.436Z,1749149204.436 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:44.436Z,1749149204.436 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-05T18:46:44.437Z,1749149204.437 [DAT](INFO): direction in FSK: [-0.458498,0.574351,0.678160]
2025-06-05T18:46:44.438Z,1749149204.438 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:44.438Z,1749149204.438 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:44.455Z,1749149204.455 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:44.460Z,1749149204.460 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:44.496Z,1749149204.496 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.027314
2025-06-05T18:46:44.577Z,1749149204.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 3.535837 s,
      deltaX: -2.100000 m,
      approachRate: -0.593919 m/s,
      rangeRepo size: 4

2025-06-05T18:46:44.579Z,1749149204.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.472522 m,
      bearing: 64.557832 deg,
      lat: 36.906187 deg,
      lon: -122.116154 deg,
      deltaT: 10.594982 s,
      deltaX: -5.457217 m,
      approachRate: -0.515076 m/s,
      posRepo size: 4

2025-06-05T18:46:44.584Z,1749149204.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.47 m. 8.93 m.
2025-06-05T18:46:44.587Z,1749149204.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 2.968174 m,
      bearing: 280.407800 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.169018 deg/s,
      cmd heading: 259.807965 deg,
      new cmd heading: 257.923590 deg.

2025-06-05T18:46:44.592Z,1749149204.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501616 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:44.674Z,1749149204.674 [DAT](INFO): DAT read: TxSync time:18:46:43.3785

2025-06-05T18:46:44.675Z,1749149204.675 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.239292
2025-06-05T18:46:44.917Z,1749149204.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:44.919Z,1749149204.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 2.778142 m,
      bearing: 279.673972 deg,
      approach rate: -0.572539 m/s,
      LOS rate: -2.362086 deg/s,
      cmd heading: 257.923598 deg,
      new cmd heading: 255.572911 deg.

2025-06-05T18:46:44.925Z,1749149204.925 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.488925
2025-06-05T18:46:44.926Z,1749149204.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460589 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:45.178Z,1749149205.178 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.741903
2025-06-05T18:46:45.368Z,1749149205.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:45.371Z,1749149205.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 2.563239 m,
      bearing: 278.710130 deg,
      approach rate: -0.486104 m/s,
      LOS rate: -2.362866 deg/s,
      cmd heading: 255.572920 deg,
      new cmd heading: 252.442234 deg.

2025-06-05T18:46:45.372Z,1749149205.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405948 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:45.430Z,1749149205.430 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.994185
2025-06-05T18:46:45.681Z,1749149205.681 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.244656
2025-06-05T18:46:45.748Z,1749149205.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:45.751Z,1749149205.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 2.339099 m,
      bearing: 277.656477 deg,
      approach rate: -0.563153 m/s,
      LOS rate: -2.900820 deg/s,
      cmd heading: 252.442234 deg,
      new cmd heading: 248.982787 deg.

2025-06-05T18:46:45.757Z,1749149205.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345570 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:45.933Z,1749149205.933 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.496581
2025-06-05T18:46:46.083Z,1749149206.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:46.086Z,1749149206.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:46.103Z,1749149206.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 2.160061 m,
      bearing: 276.741763 deg,
      approach rate: -0.523643 m/s,
      LOS rate: -2.896937 deg/s,
      cmd heading: 248.982798 deg,
      new cmd heading: 246.013992 deg.

2025-06-05T18:46:46.109Z,1749149206.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293754 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:46.186Z,1749149206.186 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.750094
2025-06-05T18:46:46.437Z,1749149206.437 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.000533
2025-06-05T18:46:46.521Z,1749149206.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:46.525Z,1749149206.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 1.935118 m,
      bearing: 275.580914 deg,
      approach rate: -0.517071 m/s,
      LOS rate: -2.978389 deg/s,
      cmd heading: 246.013988 deg,
      new cmd heading: 242.132834 deg.

2025-06-05T18:46:46.526Z,1749149206.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226015 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:46.690Z,1749149206.690 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.253945
2025-06-05T18:46:46.893Z,1749149206.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:46.895Z,1749149206.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 1.746328 m,
      bearing: 274.494111 deg,
      approach rate: -0.507927 m/s,
      LOS rate: -3.239888 deg/s,
      cmd heading: 242.132829 deg,
      new cmd heading: 238.524941 deg.

2025-06-05T18:46:46.896Z,1749149206.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163045 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:46.941Z,1749149206.941 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.505397
2025-06-05T18:46:47.193Z,1749149207.193 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.756488
2025-06-05T18:46:47.320Z,1749149207.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:47.323Z,1749149207.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 1.540758 m,
      bearing: 273.154473 deg,
      approach rate: -0.487042 m/s,
      LOS rate: -3.597042 deg/s,
      cmd heading: 238.524932 deg,
      new cmd heading: 233.979783 deg.

2025-06-05T18:46:47.354Z,1749149207.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083718 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:47.445Z,1749149207.445 [DAT](INFO): DAT read: Rx Time:18:46:45.7869

2025-06-05T18:46:47.446Z,1749149207.446 [DAT](INFO): Rx dataTimestamp_ set to:1749149207.445228
2025-06-05T18:46:47.446Z,1749149207.446 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.010058
2025-06-05T18:46:47.698Z,1749149207.698 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.261470
2025-06-05T18:46:47.865Z,1749149207.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.93 m. 8.93 m.
2025-06-05T18:46:47.867Z,1749149207.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.929740 m,
      nav range: 1.269447 m,
      bearing: 271.209494 deg,
      approach rate: -0.498048 m/s,
      LOS rate: -4.332663 deg/s,
      cmd heading: 233.979796 deg,
      new cmd heading: 226.934873 deg.

2025-06-05T18:46:47.868Z,1749149207.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.960761 target range: 8.929740 and range: 3.50 m.
2025-06-05T18:46:47.951Z,1749149207.951 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-05T18:46:47.952Z,1749149207.952 [DAT](INFO): DAT read: user:2836>

2025-06-05T18:46:47.954Z,1749149207.954 [DAT](INFO): DAT read: Tx time:18:46:46.8792

2025-06-05T18:46:47.955Z,1749149207.955 [DAT](INFO): Ping request sent.
2025-06-05T18:46:47.955Z,1749149207.955 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:47.957Z,1749149207.957 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-05T18:46:47.958Z,1749149207.958 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:47.960Z,1749149207.960 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:47.962Z,1749149207.962 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.007247
2025-06-05T18:46:48.201Z,1749149208.201 [DAT](INFO): DAT read: TxSync time:18:46:46.8785

2025-06-05T18:46:48.202Z,1749149208.202 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.247144
2025-06-05T18:46:48.212Z,1749149208.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:46:48.253Z,1749149208.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:48.260Z,1749149208.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 3.524466 s,
      deltaX: -0.900000 m,
      approachRate: -0.255358 m/s,
      rangeRepo size: 4

2025-06-05T18:46:48.261Z,1749149208.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.60 m.
2025-06-05T18:46:48.261Z,1749149208.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-05T18:46:48.454Z,1749149208.454 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.498912
2025-06-05T18:46:48.706Z,1749149208.706 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.750571
2025-06-05T18:46:48.958Z,1749149208.958 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.003389
2025-06-05T18:46:49.210Z,1749149209.210 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.255404
2025-06-05T18:46:49.216Z,1749149209.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:46:49.461Z,1749149209.461 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.506205
2025-06-05T18:46:49.713Z,1749149209.713 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.758771
2025-06-05T18:46:49.965Z,1749149209.965 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.010202
2025-06-05T18:46:50.219Z,1749149210.219 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.263730
2025-06-05T18:46:50.277Z,1749149210.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:50.469Z,1749149210.469 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.514026
2025-06-05T18:46:50.721Z,1749149210.721 [DAT](INFO): DAT read: Rx Time:18:46:49.2872

2025-06-05T18:46:50.721Z,1749149210.721 [DAT](INFO): Rx dataTimestamp_ set to:1749149210.720952
2025-06-05T18:46:50.722Z,1749149210.722 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.767247
2025-06-05T18:46:50.974Z,1749149210.974 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.018754
2025-06-05T18:46:51.230Z,1749149211.230 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.274414
2025-06-05T18:46:51.483Z,1749149211.483 [DAT](INFO): DAT read: 18:46:49.2873 LVL= 24560, 16225, 19250, 12131, AGC= 47, IDX= 452, 0.20,-1.697,-2.702, 2.830,-1.120, PHS=-0.489,-1.535,-2.336, RAW=  64.4,  43.9, CAL=  62.2,  50.2, ROT=  87.8, -50.2

2025-06-05T18:46:51.484Z,1749149211.484 [DAT](INFO): got valid direction response:
 18:46:49.2873 LVL= 24560, 16225, 19250, 12131, AGC= 47, IDX= 452, 0.20,-1.697,-2.702, 2.830,-1.120, PHS=-0.489,-1.535,-2.336, RAW=  64.4,  43.9, CAL=  62.2,  50.2, ROT=  87.8, -50.2

2025-06-05T18:46:51.485Z,1749149211.485 [DAT](INFO): DAT read: Bearing  87.8, -50.2 (Local)

2025-06-05T18:46:51.485Z,1749149211.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.8, -50.2 (Local)

2025-06-05T18:46:51.487Z,1749149211.487 [DAT](INFO): DAT read: Range 10 to 50 : 2.8 m  (Round-trip  3.8 ms) speed -0.3 m/s

2025-06-05T18:46:51.488Z,1749149211.488 [DAT](INFO): DAT read: user:2837>

2025-06-05T18:46:51.488Z,1749149211.488 [DAT](INFO): DAT read: Tx time:18:46:50.3793

2025-06-05T18:46:51.489Z,1749149211.489 [DAT](INFO): Ping request sent.
2025-06-05T18:46:51.489Z,1749149211.489 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:51.491Z,1749149211.491 [DAT](INFO): DAT read: TxSync time:18:46:50.3786

2025-06-05T18:46:51.492Z,1749149211.492 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-05T18:46:51.493Z,1749149211.493 [DAT](INFO): direction in FSK: [0.024572,0.639638,0.768284]
2025-06-05T18:46:51.493Z,1749149211.493 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:51.493Z,1749149211.493 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:51.496Z,1749149211.496 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:51.497Z,1749149211.497 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:51.501Z,1749149211.501 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.012447
2025-06-05T18:46:51.652Z,1749149211.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.800000 m,
      deltaT: 3.527633 s,
      deltaX: 0.200000 m,
      approachRate: 0.056695 m/s,
      rangeRepo size: 4

2025-06-05T18:46:51.654Z,1749149211.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.777961 m,
      bearing: 0.224365 deg,
      lat: 36.906191 deg,
      lon: -122.116156 deg,
      deltaT: 17.647081 s,
      deltaX: -6.151779 m,
      approachRate: -0.348600 m/s,
      posRepo size: 4

2025-06-05T18:46:51.729Z,1749149211.729 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.239789
2025-06-05T18:46:51.982Z,1749149211.982 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.492783
2025-06-05T18:46:52.237Z,1749149212.237 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.748074
2025-06-05T18:46:52.316Z,1749149212.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:52.489Z,1749149212.489 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.000533
2025-06-05T18:46:52.742Z,1749149212.742 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.252595
2025-06-05T18:46:52.993Z,1749149212.993 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.503840
2025-06-05T18:46:53.246Z,1749149213.246 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.757316
2025-06-05T18:46:53.497Z,1749149213.497 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.007788
2025-06-05T18:46:53.749Z,1749149213.749 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.259776
2025-06-05T18:46:54.002Z,1749149214.002 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.512402
2025-06-05T18:46:54.253Z,1749149214.253 [DAT](INFO): DAT read: Rx Time:18:46:52.7890

2025-06-05T18:46:54.253Z,1749149214.253 [DAT](INFO): Rx dataTimestamp_ set to:1749149214.252855
2025-06-05T18:46:54.254Z,1749149214.254 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.764816
2025-06-05T18:46:54.410Z,1749149214.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:54.509Z,1749149214.509 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.019202
2025-06-05T18:46:54.760Z,1749149214.760 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.270387
2025-06-05T18:46:55.015Z,1749149215.015 [DAT](INFO): DAT read: 18:46:52.7890 LVL= 15248, 16721,  8914, 16275, AGC= 52, IDX= 436, 0.41, 0.188, 1.266, 2.842, 1.747, PHS=-1.471,-0.434, 1.092, RAW= 233.7,   7.3, CAL= 240.5,   9.2, ROT= 269.5,  -9.2

2025-06-05T18:46:55.016Z,1749149215.016 [DAT](INFO): got valid direction response:
 18:46:52.7890 LVL= 15248, 16721,  8914, 16275, AGC= 52, IDX= 436, 0.41, 0.188, 1.266, 2.842, 1.747, PHS=-1.471,-0.434, 1.092, RAW= 233.7,   7.3, CAL= 240.5,   9.2, ROT= 269.5,  -9.2

2025-06-05T18:46:55.017Z,1749149215.017 [DAT](INFO): DAT read: Bearing 269.5,  -9.2 (Local)

2025-06-05T18:46:55.018Z,1749149215.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.5,  -9.2 (Local)

2025-06-05T18:46:55.019Z,1749149215.019 [DAT](INFO): DAT read: Range 10 to 50 : 4.1 m  (Round-trip  5.5 ms) speed -0.5 m/s

2025-06-05T18:46:55.041Z,1749149215.041 [DAT](INFO): DAT read: user:2838>

2025-06-05T18:46:55.042Z,1749149215.042 [DAT](INFO): DAT read: Tx time:18:46:53.8793

2025-06-05T18:46:55.042Z,1749149215.042 [DAT](INFO): Ping request sent.
2025-06-05T18:46:55.042Z,1749149215.042 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:55.043Z,1749149215.043 [DAT](INFO): DAT read: TxSync time:18:46:53.8786

2025-06-05T18:46:55.044Z,1749149215.044 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-05T18:46:55.045Z,1749149215.045 [DAT](INFO): direction in FSK: [-0.008614,-0.987099,0.159881]
2025-06-05T18:46:55.045Z,1749149215.045 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:55.046Z,1749149215.046 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:55.049Z,1749149215.049 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:55.049Z,1749149215.049 [DAT](INFO): publishing direction and range info
2025-06-05T18:46:55.068Z,1749149215.068 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.026110
2025-06-05T18:46:55.196Z,1749149215.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 3.532288 s,
      deltaX: 1.300000 m,
      approachRate: 0.368033 m/s,
      rangeRepo size: 4

2025-06-05T18:46:55.198Z,1749149215.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.067759 m,
      bearing: 171.263009 deg,
      lat: 36.906191 deg,
      lon: -122.116156 deg,
      deltaT: 3.532288 s,
      deltaX: 1.289798 m,
      approachRate: 0.365145 m/s,
      posRepo size: 4

2025-06-05T18:46:55.198Z,1749149215.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.10 m.
2025-06-05T18:46:55.262Z,1749149215.262 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.219203
2025-06-05T18:46:55.519Z,1749149215.519 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.477051
2025-06-05T18:46:55.602Z,1749149215.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.10 m.
2025-06-05T18:46:55.774Z,1749149215.774 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.731471
2025-06-05T18:46:55.944Z,1749149215.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.10 m.
2025-06-05T18:46:56.025Z,1749149216.025 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.982882
2025-06-05T18:46:56.277Z,1749149216.277 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.234335
2025-06-05T18:46:56.532Z,1749149216.532 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.488730
2025-06-05T18:46:56.766Z,1749149216.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:56.781Z,1749149216.781 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.738439
2025-06-05T18:46:56.788Z,1749149216.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.10 m.
2025-06-05T18:46:57.033Z,1749149217.033 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.990253
2025-06-05T18:46:57.161Z,1749149217.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.10 m.
2025-06-05T18:46:57.294Z,1749149217.294 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.244718
2025-06-05T18:46:57.540Z,1749149217.540 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.496386
2025-06-05T18:46:57.628Z,1749149217.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.10 m.
2025-06-05T18:46:57.789Z,1749149217.789 [DAT](INFO): DAT read: Rx Time:18:46:56.2912

2025-06-05T18:46:57.790Z,1749149217.790 [DAT](INFO): Rx dataTimestamp_ set to:1749149217.789155
2025-06-05T18:46:57.791Z,1749149217.791 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.748745
2025-06-05T18:46:57.957Z,1749149217.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.10 m.
2025-06-05T18:46:58.041Z,1749149218.041 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.999025
2025-06-05T18:46:58.293Z,1749149218.293 [DAT](INFO): DAT read: Range 10 to 50 : 5.7 m  (Round-trip  7.7 ms) speed -0.4 m/s

2025-06-05T18:46:58.294Z,1749149218.294 [DAT](INFO): DAT read: user:2839>

2025-06-05T18:46:58.295Z,1749149218.295 [DAT](INFO): DAT read: Tx time:18:46:57.3793

2025-06-05T18:46:58.295Z,1749149218.295 [DAT](INFO): Ping request sent.
2025-06-05T18:46:58.295Z,1749149218.295 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:46:58.296Z,1749149218.296 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-06-05T18:46:58.296Z,1749149218.296 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:58.296Z,1749149218.296 [DAT](INFO): publishing transmit ping time
2025-06-05T18:46:58.299Z,1749149218.299 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.002909
2025-06-05T18:46:58.416Z,1749149218.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 3.283517 s,
      deltaX: 1.600000 m,
      approachRate: 0.487282 m/s,
      rangeRepo size: 4

2025-06-05T18:46:58.549Z,1749149218.549 [DAT](INFO): DAT read: TxSync time:18:46:57.3786

2025-06-05T18:46:58.552Z,1749149218.552 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.255674
2025-06-05T18:46:58.797Z,1749149218.797 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.501671
2025-06-05T18:46:58.821Z,1749149218.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:46:58.833Z,1749149218.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.70 m.
2025-06-05T18:46:59.050Z,1749149219.050 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.754226
2025-06-05T18:46:59.202Z,1749149219.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.70 m.
2025-06-05T18:46:59.301Z,1749149219.301 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.005299
2025-06-05T18:46:59.556Z,1749149219.556 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.259680
2025-06-05T18:46:59.654Z,1749149219.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.70 m.
2025-06-05T18:46:59.805Z,1749149219.805 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.509318
2025-06-05T18:46:59.988Z,1749149219.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.70 m.
2025-06-05T18:47:00.058Z,1749149220.058 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.762848
2025-06-05T18:47:00.310Z,1749149220.310 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.014330
2025-06-05T18:47:00.565Z,1749149220.565 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.268642
2025-06-05T18:47:00.813Z,1749149220.813 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.517498
2025-06-05T18:47:00.825Z,1749149220.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.70 m.
2025-06-05T18:47:01.065Z,1749149221.065 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.769523
2025-06-05T18:47:01.218Z,1749149221.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:47:01.225Z,1749149221.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.70 m.
2025-06-05T18:47:01.318Z,1749149221.318 [DAT](INFO): DAT read: Rx Time:18:46:59.7934

2025-06-05T18:47:01.319Z,1749149221.319 [DAT](INFO): Rx dataTimestamp_ set to:1749149221.318232
2025-06-05T18:47:01.320Z,1749149221.320 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.024124
2025-06-05T18:47:01.572Z,1749149221.572 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.275481
2025-06-05T18:47:01.690Z,1749149221.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.70 m.
2025-06-05T18:47:01.829Z,1749149221.829 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m  (Round-trip  9.9 ms) speed -0.4 m/s

2025-06-05T18:47:01.830Z,1749149221.830 [DAT](INFO): DAT read: user:2840>

2025-06-05T18:47:01.830Z,1749149221.830 [DAT](INFO): DAT read: Tx time:18:47:00.8793

2025-06-05T18:47:01.831Z,1749149221.831 [DAT](INFO): Ping request sent.
2025-06-05T18:47:01.831Z,1749149221.831 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:47:01.831Z,1749149221.831 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-06-05T18:47:01.831Z,1749149221.831 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:01.833Z,1749149221.833 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:01.834Z,1749149221.834 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.002820
2025-06-05T18:47:02.048Z,1749149222.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 3.534436 s,
      deltaX: 1.700000 m,
      approachRate: 0.480982 m/s,
      rangeRepo size: 4

2025-06-05T18:47:02.077Z,1749149222.077 [DAT](INFO): DAT read: TxSync time:18:47:00.8786

2025-06-05T18:47:02.078Z,1749149222.078 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.247101
2025-06-05T18:47:02.329Z,1749149222.329 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.497789
2025-06-05T18:47:02.586Z,1749149222.586 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.754721
2025-06-05T18:47:02.834Z,1749149222.834 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.003269
2025-06-05T18:47:03.085Z,1749149223.085 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.253836
2025-06-05T18:47:03.224Z,1749149223.224 [BPC1](INFO): Calculating totals. Valid battery stick count: 52. Valid reserve battery stick count: 4.
2025-06-05T18:47:03.227Z,1749149223.227 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 46.
2025-06-05T18:47:03.263Z,1749149223.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:47:03.338Z,1749149223.338 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.506746
2025-06-05T18:47:03.592Z,1749149223.592 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.761056
2025-06-05T18:47:03.843Z,1749149223.843 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.011768
2025-06-05T18:47:04.093Z,1749149224.093 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.262429
2025-06-05T18:47:04.346Z,1749149224.346 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.514850
2025-06-05T18:47:04.604Z,1749149224.604 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.773135
2025-06-05T18:47:04.853Z,1749149224.853 [DAT](INFO): DAT read: Rx Time:18:47:03.2954

2025-06-05T18:47:04.853Z,1749149224.853 [DAT](INFO): Rx dataTimestamp_ set to:1749149224.853173
2025-06-05T18:47:04.854Z,1749149224.854 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.023279
2025-06-05T18:47:05.105Z,1749149225.105 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.273953
2025-06-05T18:47:05.279Z,1749149225.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:47:05.361Z,1749149225.361 [DAT](INFO): DAT read: Range 10 to 50 : 8.8 m  (Round-trip  11.8 ms) speed -0.4 m/s

2025-06-05T18:47:05.362Z,1749149225.362 [DAT](INFO): DAT read: user:2841>

2025-06-05T18:47:05.364Z,1749149225.364 [DAT](INFO): DAT read: Tx time:18:47:04.3794

2025-06-05T18:47:05.364Z,1749149225.364 [DAT](INFO): Ping request sent.
2025-06-05T18:47:05.364Z,1749149225.364 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:47:05.365Z,1749149225.365 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-06-05T18:47:05.365Z,1749149225.365 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:05.366Z,1749149225.366 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:05.367Z,1749149225.367 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.002710
2025-06-05T18:47:05.612Z,1749149225.612 [DAT](INFO): DAT read: TxSync time:18:47:04.3787

2025-06-05T18:47:05.615Z,1749149225.615 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.250365
2025-06-05T18:47:05.750Z,1749149225.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.800000 m,
      deltaT: 3.530337 s,
      deltaX: 1.400000 m,
      approachRate: 0.396563 m/s,
      rangeRepo size: 4

2025-06-05T18:47:05.751Z,1749149225.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 8.80 m. Rolling out.
2025-06-05T18:47:05.752Z,1749149225.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-06-05T18:47:05.782Z,1749149225.782 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T18:47:05.782Z,1749149225.782 [DockingStepper](INFO): Standby mode.
2025-06-05T18:47:05.848Z,1749149225.848 [DockingStepper](INFO): Commanding positive:54402
2025-06-05T18:47:05.861Z,1749149225.861 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.496568
2025-06-05T18:47:06.082Z,1749149226.082 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-05T18:47:06.082Z,1749149226.082 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-05T18:47:06.083Z,1749149226.083 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-05T18:47:06.084Z,1749149226.084 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 8.800000 m (mode  5.000000 count ).
2025-06-05T18:47:06.084Z,1749149226.084 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-05T18:47:06.084Z,1749149226.084 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-05T18:47:06.085Z,1749149226.085 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-05T18:47:06.085Z,1749149226.085 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-05T18:47:06.085Z,1749149226.085 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-05T18:47:06.086Z,1749149226.086 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  8.800000 m (mode  5.000000 count ).
2025-06-05T18:47:06.087Z,1749149226.087 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-05T18:47:06.087Z,1749149226.087 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-05T18:47:06.090Z,1749149226.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:06.113Z,1749149226.113 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.748415
2025-06-05T18:47:06.366Z,1749149226.366 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.001364
2025-06-05T18:47:06.500Z,1749149226.500 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-05T18:47:06.500Z,1749149226.500 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-05T18:47:06.501Z,1749149226.501 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-05T18:47:06.501Z,1749149226.501 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-05T18:47:06.503Z,1749149226.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:06.617Z,1749149226.617 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.253023
2025-06-05T18:47:06.869Z,1749149226.869 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.504317
2025-06-05T18:47:06.928Z,1749149226.928 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-05T18:47:06.929Z,1749149226.929 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-05T18:47:06.929Z,1749149226.929 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-05T18:47:06.929Z,1749149226.929 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-05T18:47:06.931Z,1749149226.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:07.121Z,1749149227.121 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.756581
2025-06-05T18:47:07.301Z,1749149227.301 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-05T18:47:07.301Z,1749149227.301 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-05T18:47:07.301Z,1749149227.301 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-05T18:47:07.301Z,1749149227.301 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-05T18:47:07.302Z,1749149227.302 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-05T18:47:07.302Z,1749149227.302 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-05T18:47:07.302Z,1749149227.302 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-05T18:47:07.302Z,1749149227.302 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-05T18:47:07.324Z,1749149227.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:07.374Z,1749149227.374 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.009717
2025-06-05T18:47:07.625Z,1749149227.625 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.260360
2025-06-05T18:47:07.773Z,1749149227.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:07.877Z,1749149227.877 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.512392
2025-06-05T18:47:08.116Z,1749149228.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:08.129Z,1749149228.129 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.764489
2025-06-05T18:47:08.381Z,1749149228.381 [DAT](INFO): DAT read: Rx Time:18:47:06.7978

2025-06-05T18:47:08.381Z,1749149228.381 [DAT](INFO): Rx dataTimestamp_ set to:1749149228.380850
2025-06-05T18:47:08.382Z,1749149228.382 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.017403
2025-06-05T18:47:08.546Z,1749149228.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:08.633Z,1749149228.633 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.268393
2025-06-05T18:47:08.886Z,1749149228.886 [DAT](INFO): DAT read: Range 10 to 50 : 10.6 m  (Round-trip  14.2 ms) speed -0.6 m/s

2025-06-05T18:47:08.886Z,1749149228.886 [DAT](INFO): DAT read: user:2842>

2025-06-05T18:47:08.887Z,1749149228.887 [DAT](INFO): DAT read: Tx time:18:47:07.8794

2025-06-05T18:47:08.887Z,1749149228.887 [DAT](INFO): Ping request sent.
2025-06-05T18:47:08.888Z,1749149228.888 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:47:08.888Z,1749149228.888 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-06-05T18:47:08.888Z,1749149228.888 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:08.889Z,1749149228.889 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:08.891Z,1749149228.891 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.003305
2025-06-05T18:47:09.026Z,1749149229.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.600000 m,
      deltaT: 3.527233 s,
      deltaX: 1.800000 m,
      approachRate: 0.510315 m/s,
      rangeRepo size: 4

2025-06-05T18:47:09.026Z,1749149229.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:09.138Z,1749149229.138 [DAT](INFO): DAT read: TxSync time:18:47:07.8787

2025-06-05T18:47:09.139Z,1749149229.139 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.251330
2025-06-05T18:47:09.374Z,1749149229.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:09.389Z,1749149229.389 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.501262
2025-06-05T18:47:09.646Z,1749149229.646 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.758198
2025-06-05T18:47:09.829Z,1749149229.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:09.893Z,1749149229.893 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.005388
2025-06-05T18:47:10.145Z,1749149230.145 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.257153
2025-06-05T18:47:10.197Z,1749149230.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:10.398Z,1749149230.398 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.509978
2025-06-05T18:47:10.608Z,1749149230.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:10.649Z,1749149230.649 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.761167
2025-06-05T18:47:10.903Z,1749149230.903 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.014755
2025-06-05T18:47:11.038Z,1749149231.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:11.153Z,1749149231.153 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.265255
2025-06-05T18:47:11.397Z,1749149231.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:11.405Z,1749149231.405 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.517230
2025-06-05T18:47:11.658Z,1749149231.658 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.770507
2025-06-05T18:47:11.862Z,1749149231.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:11.909Z,1749149231.909 [DAT](INFO): DAT read: Rx Time:18:47:10.3007

2025-06-05T18:47:11.910Z,1749149231.910 [DAT](INFO): Rx dataTimestamp_ set to:1749149231.909677
2025-06-05T18:47:11.911Z,1749149231.911 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.023609
2025-06-05T18:47:12.161Z,1749149232.161 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.273151
2025-06-05T18:47:12.203Z,1749149232.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:12.415Z,1749149232.415 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m  (Round-trip  17.1 ms) speed -0.6 m/s

2025-06-05T18:47:12.416Z,1749149232.416 [DAT](INFO): DAT read: user:2843>

2025-06-05T18:47:12.417Z,1749149232.417 [DAT](INFO): DAT read: Tx time:18:47:11.3794

2025-06-05T18:47:12.418Z,1749149232.418 [DAT](INFO): Ping request sent.
2025-06-05T18:47:12.418Z,1749149232.418 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:47:12.418Z,1749149232.418 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-06-05T18:47:12.418Z,1749149232.418 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:12.419Z,1749149232.419 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:12.420Z,1749149232.420 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.001864
2025-06-05T18:47:12.616Z,1749149232.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 3.529375 s,
      deltaX: 2.200000 m,
      approachRate: 0.623340 m/s,
      rangeRepo size: 4

2025-06-05T18:47:12.617Z,1749149232.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:12.665Z,1749149232.665 [DAT](INFO): DAT read: TxSync time:18:47:11.3787

2025-06-05T18:47:12.667Z,1749149232.667 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.248960
2025-06-05T18:47:12.917Z,1749149232.917 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.498923
2025-06-05T18:47:13.036Z,1749149233.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:13.169Z,1749149233.169 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.751233
2025-06-05T18:47:13.421Z,1749149233.421 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.003136
2025-06-05T18:47:13.428Z,1749149233.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:13.675Z,1749149233.675 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.256976
2025-06-05T18:47:13.855Z,1749149233.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:13.925Z,1749149233.925 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.507608
2025-06-05T18:47:14.177Z,1749149234.177 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.759167
2025-06-05T18:47:14.288Z,1749149234.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:14.431Z,1749149234.431 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.012855
2025-06-05T18:47:14.681Z,1749149234.681 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.263293
2025-06-05T18:47:14.695Z,1749149234.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:14.933Z,1749149234.933 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.515096
2025-06-05T18:47:15.162Z,1749149235.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:15.185Z,1749149235.185 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.767023
2025-06-05T18:47:15.437Z,1749149235.437 [DAT](INFO): DAT read: Rx Time:18:47:13.8040

2025-06-05T18:47:15.437Z,1749149235.437 [DAT](INFO): Rx dataTimestamp_ set to:1749149235.436846
2025-06-05T18:47:15.438Z,1749149235.438 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.020035
2025-06-05T18:47:15.602Z,1749149235.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.07 m.
2025-06-05T18:47:15.691Z,1749149235.691 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.272423
2025-06-05T18:47:15.947Z,1749149235.947 [DAT](INFO): DAT read: 18:47:13.8040 LVL= 24416, 19025, 14274, 26611, AGC= 60, IDX= 460,-0.27,-0.427, 1.928, 0.510, 0.861, PHS=-1.200, 1.114,-0.355, RAW= 308.8,   4.4, CAL= 312.0,   6.8, ROT= 198.0,  -6.8

2025-06-05T18:47:15.948Z,1749149235.948 [DAT](INFO): got valid direction response:
 18:47:13.8040 LVL= 24416, 19025, 14274, 26611, AGC= 60, IDX= 460,-0.27,-0.427, 1.928, 0.510, 0.861, PHS=-1.200, 1.114,-0.355, RAW= 308.8,   4.4, CAL= 312.0,   6.8, ROT= 198.0,  -6.8

2025-06-05T18:47:15.949Z,1749149235.949 [DAT](INFO): DAT read: Bearing 198.0,  -6.8 (Local)

2025-06-05T18:47:15.949Z,1749149235.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0,  -6.8 (Local)

2025-06-05T18:47:15.950Z,1749149235.950 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m  (Round-trip  20.3 ms) speed -0.5 m/s

2025-06-05T18:47:15.951Z,1749149235.951 [DAT](INFO): DAT read: user:2844>

2025-06-05T18:47:15.952Z,1749149235.952 [DAT](INFO): DAT read: Tx time:18:47:14.9295

2025-06-05T18:47:15.952Z,1749149235.952 [DAT](INFO): Ping request sent.
2025-06-05T18:47:15.952Z,1749149235.952 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:47:15.953Z,1749149235.953 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-05T18:47:15.954Z,1749149235.954 [DAT](INFO): direction in FSK: [-0.944366,-0.306843,0.118404]
2025-06-05T18:47:15.954Z,1749149235.954 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:15.954Z,1749149235.954 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:15.959Z,1749149235.959 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:15.959Z,1749149235.959 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:15.963Z,1749149235.963 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.010296
2025-06-05T18:47:16.067Z,1749149236.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 3.527030 s,
      deltaX: 2.400000 m,
      approachRate: 0.680459 m/s,
      rangeRepo size: 4

2025-06-05T18:47:16.075Z,1749149236.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.079715 m,
      bearing: 64.196038 deg,
      lat: 36.906187 deg,
      lon: -122.116156 deg,
      deltaT: 20.931928 s,
      deltaX: 11.011955 m,
      approachRate: 0.526084 m/s,
      posRepo size: 4

2025-06-05T18:47:16.080Z,1749149236.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:16.194Z,1749149236.194 [DAT](INFO): DAT read: TxSync time:18:47:14.9288

2025-06-05T18:47:16.195Z,1749149236.195 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.242601
2025-06-05T18:47:16.385Z,1749149236.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:16.446Z,1749149236.446 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.493161
2025-06-05T18:47:16.697Z,1749149236.697 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.745003
2025-06-05T18:47:16.759Z,1749149236.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:16.949Z,1749149236.949 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.996304
2025-06-05T18:47:17.201Z,1749149237.201 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.248145
2025-06-05T18:47:17.211Z,1749149237.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:17.454Z,1749149237.454 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.501546
2025-06-05T18:47:17.589Z,1749149237.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:17.706Z,1749149237.706 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.752773
2025-06-05T18:47:17.958Z,1749149237.958 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.005279
2025-06-05T18:47:18.021Z,1749149238.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:18.209Z,1749149238.209 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.256779
2025-06-05T18:47:18.461Z,1749149238.461 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.508321
2025-06-05T18:47:18.474Z,1749149238.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:18.714Z,1749149238.714 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.761346
2025-06-05T18:47:18.926Z,1749149238.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:18.965Z,1749149238.965 [DAT](INFO): DAT read: Rx Time:18:47:17.3572

2025-06-05T18:47:18.965Z,1749149238.965 [DAT](INFO): Rx dataTimestamp_ set to:1749149238.964882
2025-06-05T18:47:18.966Z,1749149238.966 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.013324
2025-06-05T18:47:19.217Z,1749149239.217 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.264193
2025-06-05T18:47:19.342Z,1749149239.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:47:19.393Z,1749149239.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.08 m.
2025-06-05T18:47:19.480Z,1749149239.480 [DAT](INFO): DAT read: 18:47:17.3572 LVL= 29424, 20385, 24178, 31779, AGC= 64, IDX= 460, 0.26,-1.577, 0.750,-0.289,-0.099, PHS=-1.390, 0.896,-0.193, RAW= 298.4,   7.0, CAL= 302.0,  10.7, ROT= 208.0, -10.7

2025-06-05T18:47:19.481Z,1749149239.481 [DAT](INFO): got valid direction response:
 18:47:17.3572 LVL= 29424, 20385, 24178, 31779, AGC= 64, IDX= 460, 0.26,-1.577, 0.750,-0.289,-0.099, PHS=-1.390, 0.896,-0.193, RAW= 298.4,   7.0, CAL= 302.0,  10.7, ROT= 208.0, -10.7

2025-06-05T18:47:19.482Z,1749149239.482 [DAT](INFO): DAT read: Bearing 208.0, -10.7 (Local)

2025-06-05T18:47:19.482Z,1749149239.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.0, -10.7 (Local)

2025-06-05T18:47:19.486Z,1749149239.486 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m  (Round-trip  23.5 ms) speed -0.6 m/s

2025-06-05T18:47:19.487Z,1749149239.487 [DAT](INFO): DAT read: user:2845>

2025-06-05T18:47:19.488Z,1749149239.488 [DAT](INFO): DAT read: Tx time:18:47:18.4795

2025-06-05T18:47:19.489Z,1749149239.489 [DAT](INFO): Ping request sent.
2025-06-05T18:47:19.489Z,1749149239.489 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:47:19.490Z,1749149239.490 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T18:47:19.491Z,1749149239.491 [DAT](INFO): direction in FSK: [-0.867596,-0.461309,0.185667]
2025-06-05T18:47:19.492Z,1749149239.492 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:19.492Z,1749149239.492 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:19.495Z,1749149239.495 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:19.496Z,1749149239.496 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:19.500Z,1749149239.500 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.010722
2025-06-05T18:47:19.746Z,1749149239.746 [DAT](INFO): DAT read: TxSync time:18:47:18.4788

2025-06-05T18:47:19.748Z,1749149239.748 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.259403
2025-06-05T18:47:19.851Z,1749149239.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 3.532903 s,
      deltaX: 2.400001 m,
      approachRate: 0.679328 m/s,
      rangeRepo size: 4

2025-06-05T18:47:19.867Z,1749149239.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.459167 m,
      bearing: 72.812842 deg,
      lat: 36.906169 deg,
      lon: -122.116138 deg,
      deltaT: 3.532903 s,
      deltaX: 2.379453 m,
      approachRate: 0.673512 m/s,
      posRepo size: 4

2025-06-05T18:47:19.874Z,1749149239.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-05T18:47:19.997Z,1749149239.997 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.508002
2025-06-05T18:47:20.246Z,1749149240.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-05T18:47:20.249Z,1749149240.249 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.760030
2025-06-05T18:47:20.344Z,1749149240.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:47:20.501Z,1749149240.501 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.012195
2025-06-05T18:47:20.619Z,1749149240.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-05T18:47:20.753Z,1749149240.753 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.264118
2025-06-05T18:47:21.005Z,1749149241.005 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.516058
2025-06-05T18:47:21.038Z,1749149241.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-05T18:47:21.258Z,1749149241.258 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.769218
2025-06-05T18:47:21.495Z,1749149241.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-05T18:47:21.509Z,1749149241.509 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.020251
2025-06-05T18:47:21.761Z,1749149241.761 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.272234
2025-06-05T18:47:21.979Z,1749149241.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-05T18:47:22.013Z,1749149242.013 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.523961
2025-06-05T18:47:22.265Z,1749149242.265 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.775780
2025-06-05T18:47:22.403Z,1749149242.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-05T18:47:22.517Z,1749149242.517 [DAT](INFO): DAT read: Rx Time:18:47:20.9111

2025-06-05T18:47:22.517Z,1749149242.517 [DAT](INFO): Rx dataTimestamp_ set to:1749149242.516883
2025-06-05T18:47:22.518Z,1749149242.518 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.028955
2025-06-05T18:47:22.776Z,1749149242.776 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.286957
2025-06-05T18:47:22.808Z,1749149242.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-05T18:47:23.034Z,1749149243.034 [DAT](INFO): DAT read: 18:47:20.9111 LVL= 30944, 27025, 21650, 32755, AGC= 63, IDX= 469, 0.28,-1.445, 0.821,-0.713,-0.286, PHS=-1.072, 1.153,-0.430, RAW= 313.7,   3.6, CAL= 316.6,   5.2, ROT= 193.4,  -5.2

2025-06-05T18:47:23.036Z,1749149243.036 [DAT](INFO): got valid direction response:
 18:47:20.9111 LVL= 30944, 27025, 21650, 32755, AGC= 63, IDX= 469, 0.28,-1.445, 0.821,-0.713,-0.286, PHS=-1.072, 1.153,-0.430, RAW= 313.7,   3.6, CAL= 316.6,   5.2, ROT= 193.4,  -5.2

2025-06-05T18:47:23.037Z,1749149243.037 [DAT](INFO): DAT read: Bearing 193.4,  -5.2 (Local)

2025-06-05T18:47:23.037Z,1749149243.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.4,  -5.2 (Local)

2025-06-05T18:47:23.038Z,1749149243.038 [DAT](INFO): DAT read: Range 10 to 50 : 20.5 m  (Round-trip  27.4 ms) speed -0.6 m/s

2025-06-05T18:47:23.056Z,1749149243.056 [DAT](INFO): DAT read: user:2846>

2025-06-05T18:47:23.058Z,1749149243.058 [DAT](INFO): DAT read: Tx time:18:47:22.0295

2025-06-05T18:47:23.058Z,1749149243.058 [DAT](INFO): Ping request sent.
2025-06-05T18:47:23.058Z,1749149243.058 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:47:23.058Z,1749149243.058 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-05T18:47:23.080Z,1749149243.080 [DAT](INFO): direction in FSK: [-0.968772,-0.230794,0.090633]
2025-06-05T18:47:23.080Z,1749149243.080 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:23.080Z,1749149243.080 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:23.083Z,1749149243.083 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:23.083Z,1749149243.083 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:23.103Z,1749149243.103 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.044639
2025-06-05T18:47:23.277Z,1749149243.277 [DAT](INFO): DAT read: TxSync time:18:47:22.0289

2025-06-05T18:47:23.278Z,1749149243.278 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.219672
2025-06-05T18:47:23.302Z,1749149243.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.500000 m,
      deltaT: 3.551784 s,
      deltaX: 2.900000 m,
      approachRate: 0.816491 m/s,
      rangeRepo size: 4

2025-06-05T18:47:23.308Z,1749149243.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.335285 m,
      bearing: 60.375189 deg,
      lat: 36.906160 deg,
      lon: -122.116138 deg,
      deltaT: 3.551784 s,
      deltaX: 2.876118 m,
      approachRate: 0.809767 m/s,
      posRepo size: 4

2025-06-05T18:47:23.308Z,1749149243.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:23.529Z,1749149243.529 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.470354
2025-06-05T18:47:23.626Z,1749149243.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:23.781Z,1749149243.781 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.722811
2025-06-05T18:47:24.033Z,1749149244.033 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.974536
2025-06-05T18:47:24.061Z,1749149244.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:24.286Z,1749149244.286 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.227243
2025-06-05T18:47:24.421Z,1749149244.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:24.542Z,1749149244.542 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.483047
2025-06-05T18:47:24.791Z,1749149244.791 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.732327
2025-06-05T18:47:24.875Z,1749149244.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:25.042Z,1749149245.042 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.983728
2025-06-05T18:47:25.255Z,1749149245.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:25.293Z,1749149245.293 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.234569
2025-06-05T18:47:25.545Z,1749149245.545 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.486748
2025-06-05T18:47:25.733Z,1749149245.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:25.799Z,1749149245.799 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.740317
2025-06-05T18:47:26.053Z,1749149246.053 [DAT](INFO): DAT read: Rx Time:18:47:24.4651

2025-06-05T18:47:26.053Z,1749149246.053 [DAT](INFO): Rx dataTimestamp_ set to:1749149246.052719
2025-06-05T18:47:26.054Z,1749149246.054 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.995369
2025-06-05T18:47:26.139Z,1749149246.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:26.305Z,1749149246.305 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.246519
2025-06-05T18:47:26.518Z,1749149246.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.34 m.
2025-06-05T18:47:26.565Z,1749149246.565 [DAT](INFO): DAT read: 18:47:24.4651 LVL= 29392, 23825, 18402, 31571, AGC= 65, IDX= 460, 0.45, 2.771,-1.442,-2.930,-2.440, PHS=-0.985, 1.044,-0.494, RAW= 316.6,   4.8, CAL= 319.4,   6.9, ROT= 190.6,  -6.9

2025-06-05T18:47:26.566Z,1749149246.566 [DAT](INFO): got valid direction response:
 18:47:24.4651 LVL= 29392, 23825, 18402, 31571, AGC= 65, IDX= 460, 0.45, 2.771,-1.442,-2.930,-2.440, PHS=-0.985, 1.044,-0.494, RAW= 316.6,   4.8, CAL= 319.4,   6.9, ROT= 190.6,  -6.9

2025-06-05T18:47:26.568Z,1749149246.568 [DAT](INFO): DAT read: Bearing 190.6,  -6.9 (Local)

2025-06-05T18:47:26.569Z,1749149246.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.6,  -6.9 (Local)

2025-06-05T18:47:26.571Z,1749149246.571 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m  (Round-trip  31.3 ms) speed -0.6 m/s

2025-06-05T18:47:26.582Z,1749149246.582 [DAT](INFO): DAT read: user:2847>

2025-06-05T18:47:26.583Z,1749149246.583 [DAT](INFO): DAT read: Tx time:18:47:25.5796

2025-06-05T18:47:26.584Z,1749149246.584 [DAT](INFO): Ping request sent.
2025-06-05T18:47:26.584Z,1749149246.584 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:47:26.585Z,1749149246.585 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-05T18:47:26.587Z,1749149246.587 [DAT](INFO): direction in FSK: [-0.975816,-0.182619,0.120137]
2025-06-05T18:47:26.587Z,1749149246.587 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:26.591Z,1749149246.591 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:26.602Z,1749149246.602 [DAT](INFO): publishing transmit ping time
2025-06-05T18:47:26.603Z,1749149246.603 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:26.616Z,1749149246.616 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.026970
2025-06-05T18:47:26.810Z,1749149246.810 [DAT](INFO): DAT read: TxSync time:18:47:25.5789

2025-06-05T18:47:26.813Z,1749149246.813 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.227928
2025-06-05T18:47:26.907Z,1749149246.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 3.532025 s,
      deltaX: 2.900000 m,
      approachRate: 0.821059 m/s,
      rangeRepo size: 4

2025-06-05T18:47:26.910Z,1749149246.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.210611 m,
      bearing: 56.688339 deg,
      lat: 36.906160 deg,
      lon: -122.116138 deg,
      deltaT: 3.532025 s,
      deltaX: 2.875326 m,
      approachRate: 0.814073 m/s,
      posRepo size: 4

2025-06-05T18:47:26.912Z,1749149246.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.21 m.
2025-06-05T18:47:27.061Z,1749149247.061 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.476267
2025-06-05T18:47:27.317Z,1749149247.317 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.732122
2025-06-05T18:47:27.357Z,1749149247.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.21 m.
2025-06-05T18:47:27.569Z,1749149247.569 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.984058
2025-06-05T18:47:27.745Z,1749149247.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.21 m.
2025-06-05T18:47:27.822Z,1749149247.822 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.237514
2025-06-05T18:47:28.073Z,1749149248.073 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.488650
2025-06-05T18:47:28.162Z,1749149248.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.21 m.
2025-06-05T18:47:28.326Z,1749149248.326 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.741242
2025-06-05T18:47:28.510Z,1749149248.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.21 m.
2025-06-05T18:47:28.578Z,1749149248.578 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.992752
2025-06-05T18:47:28.829Z,1749149248.829 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.244222
2025-06-05T18:47:28.954Z,1749149248.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.21 m.
2025-06-05T18:47:29.081Z,1749149249.081 [DAT](INFO): DAT read: Rx Time:18:47:27.7438 

2025-06-05T18:47:29.082Z,1749149249.082 [DAT](INFO): Rx dataTimestamp_ set to:1749149249.081415
2025-06-05T18:47:29.083Z,1749149249.083 [DAT](INFO): DAT read: Bearing 193.3,  -0.9 (Local)

2025-06-05T18:47:29.083Z,1749149249.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.3,  -0.9 (Local)

2025-06-05T18:47:29.115Z,1749149249.115 [DAT](INFO): DAT read: Range 10 to 50 :    26.3 m (trip time 17.5 ms) speed -0.6

2025-06-05T18:47:29.145Z,1749149249.145 [DAT](INFO): DAT read: 18:47:27.7438 LVL= 18064, 21345, 13970, 20899, AGC= 67, IDX= 210, 0.13,-2.156,-0.076,-1.482,-1.172, PHS=-0.896, 1.143,-0.314, RAW= 313.9,   0.7, CAL= 316.7,   0.9, ROT= 193.3,  -0.9

2025-06-05T18:47:29.146Z,1749149249.146 [DAT](INFO): got valid direction response:
 18:47:27.7438 LVL= 18064, 21345, 13970, 20899, AGC= 67, IDX= 210, 0.13,-2.156,-0.076,-1.482,-1.172, PHS=-0.896, 1.143,-0.314, RAW= 313.9,   0.7, CAL= 316.7,   0.9, ROT= 193.3,  -0.9

2025-06-05T18:47:29.146Z,1749149249.146 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-05T18:47:29.147Z,1749149249.147 [DAT](INFO): direction in FSK: [-0.973059,-0.230022,0.015707]
2025-06-05T18:47:29.152Z,1749149249.152 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:29.155Z,1749149249.155 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.570487
2025-06-05T18:47:29.333Z,1749149249.333 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.748297
2025-06-05T18:47:29.585Z,1749149249.585 [DAT](INFO): DAT read: Rx Time:18:47:28.2440 

2025-06-05T18:47:29.586Z,1749149249.586 [DAT](INFO): Rx dataTimestamp_ set to:1749149249.585424
2025-06-05T18:47:29.587Z,1749149249.587 [DAT](INFO): DAT read: Bearing 194.0,  -2.0 (Local)

2025-06-05T18:47:29.587Z,1749149249.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.0,  -2.0 (Local)

2025-06-05T18:47:29.591Z,1749149249.591 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed -0.4

2025-06-05T18:47:29.596Z,1749149249.596 [DAT](INFO): DAT read: 18:47:28.2440 LVL= 31584, 32753, 20834, 32755, AGC= 65, IDX= 500, 0.00, 1.956,-2.290, 2.641, 2.949, PHS=-0.905, 1.091,-0.311, RAW= 313.1,   1.4, CAL= 316.0,   2.0, ROT= 194.0,  -2.0

2025-06-05T18:47:29.597Z,1749149249.597 [DAT](INFO): got valid direction response:
 18:47:28.2440 LVL= 31584, 32753, 20834, 32755, AGC= 65, IDX= 500, 0.00, 1.956,-2.290, 2.641, 2.949, PHS=-0.905, 1.091,-0.311, RAW= 313.1,   1.4, CAL= 316.0,   2.0, ROT= 194.0,  -2.0

2025-06-05T18:47:29.597Z,1749149249.597 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-05T18:47:29.598Z,1749149249.598 [DAT](INFO): direction in FSK: [-0.969705,-0.241774,0.034899]
2025-06-05T18:47:29.599Z,1749149249.599 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:29.602Z,1749149249.602 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.017459
2025-06-05T18:47:29.620Z,1749149249.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 3.028261 s,
      deltaX: 3.200001 m,
      approachRate: 1.056712 m/s,
      rangeRepo size: 4

2025-06-05T18:47:29.622Z,1749149249.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.384277 m,
      bearing: 60.210817 deg,
      lat: 36.906160 deg,
      lon: -122.116137 deg,
      deltaT: 3.028261 s,
      deltaX: 3.173666 m,
      approachRate: 1.048016 m/s,
      posRepo size: 4

2025-06-05T18:47:29.628Z,1749149249.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.38 m.
2025-06-05T18:47:29.841Z,1749149249.841 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.256798
2025-06-05T18:47:30.058Z,1749149250.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.38 m.
2025-06-05T18:47:30.093Z,1749149250.093 [DAT](INFO): DAT read: Rx Time:18:47:28.7443 

2025-06-05T18:47:30.094Z,1749149250.094 [DAT](INFO): Rx dataTimestamp_ set to:1749149250.093575
2025-06-05T18:47:30.095Z,1749149250.095 [DAT](INFO): DAT read: Bearing 194.6,  -0.7 (Local)

2025-06-05T18:47:30.096Z,1749149250.096 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.6,  -0.7 (Local)

2025-06-05T18:47:30.098Z,1749149250.098 [DAT](INFO): DAT read: Range 10 to 50 :    27.0 m (trip time 18.0 ms) speed -0.3

2025-06-05T18:47:30.102Z,1749149250.102 [DAT](INFO): DAT read: 18:47:28.7443 LVL= 32752, 29633, 27826, 32755, AGC= 67, IDX= 504,-0.20, 2.992,-1.140,-2.554,-2.267, PHS=-0.936, 1.174,-0.290, RAW= 312.6,   0.6, CAL= 315.4,   0.7, ROT= 194.6,  -0.7

2025-06-05T18:47:30.103Z,1749149250.103 [DAT](INFO): got valid direction response:
 18:47:28.7443 LVL= 32752, 29633, 27826, 32755, AGC= 67, IDX= 504,-0.20, 2.992,-1.140,-2.554,-2.267, PHS=-0.936, 1.174,-0.290, RAW= 312.6,   0.6, CAL= 315.4,   0.7, ROT= 194.6,  -0.7

2025-06-05T18:47:30.105Z,1749149250.105 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-05T18:47:30.124Z,1749149250.124 [DAT](INFO): direction in FSK: [-0.967637,-0.252051,0.012217]
2025-06-05T18:47:30.125Z,1749149250.125 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:30.132Z,1749149250.132 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.547900
2025-06-05T18:47:30.345Z,1749149250.345 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.760024
2025-06-05T18:47:30.482Z,1749149250.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.508151 s,
      deltaX: 0.400000 m,
      approachRate: 0.787167 m/s,
      rangeRepo size: 4

2025-06-05T18:47:30.484Z,1749149250.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.780947 m,
      bearing: 60.953481 deg,
      lat: 36.906153 deg,
      lon: -122.116120 deg,
      deltaT: 0.508151 s,
      deltaX: 0.396669 m,
      approachRate: 0.780613 m/s,
      posRepo size: 4

2025-06-05T18:47:30.485Z,1749149250.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m.
2025-06-05T18:47:30.599Z,1749149250.599 [DAT](INFO): DAT read: Rx Time:18:47:29.2445 

2025-06-05T18:47:30.602Z,1749149250.602 [DAT](INFO): Rx dataTimestamp_ set to:1749149250.599217
2025-06-05T18:47:30.604Z,1749149250.604 [DAT](INFO): DAT read: Bearing 193.9,  -0.8 (Local)

2025-06-05T18:47:30.604Z,1749149250.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.9,  -0.8 (Local)

2025-06-05T18:47:30.607Z,1749149250.607 [DAT](INFO): DAT read: Range 10 to 50 :    27.3 m (trip time 18.2 ms) speed -0.5

2025-06-05T18:47:30.613Z,1749149250.613 [DAT](INFO): DAT read: 18:47:29.2445 LVL= 32752, 32353, 23586, 32755, AGC= 66, IDX= 506,-0.41, 1.847,-2.310, 2.551, 2.854, PHS=-0.920, 1.166,-0.307, RAW= 313.4,   0.7, CAL= 316.1,   0.8, ROT= 193.9,  -0.8

2025-06-05T18:47:30.614Z,1749149250.614 [DAT](INFO): got valid direction response:
 18:47:29.2445 LVL= 32752, 32353, 23586, 32755, AGC= 66, IDX= 506,-0.41, 1.847,-2.310, 2.551, 2.854, PHS=-0.920, 1.166,-0.307, RAW= 313.4,   0.7, CAL= 316.1,   0.8, ROT= 193.9,  -0.8

2025-06-05T18:47:30.614Z,1749149250.614 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-05T18:47:30.615Z,1749149250.615 [DAT](INFO): direction in FSK: [-0.970622,-0.240205,0.013962]
2025-06-05T18:47:30.615Z,1749149250.615 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:30.619Z,1749149250.619 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.034102
2025-06-05T18:47:30.849Z,1749149250.849 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=4.264587
2025-06-05T18:47:30.897Z,1749149250.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.505642 s,
      deltaX: 0.299999 m,
      approachRate: 0.593304 m/s,
      rangeRepo size: 4

2025-06-05T18:47:30.905Z,1749149250.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.078510 m,
      bearing: 60.315066 deg,
      lat: 36.906150 deg,
      lon: -122.116119 deg,
      deltaT: 0.505642 s,
      deltaX: 0.297564 m,
      approachRate: 0.588487 m/s,
      posRepo size: 4

2025-06-05T18:47:30.906Z,1749149250.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.08 m.
2025-06-05T18:47:31.056Z,1749149251.056 [DockingStepper](ERROR): getADC uart error serial timeout
2025-06-05T18:47:31.057Z,1749149251.057 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-06-05T18:47:31.057Z,1749149251.057 [DockingStepper] Communications Fault, FailCount= 1
2025-06-05T18:47:31.058Z,1749149251.058 [DockingStepper](ERROR): Communications Fault
2025-06-05T18:47:31.101Z,1749149251.101 [DAT](INFO): DAT read: Rx Time:18:47:29.7448 

2025-06-05T18:47:31.102Z,1749149251.102 [DAT](INFO): Rx dataTimestamp_ set to:1749149251.101474
2025-06-05T18:47:31.103Z,1749149251.103 [DAT](INFO): DAT read: Bearing 193.2,  -0.8 (Local)

2025-06-05T18:47:31.103Z,1749149251.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.2,  -0.8 (Local)

2025-06-05T18:47:31.105Z,1749149251.105 [DAT](INFO): DAT read: Range 10 to 50 :    27.8 m (trip time 18.5 ms) speed -0.4

2025-06-05T18:47:31.111Z,1749149251.111 [DAT](INFO): DAT read: 18:47:29.7448 LVL= 25888, 24993, 21874, 32755, AGC= 65, IDX= 508, 0.38, 2.551,-1.621,-3.055,-2.739, PHS=-0.905, 1.165,-0.319, RAW= 314.1,   0.6, CAL= 316.8,   0.8, ROT= 193.2,  -0.8

2025-06-05T18:47:31.112Z,1749149251.112 [DAT](INFO): got valid direction response:
 18:47:29.7448 LVL= 25888, 24993, 21874, 32755, AGC= 65, IDX= 508, 0.38, 2.551,-1.621,-3.055,-2.739, PHS=-0.905, 1.165,-0.319, RAW= 314.1,   0.6, CAL= 316.8,   0.8, ROT= 193.2,  -0.8

2025-06-05T18:47:31.113Z,1749149251.113 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-05T18:47:31.114Z,1749149251.114 [DAT](INFO): direction in FSK: [-0.973484,-0.228329,0.013962]
2025-06-05T18:47:31.114Z,1749149251.114 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:31.117Z,1749149251.117 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.532721
2025-06-05T18:47:31.228Z,1749149251.228 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-06-05T18:47:31.352Z,1749149251.352 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.767979
2025-06-05T18:47:31.359Z,1749149251.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.502257 s,
      deltaX: 0.500000 m,
      approachRate: 0.995506 m/s,
      rangeRepo size: 4

2025-06-05T18:47:31.370Z,1749149251.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.574455 m,
      bearing: 59.611402 deg,
      lat: 36.906150 deg,
      lon: -122.116119 deg,
      deltaT: 0.502257 s,
      deltaX: 0.495945 m,
      approachRate: 0.987433 m/s,
      posRepo size: 4

2025-06-05T18:47:31.370Z,1749149251.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.57 m.
2025-06-05T18:47:31.416Z,1749149251.416 [DockingStepper](INFO): Stop
2025-06-05T18:47:31.416Z,1749149251.416 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-05T18:47:31.416Z,1749149251.416 [DockingStepper](INFO): Powering down
2025-06-05T18:47:31.605Z,1749149251.605 [DAT](INFO): DAT read: Rx Time:18:47:30.2450 

2025-06-05T18:47:31.607Z,1749149251.607 [DAT](INFO): Rx dataTimestamp_ set to:1749149251.606092
2025-06-05T18:47:31.609Z,1749149251.609 [DAT](INFO): DAT read: Bearing 193.9,  -1.3 (Local)

2025-06-05T18:47:31.609Z,1749149251.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.9,  -1.3 (Local)

2025-06-05T18:47:31.611Z,1749149251.611 [DAT](INFO): DAT read: Range 10 to 50 :    28.1 m (trip time 18.7 ms) speed -0.4

2025-06-05T18:47:31.616Z,1749149251.616 [DAT](INFO): DAT read: 18:47:30.2450 LVL= 28832, 31137, 22002, 32755, AGC= 65, IDX= 510, 0.27, 0.876, 2.977, 1.574, 1.882, PHS=-0.919, 1.142,-0.311, RAW= 313.3,   1.0, CAL= 316.1,   1.3, ROT= 193.9,  -1.3

2025-06-05T18:47:31.617Z,1749149251.617 [DAT](INFO): got valid direction response:
 18:47:30.2450 LVL= 28832, 31137, 22002, 32755, AGC= 65, IDX= 510, 0.27, 0.876, 2.977, 1.574, 1.882, PHS=-0.919, 1.142,-0.311, RAW= 313.3,   1.0, CAL= 316.1,   1.3, ROT= 193.9,  -1.3

2025-06-05T18:47:31.618Z,1749149251.618 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-05T18:47:31.618Z,1749149251.618 [DAT](INFO): direction in FSK: [-0.970467,-0.240166,0.022687]
2025-06-05T18:47:31.619Z,1749149251.619 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:31.623Z,1749149251.623 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.037807
2025-06-05T18:47:31.734Z,1749149251.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.504618 s,
      deltaX: 0.300001 m,
      approachRate: 0.594511 m/s,
      rangeRepo size: 4

2025-06-05T18:47:31.741Z,1749149251.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.871971 m,
      bearing: 60.460457 deg,
      lat: 36.906148 deg,
      lon: -122.116119 deg,
      deltaT: 0.504618 s,
      deltaX: 0.297516 m,
      approachRate: 0.589586 m/s,
      posRepo size: 4

2025-06-05T18:47:31.742Z,1749149251.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.87 m.
2025-06-05T18:47:31.767Z,1749149251.767 [DockingStepper](INFO): Stopping
2025-06-05T18:47:31.857Z,1749149251.857 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=5.272137
2025-06-05T18:47:32.110Z,1749149252.110 [DAT](INFO): DAT read: Rx Time:18:47:30.7454 

2025-06-05T18:47:32.110Z,1749149252.110 [DAT](INFO): Rx dataTimestamp_ set to:1749149252.109839
2025-06-05T18:47:32.111Z,1749149252.111 [DAT](INFO): DAT read: Bearing 193.2,  -0.2 (Local)

2025-06-05T18:47:32.112Z,1749149252.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.2,  -0.2 (Local)

2025-06-05T18:47:32.114Z,1749149252.114 [DAT](INFO): DAT read: Range 10 to 50 :    28.7 m (trip time 19.1 ms) speed -0.8

2025-06-05T18:47:32.149Z,1749149252.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.87 m.
2025-06-05T18:47:32.150Z,1749149252.150 [DAT](INFO): DAT read: 18:47:30.7454 LVL= 26336, 21745, 21522, 29651, AGC= 69, IDX=   2, 0.11, 2.242,-1.870, 2.937,-3.034, PHS=-0.920, 1.211,-0.316, RAW= 314.0,   0.3, CAL= 316.8,   0.2, ROT= 193.2,  -0.2

2025-06-05T18:47:32.151Z,1749149252.151 [DAT](INFO): got valid direction response:
 18:47:30.7454 LVL= 26336, 21745, 21522, 29651, AGC= 69, IDX=   2, 0.11, 2.242,-1.870, 2.937,-3.034, PHS=-0.920, 1.211,-0.316, RAW= 314.0,   0.3, CAL= 316.8,   0.2, ROT= 193.2,  -0.2

2025-06-05T18:47:32.151Z,1749149252.151 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-05T18:47:32.164Z,1749149252.164 [DAT](INFO): direction in FSK: [-0.973573,-0.228350,0.003491]
2025-06-05T18:47:32.165Z,1749149252.165 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:32.176Z,1749149252.176 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=5.591819
2025-06-05T18:47:32.186Z,1749149252.186 [DockingStepper](INFO): Stopping
2025-06-05T18:47:32.361Z,1749149252.361 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=5.776340
2025-06-05T18:47:32.487Z,1749149252.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.503747 s,
      deltaX: 0.600000 m,
      approachRate: 1.191075 m/s,
      rangeRepo size: 4

2025-06-05T18:47:32.491Z,1749149252.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.467047 m,
      bearing: 59.898619 deg,
      lat: 36.906147 deg,
      lon: -122.116118 deg,
      deltaT: 0.503747 s,
      deltaX: 0.595076 m,
      approachRate: 1.181299 m/s,
      posRepo size: 4

2025-06-05T18:47:32.513Z,1749149252.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.47 m.
2025-06-05T18:47:32.574Z,1749149252.574 [DockingStepper](INFO): Stopping
2025-06-05T18:47:32.617Z,1749149252.617 [DAT](INFO): DAT read: Rx Time:18:47:31.2456 

2025-06-05T18:47:32.617Z,1749149252.617 [DAT](INFO): Rx dataTimestamp_ set to:1749149252.617216
2025-06-05T18:47:32.619Z,1749149252.619 [DAT](INFO): DAT read: Bearing 192.1,   1.0 (Local)

2025-06-05T18:47:32.619Z,1749149252.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.1,   1.0 (Local)

2025-06-05T18:47:32.621Z,1749149252.621 [DAT](INFO): DAT read: Range 10 to 50 :    29.0 m (trip time 19.3 ms) speed -0.6

2025-06-05T18:47:32.627Z,1749149252.627 [DAT](INFO): DAT read: 18:47:31.2456 LVL= 30448, 26545, 20850, 32755, AGC= 65, IDX= 484, 0.11,-0.324, 1.764, 0.313, 0.609, PHS=-0.845, 1.202,-0.299, RAW= 315.1,  -0.6, CAL= 317.9,  -1.0, ROT= 192.1,   1.0

2025-06-05T18:47:32.629Z,1749149252.629 [DAT](INFO): got valid direction response:
 18:47:31.2456 LVL= 30448, 26545, 20850, 32755, AGC= 65, IDX= 484, 0.11,-0.324, 1.764, 0.313, 0.609, PHS=-0.845, 1.202,-0.299, RAW= 315.1,  -0.6, CAL= 317.9,  -1.0, ROT= 192.1,   1.0

2025-06-05T18:47:32.629Z,1749149252.629 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-05T18:47:32.630Z,1749149252.630 [DAT](INFO): direction in FSK: [-0.977634,-0.209587,-0.017452]
2025-06-05T18:47:32.630Z,1749149252.630 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:32.646Z,1749149252.646 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=6.061505
2025-06-05T18:47:32.864Z,1749149252.864 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=6.279975
2025-06-05T18:47:32.890Z,1749149252.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.507377 s,
      deltaX: 0.299999 m,
      approachRate: 0.591275 m/s,
      rangeRepo size: 4

2025-06-05T18:47:32.893Z,1749149252.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.764610 m,
      bearing: 58.822468 deg,
      lat: 36.906148 deg,
      lon: -122.116119 deg,
      deltaT: 0.507377 s,
      deltaX: 0.297564 m,
      approachRate: 0.586474 m/s,
      posRepo size: 4

2025-06-05T18:47:32.893Z,1749149252.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.76 m.
2025-06-05T18:47:32.930Z,1749149252.930 [DockingStepper](INFO): Stopping
2025-06-05T18:47:33.118Z,1749149253.118 [DAT](INFO): DAT read: Rx Time:18:47:31.7459 

2025-06-05T18:47:33.118Z,1749149253.118 [DAT](INFO): Rx dataTimestamp_ set to:1749149253.118084
2025-06-05T18:47:33.120Z,1749149253.120 [DAT](INFO): DAT read: Bearing 192.1,   1.1 (Local)

2025-06-05T18:47:33.120Z,1749149253.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.1,   1.1 (Local)

2025-06-05T18:47:33.123Z,1749149253.123 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed -0.5

2025-06-05T18:47:33.128Z,1749149253.128 [DAT](INFO): DAT read: 18:47:31.7459 LVL= 29360, 27249, 20978, 32755, AGC= 68, IDX= 504,-0.00, 0.313, 2.529, 0.983, 1.297, PHS=-0.896, 1.279,-0.317, RAW= 315.1,  -0.7, CAL= 317.9,  -1.1, ROT= 192.1,   1.1

2025-06-05T18:47:33.129Z,1749149253.129 [DAT](INFO): got valid direction response:
 18:47:31.7459 LVL= 29360, 27249, 20978, 32755, AGC= 68, IDX= 504,-0.00, 0.313, 2.529, 0.983, 1.297, PHS=-0.896, 1.279,-0.317, RAW= 315.1,  -0.7, CAL= 317.9,  -1.1, ROT= 192.1,   1.1

2025-06-05T18:47:33.130Z,1749149253.130 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-05T18:47:33.131Z,1749149253.131 [DAT](INFO): direction in FSK: [-0.977603,-0.209580,-0.019197]
2025-06-05T18:47:33.131Z,1749149253.131 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:33.134Z,1749149253.134 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=6.549714
2025-06-05T18:47:33.333Z,1749149253.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.500868 s,
      deltaX: 0.600000 m,
      approachRate: 1.197921 m/s,
      rangeRepo size: 4

2025-06-05T18:47:33.335Z,1749149253.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.359741 m,
      bearing: 58.834975 deg,
      lat: 36.906149 deg,
      lon: -122.116117 deg,
      deltaT: 0.500868 s,
      deltaX: 0.595131 m,
      approachRate: 1.188199 m/s,
      posRepo size: 4

2025-06-05T18:47:33.335Z,1749149253.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.36 m.
2025-06-05T18:47:33.369Z,1749149253.369 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=6.784167
2025-06-05T18:47:33.382Z,1749149253.382 [DockingStepper](INFO): Stopping
2025-06-05T18:47:33.621Z,1749149253.621 [DAT](INFO): DAT read: Rx Time:18:47:32.2461 

2025-06-05T18:47:33.622Z,1749149253.622 [DAT](INFO): Rx dataTimestamp_ set to:1749149253.621377
2025-06-05T18:47:33.624Z,1749149253.624 [DAT](INFO): DAT read: Bearing 190.4,   1.7 (Local)

2025-06-05T18:47:33.625Z,1749149253.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.4,   1.7 (Local)

2025-06-05T18:47:33.627Z,1749149253.627 [DAT](INFO): DAT read: Range 10 to 50 :    29.9 m (trip time 19.9 ms) speed -0.6

2025-06-05T18:47:33.632Z,1749149253.632 [DAT](INFO): DAT read: 18:47:32.2461 LVL= 24336, 25777, 20578, 32755, AGC= 66, IDX= 506,-0.03,-1.815, 0.383,-1.208,-0.872, PHS=-0.855, 1.302,-0.339, RAW= 316.8,  -1.1, CAL= 319.6,  -1.7, ROT= 190.4,   1.7

2025-06-05T18:47:33.633Z,1749149253.633 [DAT](INFO): got valid direction response:
 18:47:32.2461 LVL= 24336, 25777, 20578, 32755, AGC= 66, IDX= 506,-0.03,-1.815, 0.383,-1.208,-0.872, PHS=-0.855, 1.302,-0.339, RAW= 316.8,  -1.1, CAL= 319.6,  -1.7, ROT= 190.4,   1.7

2025-06-05T18:47:33.633Z,1749149253.633 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-05T18:47:33.634Z,1749149253.634 [DAT](INFO): direction in FSK: [-0.983139,-0.180440,-0.029666]
2025-06-05T18:47:33.634Z,1749149253.634 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:33.685Z,1749149253.685 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=7.100537
2025-06-05T18:47:33.769Z,1749149253.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.503293 s,
      deltaX: 0.299999 m,
      approachRate: 0.596073 m/s,
      rangeRepo size: 4

2025-06-05T18:47:33.771Z,1749149253.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.657240 m,
      bearing: 57.113342 deg,
      lat: 36.906149 deg,
      lon: -122.116117 deg,
      deltaT: 0.503293 s,
      deltaX: 0.297499 m,
      approachRate: 0.591104 m/s,
      posRepo size: 4

2025-06-05T18:47:33.771Z,1749149253.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.66 m.
2025-06-05T18:47:33.802Z,1749149253.802 [DockingStepper](INFO): Stopping
2025-06-05T18:47:33.873Z,1749149253.873 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=7.288190
2025-06-05T18:47:34.126Z,1749149254.126 [DAT](INFO): DAT read: Rx Time:18:47:32.7465 

2025-06-05T18:47:34.127Z,1749149254.127 [DAT](INFO): Rx dataTimestamp_ set to:1749149254.126427
2025-06-05T18:47:34.128Z,1749149254.128 [DAT](INFO): DAT read: Bearing 190.7,   1.9 (Local)

2025-06-05T18:47:34.128Z,1749149254.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.7,   1.9 (Local)

2025-06-05T18:47:34.130Z,1749149254.130 [DAT](INFO): DAT read: Range 10 to 50 :    30.5 m (trip time 20.3 ms) speed -0.7

2025-06-05T18:47:34.135Z,1749149254.135 [DAT](INFO): DAT read: 18:47:32.7465 LVL= 27248, 26065, 19346, 32755, AGC= 68, IDX= 509,-0.03,-2.041, 0.172,-1.418,-1.093, PHS=-0.859, 1.312,-0.327, RAW= 316.4,  -1.3, CAL= 319.3,  -1.9, ROT= 190.7,   1.9

2025-06-05T18:47:34.149Z,1749149254.149 [DAT](INFO): got valid direction response:
 18:47:32.7465 LVL= 27248, 26065, 19346, 32755, AGC= 68, IDX= 509,-0.03,-2.041, 0.172,-1.418,-1.093, PHS=-0.859, 1.312,-0.327, RAW= 316.4,  -1.3, CAL= 319.3,  -1.9, ROT= 190.7,   1.9

2025-06-05T18:47:34.149Z,1749149254.149 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-05T18:47:34.150Z,1749149254.150 [DAT](INFO): direction in FSK: [-0.982073,-0.185565,-0.033155]
2025-06-05T18:47:34.150Z,1749149254.150 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:34.162Z,1749149254.162 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.577588
2025-06-05T18:47:34.296Z,1749149254.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.505050 s,
      deltaX: 0.600000 m,
      approachRate: 1.188002 m/s,
      rangeRepo size: 4

2025-06-05T18:47:34.298Z,1749149254.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.252369 m,
      bearing: 57.391825 deg,
      lat: 36.906149 deg,
      lon: -122.116120 deg,
      deltaT: 0.505050 s,
      deltaX: 0.595129 m,
      approachRate: 1.178357 m/s,
      posRepo size: 4

2025-06-05T18:47:34.299Z,1749149254.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.25 m.
2025-06-05T18:47:34.330Z,1749149254.330 [DockingStepper](INFO): Stopping
2025-06-05T18:47:34.378Z,1749149254.378 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=7.793337
2025-06-05T18:47:34.597Z,1749149254.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.25 m.
2025-06-05T18:47:34.629Z,1749149254.629 [DAT](INFO): DAT read: Rx Time:18:47:33.2466 

2025-06-05T18:47:34.630Z,1749149254.630 [DAT](INFO): Rx dataTimestamp_ set to:1749149254.629555
2025-06-05T18:47:34.631Z,1749149254.631 [DAT](INFO): DAT read: Bearing 189.5,   2.7 (Local)

2025-06-05T18:47:34.631Z,1749149254.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.5,   2.7 (Local)

2025-06-05T18:47:34.634Z,1749149254.634 [DAT](INFO): DAT read: Range 10 to 50 :    30.6 m (trip time 20.4 ms) speed -0.7

2025-06-05T18:47:34.639Z,1749149254.639 [DAT](INFO): DAT read: 18:47:33.2466 LVL= 26592, 22593, 18210, 32755, AGC= 67, IDX= 511,-0.02, 3.056,-0.982,-2.638,-2.300, PHS=-0.839, 1.365,-0.341, RAW= 317.6,  -1.9, CAL= 320.5,  -2.7, ROT= 189.5,   2.7

2025-06-05T18:47:34.641Z,1749149254.641 [DAT](INFO): got valid direction response:
 18:47:33.2466 LVL= 26592, 22593, 18210, 32755, AGC= 67, IDX= 511,-0.02, 3.056,-0.982,-2.638,-2.300, PHS=-0.839, 1.365,-0.341, RAW= 317.6,  -1.9, CAL= 320.5,  -2.7, ROT= 189.5,   2.7

2025-06-05T18:47:34.641Z,1749149254.641 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-05T18:47:34.642Z,1749149254.642 [DAT](INFO): direction in FSK: [-0.985191,-0.164864,-0.047106]
2025-06-05T18:47:34.643Z,1749149254.643 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:34.645Z,1749149254.645 [DockingStepper](INFO): Stopping
2025-06-05T18:47:34.654Z,1749149254.654 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.069668
2025-06-05T18:47:34.881Z,1749149254.881 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.296126
2025-06-05T18:47:34.962Z,1749149254.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.600000 m,
      deltaT: 0.503128 s,
      deltaX: 0.100000 m,
      approachRate: 0.198757 m/s,
      rangeRepo size: 4

2025-06-05T18:47:34.964Z,1749149254.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.351450 m,
      bearing: 56.105432 deg,
      lat: 36.906153 deg,
      lon: -122.116120 deg,
      deltaT: 0.503128 s,
      deltaX: 0.099081 m,
      approachRate: 0.196930 m/s,
      posRepo size: 4

2025-06-05T18:47:34.965Z,1749149254.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.35 m.
2025-06-05T18:47:35.070Z,1749149255.070 [DockingStepper](INFO): Stopping
2025-06-05T18:47:35.133Z,1749149255.133 [DAT](INFO): DAT read: Rx Time:18:47:33.7470 

2025-06-05T18:47:35.134Z,1749149255.134 [DAT](INFO): Rx dataTimestamp_ set to:1749149255.133633
2025-06-05T18:47:35.135Z,1749149255.135 [DAT](INFO): DAT read: Bearing 188.0,   4.3 (Local)

2025-06-05T18:47:35.136Z,1749149255.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.0,   4.3 (Local)

2025-06-05T18:47:35.138Z,1749149255.138 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed -0.9

2025-06-05T18:47:35.144Z,1749149255.144 [DAT](INFO): DAT read: 18:47:33.7470 LVL= 23824, 19937, 20354, 25667, AGC= 69, IDX=   3, 0.06,-1.355, 0.876,-0.824,-0.492, PHS=-0.775, 1.415,-0.335, RAW= 319.0,  -3.1, CAL= 322.0,  -4.3, ROT= 188.0,   4.3

2025-06-05T18:47:35.145Z,1749149255.145 [DAT](INFO): got valid direction response:
 18:47:33.7470 LVL= 23824, 19937, 20354, 25667, AGC= 69, IDX=   3, 0.06,-1.355, 0.876,-0.824,-0.492, PHS=-0.775, 1.415,-0.335, RAW= 319.0,  -3.1, CAL= 322.0,  -4.3, ROT= 188.0,   4.3

2025-06-05T18:47:35.145Z,1749149255.145 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-05T18:47:35.146Z,1749149255.146 [DAT](INFO): direction in FSK: [-0.987481,-0.138781,-0.074979]
2025-06-05T18:47:35.146Z,1749149255.146 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:35.150Z,1749149255.150 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.565358
2025-06-05T18:47:35.385Z,1749149255.385 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.800204
2025-06-05T18:47:35.443Z,1749149255.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.504078 s,
      deltaX: 0.600000 m,
      approachRate: 1.190293 m/s,
      rangeRepo size: 4

2025-06-05T18:47:35.450Z,1749149255.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.946487 m,
      bearing: 54.592228 deg,
      lat: 36.906155 deg,
      lon: -122.116122 deg,
      deltaT: 0.504078 s,
      deltaX: 0.595037 m,
      approachRate: 1.180447 m/s,
      posRepo size: 4

2025-06-05T18:47:35.450Z,1749149255.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.95 m.
2025-06-05T18:47:35.482Z,1749149255.482 [DockingStepper](INFO): Stopping
2025-06-05T18:47:35.637Z,1749149255.637 [DAT](INFO): DAT read: Rx Time:18:47:34.2473 

2025-06-05T18:47:35.638Z,1749149255.638 [DAT](INFO): Rx dataTimestamp_ set to:1749149255.637336
2025-06-05T18:47:35.639Z,1749149255.639 [DAT](INFO): DAT read: Bearing 188.3,   3.5 (Local)

2025-06-05T18:47:35.640Z,1749149255.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.3,   3.5 (Local)

2025-06-05T18:47:35.644Z,1749149255.644 [DAT](INFO): DAT read: Range 10 to 50 :    31.5 m (trip time 21.0 ms) speed -1.5

2025-06-05T18:47:35.651Z,1749149255.651 [DAT](INFO): DAT read: 18:47:34.2473 LVL= 24864, 21729, 19538, 32755, AGC= 68, IDX= 485, 0.10,-2.526,-0.292,-1.983,-1.638, PHS=-0.800, 1.394,-0.348, RAW= 318.7,  -2.5, CAL= 321.7,  -3.5, ROT= 188.3,   3.5

2025-06-05T18:47:35.652Z,1749149255.652 [DAT](INFO): got valid direction response:
 18:47:34.2473 LVL= 24864, 21729, 19538, 32755, AGC= 68, IDX= 485, 0.10,-2.526,-0.292,-1.983,-1.638, PHS=-0.800, 1.394,-0.348, RAW= 318.7,  -2.5, CAL= 321.7,  -3.5, ROT= 188.3,   3.5

2025-06-05T18:47:35.653Z,1749149255.653 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-05T18:47:35.654Z,1749149255.654 [DAT](INFO): direction in FSK: [-0.987680,-0.144087,-0.061049]
2025-06-05T18:47:35.654Z,1749149255.654 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:35.684Z,1749149255.684 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.074860
2025-06-05T18:47:35.850Z,1749149255.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.503703 s,
      deltaX: 0.299999 m,
      approachRate: 0.595588 m/s,
      rangeRepo size: 4

2025-06-05T18:47:35.856Z,1749149255.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.244049 m,
      bearing: 54.790457 deg,
      lat: 36.906155 deg,
      lon: -122.116128 deg,
      deltaT: 0.503703 s,
      deltaX: 0.297562 m,
      approachRate: 0.590748 m/s,
      posRepo size: 4

2025-06-05T18:47:35.857Z,1749149255.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.24 m.
2025-06-05T18:47:35.889Z,1749149255.889 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=9.304208
2025-06-05T18:47:35.902Z,1749149255.902 [DockingStepper](INFO): Stopping
2025-06-05T18:47:36.142Z,1749149256.142 [DAT](INFO): DAT read: Rx Time:18:47:34.7477 

2025-06-05T18:47:36.143Z,1749149256.143 [DAT](INFO): Rx dataTimestamp_ set to:1749149256.142377
2025-06-05T18:47:36.144Z,1749149256.144 [DAT](INFO): DAT read: Bearing 187.0,   4.4 (Local)

2025-06-05T18:47:36.144Z,1749149256.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0,   4.4 (Local)

2025-06-05T18:47:36.146Z,1749149256.146 [DAT](INFO): DAT read: Range 10 to 50 :    32.1 m (trip time 21.4 ms) speed -0.8

2025-06-05T18:47:36.155Z,1749149256.155 [DAT](INFO): DAT read: 18:47:34.7477 LVL= 24848, 21233, 20338, 32755, AGC= 66, IDX= 489, 0.14,-1.042, 1.185,-0.550,-0.196, PHS=-0.758, 1.427,-0.357, RAW= 320.1,  -3.1, CAL= 323.0,  -4.4, ROT= 187.0,   4.4

2025-06-05T18:47:36.157Z,1749149256.157 [DAT](INFO): got valid direction response:
 18:47:34.7477 LVL= 24848, 21233, 20338, 32755, AGC= 66, IDX= 489, 0.14,-1.042, 1.185,-0.550,-0.196, PHS=-0.758, 1.427,-0.357, RAW= 320.1,  -3.1, CAL= 323.0,  -4.4, ROT= 187.0,   4.4

2025-06-05T18:47:36.158Z,1749149256.158 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-05T18:47:36.159Z,1749149256.159 [DAT](INFO): direction in FSK: [-0.989621,-0.121510,-0.076719]
2025-06-05T18:47:36.159Z,1749149256.159 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:36.205Z,1749149256.205 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.620718
2025-06-05T18:47:36.340Z,1749149256.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.099998 m,
      deltaT: 0.505041 s,
      deltaX: 0.599998 m,
      approachRate: 1.188019 m/s,
      rangeRepo size: 4

2025-06-05T18:47:36.343Z,1749149256.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.839172 m,
      bearing: 53.352104 deg,
      lat: 36.906159 deg,
      lon: -122.116130 deg,
      deltaT: 0.505041 s,
      deltaX: 0.595123 m,
      approachRate: 1.178366 m/s,
      posRepo size: 4

2025-06-05T18:47:36.343Z,1749149256.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.84 m.
2025-06-05T18:47:36.378Z,1749149256.378 [DockingStepper](INFO): Stopping
2025-06-05T18:47:36.393Z,1749149256.393 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=9.808788
2025-06-05T18:47:36.607Z,1749149256.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.84 m.
2025-06-05T18:47:36.620Z,1749149256.620 [DockingStepper](INFO): Stopping
2025-06-05T18:47:36.647Z,1749149256.647 [DAT](INFO): DAT read: Rx Time:18:47:35.2479 

2025-06-05T18:47:36.648Z,1749149256.648 [DAT](INFO): Rx dataTimestamp_ set to:1749149256.647631
2025-06-05T18:47:36.650Z,1749149256.650 [DAT](INFO): DAT read: Bearing 186.8,   5.5 (Local)

2025-06-05T18:47:36.651Z,1749149256.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.8,   5.5 (Local)

2025-06-05T18:47:36.655Z,1749149256.655 [DAT](INFO): DAT read: Range 10 to 50 :    32.4 m (trip time 21.6 ms) speed -0.8

2025-06-05T18:47:36.661Z,1749149256.661 [DAT](INFO): DAT read: 18:47:35.2479 LVL= 23184, 22929, 20130, 32755, AGC= 67, IDX= 491, 0.23,-1.548, 0.722,-1.053,-0.716, PHS=-0.744, 1.485,-0.340, RAW= 320.2,  -3.9, CAL= 323.2,  -5.5, ROT= 186.8,   5.5

2025-06-05T18:47:36.662Z,1749149256.662 [DAT](INFO): got valid direction response:
 18:47:35.2479 LVL= 23184, 22929, 20130, 32755, AGC= 67, IDX= 491, 0.23,-1.548, 0.722,-1.053,-0.716, PHS=-0.744, 1.485,-0.340, RAW= 320.2,  -3.9, CAL= 323.2,  -5.5, ROT= 186.8,   5.5

2025-06-05T18:47:36.663Z,1749149256.663 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-05T18:47:36.664Z,1749149256.664 [DAT](INFO): direction in FSK: [-0.988394,-0.117859,-0.095846]
2025-06-05T18:47:36.664Z,1749149256.664 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:36.668Z,1749149256.668 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.082974
2025-06-05T18:47:36.898Z,1749149256.898 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.313332
2025-06-05T18:47:37.079Z,1749149257.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.400002 m,
      deltaT: 0.505254 s,
      deltaX: 0.300003 m,
      approachRate: 0.593767 m/s,
      rangeRepo size: 4

2025-06-05T18:47:37.100Z,1749149257.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.136532 m,
      bearing: 53.085311 deg,
      lat: 36.906160 deg,
      lon: -122.116131 deg,
      deltaT: 0.505254 s,
      deltaX: 0.297359 m,
      approachRate: 0.588535 m/s,
      posRepo size: 4

2025-06-05T18:47:37.102Z,1749149257.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m.
2025-06-05T18:47:37.150Z,1749149257.150 [DAT](INFO): DAT read: Rx Time:18:47:35.7483 

2025-06-05T18:47:37.150Z,1749149257.150 [DAT](INFO): Rx dataTimestamp_ set to:1749149257.150167
2025-06-05T18:47:37.152Z,1749149257.152 [DAT](INFO): DAT read: Bearing 187.1,   5.8 (Local)

2025-06-05T18:47:37.152Z,1749149257.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.1,   5.8 (Local)

2025-06-05T18:47:37.154Z,1749149257.154 [DAT](INFO): DAT read: Range 10 to 50 :    33.0 m (trip time 22.0 ms) speed -0.9

2025-06-05T18:47:37.160Z,1749149257.160 [DAT](INFO): DAT read: 18:47:35.7483 LVL= 26416, 24417, 20706, 32755, AGC= 69, IDX= 495, 0.26, 0.371, 2.626, 0.880, 1.195, PHS=-0.736, 1.477,-0.319, RAW= 319.8,  -4.2, CAL= 322.9,  -5.8, ROT= 187.1,   5.8

2025-06-05T18:47:37.161Z,1749149257.161 [DAT](INFO): got valid direction response:
 18:47:35.7483 LVL= 26416, 24417, 20706, 32755, AGC= 69, IDX= 495, 0.26, 0.371, 2.626, 0.880, 1.195, PHS=-0.736, 1.477,-0.319, RAW= 319.8,  -4.2, CAL= 322.9,  -5.8, ROT= 187.1,   5.8

2025-06-05T18:47:37.164Z,1749149257.164 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-05T18:47:37.165Z,1749149257.165 [DAT](INFO): direction in FSK: [-0.987252,-0.122969,-0.101056]
2025-06-05T18:47:37.165Z,1749149257.165 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:37.169Z,1749149257.169 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.584099
2025-06-05T18:47:37.186Z,1749149257.186 [DockingStepper](INFO): Stopping
2025-06-05T18:47:37.401Z,1749149257.401 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=10.816101
2025-06-05T18:47:37.532Z,1749149257.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 0.502536 s,
      deltaX: 0.599998 m,
      approachRate: 1.193941 m/s,
      rangeRepo size: 4

2025-06-05T18:47:37.550Z,1749149257.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.731419 m,
      bearing: 53.375572 deg,
      lat: 36.906162 deg,
      lon: -122.116133 deg,
      deltaT: 0.502536 s,
      deltaX: 0.594887 m,
      approachRate: 1.183769 m/s,
      posRepo size: 4

2025-06-05T18:47:37.551Z,1749149257.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.73 m.
2025-06-05T18:47:37.583Z,1749149257.583 [DockingStepper](INFO): Stopping
2025-06-05T18:47:37.653Z,1749149257.653 [DAT](INFO): DAT read: Rx Time:18:47:36.2485 

2025-06-05T18:47:37.654Z,1749149257.654 [DAT](INFO): Rx dataTimestamp_ set to:1749149257.653601
2025-06-05T18:47:37.655Z,1749149257.655 [DAT](INFO): DAT read: Bearing 186.5,   7.7 (Local)

2025-06-05T18:47:37.656Z,1749149257.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.5,   7.7 (Local)

2025-06-05T18:47:37.659Z,1749149257.659 [DAT](INFO): DAT read: Range 10 to 50 :    33.3 m (trip time 22.2 ms) speed -0.7

2025-06-05T18:47:37.663Z,1749149257.663 [DAT](INFO): DAT read: 18:47:36.2485 LVL= 23152, 24129, 20114, 31715, AGC= 67, IDX= 497, 0.38,-0.241, 2.033, 0.256, 0.536, PHS=-0.689, 1.544,-0.283, RAW= 320.2,  -5.6, CAL= 323.5,  -7.7, ROT= 186.5,   7.7

2025-06-05T18:47:37.665Z,1749149257.665 [DAT](INFO): got valid direction response:
 18:47:36.2485 LVL= 23152, 24129, 20114, 31715, AGC= 67, IDX= 497, 0.38,-0.241, 2.033, 0.256, 0.536, PHS=-0.689, 1.544,-0.283, RAW= 320.2,  -5.6, CAL= 323.5,  -7.7, ROT= 186.5,   7.7

2025-06-05T18:47:37.665Z,1749149257.665 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-05T18:47:37.666Z,1749149257.666 [DAT](INFO): direction in FSK: [-0.984613,-0.112182,-0.133986]
2025-06-05T18:47:37.666Z,1749149257.666 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:37.670Z,1749149257.670 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.085782
2025-06-05T18:47:37.874Z,1749149257.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 0.503434 s,
      deltaX: 0.299999 m,
      approachRate: 0.595906 m/s,
      rangeRepo size: 4

2025-06-05T18:47:37.884Z,1749149257.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.028976 m,
      bearing: 52.769658 deg,
      lat: 36.906163 deg,
      lon: -122.116133 deg,
      deltaT: 0.503434 s,
      deltaX: 0.297558 m,
      approachRate: 0.591056 m/s,
      posRepo size: 4

2025-06-05T18:47:37.884Z,1749149257.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.03 m.
2025-06-05T18:47:37.905Z,1749149257.905 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=11.320118
2025-06-05T18:47:37.911Z,1749149257.911 [DockingStepper](INFO): Stopping
2025-06-05T18:47:38.158Z,1749149258.158 [DAT](INFO): DAT read: Rx Time:18:47:36.7488 

2025-06-05T18:47:38.159Z,1749149258.159 [DAT](INFO): Rx dataTimestamp_ set to:1749149258.158630
2025-06-05T18:47:38.160Z,1749149258.160 [DAT](INFO): DAT read: Bearing 186.5,   7.8 (Local)

2025-06-05T18:47:38.161Z,1749149258.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.5,   7.8 (Local)

2025-06-05T18:47:38.163Z,1749149258.163 [DAT](INFO): DAT read: Range 10 to 50 :    33.8 m (trip time 22.5 ms) speed -0.8

2025-06-05T18:47:38.168Z,1749149258.168 [DAT](INFO): DAT read: 18:47:36.7488 LVL= 24256, 24209, 20114, 32755, AGC= 67, IDX= 501,-0.42,-1.266, 1.024,-0.767,-0.488, PHS=-0.690, 1.559,-0.282, RAW= 320.2,  -5.7, CAL= 323.5,  -7.8, ROT= 186.5,   7.8

2025-06-05T18:47:38.169Z,1749149258.169 [DAT](INFO): got valid direction response:
 18:47:36.7488 LVL= 24256, 24209, 20114, 32755, AGC= 67, IDX= 501,-0.42,-1.266, 1.024,-0.767,-0.488, PHS=-0.690, 1.559,-0.282, RAW= 320.2,  -5.7, CAL= 323.5,  -7.8, ROT= 186.5,   7.8

2025-06-05T18:47:38.169Z,1749149258.169 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-05T18:47:38.170Z,1749149258.170 [DAT](INFO): direction in FSK: [-0.984379,-0.112156,-0.135716]
2025-06-05T18:47:38.170Z,1749149258.170 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:38.193Z,1749149258.193 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.590936
2025-06-05T18:47:38.322Z,1749149258.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.799999 m,
      deltaT: 0.505029 s,
      deltaX: 0.500000 m,
      approachRate: 0.990042 m/s,
      rangeRepo size: 4

2025-06-05T18:47:38.329Z,1749149258.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.524906 m,
      bearing: 52.769351 deg,
      lat: 36.906163 deg,
      lon: -122.116135 deg,
      deltaT: 0.505029 s,
      deltaX: 0.495930 m,
      approachRate: 0.981983 m/s,
      posRepo size: 4

2025-06-05T18:47:38.330Z,1749149258.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.52 m.
2025-06-05T18:47:38.355Z,1749149258.355 [DockingStepper](INFO): Stopping
2025-06-05T18:47:38.409Z,1749149258.409 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=11.824252
2025-06-05T18:47:38.626Z,1749149258.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.52 m.
2025-06-05T18:47:38.641Z,1749149258.641 [DockingStepper](INFO): Stopping
2025-06-05T18:47:38.662Z,1749149258.662 [DAT](INFO): DAT read: Rx Time:18:47:37.2490 

2025-06-05T18:47:38.663Z,1749149258.663 [DAT](INFO): Rx dataTimestamp_ set to:1749149258.662373
2025-06-05T18:47:38.665Z,1749149258.665 [DAT](INFO): DAT read: Bearing 186.3,   9.3 (Local)

2025-06-05T18:47:38.665Z,1749149258.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.3,   9.3 (Local)

2025-06-05T18:47:38.668Z,1749149258.668 [DAT](INFO): DAT read: Range 10 to 50 :    34.1 m (trip time 22.7 ms) speed -0.5

2025-06-05T18:47:38.672Z,1749149258.672 [DAT](INFO): DAT read: 18:47:37.2490 LVL= 24784, 24017, 22082, 32755, AGC= 66, IDX= 487,-0.25,-2.703,-0.422,-2.207,-1.965, PHS=-0.650, 1.590,-0.245, RAW= 320.2,  -6.8, CAL= 323.7,  -9.3, ROT= 186.3,   9.3

2025-06-05T18:47:38.674Z,1749149258.674 [DAT](INFO): got valid direction response:
 18:47:37.2490 LVL= 24784, 24017, 22082, 32755, AGC= 66, IDX= 487,-0.25,-2.703,-0.422,-2.207,-1.965, PHS=-0.650, 1.590,-0.245, RAW= 320.2,  -6.8, CAL= 323.7,  -9.3, ROT= 186.3,   9.3

2025-06-05T18:47:38.674Z,1749149258.674 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-05T18:47:38.675Z,1749149258.675 [DAT](INFO): direction in FSK: [-0.980896,-0.108292,-0.161604]
2025-06-05T18:47:38.676Z,1749149258.676 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:38.679Z,1749149258.679 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.094447
2025-06-05T18:47:38.913Z,1749149258.913 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=12.328925
2025-06-05T18:47:39.160Z,1749149259.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.099998 m,
      deltaT: 0.503743 s,
      deltaX: 0.299999 m,
      approachRate: 0.595540 m/s,
      rangeRepo size: 4

2025-06-05T18:47:39.169Z,1749149259.169 [DAT](INFO): DAT read: Rx Time:18:47:37.7494 

2025-06-05T18:47:39.171Z,1749149259.171 [DAT](INFO): Rx dataTimestamp_ set to:1749149259.169935
2025-06-05T18:47:39.176Z,1749149259.176 [DAT](INFO): DAT read: Bearing 186.4,   8.3 (Local)

2025-06-05T18:47:39.177Z,1749149259.177 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.4,   8.3 (Local)

2025-06-05T18:47:39.185Z,1749149259.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.821972 m,
      bearing: 52.663738 deg,
      lat: 36.906163 deg,
      lon: -122.116137 deg,
      deltaT: 0.503743 s,
      deltaX: 0.297066 m,
      approachRate: 0.589717 m/s,
      posRepo size: 4

2025-06-05T18:47:39.185Z,1749149259.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.82 m.
2025-06-05T18:47:39.188Z,1749149259.188 [DAT](INFO): DAT read: Range 10 to 50 :    34.7 m (trip time 23.1 ms) speed -0.5

2025-06-05T18:47:39.202Z,1749149259.202 [DAT](INFO): DAT read: 18:47:37.7494 LVL= 25968, 20465, 20754, 32755, AGC= 66, IDX= 507,-0.11,-1.481, 0.782,-0.987,-0.723, PHS=-0.669, 1.552,-0.266, RAW= 320.2,  -6.1, CAL= 323.6,  -8.3, ROT= 186.4,   8.3

2025-06-05T18:47:39.203Z,1749149259.203 [DAT](INFO): got valid direction response:
 18:47:37.7494 LVL= 25968, 20465, 20754, 32755, AGC= 66, IDX= 507,-0.11,-1.481, 0.782,-0.987,-0.723, PHS=-0.669, 1.552,-0.266, RAW= 320.2,  -6.1, CAL= 323.6,  -8.3, ROT= 186.4,   8.3

2025-06-05T18:47:39.203Z,1749149259.203 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-05T18:47:39.215Z,1749149259.215 [DockingStepper](INFO): Stopping
2025-06-05T18:47:39.216Z,1749149259.216 [DAT](INFO): direction in FSK: [-0.983359,-0.110301,-0.144356]
2025-06-05T18:47:39.217Z,1749149259.217 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:39.225Z,1749149259.225 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.639995
2025-06-05T18:47:39.417Z,1749149259.417 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=12.832130
2025-06-05T18:47:39.449Z,1749149259.449 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060510485521,35.0,  0.0,1491.8,  0
2025-06-05T18:47:39.553Z,1749149259.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.700001 m,
      deltaT: 0.507562 s,
      deltaX: 0.600002 m,
      approachRate: 1.182126 m/s,
      rangeRepo size: 4

2025-06-05T18:47:39.555Z,1749149259.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.417065 m,
      bearing: 52.794926 deg,
      lat: 36.906162 deg,
      lon: -122.116135 deg,
      deltaT: 0.507562 s,
      deltaX: 0.595093 m,
      approachRate: 1.172453 m/s,
      posRepo size: 4

2025-06-05T18:47:39.555Z,1749149259.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.42 m.
2025-06-05T18:47:39.596Z,1749149259.596 [DockingStepper](INFO): Stopping
2025-06-05T18:47:39.670Z,1749149259.670 [DAT](INFO): DAT read: Rx Time:18:47:38.2496 

2025-06-05T18:47:39.670Z,1749149259.670 [DAT](INFO): Rx dataTimestamp_ set to:1749149259.669881
2025-06-05T18:47:39.672Z,1749149259.672 [DAT](INFO): DAT read: Bearing 185.3,   9.7 (Local)

2025-06-05T18:47:39.672Z,1749149259.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.3,   9.7 (Local)

2025-06-05T18:47:39.676Z,1749149259.676 [DAT](INFO): DAT read: Range 10 to 50 :    35.0 m (trip time 23.3 ms) speed -0.5

2025-06-05T18:47:39.680Z,1749149259.680 [DAT](INFO): DAT read: 18:47:38.2496 LVL= 24768, 24337, 22546, 32755, AGC= 67, IDX= 509, 0.02,-2.008, 0.238,-1.557,-1.306, PHS=-0.614, 1.591,-0.254, RAW= 321.2,  -7.1, CAL= 324.7,  -9.7, ROT= 185.3,   9.7

2025-06-05T18:47:39.682Z,1749149259.682 [DAT](INFO): got valid direction response:
 18:47:38.2496 LVL= 24768, 24337, 22546, 32755, AGC= 67, IDX= 509, 0.02,-2.008, 0.238,-1.557,-1.306, PHS=-0.614, 1.591,-0.254, RAW= 321.2,  -7.1, CAL= 324.7,  -9.7, ROT= 185.3,   9.7

2025-06-05T18:47:39.682Z,1749149259.682 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-05T18:47:39.685Z,1749149259.685 [DAT](INFO): direction in FSK: [-0.981489,-0.091050,-0.168489]
2025-06-05T18:47:39.686Z,1749149259.685 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:39.698Z,1749149259.698 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=13.113079
2025-06-05T18:47:39.888Z,1749149259.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.000000 m,
      deltaT: 0.499946 s,
      deltaX: 0.299999 m,
      approachRate: 0.600063 m/s,
      rangeRepo size: 4

2025-06-05T18:47:39.890Z,1749149259.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.714615 m,
      bearing: 51.726364 deg,
      lat: 36.906163 deg,
      lon: -122.116137 deg,
      deltaT: 0.499946 s,
      deltaX: 0.297550 m,
      approachRate: 0.595165 m/s,
      posRepo size: 4

2025-06-05T18:47:39.891Z,1749149259.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.71 m.
2025-06-05T18:47:39.915Z,1749149259.915 [DockingStepper](INFO): Stopping
2025-06-05T18:47:39.921Z,1749149259.921 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=13.336226
2025-06-05T18:47:40.178Z,1749149260.178 [DAT](INFO): DAT read: Rx Time:18:47:38.7500 

2025-06-05T18:47:40.178Z,1749149260.178 [DAT](INFO): Rx dataTimestamp_ set to:1749149260.178041
2025-06-05T18:47:40.183Z,1749149260.183 [DAT](INFO): DAT read: Bearing 191.6,   5.4 (Local)

2025-06-05T18:47:40.183Z,1749149260.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.6,   5.4 (Local)

2025-06-05T18:47:40.226Z,1749149260.226 [DAT](INFO): DAT read: Range 10 to 50 :    35.6 m (trip time 23.7 ms) speed -0.7

2025-06-05T18:47:40.231Z,1749149260.231 [DAT](INFO): DAT read: 18:47:38.7500 LVL= 27120, 23633, 19938, 32083, AGC= 66, IDX= 513, 0.15, 0.377, 2.311, 0.976, 1.155, PHS=-0.690, 1.202,-0.183, RAW= 315.0,  -3.9, CAL= 318.4,  -5.4, ROT= 191.6,   5.4

2025-06-05T18:47:40.253Z,1749149260.253 [DAT](INFO): got valid direction response:
 18:47:38.7500 LVL= 27120, 23633, 19938, 32083, AGC= 66, IDX= 513, 0.15, 0.377, 2.311, 0.976, 1.155, PHS=-0.690, 1.202,-0.183, RAW= 315.0,  -3.9, CAL= 318.4,  -5.4, ROT= 191.6,   5.4

2025-06-05T18:47:40.253Z,1749149260.253 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-05T18:47:40.254Z,1749149260.254 [DAT](INFO): direction in FSK: [-0.975228,-0.200186,-0.094108]
2025-06-05T18:47:40.254Z,1749149260.254 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:40.266Z,1749149260.266 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=13.681374
2025-06-05T18:47:40.358Z,1749149260.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.599998 m,
      deltaT: 0.508160 s,
      deltaX: 0.599998 m,
      approachRate: 1.180727 m/s,
      rangeRepo size: 4

2025-06-05T18:47:40.362Z,1749149260.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.309723 m,
      bearing: 58.110304 deg,
      lat: 36.906161 deg,
      lon: -122.116135 deg,
      deltaT: 0.508160 s,
      deltaX: 0.595108 m,
      approachRate: 1.171104 m/s,
      posRepo size: 4

2025-06-05T18:47:40.362Z,1749149260.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.31 m.
2025-06-05T18:47:40.425Z,1749149260.425 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=13.840891
2025-06-05T18:47:40.530Z,1749149260.530 [DockingStepper](INFO): Stopping
2025-06-05T18:47:40.680Z,1749149260.680 [DAT](INFO): DAT read: Rx Time:18:47:39.2501 

2025-06-05T18:47:40.680Z,1749149260.680 [DAT](INFO): Rx dataTimestamp_ set to:1749149260.679952
2025-06-05T18:47:40.682Z,1749149260.682 [DAT](INFO): DAT read: Bearing 184.6,  10.3 (Local)

2025-06-05T18:47:40.683Z,1749149260.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.6,  10.3 (Local)

2025-06-05T18:47:40.686Z,1749149260.686 [DAT](INFO): DAT read: Range 10 to 50 :    35.9 m (trip time 23.9 ms) speed -0.5

2025-06-05T18:47:40.694Z,1749149260.694 [DAT](INFO): DAT read: 18:47:39.2501 LVL= 22608, 21089, 19442, 28579, AGC= 70, IDX=   3, 0.24,-2.269,-0.029,-1.846,-1.593, PHS=-0.587, 1.611,-0.256, RAW= 322.0,  -7.5, CAL= 325.4, -10.3, ROT= 184.6,  10.3

2025-06-05T18:47:40.701Z,1749149260.701 [DAT](INFO): got valid direction response:
 18:47:39.2501 LVL= 22608, 21089, 19442, 28579, AGC= 70, IDX=   3, 0.24,-2.269,-0.029,-1.846,-1.593, PHS=-0.587, 1.611,-0.256, RAW= 322.0,  -7.5, CAL= 325.4, -10.3, ROT= 184.6,  10.3

2025-06-05T18:47:40.702Z,1749149260.702 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-05T18:47:40.703Z,1749149260.703 [DAT](INFO): direction in FSK: [-0.980716,-0.078907,-0.178802]
2025-06-05T18:47:40.720Z,1749149260.720 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:40.732Z,1749149260.732 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=14.147732
2025-06-05T18:47:40.857Z,1749149260.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.900002 m,
      deltaT: 0.501911 s,
      deltaX: 0.300003 m,
      approachRate: 0.597722 m/s,
      rangeRepo size: 4

2025-06-05T18:47:40.864Z,1749149260.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.607464 m,
      bearing: 51.040649 deg,
      lat: 36.906161 deg,
      lon: -122.116139 deg,
      deltaT: 0.501911 s,
      deltaX: 0.297741 m,
      approachRate: 0.593215 m/s,
      posRepo size: 4

2025-06-05T18:47:40.864Z,1749149260.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.61 m.
2025-06-05T18:47:40.929Z,1749149260.929 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=14.344221
2025-06-05T18:47:41.025Z,1749149261.025 [DockingStepper](INFO): Stopping
2025-06-05T18:47:41.185Z,1749149261.185 [DAT](INFO): DAT read: Rx Time:18:47:39.7505 

2025-06-05T18:47:41.187Z,1749149261.187 [DAT](INFO): Rx dataTimestamp_ set to:1749149261.186204
2025-06-05T18:47:41.196Z,1749149261.196 [DAT](INFO): DAT read: Bearing 184.5,  10.3 (Local)

2025-06-05T18:47:41.197Z,1749149261.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.5,  10.3 (Local)

2025-06-05T18:47:41.220Z,1749149261.220 [DAT](INFO): DAT read: Range 10 to 50 :    36.5 m (trip time 24.3 ms) speed -0.6

2025-06-05T18:47:41.253Z,1749149261.253 [DAT](INFO): DAT read: 18:47:39.7505 LVL= 24048, 19697, 20546, 32755, AGC= 66, IDX= 503, 0.26,-1.597, 0.660,-1.175,-0.918, PHS=-0.591, 1.625,-0.261, RAW= 322.1,  -7.5, CAL= 325.5, -10.3, ROT= 184.5,  10.3

2025-06-05T18:47:41.255Z,1749149261.255 [DAT](INFO): got valid direction response:
 18:47:39.7505 LVL= 24048, 19697, 20546, 32755, AGC= 66, IDX= 503, 0.26,-1.597, 0.660,-1.175,-0.918, PHS=-0.591, 1.625,-0.261, RAW= 322.1,  -7.5, CAL= 325.5, -10.3, ROT= 184.5,  10.3

2025-06-05T18:47:41.255Z,1749149261.255 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-05T18:47:41.268Z,1749149261.268 [DAT](INFO): direction in FSK: [-0.980852,-0.077195,-0.178802]
2025-06-05T18:47:41.268Z,1749149261.268 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:41.280Z,1749149261.280 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=14.695338
2025-06-05T18:47:41.404Z,1749149261.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.500000 m,
      deltaT: 0.506252 s,
      deltaX: 0.599998 m,
      approachRate: 1.185177 m/s,
      rangeRepo size: 4

2025-06-05T18:47:41.407Z,1749149261.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.202393 m,
      bearing: 51.005600 deg,
      lat: 36.906164 deg,
      lon: -122.116140 deg,
      deltaT: 0.506252 s,
      deltaX: 0.594929 m,
      approachRate: 1.175163 m/s,
      posRepo size: 4

2025-06-05T18:47:41.412Z,1749149261.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.20 m.
2025-06-05T18:47:41.433Z,1749149261.433 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=14.848263
2025-06-05T18:47:41.558Z,1749149261.558 [DockingStepper](INFO): Stopping
2025-06-05T18:47:41.686Z,1749149261.686 [DAT](INFO): DAT read: Rx Time:18:47:40.2507 

2025-06-05T18:47:41.687Z,1749149261.687 [DAT](INFO): Rx dataTimestamp_ set to:1749149261.686805
2025-06-05T18:47:41.691Z,1749149261.691 [DAT](INFO): DAT read: Bearing 183.6,  11.5 (Local)

2025-06-05T18:47:41.695Z,1749149261.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.6,  11.5 (Local)

2025-06-05T18:47:41.738Z,1749149261.738 [DAT](INFO): DAT read: Range 10 to 50 :    36.8 m (trip time 24.5 ms) speed -0.7

2025-06-05T18:47:41.764Z,1749149261.764 [DAT](INFO): DAT read: 18:47:40.2507 LVL= 26096, 22833, 24226, 32755, AGC= 69, IDX= 505, 0.21,-2.316,-0.088,-1.933,-1.689, PHS=-0.539, 1.648,-0.246, RAW= 322.9,  -8.4, CAL= 326.4, -11.5, ROT= 183.6,  11.5

2025-06-05T18:47:41.765Z,1749149261.765 [DAT](INFO): got valid direction response:
 18:47:40.2507 LVL= 26096, 22833, 24226, 32755, AGC= 69, IDX= 505, 0.21,-2.316,-0.088,-1.933,-1.689, PHS=-0.539, 1.648,-0.246, RAW= 322.9,  -8.4, CAL= 326.4, -11.5, ROT= 183.6,  11.5

2025-06-05T18:47:41.765Z,1749149261.765 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-05T18:47:41.766Z,1749149261.766 [DAT](INFO): direction in FSK: [-0.977991,-0.061530,-0.199368]
2025-06-05T18:47:41.766Z,1749149261.766 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:41.778Z,1749149261.778 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=15.193528
2025-06-05T18:47:41.862Z,1749149261.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.799999 m,
      deltaT: 0.500601 s,
      deltaX: 0.299999 m,
      approachRate: 0.599278 m/s,
      rangeRepo size: 4

2025-06-05T18:47:41.869Z,1749149261.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.499947 m,
      bearing: 50.174004 deg,
      lat: 36.906166 deg,
      lon: -122.116140 deg,
      deltaT: 0.500601 s,
      deltaX: 0.297554 m,
      approachRate: 0.594394 m/s,
      posRepo size: 4

2025-06-05T18:47:41.869Z,1749149261.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.50 m.
2025-06-05T18:47:41.894Z,1749149261.894 [DockingStepper](INFO): Stopping
2025-06-05T18:47:41.937Z,1749149261.937 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=15.352318
2025-06-05T18:47:42.194Z,1749149262.194 [DAT](INFO): DAT read: Rx Time:18:47:40.7510 

2025-06-05T18:47:42.195Z,1749149262.195 [DAT](INFO): Rx dataTimestamp_ set to:1749149262.194432
2025-06-05T18:47:42.200Z,1749149262.200 [DAT](INFO): DAT read: Bearing 183.2,  11.9 (Local)

2025-06-05T18:47:42.201Z,1749149262.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.2,  11.9 (Local)

2025-06-05T18:47:42.209Z,1749149262.209 [DAT](INFO): DAT read: Range 10 to 50 :    37.2 m (trip time 24.8 ms) speed -0.6

2025-06-05T18:47:42.218Z,1749149262.218 [DAT](INFO): DAT read: 18:47:40.7510 LVL= 23760, 22001, 20370, 32755, AGC= 66, IDX= 508, 0.19,-2.870,-0.715,-2.512,-2.278, PHS=-0.504, 1.610,-0.237, RAW= 323.3,  -8.8, CAL= 326.8, -11.9, ROT= 183.2,  11.9

2025-06-05T18:47:42.220Z,1749149262.220 [DAT](INFO): got valid direction response:
 18:47:40.7510 LVL= 23760, 22001, 20370, 32755, AGC= 66, IDX= 508, 0.19,-2.870,-0.715,-2.512,-2.278, PHS=-0.504, 1.610,-0.237, RAW= 323.3,  -8.8, CAL= 326.8, -11.9, ROT= 183.2,  11.9

2025-06-05T18:47:42.220Z,1749149262.220 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-05T18:47:42.221Z,1749149262.221 [DAT](INFO): direction in FSK: [-0.976983,-0.054622,-0.206204]
2025-06-05T18:47:42.221Z,1749149262.221 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:42.237Z,1749149262.237 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=15.652945
2025-06-05T18:47:42.370Z,1749149262.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 0.507627 s,
      deltaX: 0.400002 m,
      approachRate: 0.787983 m/s,
      rangeRepo size: 4

2025-06-05T18:47:42.384Z,1749149262.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.896687 m,
      bearing: 49.767904 deg,
      lat: 36.906166 deg,
      lon: -122.116142 deg,
      deltaT: 0.507627 s,
      deltaX: 0.396740 m,
      approachRate: 0.781558 m/s,
      posRepo size: 4

2025-06-05T18:47:42.385Z,1749149262.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:47:42.433Z,1749149262.433 [DockingStepper](INFO): Stopping
2025-06-05T18:47:42.442Z,1749149262.442 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=15.857088
2025-06-05T18:47:42.678Z,1749149262.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:47:42.694Z,1749149262.694 [DAT](INFO): DAT read: Rx Time:18:47:41.2512 

2025-06-05T18:47:42.695Z,1749149262.695 [DAT](INFO): Rx dataTimestamp_ set to:1749149262.694588
2025-06-05T18:47:42.697Z,1749149262.697 [DAT](INFO): DAT read: Bearing 182.8,  12.2 (Local)

2025-06-05T18:47:42.698Z,1749149262.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.8,  12.2 (Local)

2025-06-05T18:47:42.701Z,1749149262.701 [DAT](INFO): DAT read: Range 10 to 50 :    37.5 m (trip time 25.0 ms) speed -0.7

2025-06-05T18:47:42.709Z,1749149262.709 [DAT](INFO): DAT read: 18:47:41.2512 LVL= 28752, 25777, 25250, 32755, AGC= 67, IDX= 510, 0.08, 2.348,-1.793, 2.691, 2.924, PHS=-0.488, 1.613,-0.236, RAW= 323.7,  -9.0, CAL= 327.2, -12.2, ROT= 182.8,  12.2

2025-06-05T18:47:42.710Z,1749149262.710 [DAT](INFO): got valid direction response:
 18:47:41.2512 LVL= 28752, 25777, 25250, 32755, AGC= 67, IDX= 510, 0.08, 2.348,-1.793, 2.691, 2.924, PHS=-0.488, 1.613,-0.236, RAW= 323.7,  -9.0, CAL= 327.2, -12.2, ROT= 182.8,  12.2

2025-06-05T18:47:42.711Z,1749149262.711 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-05T18:47:42.713Z,1749149262.713 [DAT](INFO): direction in FSK: [-0.976249,-0.047747,-0.211325]
2025-06-05T18:47:42.714Z,1749149262.714 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:42.719Z,1749149262.719 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=16.134594
2025-06-05T18:47:42.746Z,1749149262.746 [DockingStepper](INFO): Stopping
2025-06-05T18:47:42.945Z,1749149262.945 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=16.360195
2025-06-05T18:47:43.097Z,1749149263.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 0.500156 s,
      deltaX: 0.299999 m,
      approachRate: 0.599811 m/s,
      rangeRepo size: 4

2025-06-05T18:47:43.101Z,1749149263.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.194572 m,
      bearing: 49.464551 deg,
      lat: 36.906168 deg,
      lon: -122.116145 deg,
      deltaT: 0.500156 s,
      deltaX: 0.297886 m,
      approachRate: 0.595586 m/s,
      posRepo size: 4

2025-06-05T18:47:43.102Z,1749149263.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.19 m.
2025-06-05T18:47:43.147Z,1749149263.147 [DockingStepper](INFO): Stopping
2025-06-05T18:47:43.201Z,1749149263.201 [DAT](INFO): DAT read: Rx Time:18:47:41.7516 

2025-06-05T18:47:43.203Z,1749149263.203 [DAT](INFO): Rx dataTimestamp_ set to:1749149263.201635
2025-06-05T18:47:43.208Z,1749149263.208 [DAT](INFO): DAT read: Bearing 181.9,  13.2 (Local)

2025-06-05T18:47:43.209Z,1749149263.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.9,  13.2 (Local)

2025-06-05T18:47:43.238Z,1749149263.238 [DAT](INFO): DAT read: Range 10 to 50 :    38.0 m (trip time 25.3 ms) speed -0.7

2025-06-05T18:47:43.251Z,1749149263.251 [DAT](INFO): DAT read: 18:47:41.7516 LVL= 20464, 25425, 19778, 29939, AGC= 69, IDX=   2,-0.02, 2.660,-1.503, 2.969,-3.089, PHS=-0.447, 1.633,-0.229, RAW= 324.5,  -9.7, CAL= 328.1, -13.2, ROT= 181.9,  13.2

2025-06-05T18:47:43.258Z,1749149263.258 [DAT](INFO): got valid direction response:
 18:47:41.7516 LVL= 20464, 25425, 19778, 29939, AGC= 69, IDX=   2,-0.02, 2.660,-1.503, 2.969,-3.089, PHS=-0.447, 1.633,-0.229, RAW= 324.5,  -9.7, CAL= 328.1, -13.2, ROT= 181.9,  13.2

2025-06-05T18:47:43.258Z,1749149263.258 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-05T18:47:43.259Z,1749149263.259 [DAT](INFO): direction in FSK: [-0.973044,-0.032279,-0.228351]
2025-06-05T18:47:43.284Z,1749149263.284 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:43.293Z,1749149263.293 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=16.703033
2025-06-05T18:47:43.449Z,1749149263.449 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=16.864216
2025-06-05T18:47:43.595Z,1749149263.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.000000 m,
      deltaT: 0.507047 s,
      deltaX: 0.500000 m,
      approachRate: 0.986102 m/s,
      rangeRepo size: 4

2025-06-05T18:47:43.601Z,1749149263.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.690369 m,
      bearing: 48.620698 deg,
      lat: 36.906168 deg,
      lon: -122.116148 deg,
      deltaT: 0.507047 s,
      deltaX: 0.495796 m,
      approachRate: 0.977811 m/s,
      posRepo size: 4

2025-06-05T18:47:43.602Z,1749149263.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.69 m.
2025-06-05T18:47:43.636Z,1749149263.636 [DockingStepper](INFO): Stopping
2025-06-05T18:47:43.702Z,1749149263.702 [DAT](INFO): DAT read: Rx Time:18:47:42.2519 

2025-06-05T18:47:43.703Z,1749149263.703 [DAT](INFO): Rx dataTimestamp_ set to:1749149263.702577
2025-06-05T18:47:43.705Z,1749149263.705 [DAT](INFO): DAT read: Bearing 182.2,  12.4 (Local)

2025-06-05T18:47:43.706Z,1749149263.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.2,  12.4 (Local)

2025-06-05T18:47:43.709Z,1749149263.709 [DAT](INFO): DAT read: Range 10 to 50 :    38.4 m (trip time 25.6 ms) speed -0.6

2025-06-05T18:47:43.716Z,1749149263.716 [DAT](INFO): DAT read: 18:47:42.2519 LVL= 29424, 24497, 25074, 32755, AGC= 69, IDX= 500,-0.17, 1.020,-3.113, 1.341, 1.583, PHS=-0.476, 1.634,-0.245, RAW= 324.3,  -9.2, CAL= 327.8, -12.4, ROT= 182.2,  12.4

2025-06-05T18:47:43.718Z,1749149263.718 [DAT](INFO): got valid direction response:
 18:47:42.2519 LVL= 29424, 24497, 25074, 32755, AGC= 69, IDX= 500,-0.17, 1.020,-3.113, 1.341, 1.583, PHS=-0.476, 1.634,-0.245, RAW= 324.3,  -9.2, CAL= 327.8, -12.4, ROT= 182.2,  12.4

2025-06-05T18:47:43.719Z,1749149263.719 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-05T18:47:43.720Z,1749149263.720 [DAT](INFO): direction in FSK: [-0.975952,-0.037492,-0.214735]
2025-06-05T18:47:43.721Z,1749149263.721 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:43.727Z,1749149263.727 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=17.141979
2025-06-05T18:47:43.916Z,1749149263.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.400002 m,
      deltaT: 0.500942 s,
      deltaX: 0.400002 m,
      approachRate: 0.798499 m/s,
      rangeRepo size: 4

2025-06-05T18:47:43.918Z,1749149263.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.087112 m,
      bearing: 48.934618 deg,
      lat: 36.906169 deg,
      lon: -122.116151 deg,
      deltaT: 0.500942 s,
      deltaX: 0.396744 m,
      approachRate: 0.791995 m/s,
      posRepo size: 4

2025-06-05T18:47:43.919Z,1749149263.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.09 m.
2025-06-05T18:47:43.950Z,1749149263.950 [DockingStepper](INFO): Stopping
2025-06-05T18:47:43.955Z,1749149263.955 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=17.370214
2025-06-05T18:47:44.211Z,1749149264.211 [DAT](INFO): DAT read: Rx Time:18:47:42.7523 

2025-06-05T18:47:44.213Z,1749149264.213 [DAT](INFO): Rx dataTimestamp_ set to:1749149264.212241
2025-06-05T18:47:44.218Z,1749149264.218 [DAT](INFO): DAT read: Bearing 182.4,  13.1 (Local)

2025-06-05T18:47:44.219Z,1749149264.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.4,  13.1 (Local)

2025-06-05T18:47:44.254Z,1749149264.254 [DAT](INFO): DAT read: Range 10 to 50 :    39.0 m (trip time 26.0 ms) speed -0.5

2025-06-05T18:47:44.271Z,1749149264.271 [DAT](INFO): DAT read: 18:47:42.7523 LVL= 24096, 18289, 22242, 32755, AGC= 67, IDX= 504,-0.33, 2.284,-1.899, 2.609, 2.823, PHS=-0.450, 1.608,-0.217, RAW= 324.1,  -9.7, CAL= 327.6, -13.1, ROT= 182.4,  13.1

2025-06-05T18:47:44.280Z,1749149264.280 [DAT](INFO): got valid direction response:
 18:47:42.7523 LVL= 24096, 18289, 22242, 32755, AGC= 67, IDX= 504,-0.33, 2.284,-1.899, 2.609, 2.823, PHS=-0.450, 1.608,-0.217, RAW= 324.1,  -9.7, CAL= 327.6, -13.1, ROT= 182.4,  13.1

2025-06-05T18:47:44.280Z,1749149264.280 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-05T18:47:44.281Z,1749149264.281 [DAT](INFO): direction in FSK: [-0.973122,-0.040786,-0.226651]
2025-06-05T18:47:44.282Z,1749149264.282 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:44.293Z,1749149264.293 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=17.708843
2025-06-05T18:47:44.409Z,1749149264.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.000000 m,
      deltaT: 0.509664 s,
      deltaX: 0.599998 m,
      approachRate: 1.177243 m/s,
      rangeRepo size: 4

2025-06-05T18:47:44.411Z,1749149264.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.682209 m,
      bearing: 49.140988 deg,
      lat: 36.906170 deg,
      lon: -122.116151 deg,
      deltaT: 0.509664 s,
      deltaX: 0.595097 m,
      approachRate: 1.167625 m/s,
      posRepo size: 4

2025-06-05T18:47:44.416Z,1749149264.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.68 m.
2025-06-05T18:47:44.445Z,1749149264.445 [DockingStepper](INFO): Stopping
2025-06-05T18:47:44.459Z,1749149264.459 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=17.874252
2025-06-05T18:47:44.710Z,1749149264.710 [DAT](INFO): DAT read: Rx Time:18:47:43.2525 

2025-06-05T18:47:44.711Z,1749149264.711 [DAT](INFO): Rx dataTimestamp_ set to:1749149264.710766
2025-06-05T18:47:44.713Z,1749149264.713 [DAT](INFO): DAT read: Bearing 181.5,  12.9 (Local)

2025-06-05T18:47:44.714Z,1749149264.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.5,  12.9 (Local)

2025-06-05T18:47:44.717Z,1749149264.717 [DAT](INFO): DAT read: Range 10 to 50 :    39.3 m (trip time 26.2 ms) speed -0.7

2025-06-05T18:47:44.723Z,1749149264.723 [DAT](INFO): DAT read: 18:47:43.2525 LVL= 24800, 25697, 21858, 32755, AGC= 67, IDX= 505, 0.39, 2.706,-1.456, 2.994,-3.044, PHS=-0.444, 1.636,-0.248, RAW= 325.1,  -9.5, CAL= 328.5, -12.9, ROT= 181.5,  12.9

2025-06-05T18:47:44.725Z,1749149264.725 [DAT](INFO): got valid direction response:
 18:47:43.2525 LVL= 24800, 25697, 21858, 32755, AGC= 67, IDX= 505, 0.39, 2.706,-1.456, 2.994,-3.044, PHS=-0.444, 1.636,-0.248, RAW= 325.1,  -9.5, CAL= 328.5, -12.9, ROT= 181.5,  12.9

2025-06-05T18:47:44.725Z,1749149264.725 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-05T18:47:44.726Z,1749149264.726 [DAT](INFO): direction in FSK: [-0.974427,-0.025516,-0.223250]
2025-06-05T18:47:44.727Z,1749149264.727 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:44.746Z,1749149264.746 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=18.161606
2025-06-05T18:47:44.749Z,1749149264.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.299999 m,
      deltaT: 0.498525 s,
      deltaX: 0.299999 m,
      approachRate: 0.601774 m/s,
      rangeRepo size: 4

2025-06-05T18:47:44.751Z,1749149264.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.979763 m,
      bearing: 48.275147 deg,
      lat: 36.906171 deg,
      lon: -122.116152 deg,
      deltaT: 0.498525 s,
      deltaX: 0.297554 m,
      approachRate: 0.596869 m/s,
      posRepo size: 4

2025-06-05T18:47:44.757Z,1749149264.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:47:44.785Z,1749149264.785 [DockingStepper](INFO): Stopping
2025-06-05T18:47:44.961Z,1749149264.961 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=18.376228
2025-06-05T18:47:45.091Z,1749149265.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:47:45.108Z,1749149265.108 [DockingStepper](INFO): Stopping
2025-06-05T18:47:45.222Z,1749149265.222 [DAT](INFO): DAT read: Rx Time:18:47:43.7528 

2025-06-05T18:47:45.224Z,1749149265.224 [DAT](INFO): Rx dataTimestamp_ set to:1749149265.222386
2025-06-05T18:47:45.232Z,1749149265.232 [DAT](INFO): DAT read: Bearing 181.3,  12.4 (Local)

2025-06-05T18:47:45.234Z,1749149265.234 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.3,  12.4 (Local)

2025-06-05T18:47:45.241Z,1749149265.241 [DAT](INFO): DAT read: Range 10 to 50 :    39.8 m (trip time 26.5 ms) speed -0.6

2025-06-05T18:47:45.264Z,1749149265.264 [DAT](INFO): DAT read: 18:47:43.7528 LVL= 24208, 19441, 22962, 32755, AGC= 66, IDX= 509, 0.23,-1.972, 0.124,-1.697,-1.435, PHS=-0.449, 1.605,-0.265, RAW= 325.4,  -9.1, CAL= 328.7, -12.4, ROT= 181.3,  12.4

2025-06-05T18:47:45.305Z,1749149265.305 [DAT](INFO): got valid direction response:
 18:47:43.7528 LVL= 24208, 19441, 22962, 32755, AGC= 66, IDX= 509, 0.23,-1.972, 0.124,-1.697,-1.435, PHS=-0.449, 1.605,-0.265, RAW= 325.4,  -9.1, CAL= 328.7, -12.4, ROT= 181.3,  12.4

2025-06-05T18:47:45.305Z,1749149265.305 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-05T18:47:45.312Z,1749149265.312 [DAT](INFO): direction in FSK: [-0.976421,-0.022158,-0.214735]
2025-06-05T18:47:45.312Z,1749149265.312 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:45.315Z,1749149265.315 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=18.730726
2025-06-05T18:47:45.465Z,1749149265.465 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=18.880079
2025-06-05T18:47:45.580Z,1749149265.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.799999 m,
      deltaT: 0.511620 s,
      deltaX: 0.500000 m,
      approachRate: 0.977288 m/s,
      rangeRepo size: 4

2025-06-05T18:47:45.582Z,1749149265.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.475719 m,
      bearing: 48.061361 deg,
      lat: 36.906171 deg,
      lon: -122.116153 deg,
      deltaT: 0.511620 s,
      deltaX: 0.495956 m,
      approachRate: 0.969384 m/s,
      posRepo size: 4

2025-06-05T18:47:45.583Z,1749149265.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-06-05T18:47:45.614Z,1749149265.614 [DockingStepper](INFO): Stopping
2025-06-05T18:47:45.718Z,1749149265.718 [DAT](INFO): DAT read: Rx Time:18:47:44.2530 

2025-06-05T18:47:45.719Z,1749149265.719 [DAT](INFO): Rx dataTimestamp_ set to:1749149265.718491
2025-06-05T18:47:45.720Z,1749149265.720 [DAT](INFO): DAT read: Bearing 182.4,  12.4 (Local)

2025-06-05T18:47:45.721Z,1749149265.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.4,  12.4 (Local)

2025-06-05T18:47:45.725Z,1749149265.725 [DAT](INFO): DAT read: Range 10 to 50 :    40.1 m (trip time 26.7 ms) speed -0.4

2025-06-05T18:47:45.729Z,1749149265.729 [DAT](INFO): DAT read: 18:47:44.2530 LVL= 19520, 18481, 19170, 32755, AGC= 67, IDX= 511, 0.10, 2.830,-1.321,-3.128,-2.891, PHS=-0.474, 1.617,-0.240, RAW= 324.1,  -9.1, CAL= 327.6, -12.4, ROT= 182.4,  12.4

2025-06-05T18:47:45.730Z,1749149265.730 [DAT](INFO): got valid direction response:
 18:47:44.2530 LVL= 19520, 18481, 19170, 32755, AGC= 67, IDX= 511, 0.10, 2.830,-1.321,-3.128,-2.891, PHS=-0.474, 1.617,-0.240, RAW= 324.1,  -9.1, CAL= 327.6, -12.4, ROT= 182.4,  12.4

2025-06-05T18:47:45.730Z,1749149265.730 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-05T18:47:45.736Z,1749149265.736 [DAT](INFO): direction in FSK: [-0.975816,-0.040899,-0.214735]
2025-06-05T18:47:45.736Z,1749149265.736 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:45.745Z,1749149265.745 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=19.159950
2025-06-05T18:47:45.911Z,1749149265.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.099998 m,
      deltaT: 0.496105 s,
      deltaX: 0.299999 m,
      approachRate: 0.604709 m/s,
      rangeRepo size: 4

2025-06-05T18:47:45.921Z,1749149265.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.773277 m,
      bearing: 49.163547 deg,
      lat: 36.906171 deg,
      lon: -122.116152 deg,
      deltaT: 0.496105 s,
      deltaX: 0.297558 m,
      approachRate: 0.599788 m/s,
      posRepo size: 4

2025-06-05T18:47:45.922Z,1749149265.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.77 m.
2025-06-05T18:47:45.952Z,1749149265.952 [DockingStepper](INFO): Stopping
2025-06-05T18:47:45.969Z,1749149265.969 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=19.384945
2025-06-05T18:47:46.225Z,1749149266.225 [DAT](INFO): DAT read: Rx Time:18:47:44.7533 

2025-06-05T18:47:46.227Z,1749149266.227 [DAT](INFO): Rx dataTimestamp_ set to:1749149266.225816
2025-06-05T18:47:46.231Z,1749149266.231 [DAT](INFO): DAT read: Bearing 181.9,  13.0 (Local)

2025-06-05T18:47:46.235Z,1749149266.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.9,  13.0 (Local)

2025-06-05T18:47:46.292Z,1749149266.292 [DAT](INFO): DAT read: Range 10 to 50 :    40.5 m (trip time 27.0 ms) speed -0.6

2025-06-05T18:47:46.305Z,1749149266.305 [DAT](INFO): DAT read: 18:47:44.7533 LVL= 21552, 21409, 19954, 29683, AGC= 69, IDX=   2, 0.02, 2.205,-1.968, 2.510, 2.741, PHS=-0.449, 1.620,-0.234, RAW= 324.6,  -9.6, CAL= 328.1, -13.0, ROT= 181.9,  13.0

2025-06-05T18:47:46.307Z,1749149266.307 [DAT](INFO): got valid direction response:
 18:47:44.7533 LVL= 21552, 21409, 19954, 29683, AGC= 69, IDX=   2, 0.02, 2.205,-1.968, 2.510, 2.741, PHS=-0.449, 1.620,-0.234, RAW= 324.6,  -9.6, CAL= 328.1, -13.0, ROT= 181.9,  13.0

2025-06-05T18:47:46.316Z,1749149266.316 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-05T18:47:46.317Z,1749149266.317 [DAT](INFO): direction in FSK: [-0.973834,-0.032305,-0.224951]
2025-06-05T18:47:46.317Z,1749149266.317 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:46.333Z,1749149266.333 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=19.748402
2025-06-05T18:47:46.443Z,1749149266.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 0.507325 s,
      deltaX: 0.400002 m,
      approachRate: 0.788452 m/s,
      rangeRepo size: 4

2025-06-05T18:47:46.449Z,1749149266.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.170082 m,
      bearing: 48.717233 deg,
      lat: 36.906170 deg,
      lon: -122.116152 deg,
      deltaT: 0.507325 s,
      deltaX: 0.396805 m,
      approachRate: 0.782151 m/s,
      posRepo size: 4

2025-06-05T18:47:46.450Z,1749149266.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.17 m.
2025-06-05T18:47:46.474Z,1749149266.474 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=19.888653
2025-06-05T18:47:46.482Z,1749149266.482 [DockingStepper](INFO): Stopping
2025-06-05T18:47:46.722Z,1749149266.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.17 m.
2025-06-05T18:47:46.726Z,1749149266.726 [DAT](INFO): DAT read: Rx Time:18:47:45.2535 

2025-06-05T18:47:46.726Z,1749149266.726 [DAT](INFO): Rx dataTimestamp_ set to:1749149266.726002
2025-06-05T18:47:46.728Z,1749149266.728 [DAT](INFO): DAT read: Bearing 181.8,  11.9 (Local)

2025-06-05T18:47:46.728Z,1749149266.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.8,  11.9 (Local)

2025-06-05T18:47:46.730Z,1749149266.730 [DAT](INFO): DAT read: Range 10 to 50 :    40.8 m (trip time 27.2 ms) speed -0.8

2025-06-05T18:47:46.735Z,1749149266.735 [DAT](INFO): DAT read: 18:47:45.2535 LVL= 22704, 23025, 19026, 32755, AGC= 67, IDX= 500,-0.09, 0.867, 3.023, 1.169, 1.437, PHS=-0.482, 1.633,-0.272, RAW= 324.8,  -8.8, CAL= 328.2, -11.9, ROT= 181.8,  11.9

2025-06-05T18:47:46.736Z,1749149266.736 [DAT](INFO): got valid direction response:
 18:47:45.2535 LVL= 22704, 23025, 19026, 32755, AGC= 67, IDX= 500,-0.09, 0.867, 3.023, 1.169, 1.437, PHS=-0.482, 1.633,-0.272, RAW= 324.8,  -8.8, CAL= 328.2, -11.9, ROT= 181.8,  11.9

2025-06-05T18:47:46.736Z,1749149266.736 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-05T18:47:46.737Z,1749149266.737 [DAT](INFO): direction in FSK: [-0.978026,-0.030736,-0.206204]
2025-06-05T18:47:46.737Z,1749149266.737 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:46.746Z,1749149266.746 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=20.161259
2025-06-05T18:47:46.794Z,1749149266.794 [DockingStepper](INFO): Stopping
2025-06-05T18:47:46.977Z,1749149266.977 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=20.392124
2025-06-05T18:47:47.178Z,1749149267.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.799999 m,
      deltaT: 0.500186 s,
      deltaX: 0.299999 m,
      approachRate: 0.599775 m/s,
      rangeRepo size: 4

2025-06-05T18:47:47.200Z,1749149267.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.467636 m,
      bearing: 48.685269 deg,
      lat: 36.906169 deg,
      lon: -122.116153 deg,
      deltaT: 0.500186 s,
      deltaX: 0.297554 m,
      approachRate: 0.594887 m/s,
      posRepo size: 4

2025-06-05T18:47:47.200Z,1749149267.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.47 m.
2025-06-05T18:47:47.232Z,1749149267.232 [DAT](INFO): DAT read: Rx Time:18:47:45.7539 

2025-06-05T18:47:47.234Z,1749149267.234 [DAT](INFO): Rx dataTimestamp_ set to:1749149267.233059
2025-06-05T18:47:47.238Z,1749149267.238 [DAT](INFO): DAT read: Bearing 181.8,  11.4 (Local)

2025-06-05T18:47:47.240Z,1749149267.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.8,  11.4 (Local)

2025-06-05T18:47:47.247Z,1749149267.247 [DAT](INFO): DAT read: Range 10 to 50 :    41.4 m (trip time 27.6 ms) speed -1.0

2025-06-05T18:47:47.305Z,1749149267.305 [DAT](INFO): DAT read: 18:47:45.7539 LVL= 26464, 20193, 20066, 32755, AGC= 66, IDX= 488,-0.24, 2.964,-1.202,-3.025,-2.745, PHS=-0.486, 1.590,-0.283, RAW= 324.9,  -8.3, CAL= 328.2, -11.4, ROT= 181.8,  11.4

2025-06-05T18:47:47.320Z,1749149267.320 [DAT](INFO): got valid direction response:
 18:47:45.7539 LVL= 26464, 20193, 20066, 32755, AGC= 66, IDX= 488,-0.24, 2.964,-1.202,-3.025,-2.745, PHS=-0.486, 1.590,-0.283, RAW= 324.9,  -8.3, CAL= 328.2, -11.4, ROT= 181.8,  11.4

2025-06-05T18:47:47.320Z,1749149267.320 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-05T18:47:47.321Z,1749149267.321 [DAT](INFO): direction in FSK: [-0.979787,-0.030791,-0.197657]
2025-06-05T18:47:47.321Z,1749149267.321 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:47.334Z,1749149267.334 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=20.749086
2025-06-05T18:47:47.328Z,1749149267.328 [DockingStepper](INFO): Stopping
2025-06-05T18:47:47.481Z,1749149267.481 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=20.896942
2025-06-05T18:47:47.680Z,1749149267.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.400002 m,
      deltaT: 0.507057 s,
      deltaX: 0.600002 m,
      approachRate: 1.183303 m/s,
      rangeRepo size: 4

2025-06-05T18:47:47.682Z,1749149267.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.062660 m,
      bearing: 48.724165 deg,
      lat: 36.906169 deg,
      lon: -122.116152 deg,
      deltaT: 0.507057 s,
      deltaX: 0.595024 m,
      approachRate: 1.173486 m/s,
      posRepo size: 4

2025-06-05T18:47:47.683Z,1749149267.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.06 m.
2025-06-05T18:47:47.729Z,1749149267.729 [DockingStepper](INFO): Stopping
2025-06-05T18:47:47.735Z,1749149267.735 [DAT](INFO): DAT read: Rx Time:18:47:46.2541 

2025-06-05T18:47:47.735Z,1749149267.735 [DAT](INFO): Rx dataTimestamp_ set to:1749149267.734892
2025-06-05T18:47:47.737Z,1749149267.737 [DAT](INFO): DAT read: Bearing 182.0,  11.6 (Local)

2025-06-05T18:47:47.737Z,1749149267.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.0,  11.6 (Local)

2025-06-05T18:47:47.740Z,1749149267.740 [DAT](INFO): DAT read: Range 10 to 50 :    41.7 m (trip time 27.8 ms) speed -0.5

2025-06-05T18:47:47.747Z,1749149267.747 [DAT](INFO): DAT read: 18:47:46.2541 LVL= 22432, 27745, 19442, 32755, AGC= 68, IDX= 490,-0.26, 2.649,-1.521, 2.955,-3.062, PHS=-0.484, 1.589,-0.269, RAW= 324.6,  -8.5, CAL= 328.0, -11.6, ROT= 182.0,  11.6

2025-06-05T18:47:47.749Z,1749149267.749 [DAT](INFO): got valid direction response:
 18:47:46.2541 LVL= 22432, 27745, 19442, 32755, AGC= 68, IDX= 490,-0.26, 2.649,-1.521, 2.955,-3.062, PHS=-0.484, 1.589,-0.269, RAW= 324.6,  -8.5, CAL= 328.0, -11.6, ROT= 182.0,  11.6

2025-06-05T18:47:47.749Z,1749149267.749 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-05T18:47:47.751Z,1749149267.751 [DAT](INFO): direction in FSK: [-0.978979,-0.034187,-0.201078]
2025-06-05T18:47:47.751Z,1749149267.751 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:47.763Z,1749149267.763 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=21.178482
2025-06-05T18:47:47.985Z,1749149267.985 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=21.400494
2025-06-05T18:47:48.071Z,1749149268.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.700001 m,
      deltaT: 0.501833 s,
      deltaX: 0.299999 m,
      approachRate: 0.597807 m/s,
      rangeRepo size: 4

2025-06-05T18:47:48.085Z,1749149268.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.360214 m,
      bearing: 48.918063 deg,
      lat: 36.906168 deg,
      lon: -122.116151 deg,
      deltaT: 0.501833 s,
      deltaX: 0.297554 m,
      approachRate: 0.592934 m/s,
      posRepo size: 4

2025-06-05T18:47:48.086Z,1749149268.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:47:48.116Z,1749149268.116 [DockingStepper](INFO): Stopping
2025-06-05T18:47:48.242Z,1749149268.242 [DAT](INFO): DAT read: Rx Time:18:47:46.7544 

2025-06-05T18:47:48.244Z,1749149268.244 [DAT](INFO): Rx dataTimestamp_ set to:1749149268.242767
2025-06-05T18:47:48.248Z,1749149268.248 [DAT](INFO): DAT read: Bearing 182.4,  11.8 (Local)

2025-06-05T18:47:48.249Z,1749149268.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.4,  11.8 (Local)

2025-06-05T18:47:48.257Z,1749149268.257 [DAT](INFO): DAT read: Range 10 to 50 :    42.3 m (trip time 28.2 ms) speed -0.6

2025-06-05T18:47:48.324Z,1749149268.324 [DAT](INFO): DAT read: 18:47:46.7544 LVL= 27456, 21281, 21442, 32755, AGC= 66, IDX= 510,-0.21,-2.781,-0.622,-2.454,-2.197, PHS=-0.496, 1.623,-0.259, RAW= 324.2,  -8.7, CAL= 327.6, -11.8, ROT= 182.4,  11.8

2025-06-05T18:47:48.325Z,1749149268.325 [DAT](INFO): got valid direction response:
 18:47:46.7544 LVL= 27456, 21281, 21442, 32755, AGC= 66, IDX= 510,-0.21,-2.781,-0.622,-2.454,-2.197, PHS=-0.496, 1.623,-0.259, RAW= 324.2,  -8.7, CAL= 327.6, -11.8, ROT= 182.4,  11.8

2025-06-05T18:47:48.325Z,1749149268.325 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-05T18:47:48.326Z,1749149268.326 [DAT](INFO): direction in FSK: [-0.978009,-0.040991,-0.204496]
2025-06-05T18:47:48.327Z,1749149268.327 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:48.343Z,1749149268.343 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=21.758265
2025-06-05T18:47:48.489Z,1749149268.489 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=21.904146
2025-06-05T18:47:48.493Z,1749149268.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.299999 m,
      deltaT: 0.507875 s,
      deltaX: 0.599998 m,
      approachRate: 1.181390 m/s,
      rangeRepo size: 4

2025-06-05T18:47:48.495Z,1749149268.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.955509 m,
      bearing: 49.317087 deg,
      lat: 36.906168 deg,
      lon: -122.116151 deg,
      deltaT: 0.507875 s,
      deltaX: 0.595295 m,
      approachRate: 1.172129 m/s,
      posRepo size: 4

2025-06-05T18:47:48.495Z,1749149268.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.96 m.
2025-06-05T18:47:48.570Z,1749149268.570 [DockingStepper](INFO): Stopping
2025-06-05T18:47:48.742Z,1749149268.742 [DAT](INFO): DAT read: Rx Time:18:47:47.2546 

2025-06-05T18:47:48.743Z,1749149268.743 [DAT](INFO): Rx dataTimestamp_ set to:1749149268.742284
2025-06-05T18:47:48.744Z,1749149268.744 [DAT](INFO): DAT read: Bearing 186.2,  -1.0 (Local)

2025-06-05T18:47:48.744Z,1749149268.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.2,  -1.0 (Local)

2025-06-05T18:47:48.746Z,1749149268.746 [DAT](INFO): DAT read: Range 10 to 50 :    42.6 m (trip time 28.4 ms) speed -0.7

2025-06-05T18:47:48.751Z,1749149268.751 [DAT](INFO): DAT read: 18:47:47.2546 LVL= 27808, 24545, 26610, 32755, AGC= 67, IDX= 512,-0.11, 2.983,-1.107,-2.865,-2.353, PHS=-0.859, 1.293,-0.515, RAW= 321.4,   0.8, CAL= 323.8,   1.0, ROT= 186.2,  -1.0

2025-06-05T18:47:48.752Z,1749149268.752 [DAT](INFO): got valid direction response:
 18:47:47.2546 LVL= 27808, 24545, 26610, 32755, AGC= 67, IDX= 512,-0.11, 2.983,-1.107,-2.865,-2.353, PHS=-0.859, 1.293,-0.515, RAW= 321.4,   0.8, CAL= 323.8,   1.0, ROT= 186.2,  -1.0

2025-06-05T18:47:48.753Z,1749149268.753 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-05T18:47:48.754Z,1749149268.754 [DAT](INFO): direction in FSK: [-0.994000,-0.107983,0.017452]
2025-06-05T18:47:48.754Z,1749149268.754 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:48.759Z,1749149268.759 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=22.174425
2025-06-05T18:47:48.847Z,1749149268.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.599998 m,
      deltaT: 0.499517 s,
      deltaX: 0.299999 m,
      approachRate: 0.600579 m/s,
      rangeRepo size: 4

2025-06-05T18:47:48.850Z,1749149268.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.253067 m,
      bearing: 53.194005 deg,
      lat: 36.906168 deg,
      lon: -122.116149 deg,
      deltaT: 0.499517 s,
      deltaX: 0.297558 m,
      approachRate: 0.595691 m/s,
      posRepo size: 4

2025-06-05T18:47:48.850Z,1749149268.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.25 m.
2025-06-05T18:47:48.894Z,1749149268.894 [DockingStepper](INFO): Stopping
2025-06-05T18:47:48.993Z,1749149268.993 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=22.408337
2025-06-05T18:47:49.222Z,1749149269.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.25 m.
2025-06-05T18:47:49.247Z,1749149269.247 [DAT](INFO): DAT read: Rx Time:18:47:47.7550 

2025-06-05T18:47:49.247Z,1749149269.247 [DAT](INFO): Rx dataTimestamp_ set to:1749149269.246872
2025-06-05T18:47:49.249Z,1749149269.249 [DAT](INFO): DAT read: Bearing 181.0,  11.8 (Local)

2025-06-05T18:47:49.250Z,1749149269.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.0,  11.8 (Local)

2025-06-05T18:47:49.252Z,1749149269.252 [DAT](INFO): DAT read: Range 10 to 50 :    43.2 m (trip time 28.8 ms) speed -0.7

2025-06-05T18:47:49.257Z,1749149269.257 [DAT](INFO): DAT read: 18:47:47.7550 LVL= 32624, 22865, 26018, 32755, AGC= 67, IDX=   4, 0.06,-3.122,-1.023,-2.862,-2.576, PHS=-0.458, 1.600,-0.289, RAW= 325.7,  -8.7, CAL= 329.0, -11.8, ROT= 181.0,  11.8

2025-06-05T18:47:49.261Z,1749149269.261 [DAT](INFO): got valid direction response:
 18:47:47.7550 LVL= 32624, 22865, 26018, 32755, AGC= 67, IDX=   4, 0.06,-3.122,-1.023,-2.862,-2.576, PHS=-0.458, 1.600,-0.289, RAW= 325.7,  -8.7, CAL= 329.0, -11.8, ROT= 181.0,  11.8

2025-06-05T18:47:49.263Z,1749149269.263 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-05T18:47:49.279Z,1749149269.279 [DAT](INFO): direction in FSK: [-0.978718,-0.017084,-0.204496]
2025-06-05T18:47:49.284Z,1749149269.284 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:49.336Z,1749149269.336 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=22.751709
2025-06-05T18:47:49.352Z,1749149269.352 [DockingStepper](INFO): Stopping
2025-06-05T18:47:49.497Z,1749149269.497 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=22.912142
2025-06-05T18:47:49.661Z,1749149269.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.200001 m,
      deltaT: 0.504588 s,
      deltaX: 0.600002 m,
      approachRate: 1.189093 m/s,
      rangeRepo size: 4

2025-06-05T18:47:49.664Z,1749149269.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.848293 m,
      bearing: 47.901683 deg,
      lat: 36.906168 deg,
      lon: -122.116149 deg,
      deltaT: 0.504588 s,
      deltaX: 0.595226 m,
      approachRate: 1.179628 m/s,
      posRepo size: 4

2025-06-05T18:47:49.664Z,1749149269.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.85 m.
2025-06-05T18:47:49.696Z,1749149269.696 [DockingStepper](INFO): Stopping
2025-06-05T18:47:49.750Z,1749149269.750 [DAT](INFO): DAT read: Rx Time:18:47:48.2552 

2025-06-05T18:47:49.750Z,1749149269.750 [DAT](INFO): Rx dataTimestamp_ set to:1749149269.749731
2025-06-05T18:47:49.751Z,1749149269.751 [DAT](INFO): DAT read: Bearing 180.5,  11.8 (Local)

2025-06-05T18:47:49.752Z,1749149269.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.5,  11.8 (Local)

2025-06-05T18:47:49.754Z,1749149269.754 [DAT](INFO): DAT read: Range 10 to 50 :    43.5 m (trip time 29.0 ms) speed -0.5

2025-06-05T18:47:49.760Z,1749149269.760 [DAT](INFO): DAT read: 18:47:48.2552 LVL= 22224, 24865, 17650, 32755, AGC= 66, IDX= 502, 0.22, 0.794, 2.949, 1.038, 1.345, PHS=-0.463, 1.651,-0.310, RAW= 326.3,  -8.6, CAL= 329.5, -11.8, ROT= 180.5,  11.8

2025-06-05T18:47:49.761Z,1749149269.761 [DAT](INFO): got valid direction response:
 18:47:48.2552 LVL= 22224, 24865, 17650, 32755, AGC= 66, IDX= 502, 0.22, 0.794, 2.949, 1.038, 1.345, PHS=-0.463, 1.651,-0.310, RAW= 326.3,  -8.6, CAL= 329.5, -11.8, ROT= 180.5,  11.8

2025-06-05T18:47:49.761Z,1749149269.761 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-05T18:47:49.762Z,1749149269.762 [DAT](INFO): direction in FSK: [-0.978830,-0.008542,-0.204496]
2025-06-05T18:47:49.762Z,1749149269.762 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:49.766Z,1749149269.766 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=23.181280
2025-06-05T18:47:50.004Z,1749149270.004 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=23.418390
2025-06-05T18:47:50.090Z,1749149270.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.500000 m,
      deltaT: 0.502859 s,
      deltaX: 0.299999 m,
      approachRate: 0.596587 m/s,
      rangeRepo size: 4

2025-06-05T18:47:50.096Z,1749149270.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.145851 m,
      bearing: 47.395720 deg,
      lat: 36.906168 deg,
      lon: -122.116149 deg,
      deltaT: 0.502859 s,
      deltaX: 0.297558 m,
      approachRate: 0.591732 m/s,
      posRepo size: 4

2025-06-05T18:47:50.096Z,1749149270.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.15 m.
2025-06-05T18:47:50.130Z,1749149270.130 [DockingStepper](INFO): Stopping
2025-06-05T18:47:50.255Z,1749149270.255 [DAT](INFO): DAT read: Rx Time:18:47:48.7555 

2025-06-05T18:47:50.255Z,1749149270.255 [DAT](INFO): Rx dataTimestamp_ set to:1749149270.255108
2025-06-05T18:47:50.259Z,1749149270.259 [DAT](INFO): DAT read: Bearing 180.5,  11.0 (Local)

2025-06-05T18:47:50.266Z,1749149270.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.5,  11.0 (Local)

2025-06-05T18:47:50.274Z,1749149270.274 [DAT](INFO): DAT read: Range 10 to 50 :    43.8 m (trip time 29.2 ms) speed -0.7

2025-06-05T18:47:50.290Z,1749149270.290 [DAT](INFO): DAT read: 18:47:48.7555 LVL= 26192, 18641, 22386, 32755, AGC= 66, IDX= 505, 0.34, 0.643, 2.803, 0.886, 1.213, PHS=-0.482, 1.637,-0.330, RAW= 326.3,  -8.1, CAL= 329.5, -11.0, ROT= 180.5,  11.0

2025-06-05T18:47:50.330Z,1749149270.330 [DAT](INFO): got valid direction response:
 18:47:48.7555 LVL= 26192, 18641, 22386, 32755, AGC= 66, IDX= 505, 0.34, 0.643, 2.803, 0.886, 1.213, PHS=-0.482, 1.637,-0.330, RAW= 326.3,  -8.1, CAL= 329.5, -11.0, ROT= 180.5,  11.0

2025-06-05T18:47:50.330Z,1749149270.330 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-05T18:47:50.332Z,1749149270.332 [DAT](INFO): direction in FSK: [-0.981590,-0.008566,-0.190809]
2025-06-05T18:47:50.332Z,1749149270.332 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:50.335Z,1749149270.335 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=23.750710
2025-06-05T18:47:50.472Z,1749149270.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:47:50.510Z,1749149270.510 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=23.924971
2025-06-05T18:47:50.555Z,1749149270.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.799999 m,
      deltaT: 0.505377 s,
      deltaX: 0.299999 m,
      approachRate: 0.593615 m/s,
      rangeRepo size: 4

2025-06-05T18:47:50.562Z,1749149270.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.443241 m,
      bearing: 47.372223 deg,
      lat: 36.906171 deg,
      lon: -122.116153 deg,
      deltaT: 0.505377 s,
      deltaX: 0.297390 m,
      approachRate: 0.588452 m/s,
      posRepo size: 4

2025-06-05T18:47:50.562Z,1749149270.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.44 m.
2025-06-05T18:47:50.587Z,1749149270.587 [DockingStepper](INFO): Stopping
2025-06-05T18:47:50.759Z,1749149270.759 [DAT](INFO): DAT read: Rx Time:18:47:49.2558 

2025-06-05T18:47:50.759Z,1749149270.759 [DAT](INFO): Rx dataTimestamp_ set to:1749149270.758762
2025-06-05T18:47:50.760Z,1749149270.760 [DAT](INFO): DAT read: Bearing 180.6,  11.0 (Local)

2025-06-05T18:47:50.761Z,1749149270.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.6,  11.0 (Local)

2025-06-05T18:47:50.763Z,1749149270.763 [DAT](INFO): DAT read: Range 10 to 50 :    44.3 m (trip time 29.5 ms) speed -0.8

2025-06-05T18:47:50.769Z,1749149270.769 [DAT](INFO): DAT read: 18:47:49.2558 LVL= 24176, 17553, 23122, 32755, AGC= 65, IDX= 508,-0.43,-2.531,-0.376,-2.285,-1.959, PHS=-0.484, 1.630,-0.329, RAW= 326.2,  -8.1, CAL= 329.4, -11.0, ROT= 180.6,  11.0

2025-06-05T18:47:50.776Z,1749149270.776 [DAT](INFO): got valid direction response:
 18:47:49.2558 LVL= 24176, 17553, 23122, 32755, AGC= 65, IDX= 508,-0.43,-2.531,-0.376,-2.285,-1.959, PHS=-0.484, 1.630,-0.329, RAW= 326.2,  -8.1, CAL= 329.4, -11.0, ROT= 180.6,  11.0

2025-06-05T18:47:50.777Z,1749149270.777 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-05T18:47:50.778Z,1749149270.778 [DAT](INFO): direction in FSK: [-0.981573,-0.010280,-0.190809]
2025-06-05T18:47:50.778Z,1749149270.778 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:50.810Z,1749149270.810 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=24.225451
2025-06-05T18:47:50.869Z,1749149270.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.299999 m,
      deltaT: 0.503654 s,
      deltaX: 0.500000 m,
      approachRate: 0.992745 m/s,
      rangeRepo size: 4

2025-06-05T18:47:50.871Z,1749149270.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.939167 m,
      bearing: 47.479237 deg,
      lat: 36.906173 deg,
      lon: -122.116153 deg,
      deltaT: 0.503654 s,
      deltaX: 0.495926 m,
      approachRate: 0.984656 m/s,
      posRepo size: 4

2025-06-05T18:47:50.879Z,1749149270.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.94 m.
2025-06-05T18:47:50.921Z,1749149270.921 [DockingStepper](INFO): Stopping
2025-06-05T18:47:51.012Z,1749149271.012 [DAT](INFO): DAT read: Rx Time:18:47:49.7562 

2025-06-05T18:47:51.014Z,1749149271.014 [DAT](INFO): Rx dataTimestamp_ set to:1749149271.012846
2025-06-05T18:47:51.016Z,1749149271.016 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=24.430305
2025-06-05T18:47:51.229Z,1749149271.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.94 m.
2025-06-05T18:47:51.262Z,1749149271.262 [DAT](INFO): DAT read: Bearing 181.2,  13.3 (Local)

2025-06-05T18:47:51.262Z,1749149271.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.2,  13.3 (Local)

2025-06-05T18:47:51.264Z,1749149271.264 [DAT](INFO): DAT read: Range 10 to 50 :    44.9 m (trip time 29.9 ms) speed -0.8

2025-06-05T18:47:51.269Z,1749149271.269 [DAT](INFO): DAT read: 18:47:49.7562 LVL= 23504, 20337, 18674, 32755, AGC= 68, IDX= 496,-0.27,-1.377, 0.704,-1.104,-0.866, PHS=-0.423, 1.617,-0.241, RAW= 325.4,  -9.8, CAL= 328.8, -13.3, ROT= 181.2,  13.3

2025-06-05T18:47:51.270Z,1749149271.270 [DAT](INFO): got valid direction response:
 18:47:49.7562 LVL= 23504, 20337, 18674, 32755, AGC= 68, IDX= 496,-0.27,-1.377, 0.704,-1.104,-0.866, PHS=-0.423, 1.617,-0.241, RAW= 325.4,  -9.8, CAL= 328.8, -13.3, ROT= 181.2,  13.3

2025-06-05T18:47:51.271Z,1749149271.271 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-05T18:47:51.284Z,1749149271.284 [DAT](INFO): direction in FSK: [-0.972965,-0.020381,-0.230050]
2025-06-05T18:47:51.284Z,1749149271.284 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:51.314Z,1749149271.314 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=24.728657
2025-06-05T18:47:51.321Z,1749149271.321 [DockingStepper](INFO): Stopping
2025-06-05T18:47:51.476Z,1749149271.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:47:51.515Z,1749149271.515 [DAT](INFO): DAT read: Rx Time:18:47:50.2565 

2025-06-05T18:47:51.517Z,1749149271.517 [DAT](INFO): Rx dataTimestamp_ set to:1749149271.515829
2025-06-05T18:47:51.518Z,1749149271.518 [DAT](INFO): DAT read: Bearing 181.0,  12.8 (Local)

2025-06-05T18:47:51.519Z,1749149271.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.0,  12.8 (Local)

2025-06-05T18:47:51.527Z,1749149271.527 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=24.941755
2025-06-05T18:47:51.663Z,1749149271.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.900002 m,
      deltaT: 0.501451 s,
      deltaX: 0.600002 m,
      approachRate: 1.196532 m/s,
      rangeRepo size: 4

2025-06-05T18:47:51.665Z,1749149271.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.534466 m,
      bearing: 48.084041 deg,
      lat: 36.906173 deg,
      lon: -122.116153 deg,
      deltaT: 0.501451 s,
      deltaX: 0.595299 m,
      approachRate: 1.187152 m/s,
      posRepo size: 4

2025-06-05T18:47:51.666Z,1749149271.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.53 m.
2025-06-05T18:47:51.680Z,1749149271.680 [DockingStepper](INFO): Stopping
2025-06-05T18:47:51.767Z,1749149271.767 [DAT](INFO): DAT read: Range 10 to 50 :    45.3 m (trip time 30.2 ms) speed -0.7

2025-06-05T18:47:51.771Z,1749149271.771 [DAT](INFO): DAT read: 18:47:50.2565 LVL= 24240, 21265, 24146, 32755, AGC= 67, IDX= 498,-0.20,-2.202,-0.112,-1.939,-1.682, PHS=-0.432, 1.617,-0.260, RAW= 325.7,  -9.4, CAL= 329.0, -12.8, ROT= 181.0,  12.8

2025-06-05T18:47:51.773Z,1749149271.773 [DAT](INFO): got valid direction response:
 18:47:50.2565 LVL= 24240, 21265, 24146, 32755, AGC= 67, IDX= 498,-0.20,-2.202,-0.112,-1.939,-1.682, PHS=-0.432, 1.617,-0.260, RAW= 325.7,  -9.4, CAL= 329.0, -12.8, ROT= 181.0,  12.8

2025-06-05T18:47:51.774Z,1749149271.774 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-05T18:47:51.775Z,1749149271.775 [DAT](INFO): direction in FSK: [-0.975001,-0.017019,-0.221548]
2025-06-05T18:47:51.775Z,1749149271.775 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:51.779Z,1749149271.779 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=25.194139
2025-06-05T18:47:52.019Z,1749149272.019 [DAT](INFO): DAT read: Rx Time:18:47:50.7569 

2025-06-05T18:47:52.020Z,1749149272.020 [DAT](INFO): Rx dataTimestamp_ set to:1749149272.019432
2025-06-05T18:47:52.022Z,1749149272.022 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=25.436983
2025-06-05T18:47:52.110Z,1749149272.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.299999 m,
      deltaT: 0.504266 s,
      deltaX: 0.399998 m,
      approachRate: 0.793228 m/s,
      rangeRepo size: 4

2025-06-05T18:47:52.116Z,1749149272.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.931206 m,
      bearing: 47.930630 deg,
      lat: 36.906173 deg,
      lon: -122.116153 deg,
      deltaT: 0.504266 s,
      deltaX: 0.396740 m,
      approachRate: 0.786767 m/s,
      posRepo size: 4

2025-06-05T18:47:52.116Z,1749149272.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.93 m.
2025-06-05T18:47:52.137Z,1749149272.137 [DockingStepper](INFO): Stopped
2025-06-05T18:47:52.274Z,1749149272.274 [DAT](INFO): DAT read: Bearing 180.8,  10.2 (Local)

2025-06-05T18:47:52.275Z,1749149272.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.8,  10.2 (Local)

2025-06-05T18:47:52.277Z,1749149272.277 [DAT](INFO): DAT read: Range 10 to 50 :    45.9 m (trip time 30.6 ms) speed -0.5

2025-06-05T18:47:52.309Z,1749149272.309 [DAT](INFO): DAT read: 18:47:50.7569 LVL= 21104, 21153, 20930, 32755, AGC= 66, IDX= 502,-0.10,-1.406, 0.759,-1.156,-0.810, PHS=-0.508, 1.616,-0.349, RAW= 326.2,  -7.5, CAL= 329.2, -10.2, ROT= 180.8,  10.2

2025-06-05T18:47:52.322Z,1749149272.322 [DAT](INFO): got valid direction response:
 18:47:50.7569 LVL= 21104, 21153, 20930, 32755, AGC= 66, IDX= 502,-0.10,-1.406, 0.759,-1.156,-0.810, PHS=-0.508, 1.616,-0.349, RAW= 326.2,  -7.5, CAL= 329.2, -10.2, ROT= 180.8,  10.2

2025-06-05T18:47:52.347Z,1749149272.347 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-05T18:47:52.347Z,1749149272.347 [DockingStepper] No Fault, FailCount= 1
2025-06-05T18:47:52.348Z,1749149272.348 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-05T18:47:52.359Z,1749149272.359 [DAT](INFO): direction in FSK: [-0.984100,-0.013741,-0.177085]
2025-06-05T18:47:52.359Z,1749149272.359 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:52.371Z,1749149272.371 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=25.786005
2025-06-05T18:47:52.524Z,1749149272.524 [DAT](INFO): DAT read: Rx Time:18:47:51.2571 

2025-06-05T18:47:52.526Z,1749149272.526 [DAT](INFO): Rx dataTimestamp_ set to:1749149272.524683
2025-06-05T18:47:52.529Z,1749149272.529 [DAT](INFO): DAT read: Bearing 181.1,   9.1 (Local)

2025-06-05T18:47:52.530Z,1749149272.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.1,   9.1 (Local)

2025-06-05T18:47:52.533Z,1749149272.533 [DAT](INFO): DAT read: Range 10 to 50 :    46.2 m (trip time 30.8 ms) speed -0.5

2025-06-05T18:47:52.535Z,1749149272.535 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-06-05T18:47:52.543Z,1749149272.543 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=25.958111
2025-06-05T18:47:52.614Z,1749149272.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.200001 m,
      deltaT: 0.760204 s,
      deltaX: 0.900002 m,
      approachRate: 1.183895 m/s,
      rangeRepo size: 4

2025-06-05T18:47:52.632Z,1749149272.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.823925 m,
      bearing: 47.741240 deg,
      lat: 36.906173 deg,
      lon: -122.116153 deg,
      deltaT: 0.760204 s,
      deltaX: 0.892719 m,
      approachRate: 1.174315 m/s,
      posRepo size: 4

2025-06-05T18:47:52.633Z,1749149272.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-06-05T18:47:52.665Z,1749149272.665 [DockingStepper](INFO): Start
2025-06-05T18:47:52.665Z,1749149272.665 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-05T18:47:52.665Z,1749149272.665 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-05T18:47:52.778Z,1749149272.778 [DAT](INFO): DAT read: 18:47:51.2571 LVL= 19664, 16337, 19346, 32755, AGC= 67, IDX= 504,-0.07,-1.701, 0.442,-1.443,-1.079, PHS=-0.534, 1.568,-0.368, RAW= 325.9,  -6.6, CAL= 328.9,  -9.1, ROT= 181.1,   9.1

2025-06-05T18:47:52.779Z,1749149272.779 [DAT](INFO): got valid direction response:
 18:47:51.2571 LVL= 19664, 16337, 19346, 32755, AGC= 67, IDX= 504,-0.07,-1.701, 0.442,-1.443,-1.079, PHS=-0.534, 1.568,-0.368, RAW= 325.9,  -6.6, CAL= 328.9,  -9.1, ROT= 181.1,   9.1

2025-06-05T18:47:52.779Z,1749149272.779 [DAT](INFO): #Rx 77: Read direction message, but no range.
2025-06-05T18:47:52.781Z,1749149272.781 [DAT](INFO): direction in FSK: [-0.987232,-0.018956,-0.158158]
2025-06-05T18:47:52.784Z,1749149272.784 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=26.199324
2025-06-05T18:47:52.924Z,1749149272.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-06-05T18:47:52.950Z,1749149272.950 [DockingStepper](INFO): Starting
2025-06-05T18:47:53.027Z,1749149273.027 [DAT](INFO): DAT read: Rx Time:18:47:51.7575 

2025-06-05T18:47:53.029Z,1749149273.029 [DAT](INFO): Rx dataTimestamp_ set to:1749149273.028328
2025-06-05T18:47:53.033Z,1749149273.033 [DAT](INFO): DAT read: Bearing 181.9,   7.0 (Local)

2025-06-05T18:47:53.033Z,1749149273.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.9,   7.0 (Local)

2025-06-05T18:47:53.038Z,1749149273.038 [DAT](INFO): DAT read: Range 10 to 50 :    46.8 m (trip time 31.2 ms) speed -0.7

2025-06-05T18:47:53.041Z,1749149273.041 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-06-05T18:47:53.048Z,1749149273.048 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=26.462793
2025-06-05T18:47:53.285Z,1749149273.285 [DAT](INFO): DAT read: 18:47:51.7575 LVL= 24816, 18289, 19410, 32755, AGC= 68, IDX= 508,-0.04,-0.504, 1.710,-0.218, 0.200, PHS=-0.616, 1.557,-0.421, RAW= 325.3,  -5.0, CAL= 328.1,  -7.0, ROT= 181.9,   7.0

2025-06-05T18:47:53.286Z,1749149273.286 [DAT](INFO): got valid direction response:
 18:47:51.7575 LVL= 24816, 18289, 19410, 32755, AGC= 68, IDX= 508,-0.04,-0.504, 1.710,-0.218, 0.200, PHS=-0.616, 1.557,-0.421, RAW= 325.3,  -5.0, CAL= 328.1,  -7.0, ROT= 181.9,   7.0

2025-06-05T18:47:53.287Z,1749149273.287 [DAT](INFO): #Rx 79: Read direction message, but no range.
2025-06-05T18:47:53.288Z,1749149273.288 [DAT](INFO): direction in FSK: [-0.992000,-0.032908,-0.121869]
2025-06-05T18:47:53.292Z,1749149273.292 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=26.707638
2025-06-05T18:47:53.410Z,1749149273.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.799999 m,
      deltaT: 0.503645 s,
      deltaX: 0.599998 m,
      approachRate: 1.191312 m/s,
      rangeRepo size: 4

2025-06-05T18:47:53.416Z,1749149273.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.419041 m,
      bearing: 48.696875 deg,
      lat: 36.906170 deg,
      lon: -122.116153 deg,
      deltaT: 0.503645 s,
      deltaX: 0.595116 m,
      approachRate: 1.181617 m/s,
      posRepo size: 4

2025-06-05T18:47:53.417Z,1749149273.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.42 m.
2025-06-05T18:47:53.450Z,1749149273.450 [DockingStepper](INFO): Starting
2025-06-05T18:47:53.536Z,1749149273.536 [DAT](INFO): DAT read: Rx Time:18:47:52.2577 

2025-06-05T18:47:53.538Z,1749149273.538 [DAT](INFO): Rx dataTimestamp_ set to:1749149273.536519
2025-06-05T18:47:53.550Z,1749149273.550 [DAT](INFO): DAT read: Bearing 181.1,   9.3 (Local)

2025-06-05T18:47:53.551Z,1749149273.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.1,   9.3 (Local)

2025-06-05T18:47:53.561Z,1749149273.561 [DAT](INFO): DAT read: Range 10 to 50 :    47.1 m (trip time 31.4 ms) speed -0.5

2025-06-05T18:47:53.562Z,1749149273.562 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-06-05T18:47:53.576Z,1749149273.576 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=26.991653
2025-06-05T18:47:53.757Z,1749149273.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.099998 m,
      deltaT: 0.508191 s,
      deltaX: 0.299999 m,
      approachRate: 0.590328 m/s,
      rangeRepo size: 4

2025-06-05T18:47:53.758Z,1749149273.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.42 m.
2025-06-05T18:47:53.784Z,1749149273.784 [DAT](INFO): DAT read: 18:47:52.2577 LVL= 20096, 18545, 19906, 32179, AGC= 66, IDX= 510, 0.04,-0.990, 1.250,-0.725,-0.347, PHS=-0.555, 1.644,-0.381, RAW= 325.9,  -6.8, CAL= 328.9,  -9.3, ROT= 181.1,   9.3

2025-06-05T18:47:53.785Z,1749149273.785 [DAT](INFO): got valid direction response:
 18:47:52.2577 LVL= 20096, 18545, 19906, 32179, AGC= 66, IDX= 510, 0.04,-0.990, 1.250,-0.725,-0.347, PHS=-0.555, 1.644,-0.381, RAW= 325.9,  -6.8, CAL= 328.9,  -9.3, ROT= 181.1,   9.3

2025-06-05T18:47:53.786Z,1749149273.786 [DAT](INFO): #Rx 81: Read direction message, but no range.
2025-06-05T18:47:53.787Z,1749149273.787 [DAT](INFO): direction in FSK: [-0.986674,-0.018945,-0.161604]
2025-06-05T18:47:53.791Z,1749149273.791 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=27.206442
2025-06-05T18:47:53.800Z,1749149273.800 [DockingStepper](INFO): Starting
2025-06-05T18:47:53.852Z,1749149273.852 [DockingStepper](INFO): Init string: /1z16367aE13561N3m50
2025-06-05T18:47:54.037Z,1749149274.037 [DAT](INFO): DAT read: Rx Time:18:47:52.7580 

2025-06-05T18:47:54.038Z,1749149274.038 [DAT](INFO): Rx dataTimestamp_ set to:1749149274.037441
2025-06-05T18:47:54.042Z,1749149274.042 [DAT](INFO): DAT read: Bearing 187.9,   5.0 (Local)

2025-06-05T18:47:54.043Z,1749149274.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.9,   5.0 (Local)

2025-06-05T18:47:54.047Z,1749149274.047 [DAT](INFO): DAT read: Range 10 to 50 :    47.6 m (trip time 31.7 ms) speed -0.9

2025-06-05T18:47:54.050Z,1749149274.050 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-06-05T18:47:54.092Z,1749149274.092 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=27.507669
2025-06-05T18:47:54.169Z,1749149274.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.599998 m,
      deltaT: 0.500922 s,
      deltaX: 0.500000 m,
      approachRate: 0.998159 m/s,
      rangeRepo size: 4

2025-06-05T18:47:54.174Z,1749149274.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.212677 m,
      bearing: 47.840316 deg,
      lat: 36.906170 deg,
      lon: -122.116147 deg,
      deltaT: 1.009113 s,
      deltaX: 0.793636 m,
      approachRate: 0.786469 m/s,
      posRepo size: 4

2025-06-05T18:47:54.175Z,1749149274.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.21 m.
2025-06-05T18:47:54.213Z,1749149274.213 [DockingStepper](INFO): Starting
2025-06-05T18:47:54.296Z,1749149274.296 [DAT](INFO): DAT read: 18:47:52.7580 LVL= 21552, 16337, 18594, 30931, AGC= 66, IDX= 513, 0.07, 0.532, 2.519, 1.015, 1.294, PHS=-0.673, 1.273,-0.282, RAW= 319.0,  -3.6, CAL= 322.1,  -5.0, ROT= 187.9,   5.0

2025-06-05T18:47:54.299Z,1749149274.299 [DAT](INFO): got valid direction response:
 18:47:52.7580 LVL= 21552, 16337, 18594, 30931, AGC= 66, IDX= 513, 0.07, 0.532, 2.519, 1.015, 1.294, PHS=-0.673, 1.273,-0.282, RAW= 319.0,  -3.6, CAL= 322.1,  -5.0, ROT= 187.9,   5.0

2025-06-05T18:47:54.308Z,1749149274.308 [DAT](INFO): #Rx 83: Read direction message, but no range.
2025-06-05T18:47:54.309Z,1749149274.309 [DAT](INFO): direction in FSK: [-0.986740,-0.136921,-0.087156]
2025-06-05T18:47:54.322Z,1749149274.322 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=27.736507
2025-06-05T18:47:54.549Z,1749149274.549 [DAT](INFO): DAT read: Rx Time:18:47:53.2582 

2025-06-05T18:47:54.550Z,1749149274.550 [DAT](INFO): Rx dataTimestamp_ set to:1749149274.549496
2025-06-05T18:47:54.554Z,1749149274.554 [DAT](INFO): DAT read: Bearing 181.1,   8.2 (Local)

2025-06-05T18:47:54.555Z,1749149274.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.1,   8.2 (Local)

2025-06-05T18:47:54.562Z,1749149274.562 [DAT](INFO): DAT read: Range 10 to 50 :    47.9 m (trip time 31.9 ms) speed -0.8

2025-06-05T18:47:54.563Z,1749149274.563 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-06-05T18:47:54.572Z,1749149274.572 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=27.978970
2025-06-05T18:47:54.587Z,1749149274.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.900002 m,
      deltaT: 0.512055 s,
      deltaX: 0.300003 m,
      approachRate: 0.585881 m/s,
      rangeRepo size: 4

2025-06-05T18:47:54.591Z,1749149274.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.510101 m,
      bearing: 54.648910 deg,
      lat: 36.906170 deg,
      lon: -122.116144 deg,
      deltaT: 0.512055 s,
      deltaX: 0.297424 m,
      approachRate: 0.580844 m/s,
      posRepo size: 4

2025-06-05T18:47:54.591Z,1749149274.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.51 m.
2025-06-05T18:47:54.650Z,1749149274.650 [DockingStepper](INFO): Starting
2025-06-05T18:47:54.795Z,1749149274.795 [DAT](INFO): DAT read: 18:47:53.2582 LVL= 23088, 18529, 22802, 32755, AGC= 68, IDX= 499, 0.10,-1.395, 0.822,-1.139,-0.732, PHS=-0.575, 1.602,-0.409, RAW= 326.1,  -5.9, CAL= 328.9,  -8.2, ROT= 181.1,   8.2

2025-06-05T18:47:54.796Z,1749149274.796 [DAT](INFO): got valid direction response:
 18:47:53.2582 LVL= 23088, 18529, 22802, 32755, AGC= 68, IDX= 499, 0.10,-1.395, 0.822,-1.139,-0.732, PHS=-0.575, 1.602,-0.409, RAW= 326.1,  -5.9, CAL= 328.9,  -8.2, ROT= 181.1,   8.2

2025-06-05T18:47:54.797Z,1749149274.797 [DAT](INFO): #Rx 85: Read direction message, but no range.
2025-06-05T18:47:54.798Z,1749149274.798 [DAT](INFO): direction in FSK: [-0.989594,-0.019001,-0.142629]
2025-06-05T18:47:54.809Z,1749149274.809 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=28.218945
2025-06-05T18:47:54.927Z,1749149274.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.51 m.
2025-06-05T18:47:54.958Z,1749149274.958 [DockingStepper](INFO): Starting
2025-06-05T18:47:55.044Z,1749149275.044 [DAT](INFO): DAT read: Rx Time:18:47:53.7585 

2025-06-05T18:47:55.046Z,1749149275.046 [DAT](INFO): Rx dataTimestamp_ set to:1749149275.044684
2025-06-05T18:47:55.048Z,1749149275.048 [DAT](INFO): DAT read: Bearing 181.5,   8.2 (Local)

2025-06-05T18:47:55.049Z,1749149275.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.5,   8.2 (Local)

2025-06-05T18:47:55.055Z,1749149275.055 [DAT](INFO): DAT read: Range 10 to 50 :    48.5 m (trip time 32.3 ms) speed -0.8

2025-06-05T18:47:55.058Z,1749149275.058 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-06-05T18:47:55.060Z,1749149275.060 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=28.475794
2025-06-05T18:47:55.296Z,1749149275.296 [DAT](INFO): DAT read: 18:47:53.7585 LVL= 28032, 20625, 21234, 32755, AGC= 67, IDX= 487, 0.16,-0.157, 2.093, 0.122, 0.522, PHS=-0.590, 1.618,-0.402, RAW= 325.6,  -6.0, CAL= 328.5,  -8.2, ROT= 181.5,   8.2

2025-06-05T18:47:55.297Z,1749149275.297 [DAT](INFO): got valid direction response:
 18:47:53.7585 LVL= 28032, 20625, 21234, 32755, AGC= 67, IDX= 487, 0.16,-0.157, 2.093, 0.122, 0.522, PHS=-0.590, 1.618,-0.402, RAW= 325.6,  -6.0, CAL= 328.5,  -8.2, ROT= 181.5,   8.2

2025-06-05T18:47:55.297Z,1749149275.297 [DAT](INFO): #Rx 87: Read direction message, but no range.
2025-06-05T18:47:55.298Z,1749149275.298 [DAT](INFO): direction in FSK: [-0.989437,-0.025909,-0.142629]
2025-06-05T18:47:55.316Z,1749149275.316 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=28.730631
2025-06-05T18:47:55.441Z,1749149275.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.500000 m,
      deltaT: 0.495188 s,
      deltaX: 0.599998 m,
      approachRate: 1.211658 m/s,
      rangeRepo size: 4

2025-06-05T18:47:55.443Z,1749149275.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.105217 m,
      bearing: 48.236279 deg,
      lat: 36.906170 deg,
      lon: -122.116140 deg,
      deltaT: 0.495188 s,
      deltaX: 0.595116 m,
      approachRate: 1.201797 m/s,
      posRepo size: 4

2025-06-05T18:47:55.448Z,1749149275.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.11 m.
2025-06-05T18:47:55.478Z,1749149275.478 [DockingStepper](INFO): Starting
2025-06-05T18:47:55.510Z,1749149275.510 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-05T18:47:55.547Z,1749149275.547 [DAT](INFO): DAT read: Rx Time:18:47:54.2587 

2025-06-05T18:47:55.549Z,1749149275.549 [DAT](INFO): Rx dataTimestamp_ set to:1749149275.548031
2025-06-05T18:47:55.551Z,1749149275.551 [DAT](INFO): DAT read: Bearing 181.4,   9.9 (Local)

2025-06-05T18:47:55.552Z,1749149275.552 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.4,   9.9 (Local)

2025-06-05T18:47:55.559Z,1749149275.559 [DAT](INFO): DAT read: Range 10 to 50 :    48.8 m (trip time 32.5 ms) speed -0.6

2025-06-05T18:47:55.562Z,1749149275.562 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-06-05T18:47:55.563Z,1749149275.563 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=28.978708
2025-06-05T18:47:55.805Z,1749149275.805 [DAT](INFO): DAT read: 18:47:54.2587 LVL= 29664, 21169, 22370, 32755, AGC= 66, IDX= 489, 0.21,-1.217, 1.018,-0.934,-0.586, PHS=-0.544, 1.651,-0.352, RAW= 325.5,  -7.2, CAL= 328.6,  -9.9, ROT= 181.4,   9.9

2025-06-05T18:47:55.808Z,1749149275.808 [DAT](INFO): got valid direction response:
 18:47:54.2587 LVL= 29664, 21169, 22370, 32755, AGC= 66, IDX= 489, 0.21,-1.217, 1.018,-0.934,-0.586, PHS=-0.544, 1.651,-0.352, RAW= 325.5,  -7.2, CAL= 328.6,  -9.9, ROT= 181.4,   9.9

2025-06-05T18:47:55.809Z,1749149275.809 [DAT](INFO): #Rx 89: Read direction message, but no range.
2025-06-05T18:47:55.811Z,1749149275.811 [DAT](INFO): direction in FSK: [-0.984815,-0.024068,-0.171929]
2025-06-05T18:47:55.833Z,1749149275.833 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=29.248156
2025-06-05T18:47:55.911Z,1749149275.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.799999 m,
      deltaT: 0.503347 s,
      deltaX: 0.299999 m,
      approachRate: 0.596009 m/s,
      rangeRepo size: 4

2025-06-05T18:47:55.917Z,1749149275.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.402691 m,
      bearing: 48.129153 deg,
      lat: 36.906170 deg,
      lon: -122.116140 deg,
      deltaT: 0.503347 s,
      deltaX: 0.297474 m,
      approachRate: 0.590992 m/s,
      posRepo size: 4

2025-06-05T18:47:55.918Z,1749149275.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-06-05T18:47:55.943Z,1749149275.943 [DockingStepper](INFO): Starting
2025-06-05T18:47:56.054Z,1749149276.054 [DAT](INFO): DAT read: Rx Time:18:47:54.7591 

2025-06-05T18:47:56.055Z,1749149276.055 [DAT](INFO): Rx dataTimestamp_ set to:1749149276.054575
2025-06-05T18:47:56.060Z,1749149276.060 [DAT](INFO): DAT read: Bearing 181.1,  11.3 (Local)

2025-06-05T18:47:56.060Z,1749149276.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.1,  11.3 (Local)

2025-06-05T18:47:56.062Z,1749149276.062 [DAT](INFO): DAT read: Range 10 to 50 :    49.4 m (trip time 32.9 ms) speed -0.6

2025-06-05T18:47:56.063Z,1749149276.063 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-06-05T18:47:56.064Z,1749149276.064 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=29.479753
2025-06-05T18:47:56.197Z,1749149276.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.400002 m,
      deltaT: 0.506544 s,
      deltaX: 0.600002 m,
      approachRate: 1.184502 m/s,
      rangeRepo size: 4

2025-06-05T18:47:56.198Z,1749149276.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.40 m.
2025-06-05T18:47:56.237Z,1749149276.237 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T18:47:56.237Z,1749149276.237 [DockingStepper](INFO): Standby mode.
2025-06-05T18:47:56.306Z,1749149276.306 [DAT](INFO): DAT read: 18:47:54.7591 LVL= 26928, 20945, 23970, 32755, AGC= 68, IDX= 509, 0.27, 0.145, 2.306, 0.415, 0.719, PHS=-0.486, 1.633,-0.307, RAW= 325.6,  -8.3, CAL= 328.9, -11.3, ROT= 181.1,  11.3

2025-06-05T18:47:56.307Z,1749149276.307 [DAT](INFO): got valid direction response:
 18:47:54.7591 LVL= 26928, 20945, 23970, 32755, AGC= 68, IDX= 509, 0.27, 0.145, 2.306, 0.415, 0.719, PHS=-0.486, 1.633,-0.307, RAW= 325.6,  -8.3, CAL= 328.9, -11.3, ROT= 181.1,  11.3

2025-06-05T18:47:56.308Z,1749149276.308 [DAT](INFO): #Rx 91: Read direction message, but no range.
2025-06-05T18:47:56.309Z,1749149276.309 [DAT](INFO): direction in FSK: [-0.980434,-0.018825,-0.195946]
2025-06-05T18:47:56.314Z,1749149276.314 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=29.729435
2025-06-05T18:47:56.563Z,1749149276.563 [DAT](INFO): DAT read: Rx Time:18:47:55.2593 

2025-06-05T18:47:56.563Z,1749149276.563 [DAT](INFO): Rx dataTimestamp_ set to:1749149276.562831
2025-06-05T18:47:56.564Z,1749149276.564 [DAT](INFO): DAT read: Bearing 180.6,  11.4 (Local)

2025-06-05T18:47:56.565Z,1749149276.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.6,  11.4 (Local)

2025-06-05T18:47:56.567Z,1749149276.567 [DAT](INFO): DAT read: Range 10 to 50 :    49.7 m (trip time 33.1 ms) speed -0.7

2025-06-05T18:47:56.568Z,1749149276.568 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-06-05T18:47:56.569Z,1749149276.569 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=29.984108
2025-06-05T18:47:56.728Z,1749149276.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.700001 m,
      deltaT: 0.508256 s,
      deltaX: 0.299999 m,
      approachRate: 0.590252 m/s,
      rangeRepo size: 4

2025-06-05T18:47:56.730Z,1749149276.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.295727 m,
      bearing: 47.879592 deg,
      lat: 36.906170 deg,
      lon: -122.116144 deg,
      deltaT: 1.014800 s,
      deltaX: 0.893036 m,
      approachRate: 0.880012 m/s,
      posRepo size: 4

2025-06-05T18:47:56.730Z,1749149276.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-06-05T18:47:56.810Z,1749149276.810 [DAT](INFO): DAT read: 18:47:55.2593 LVL= 32224, 23121, 24370, 32755, AGC= 66, IDX= 511, 0.32,-0.995, 1.098,-0.754,-0.447, PHS=-0.460, 1.592,-0.310, RAW= 326.2,  -8.3, CAL= 329.4, -11.4, ROT= 180.6,  11.4

2025-06-05T18:47:56.811Z,1749149276.811 [DAT](INFO): got valid direction response:
 18:47:55.2593 LVL= 32224, 23121, 24370, 32755, AGC= 66, IDX= 511, 0.32,-0.995, 1.098,-0.754,-0.447, PHS=-0.460, 1.592,-0.310, RAW= 326.2,  -8.3, CAL= 329.4, -11.4, ROT= 180.6,  11.4

2025-06-05T18:47:56.817Z,1749149276.817 [DAT](INFO): #Rx 93: Read direction message, but no range.
2025-06-05T18:47:56.818Z,1749149276.818 [DAT](INFO): direction in FSK: [-0.980217,-0.010265,-0.197657]
2025-06-05T18:47:56.822Z,1749149276.822 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=30.237139
2025-06-05T18:47:57.060Z,1749149277.060 [DAT](INFO): DAT read: Rx Time:18:47:55.7597 

2025-06-05T18:47:57.060Z,1749149277.060 [DAT](INFO): Rx dataTimestamp_ set to:1749149277.060203
2025-06-05T18:47:57.062Z,1749149277.062 [DAT](INFO): DAT read: Bearing 179.6,  11.3 (Local)

2025-06-05T18:47:57.062Z,1749149277.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.6,  11.3 (Local)

2025-06-05T18:47:57.064Z,1749149277.064 [DAT](INFO): DAT read: Range 10 to 50 :    50.1 m (trip time 33.4 ms) speed -0.4

2025-06-05T18:47:57.064Z,1749149277.064 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-05T18:47:57.065Z,1749149277.065 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=30.480734
2025-06-05T18:47:57.141Z,1749149277.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.099998 m,
      deltaT: 0.497372 s,
      deltaX: 0.399998 m,
      approachRate: 0.804222 m/s,
      rangeRepo size: 4

2025-06-05T18:47:57.143Z,1749149277.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.692471 m,
      bearing: 47.437613 deg,
      lat: 36.906170 deg,
      lon: -122.116144 deg,
      deltaT: 0.497372 s,
      deltaX: 0.396744 m,
      approachRate: 0.797680 m/s,
      posRepo size: 4

2025-06-05T18:47:57.143Z,1749149277.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-06-05T18:47:57.313Z,1749149277.313 [DAT](INFO): DAT read: 18:47:55.7597 LVL= 24560, 20913, 19042, 32419, AGC= 70, IDX=   3, 0.45,-0.630, 1.414,-0.434,-0.107, PHS=-0.436, 1.568,-0.331, RAW= 327.3,  -8.3, CAL= 330.4, -11.3, ROT= 179.6,  11.3

2025-06-05T18:47:57.314Z,1749149277.314 [DAT](INFO): got valid direction response:
 18:47:55.7597 LVL= 24560, 20913, 19042, 32419, AGC= 70, IDX=   3, 0.45,-0.630, 1.414,-0.434,-0.107, PHS=-0.436, 1.568,-0.331, RAW= 327.3,  -8.3, CAL= 330.4, -11.3, ROT= 179.6,  11.3

2025-06-05T18:47:57.314Z,1749149277.314 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-06-05T18:47:57.315Z,1749149277.315 [DAT](INFO): direction in FSK: [-0.980591,0.006846,-0.195946]
2025-06-05T18:47:57.318Z,1749149277.318 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=30.733625
2025-06-05T18:47:57.561Z,1749149277.561 [DAT](INFO): DAT read: Rx Time:18:47:56.2599 

2025-06-05T18:47:57.562Z,1749149277.562 [DAT](INFO): Rx dataTimestamp_ set to:1749149277.561636
2025-06-05T18:47:57.563Z,1749149277.563 [DAT](INFO): DAT read: Bearing 179.1,  11.7 (Local)

2025-06-05T18:47:57.564Z,1749149277.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.1,  11.7 (Local)

2025-06-05T18:47:57.566Z,1749149277.566 [DAT](INFO): DAT read: Range 10 to 50 :    50.4 m (trip time 33.6 ms) speed -0.7

2025-06-05T18:47:57.574Z,1749149277.574 [DAT](INFO): DAT read: 18:47:56.2599 LVL= 23536, 19217, 19442, 32755, AGC= 68, IDX= 501, 0.47,-1.601, 0.439,-1.425,-1.097, PHS=-0.416, 1.583,-0.330, RAW= 327.8,  -8.6, CAL= 330.9, -11.7, ROT= 179.1,  11.7

2025-06-05T18:47:57.575Z,1749149277.575 [DAT](INFO): got valid direction response:
 18:47:56.2599 LVL= 23536, 19217, 19442, 32755, AGC= 68, IDX= 501, 0.47,-1.601, 0.439,-1.425,-1.097, PHS=-0.416, 1.583,-0.330, RAW= 327.8,  -8.6, CAL= 330.9, -11.7, ROT= 179.1,  11.7

2025-06-05T18:47:57.575Z,1749149277.575 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-05T18:47:57.588Z,1749149277.588 [DAT](INFO): direction in FSK: [-0.979102,0.015381,-0.202787]
2025-06-05T18:47:57.589Z,1749149277.589 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:57.602Z,1749149277.602 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=31.017044
2025-06-05T18:47:57.664Z,1749149277.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.400002 m,
      deltaT: 0.501433 s,
      deltaX: 0.300003 m,
      approachRate: 0.598291 m/s,
      rangeRepo size: 4

2025-06-05T18:47:57.666Z,1749149277.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.990284 m,
      bearing: 45.944093 deg,
      lat: 36.906170 deg,
      lon: -122.116144 deg,
      deltaT: 0.501433 s,
      deltaX: 0.297813 m,
      approachRate: 0.593925 m/s,
      posRepo size: 4

2025-06-05T18:47:57.666Z,1749149277.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-06-05T18:47:57.813Z,1749149277.813 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=31.228212
2025-06-05T18:47:58.017Z,1749149278.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.99 m.
2025-06-05T18:47:58.067Z,1749149278.067 [DAT](INFO): DAT read: Rx Time:18:47:56.7602 

2025-06-05T18:47:58.069Z,1749149278.069 [DAT](INFO): Rx dataTimestamp_ set to:1749149278.066996
2025-06-05T18:47:58.073Z,1749149278.073 [DAT](INFO): DAT read: Bearing 179.9,  12.0 (Local)

2025-06-05T18:47:58.074Z,1749149278.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.9,  12.0 (Local)

2025-06-05T18:47:58.077Z,1749149278.077 [DAT](INFO): DAT read: Range 10 to 50 :    50.9 m (trip time 33.9 ms) speed -0.6

2025-06-05T18:47:58.082Z,1749149278.082 [DAT](INFO): DAT read: 18:47:56.7602 LVL= 23680, 20337, 21842, 32755, AGC= 68, IDX= 504, 0.45,-1.897, 0.120,-1.687,-1.392, PHS=-0.417, 1.559,-0.297, RAW= 326.9,  -8.8, CAL= 330.1, -12.0, ROT= 179.9,  12.0

2025-06-05T18:47:58.083Z,1749149278.083 [DAT](INFO): got valid direction response:
 18:47:56.7602 LVL= 23680, 20337, 21842, 32755, AGC= 68, IDX= 504, 0.45,-1.897, 0.120,-1.687,-1.392, PHS=-0.417, 1.559,-0.297, RAW= 326.9,  -8.8, CAL= 330.1, -12.0, ROT= 179.9,  12.0

2025-06-05T18:47:58.088Z,1749149278.088 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-05T18:47:58.089Z,1749149278.089 [DAT](INFO): direction in FSK: [-0.978146,0.001707,-0.207912]
2025-06-05T18:47:58.089Z,1749149278.089 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:58.102Z,1749149278.102 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=31.517420
2025-06-05T18:47:58.319Z,1749149278.319 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=31.733910
2025-06-05T18:47:58.569Z,1749149278.569 [DAT](INFO): DAT read: Rx Time:18:47:57.2605 

2025-06-05T18:47:58.570Z,1749149278.570 [DAT](INFO): Rx dataTimestamp_ set to:1749149278.569511
2025-06-05T18:47:58.571Z,1749149278.571 [DAT](INFO): DAT read: Bearing 179.7,  12.1 (Local)

2025-06-05T18:47:58.572Z,1749149278.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.7,  12.1 (Local)

2025-06-05T18:47:58.575Z,1749149278.575 [DAT](INFO): DAT read: Range 10 to 50 :    51.3 m (trip time 34.2 ms) speed -0.6

2025-06-05T18:47:58.583Z,1749149278.583 [DAT](INFO): DAT read: 18:47:57.2605 LVL= 25952, 20433, 21378, 32755, AGC= 69, IDX= 506, 0.38,-2.977,-0.925,-2.775,-2.470, PHS=-0.419, 1.592,-0.308, RAW= 327.2,  -8.9, CAL= 330.3, -12.1, ROT= 179.7,  12.1

2025-06-05T18:47:58.584Z,1749149278.584 [DAT](INFO): got valid direction response:
 18:47:57.2605 LVL= 25952, 20433, 21378, 32755, AGC= 69, IDX= 506, 0.38,-2.977,-0.925,-2.775,-2.470, PHS=-0.419, 1.592,-0.308, RAW= 327.2,  -8.9, CAL= 330.3, -12.1, ROT= 179.7,  12.1

2025-06-05T18:47:58.585Z,1749149278.585 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-05T18:47:58.586Z,1749149278.586 [DAT](INFO): direction in FSK: [-0.977770,0.005120,-0.209619]
2025-06-05T18:47:58.586Z,1749149278.586 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:58.594Z,1749149278.594 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=32.009350
2025-06-05T18:47:58.598Z,1749149278.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.299999 m,
      deltaT: 1.007875 s,
      deltaX: 0.899998 m,
      approachRate: 0.892966 m/s,
      rangeRepo size: 4

2025-06-05T18:47:58.604Z,1749149278.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.486496 m,
      bearing: 46.718325 deg,
      lat: 36.906172 deg,
      lon: -122.116147 deg,
      deltaT: 0.505360 s,
      deltaX: 0.496212 m,
      approachRate: 0.981898 m/s,
      posRepo size: 4

2025-06-05T18:47:58.605Z,1749149278.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m.
2025-06-05T18:47:58.821Z,1749149278.821 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=32.236237
2025-06-05T18:47:58.950Z,1749149278.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m.
2025-06-05T18:47:59.074Z,1749149279.074 [DAT](INFO): DAT read: Rx Time:18:47:57.7609 

2025-06-05T18:47:59.075Z,1749149279.075 [DAT](INFO): Rx dataTimestamp_ set to:1749149279.074701
2025-06-05T18:47:59.077Z,1749149279.077 [DAT](INFO): DAT read: Bearing 179.5,  11.5 (Local)

2025-06-05T18:47:59.077Z,1749149279.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.5,  11.5 (Local)

2025-06-05T18:47:59.079Z,1749149279.079 [DAT](INFO): DAT read: Range 10 to 50 :    51.9 m (trip time 34.6 ms) speed -0.5

2025-06-05T18:47:59.093Z,1749149279.093 [DAT](INFO): DAT read: 18:47:57.7609 LVL= 25264, 17361, 22066, 32755, AGC= 67, IDX= 510, 0.35,-1.774, 0.292,-1.581,-1.252, PHS=-0.434, 1.592,-0.332, RAW= 327.4,  -8.4, CAL= 330.5, -11.5, ROT= 179.5,  11.5

2025-06-05T18:47:59.094Z,1749149279.094 [DAT](INFO): got valid direction response:
 18:47:57.7609 LVL= 25264, 17361, 22066, 32755, AGC= 67, IDX= 510, 0.35,-1.774, 0.292,-1.581,-1.252, PHS=-0.434, 1.592,-0.332, RAW= 327.4,  -8.4, CAL= 330.5, -11.5, ROT= 179.5,  11.5

2025-06-05T18:47:59.094Z,1749149279.094 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-05T18:47:59.095Z,1749149279.095 [DAT](INFO): direction in FSK: [-0.979887,0.008551,-0.199368]
2025-06-05T18:47:59.120Z,1749149279.120 [DAT](INFO): publishing direction and range info
2025-06-05T18:47:59.220Z,1749149279.220 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=32.635521
2025-06-05T18:47:59.325Z,1749149279.325 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=32.740334
2025-06-05T18:47:59.364Z,1749149279.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.900002 m,
      deltaT: 0.505190 s,
      deltaX: 0.600002 m,
      approachRate: 1.187677 m/s,
      rangeRepo size: 4

2025-06-05T18:47:59.372Z,1749149279.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.478374 m,
      bearing: 46.331628 deg,
      lat: 36.906174 deg,
      lon: -122.116155 deg,
      deltaT: 1.007705 s,
      deltaX: 0.991879 m,
      approachRate: 0.984295 m/s,
      posRepo size: 4

2025-06-05T18:47:59.374Z,1749149279.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.48 m.
2025-06-05T18:47:59.577Z,1749149279.577 [DAT](INFO): DAT read: Rx Time:18:47:58.2611 

2025-06-05T18:47:59.577Z,1749149279.577 [DAT](INFO): Rx dataTimestamp_ set to:1749149279.577169
2025-06-05T18:47:59.579Z,1749149279.579 [DAT](INFO): DAT read: Range 10 to 50 :    52.2 m (trip time 34.8 ms) speed -0.8

2025-06-05T18:47:59.579Z,1749149279.579 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-05T18:47:59.580Z,1749149279.580 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=32.995705
2025-06-05T18:47:59.784Z,1749149279.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.200001 m,
      deltaT: 0.502468 s,
      deltaX: 0.299999 m,
      approachRate: 0.597051 m/s,
      rangeRepo size: 4

2025-06-05T18:47:59.785Z,1749149279.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.48 m.
2025-06-05T18:47:59.830Z,1749149279.830 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=33.244915
2025-06-05T18:48:00.081Z,1749149280.081 [DAT](INFO): DAT read: Rx Time:18:47:58.7615 

2025-06-05T18:48:00.082Z,1749149280.082 [DAT](INFO): Rx dataTimestamp_ set to:1749149280.081415
2025-06-05T18:48:00.083Z,1749149280.083 [DAT](INFO): DAT read: Bearing 179.7,  11.4 (Local)

2025-06-05T18:48:00.083Z,1749149280.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.7,  11.4 (Local)

2025-06-05T18:48:00.085Z,1749149280.085 [DAT](INFO): DAT read: Range 10 to 50 :    52.8 m (trip time 35.2 ms) speed -0.6

2025-06-05T18:48:00.091Z,1749149280.091 [DAT](INFO): DAT read: 18:47:58.7615 LVL= 23488, 17905, 24242, 32755, AGC= 68, IDX= 500, 0.05,-0.975, 1.106,-0.772,-0.444, PHS=-0.443, 1.597,-0.331, RAW= 327.2,  -8.3, CAL= 330.3, -11.4, ROT= 179.7,  11.4

2025-06-05T18:48:00.097Z,1749149280.097 [DAT](INFO): got valid direction response:
 18:47:58.7615 LVL= 23488, 17905, 24242, 32755, AGC= 68, IDX= 500, 0.05,-0.975, 1.106,-0.772,-0.444, PHS=-0.443, 1.597,-0.331, RAW= 327.2,  -8.3, CAL= 330.3, -11.4, ROT= 179.7,  11.4

2025-06-05T18:48:00.097Z,1749149280.097 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-05T18:48:00.098Z,1749149280.098 [DAT](INFO): direction in FSK: [-0.980258,0.005133,-0.197657]
2025-06-05T18:48:00.098Z,1749149280.098 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:00.102Z,1749149280.102 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=33.517380
2025-06-05T18:48:00.200Z,1749149280.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.799999 m,
      deltaT: 0.504246 s,
      deltaX: 0.599998 m,
      approachRate: 1.189892 m/s,
      rangeRepo size: 4

2025-06-05T18:48:00.202Z,1749149280.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.371040 m,
      bearing: 46.478426 deg,
      lat: 36.906177 deg,
      lon: -122.116155 deg,
      deltaT: 1.006714 s,
      deltaX: 0.892666 m,
      approachRate: 0.886712 m/s,
      posRepo size: 4

2025-06-05T18:48:00.202Z,1749149280.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.37 m.
2025-06-05T18:48:00.333Z,1749149280.333 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=33.748310
2025-06-05T18:48:00.585Z,1749149280.585 [DAT](INFO): DAT read: Rx Time:18:47:59.2617 

2025-06-05T18:48:00.586Z,1749149280.586 [DAT](INFO): Rx dataTimestamp_ set to:1749149280.585456
2025-06-05T18:48:00.587Z,1749149280.587 [DAT](INFO): DAT read: Bearing 180.6,  10.0 (Local)

2025-06-05T18:48:00.587Z,1749149280.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.6,  10.0 (Local)

2025-06-05T18:48:00.590Z,1749149280.590 [DAT](INFO): DAT read: Range 10 to 50 :    53.1 m (trip time 35.4 ms) speed -0.6

2025-06-05T18:48:00.596Z,1749149280.596 [DAT](INFO): DAT read: 18:47:59.2617 LVL= 21648, 20273, 19442, 31475, AGC= 65, IDX= 502,-0.04, 2.544,-1.697, 2.775, 3.112, PHS=-0.479, 1.522,-0.340, RAW= 326.4,  -7.3, CAL= 329.4, -10.0, ROT= 180.6,  10.0

2025-06-05T18:48:00.597Z,1749149280.597 [DAT](INFO): got valid direction response:
 18:47:59.2617 LVL= 21648, 20273, 19442, 31475, AGC= 65, IDX= 502,-0.04, 2.544,-1.697, 2.775, 3.112, PHS=-0.479, 1.522,-0.340, RAW= 326.4,  -7.3, CAL= 329.4, -10.0, ROT= 180.6,  10.0

2025-06-05T18:48:00.597Z,1749149280.597 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-05T18:48:00.598Z,1749149280.598 [DAT](INFO): direction in FSK: [-0.984754,-0.010313,-0.173648]
2025-06-05T18:48:00.598Z,1749149280.598 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:00.606Z,1749149280.606 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=34.021229
2025-06-05T18:48:00.692Z,1749149280.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.099998 m,
      deltaT: 0.504041 s,
      deltaX: 0.299999 m,
      approachRate: 0.595188 m/s,
      rangeRepo size: 4

2025-06-05T18:48:00.705Z,1749149280.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.668690 m,
      bearing: 47.338124 deg,
      lat: 36.906174 deg,
      lon: -122.116154 deg,
      deltaT: 0.504041 s,
      deltaX: 0.297649 m,
      approachRate: 0.590526 m/s,
      posRepo size: 4

2025-06-05T18:48:00.706Z,1749149280.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.67 m.
2025-06-05T18:48:00.837Z,1749149280.837 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=34.252560
2025-06-05T18:48:01.069Z,1749149281.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.67 m.
2025-06-05T18:48:01.090Z,1749149281.090 [DAT](INFO): DAT read: Rx Time:18:47:59.7621 

2025-06-05T18:48:01.091Z,1749149281.091 [DAT](INFO): Rx dataTimestamp_ set to:1749149281.090605
2025-06-05T18:48:01.093Z,1749149281.093 [DAT](INFO): DAT read: Bearing 180.8,  10.8 (Local)

2025-06-05T18:48:01.093Z,1749149281.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.8,  10.8 (Local)

2025-06-05T18:48:01.095Z,1749149281.095 [DAT](INFO): DAT read: Range 10 to 50 :    53.7 m (trip time 35.8 ms) speed -0.6

2025-06-05T18:48:01.101Z,1749149281.101 [DAT](INFO): DAT read: 18:47:59.7621 LVL= 28656, 20913, 23106, 32755, AGC= 67, IDX= 506,-0.19,-2.349,-0.291,-2.105,-1.792, PHS=-0.469, 1.548,-0.316, RAW= 326.1,  -7.9, CAL= 329.2, -10.8, ROT= 180.8,  10.8

2025-06-05T18:48:01.102Z,1749149281.102 [DAT](INFO): got valid direction response:
 18:47:59.7621 LVL= 28656, 20913, 23106, 32755, AGC= 67, IDX= 506,-0.19,-2.349,-0.291,-2.105,-1.792, PHS=-0.469, 1.548,-0.316, RAW= 326.1,  -7.9, CAL= 329.2, -10.8, ROT= 180.8,  10.8

2025-06-05T18:48:01.102Z,1749149281.102 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-05T18:48:01.103Z,1749149281.103 [DAT](INFO): direction in FSK: [-0.982192,-0.013715,-0.187381]
2025-06-05T18:48:01.103Z,1749149281.103 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:01.120Z,1749149281.120 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=34.535606
2025-06-05T18:48:01.341Z,1749149281.341 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=34.756104
2025-06-05T18:48:01.581Z,1749149281.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.700001 m,
      deltaT: 0.505149 s,
      deltaX: 0.600002 m,
      approachRate: 1.187773 m/s,
      rangeRepo size: 4

2025-06-05T18:48:01.583Z,1749149281.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.263840 m,
      bearing: 47.550581 deg,
      lat: 36.906174 deg,
      lon: -122.116150 deg,
      deltaT: 0.505149 s,
      deltaX: 0.595150 m,
      approachRate: 1.178167 m/s,
      posRepo size: 4

2025-06-05T18:48:01.588Z,1749149281.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.26 m.
2025-06-05T18:48:01.593Z,1749149281.593 [DAT](INFO): DAT read: Rx Time:18:48:00.2623 

2025-06-05T18:48:01.594Z,1749149281.594 [DAT](INFO): Rx dataTimestamp_ set to:1749149281.593509
2025-06-05T18:48:01.595Z,1749149281.595 [DAT](INFO): DAT read: Bearing 180.6,  11.6 (Local)

2025-06-05T18:48:01.595Z,1749149281.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.6,  11.6 (Local)

2025-06-05T18:48:01.597Z,1749149281.597 [DAT](INFO): DAT read: Range 10 to 50 :    54.0 m (trip time 36.0 ms) speed -0.8

2025-06-05T18:48:01.602Z,1749149281.602 [DAT](INFO): DAT read: 18:48:00.2623 LVL= 21568, 20113, 18994, 32755, AGC= 65, IDX= 508,-0.31, 1.942,-2.317, 2.178, 2.469, PHS=-0.439, 1.544,-0.294, RAW= 326.2,  -8.5, CAL= 329.4, -11.6, ROT= 180.6,  11.6

2025-06-05T18:48:01.603Z,1749149281.603 [DAT](INFO): got valid direction response:
 18:48:00.2623 LVL= 21568, 20113, 18994, 32755, AGC= 65, IDX= 508,-0.31, 1.942,-2.317, 2.178, 2.469, PHS=-0.439, 1.544,-0.294, RAW= 326.2,  -8.5, CAL= 329.4, -11.6, ROT= 180.6,  11.6

2025-06-05T18:48:01.604Z,1749149281.604 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-05T18:48:01.605Z,1749149281.605 [DAT](INFO): direction in FSK: [-0.979522,-0.010258,-0.201078]
2025-06-05T18:48:01.605Z,1749149281.605 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:01.614Z,1749149281.614 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=35.029156
2025-06-05T18:48:01.846Z,1749149281.846 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=35.261024
2025-06-05T18:48:01.988Z,1749149281.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.000000 m,
      deltaT: 0.502904 s,
      deltaX: 0.299999 m,
      approachRate: 0.596534 m/s,
      rangeRepo size: 4

2025-06-05T18:48:01.996Z,1749149281.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.561405 m,
      bearing: 47.368185 deg,
      lat: 36.906173 deg,
      lon: -122.116146 deg,
      deltaT: 0.502904 s,
      deltaX: 0.297565 m,
      approachRate: 0.591694 m/s,
      posRepo size: 4

2025-06-05T18:48:01.996Z,1749149281.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.56 m.
2025-06-05T18:48:02.100Z,1749149282.100 [DAT](INFO): DAT read: Rx Time:18:48:00.7625 

2025-06-05T18:48:02.101Z,1749149282.101 [DAT](INFO): Rx dataTimestamp_ set to:1749149282.100237
2025-06-05T18:48:02.102Z,1749149282.102 [DAT](INFO): DAT read: Bearing 179.2,  11.8 (Local)

2025-06-05T18:48:02.102Z,1749149282.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.2,  11.8 (Local)

2025-06-05T18:48:02.104Z,1749149282.104 [DAT](INFO): DAT read: Range 10 to 50 :    54.3 m (trip time 36.2 ms) speed -0.8

2025-06-05T18:48:02.110Z,1749149282.110 [DAT](INFO): DAT read: 18:48:00.7625 LVL= 25424, 19217, 23794, 32755, AGC= 68, IDX= 494, 0.46,-2.416,-0.427,-2.238,-1.923, PHS=-0.405, 1.543,-0.318, RAW= 327.7,  -8.7, CAL= 330.8, -11.8, ROT= 179.2,  11.8

2025-06-05T18:48:02.113Z,1749149282.113 [DAT](INFO): got valid direction response:
 18:48:00.7625 LVL= 25424, 19217, 23794, 32755, AGC= 68, IDX= 494, 0.46,-2.416,-0.427,-2.238,-1.923, PHS=-0.405, 1.543,-0.318, RAW= 327.7,  -8.7, CAL= 330.8, -11.8, ROT= 179.2,  11.8

2025-06-05T18:48:02.113Z,1749149282.113 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-05T18:48:02.115Z,1749149282.115 [DAT](INFO): direction in FSK: [-0.978772,0.013667,-0.204496]
2025-06-05T18:48:02.115Z,1749149282.115 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:02.122Z,1749149282.122 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=35.536987
2025-06-05T18:48:02.353Z,1749149282.353 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=35.768452
2025-06-05T18:48:02.392Z,1749149282.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.299999 m,
      deltaT: 0.506728 s,
      deltaX: 0.299999 m,
      approachRate: 0.592032 m/s,
      rangeRepo size: 4

2025-06-05T18:48:02.394Z,1749149282.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.858967 m,
      bearing: 45.970436 deg,
      lat: 36.906173 deg,
      lon: -122.116146 deg,
      deltaT: 0.506728 s,
      deltaX: 0.297562 m,
      approachRate: 0.587222 m/s,
      posRepo size: 4

2025-06-05T18:48:02.395Z,1749149282.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m.
2025-06-05T18:48:02.605Z,1749149282.605 [DAT](INFO): DAT read: Rx Time:18:48:01.2626 

2025-06-05T18:48:02.606Z,1749149282.606 [DAT](INFO): Rx dataTimestamp_ set to:1749149282.605582
2025-06-05T18:48:02.609Z,1749149282.609 [DAT](INFO): DAT read: Bearing 179.3,  11.2 (Local)

2025-06-05T18:48:02.610Z,1749149282.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.3,  11.2 (Local)

2025-06-05T18:48:02.624Z,1749149282.624 [DAT](INFO): DAT read: Range 10 to 50 :    54.6 m (trip time 36.4 ms) speed -0.6

2025-06-05T18:48:02.634Z,1749149282.634 [DAT](INFO): DAT read: 18:48:01.2626 LVL= 21984, 21809, 23218, 32755, AGC= 67, IDX= 496, 0.31,-2.763,-0.679,-2.580,-2.235, PHS=-0.440, 1.604,-0.348, RAW= 327.7,  -8.2, CAL= 330.7, -11.2, ROT= 179.3,  11.2

2025-06-05T18:48:02.635Z,1749149282.635 [DAT](INFO): got valid direction response:
 18:48:01.2626 LVL= 21984, 21809, 23218, 32755, AGC= 67, IDX= 496, 0.31,-2.763,-0.679,-2.580,-2.235, PHS=-0.440, 1.604,-0.348, RAW= 327.7,  -8.2, CAL= 330.7, -11.2, ROT= 179.3,  11.2

2025-06-05T18:48:02.644Z,1749149282.644 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-05T18:48:02.645Z,1749149282.645 [DAT](INFO): direction in FSK: [-0.980882,0.011984,-0.194234]
2025-06-05T18:48:02.645Z,1749149282.645 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:02.661Z,1749149282.661 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=36.076515
2025-06-05T18:48:02.848Z,1749149282.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.599998 m,
      deltaT: 0.505345 s,
      deltaX: 0.299999 m,
      approachRate: 0.593652 m/s,
      rangeRepo size: 4

2025-06-05T18:48:02.850Z,1749149282.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.157021 m,
      bearing: 46.052172 deg,
      lat: 36.906173 deg,
      lon: -122.116146 deg,
      deltaT: 0.505345 s,
      deltaX: 0.298054 m,
      approachRate: 0.589803 m/s,
      posRepo size: 4

2025-06-05T18:48:02.851Z,1749149282.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.16 m.
2025-06-05T18:48:02.858Z,1749149282.858 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=36.273911
2025-06-05T18:48:03.109Z,1749149283.109 [DAT](INFO): DAT read: Rx Time:18:48:01.7630 

2025-06-05T18:48:03.110Z,1749149283.110 [DAT](INFO): Rx dataTimestamp_ set to:1749149283.109333
2025-06-05T18:48:03.111Z,1749149283.111 [DAT](INFO): DAT read: Bearing 179.3,  12.2 (Local)

2025-06-05T18:48:03.111Z,1749149283.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.3,  12.2 (Local)

2025-06-05T18:48:03.113Z,1749149283.113 [DAT](INFO): DAT read: Range 10 to 50 :    55.2 m (trip time 36.8 ms) speed -0.6

2025-06-05T18:48:03.118Z,1749149283.118 [DAT](INFO): DAT read: 18:48:01.7630 LVL= 27888, 21873, 20050, 32755, AGC= 69, IDX=   4, 0.25,-1.526, 0.502,-1.340,-1.032, PHS=-0.406, 1.582,-0.311, RAW= 327.6,  -9.0, CAL= 330.7, -12.2, ROT= 179.3,  12.2

2025-06-05T18:48:03.119Z,1749149283.119 [DAT](INFO): got valid direction response:
 18:48:01.7630 LVL= 27888, 21873, 20050, 32755, AGC= 69, IDX=   4, 0.25,-1.526, 0.502,-1.340,-1.032, PHS=-0.406, 1.582,-0.311, RAW= 327.6,  -9.0, CAL= 330.7, -12.2, ROT= 179.3,  12.2

2025-06-05T18:48:03.119Z,1749149283.119 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-05T18:48:03.120Z,1749149283.120 [DAT](INFO): direction in FSK: [-0.977343,0.011941,-0.211325]
2025-06-05T18:48:03.120Z,1749149283.120 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:03.125Z,1749149283.125 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=36.540501
2025-06-05T18:48:03.361Z,1749149283.361 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=36.776279
2025-06-05T18:48:03.373Z,1749149283.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.200001 m,
      deltaT: 0.503751 s,
      deltaX: 0.600002 m,
      approachRate: 1.191069 m/s,
      rangeRepo size: 4

2025-06-05T18:48:03.374Z,1749149283.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.752155 m,
      bearing: 46.052704 deg,
      lat: 36.906176 deg,
      lon: -122.116156 deg,
      deltaT: 0.503751 s,
      deltaX: 0.595135 m,
      approachRate: 1.181407 m/s,
      posRepo size: 4

2025-06-05T18:48:03.380Z,1749149283.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.75 m.
2025-06-05T18:48:03.614Z,1749149283.614 [DAT](INFO): DAT read: Rx Time:18:48:02.2632 

2025-06-05T18:48:03.615Z,1749149283.615 [DAT](INFO): Rx dataTimestamp_ set to:1749149283.614575
2025-06-05T18:48:03.617Z,1749149283.617 [DAT](INFO): DAT read: Bearing 179.8,  10.8 (Local)

2025-06-05T18:48:03.618Z,1749149283.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.8,  10.8 (Local)

2025-06-05T18:48:03.622Z,1749149283.622 [DAT](INFO): DAT read: Range 10 to 50 :    55.5 m (trip time 37.0 ms) speed -0.5

2025-06-05T18:48:03.630Z,1749149283.630 [DAT](INFO): DAT read: 18:48:02.2632 LVL= 20864, 24273, 17762, 31731, AGC= 67, IDX= 502, 0.22,-3.028,-1.052,-2.829,-2.507, PHS=-0.433, 1.502,-0.326, RAW= 327.2,  -7.9, CAL= 330.2, -10.8, ROT= 179.8,  10.8

2025-06-05T18:48:03.632Z,1749149283.632 [DAT](INFO): got valid direction response:
 18:48:02.2632 LVL= 20864, 24273, 17762, 31731, AGC= 67, IDX= 502, 0.22,-3.028,-1.052,-2.829,-2.507, PHS=-0.433, 1.502,-0.326, RAW= 327.2,  -7.9, CAL= 330.2, -10.8, ROT= 179.8,  10.8

2025-06-05T18:48:03.633Z,1749149283.633 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-05T18:48:03.635Z,1749149283.635 [DAT](INFO): direction in FSK: [-0.982281,0.003429,-0.187381]
2025-06-05T18:48:03.635Z,1749149283.635 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:03.643Z,1749149283.643 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=37.057995
2025-06-05T18:48:03.865Z,1749149283.865 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=37.280186
2025-06-05T18:48:03.916Z,1749149283.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.500000 m,
      deltaT: 0.505242 s,
      deltaX: 0.299999 m,
      approachRate: 0.593773 m/s,
      rangeRepo size: 4

2025-06-05T18:48:03.918Z,1749149283.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.050068 m,
      bearing: 46.379532 deg,
      lat: 36.906176 deg,
      lon: -122.116156 deg,
      deltaT: 0.505242 s,
      deltaX: 0.297913 m,
      approachRate: 0.589643 m/s,
      posRepo size: 4

2025-06-05T18:48:03.919Z,1749149283.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.05 m.
2025-06-05T18:48:04.118Z,1749149284.118 [DAT](INFO): DAT read: Rx Time:18:48:02.7636 

2025-06-05T18:48:04.118Z,1749149284.118 [DAT](INFO): Rx dataTimestamp_ set to:1749149284.118194
2025-06-05T18:48:04.120Z,1749149284.120 [DAT](INFO): DAT read: Bearing 179.7,  10.2 (Local)

2025-06-05T18:48:04.120Z,1749149284.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.7,  10.2 (Local)

2025-06-05T18:48:04.122Z,1749149284.122 [DAT](INFO): DAT read: Range 10 to 50 :    56.1 m (trip time 37.4 ms) speed -0.6

2025-06-05T18:48:04.131Z,1749149284.131 [DAT](INFO): DAT read: 18:48:02.7636 LVL= 22928, 20017, 23522, 32755, AGC= 67, IDX= 506, 0.27,-2.275,-0.230,-2.081,-1.726, PHS=-0.461, 1.543,-0.358, RAW= 327.4,  -7.5, CAL= 330.3, -10.2, ROT= 179.7,  10.2

2025-06-05T18:48:04.132Z,1749149284.132 [DAT](INFO): got valid direction response:
 18:48:02.7636 LVL= 22928, 20017, 23522, 32755, AGC= 67, IDX= 506, 0.27,-2.275,-0.230,-2.081,-1.726, PHS=-0.461, 1.543,-0.358, RAW= 327.4,  -7.5, CAL= 330.3, -10.2, ROT= 179.7,  10.2

2025-06-05T18:48:04.133Z,1749149284.133 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-05T18:48:04.134Z,1749149284.134 [DAT](INFO): direction in FSK: [-0.984182,0.005153,-0.177085]
2025-06-05T18:48:04.134Z,1749149284.134 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:04.159Z,1749149284.159 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=37.570057
2025-06-05T18:48:04.328Z,1749149284.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.099998 m,
      deltaT: 0.503619 s,
      deltaX: 0.599998 m,
      approachRate: 1.191374 m/s,
      rangeRepo size: 4

2025-06-05T18:48:04.330Z,1749149284.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.645203 m,
      bearing: 46.229965 deg,
      lat: 36.906176 deg,
      lon: -122.116156 deg,
      deltaT: 0.503619 s,
      deltaX: 0.595135 m,
      approachRate: 1.181716 m/s,
      posRepo size: 4

2025-06-05T18:48:04.330Z,1749149284.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.65 m.
2025-06-05T18:48:04.369Z,1749149284.369 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=37.784149
2025-06-05T18:48:04.621Z,1749149284.621 [DAT](INFO): DAT read: Rx Time:18:48:03.2638 

2025-06-05T18:48:04.622Z,1749149284.622 [DAT](INFO): Rx dataTimestamp_ set to:1749149284.621562
2025-06-05T18:48:04.625Z,1749149284.625 [DAT](INFO): DAT read: Bearing 180.0,   8.0 (Local)

2025-06-05T18:48:04.625Z,1749149284.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.0,   8.0 (Local)

2025-06-05T18:48:04.627Z,1749149284.627 [DAT](INFO): DAT read: Range 10 to 50 :    56.3 m (trip time 37.5 ms) speed -0.7

2025-06-05T18:48:04.631Z,1749149284.631 [DAT](INFO): DAT read: 18:48:03.2638 LVL= 21360, 17249, 20306, 32755, AGC= 68, IDX= 508, 0.44, 1.522,-2.651, 1.725, 2.144, PHS=-0.534, 1.535,-0.422, RAW= 327.2,  -5.8, CAL= 330.0,  -8.0, ROT= 180.0,   8.0

2025-06-05T18:48:04.632Z,1749149284.632 [DAT](INFO): got valid direction response:
 18:48:03.2638 LVL= 21360, 17249, 20306, 32755, AGC= 68, IDX= 508, 0.44, 1.522,-2.651, 1.725, 2.144, PHS=-0.534, 1.535,-0.422, RAW= 327.2,  -5.8, CAL= 330.0,  -8.0, ROT= 180.0,   8.0

2025-06-05T18:48:04.633Z,1749149284.633 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-05T18:48:04.634Z,1749149284.634 [DAT](INFO): direction in FSK: [-0.990268,-0.000000,-0.139173]
2025-06-05T18:48:04.634Z,1749149284.634 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:04.638Z,1749149284.638 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=38.053410
2025-06-05T18:48:04.831Z,1749149284.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 0.503368 s,
      deltaX: 0.200001 m,
      approachRate: 0.397325 m/s,
      rangeRepo size: 4

2025-06-05T18:48:04.844Z,1749149284.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.843777 m,
      bearing: 46.519188 deg,
      lat: 36.906176 deg,
      lon: -122.116153 deg,
      deltaT: 0.503368 s,
      deltaX: 0.198574 m,
      approachRate: 0.394491 m/s,
      posRepo size: 4

2025-06-05T18:48:04.844Z,1749149284.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-06-05T18:48:04.875Z,1749149284.875 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=38.290783
2025-06-05T18:48:05.126Z,1749149285.126 [DAT](INFO): DAT read: Rx Time:18:48:03.7643 

2025-06-05T18:48:05.127Z,1749149285.127 [DAT](INFO): Rx dataTimestamp_ set to:1749149285.126365
2025-06-05T18:48:05.128Z,1749149285.128 [DAT](INFO): DAT read: Bearing 187.8,  12.9 (Local)

2025-06-05T18:48:05.128Z,1749149285.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.8,  12.9 (Local)

2025-06-05T18:48:05.130Z,1749149285.130 [DAT](INFO): DAT read: Range 10 to 50 :    57.0 m (trip time 38.0 ms) speed -0.7

2025-06-05T18:48:05.135Z,1749149285.135 [DAT](INFO): DAT read: 18:48:03.7643 LVL= 27232, 22257, 29842, 32755, AGC= 67, IDX= 513,-0.35, 2.789,-1.661,-3.014,-2.937, PHS=-0.469, 1.323,-0.081, RAW= 318.1,  -9.5, CAL= 322.2, -12.9, ROT= 187.8,  12.9

2025-06-05T18:48:05.136Z,1749149285.136 [DAT](INFO): got valid direction response:
 18:48:03.7643 LVL= 27232, 22257, 29842, 32755, AGC= 67, IDX= 513,-0.35, 2.789,-1.661,-3.014,-2.937, PHS=-0.469, 1.323,-0.081, RAW= 318.1,  -9.5, CAL= 322.2, -12.9, ROT= 187.8,  12.9

2025-06-05T18:48:05.137Z,1749149285.137 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-05T18:48:05.138Z,1749149285.138 [DAT](INFO): direction in FSK: [-0.965743,-0.132290,-0.223250]
2025-06-05T18:48:05.138Z,1749149285.138 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:05.143Z,1749149285.143 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=38.558083
2025-06-05T18:48:05.144Z,1749149285.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.84 m.
2025-06-05T18:48:05.379Z,1749149285.379 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=38.794594
2025-06-05T18:48:05.578Z,1749149285.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.000000 m,
      deltaT: 0.504803 s,
      deltaX: 0.700001 m,
      approachRate: 1.386681 m/s,
      rangeRepo size: 4

2025-06-05T18:48:05.584Z,1749149285.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.538036 m,
      bearing: 54.209350 deg,
      lat: 36.906175 deg,
      lon: -122.116151 deg,
      deltaT: 0.504803 s,
      deltaX: 0.694260 m,
      approachRate: 1.375308 m/s,
      posRepo size: 4

2025-06-05T18:48:05.585Z,1749149285.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.54 m.
2025-06-05T18:48:05.631Z,1749149285.631 [DAT](INFO): DAT read: Rx Time:18:48:04.2646 

2025-06-05T18:48:05.631Z,1749149285.631 [DAT](INFO): Rx dataTimestamp_ set to:1749149285.630731
2025-06-05T18:48:05.633Z,1749149285.633 [DAT](INFO): DAT read: Bearing 180.0,   8.6 (Local)

2025-06-05T18:48:05.634Z,1749149285.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.0,   8.6 (Local)

2025-06-05T18:48:05.638Z,1749149285.638 [DAT](INFO): DAT read: Range 10 to 50 :    57.5 m (trip time 38.3 ms) speed -0.6

2025-06-05T18:48:05.651Z,1749149285.651 [DAT](INFO): DAT read: 18:48:04.2646 LVL= 26576, 30385, 23666, 32755, AGC= 68, IDX=   3,-0.20, 0.294, 2.445, 0.501, 0.910, PHS=-0.529, 1.581,-0.413, RAW= 327.2,  -6.3, CAL= 330.0,  -8.6, ROT= 180.0,   8.6

2025-06-05T18:48:05.658Z,1749149285.658 [DAT](INFO): got valid direction response:
 18:48:04.2646 LVL= 26576, 30385, 23666, 32755, AGC= 68, IDX=   3,-0.20, 0.294, 2.445, 0.501, 0.910, PHS=-0.529, 1.581,-0.413, RAW= 327.2,  -6.3, CAL= 330.0,  -8.6, ROT= 180.0,   8.6

2025-06-05T18:48:05.658Z,1749149285.658 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-05T18:48:05.659Z,1749149285.659 [DAT](INFO): direction in FSK: [-0.988756,-0.000000,-0.149535]
2025-06-05T18:48:05.667Z,1749149285.667 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:05.696Z,1749149285.696 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=39.111813
2025-06-05T18:48:05.881Z,1749149285.881 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=39.295998
2025-06-05T18:48:06.001Z,1749149286.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.500000 m,
      deltaT: 0.504366 s,
      deltaX: 0.500000 m,
      approachRate: 0.991344 m/s,
      rangeRepo size: 4

2025-06-05T18:48:06.003Z,1749149286.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.033981 m,
      bearing: 46.453235 deg,
      lat: 36.906175 deg,
      lon: -122.116148 deg,
      deltaT: 0.504366 s,
      deltaX: 0.495945 m,
      approachRate: 0.983304 m/s,
      posRepo size: 4

2025-06-05T18:48:06.010Z,1749149286.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.03 m.
2025-06-05T18:48:06.138Z,1749149286.138 [DAT](INFO): DAT read: Rx Time:18:48:04.7649 

2025-06-05T18:48:06.139Z,1749149286.139 [DAT](INFO): Rx dataTimestamp_ set to:1749149286.138552
2025-06-05T18:48:06.142Z,1749149286.142 [DAT](INFO): DAT read: Bearing 180.3,   6.4 (Local)

2025-06-05T18:48:06.142Z,1749149286.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.3,   6.4 (Local)

2025-06-05T18:48:06.144Z,1749149286.144 [DAT](INFO): DAT read: Range 10 to 50 :    57.9 m (trip time 38.6 ms) speed -0.8

2025-06-05T18:48:06.170Z,1749149286.170 [DAT](INFO): DAT read: 18:48:04.7649 LVL= 24752, 23281, 20658, 32755, AGC= 68, IDX= 502,-0.04, 0.239, 2.440, 0.449, 0.927, PHS=-0.600, 1.560,-0.481, RAW= 327.2,  -4.6, CAL= 329.7,  -6.4, ROT= 180.3,   6.4

2025-06-05T18:48:06.171Z,1749149286.171 [DAT](INFO): got valid direction response:
 18:48:04.7649 LVL= 24752, 23281, 20658, 32755, AGC= 68, IDX= 502,-0.04, 0.239, 2.440, 0.449, 0.927, PHS=-0.600, 1.560,-0.481, RAW= 327.2,  -4.6, CAL= 329.7,  -6.4, ROT= 180.3,   6.4

2025-06-05T18:48:06.181Z,1749149286.181 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-05T18:48:06.182Z,1749149286.182 [DAT](INFO): direction in FSK: [-0.993754,-0.005203,-0.111469]
2025-06-05T18:48:06.183Z,1749149286.183 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:06.194Z,1749149286.194 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=39.609940
2025-06-05T18:48:06.380Z,1749149286.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.900002 m,
      deltaT: 0.507821 s,
      deltaX: 0.400002 m,
      approachRate: 0.787682 m/s,
      rangeRepo size: 4

2025-06-05T18:48:06.382Z,1749149286.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.430740 m,
      bearing: 46.731717 deg,
      lat: 36.906175 deg,
      lon: -122.116147 deg,
      deltaT: 0.507821 s,
      deltaX: 0.396759 m,
      approachRate: 0.781297 m/s,
      posRepo size: 4

2025-06-05T18:48:06.382Z,1749149286.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.43 m.
2025-06-05T18:48:06.389Z,1749149286.389 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=39.804237
2025-06-05T18:48:06.644Z,1749149286.644 [DAT](INFO): DAT read: Rx Time:18:48:05.2651 

2025-06-05T18:48:06.645Z,1749149286.645 [DAT](INFO): Rx dataTimestamp_ set to:1749149286.644435
2025-06-05T18:48:06.646Z,1749149286.646 [DAT](INFO): DAT read: Bearing 180.0,   6.4 (Local)

2025-06-05T18:48:06.646Z,1749149286.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.0,   6.4 (Local)

2025-06-05T18:48:06.648Z,1749149286.648 [DAT](INFO): DAT read: Range 10 to 50 :    58.2 m (trip time 38.8 ms) speed -0.8

2025-06-05T18:48:06.653Z,1749149286.653 [DAT](INFO): DAT read: 18:48:05.2651 LVL= 20448, 20129, 21186, 31475, AGC= 67, IDX= 488, 0.12, 0.599, 2.875, 0.802, 1.303, PHS=-0.616, 1.618,-0.504, RAW= 327.5,  -4.6, CAL= 330.0,  -6.4, ROT= 180.0,   6.4

2025-06-05T18:48:06.654Z,1749149286.654 [DAT](INFO): got valid direction response:
 18:48:05.2651 LVL= 20448, 20129, 21186, 31475, AGC= 67, IDX= 488, 0.12, 0.599, 2.875, 0.802, 1.303, PHS=-0.616, 1.618,-0.504, RAW= 327.5,  -4.6, CAL= 330.0,  -6.4, ROT= 180.0,   6.4

2025-06-05T18:48:06.654Z,1749149286.654 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-05T18:48:06.655Z,1749149286.655 [DAT](INFO): direction in FSK: [-0.993768,-0.000000,-0.111469]
2025-06-05T18:48:06.656Z,1749149286.656 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:06.666Z,1749149286.666 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=40.081570
2025-06-05T18:48:06.869Z,1749149286.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.200001 m,
      deltaT: 0.505883 s,
      deltaX: 0.299999 m,
      approachRate: 0.593021 m/s,
      rangeRepo size: 4

2025-06-05T18:48:06.871Z,1749149286.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.728386 m,
      bearing: 46.432719 deg,
      lat: 36.906175 deg,
      lon: -122.116146 deg,
      deltaT: 0.505883 s,
      deltaX: 0.297646 m,
      approachRate: 0.588368 m/s,
      posRepo size: 4

2025-06-05T18:48:06.871Z,1749149286.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-06-05T18:48:06.893Z,1749149286.893 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=40.308151
2025-06-05T18:48:07.145Z,1749149287.145 [DAT](INFO): DAT read: Rx Time:18:48:05.7655 

2025-06-05T18:48:07.146Z,1749149287.146 [DAT](INFO): Rx dataTimestamp_ set to:1749149287.145500
2025-06-05T18:48:07.147Z,1749149287.147 [DAT](INFO): DAT read: Bearing 179.4,   6.1 (Local)

2025-06-05T18:48:07.147Z,1749149287.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.4,   6.1 (Local)

2025-06-05T18:48:07.149Z,1749149287.149 [DAT](INFO): DAT read: Range 10 to 50 :    58.8 m (trip time 39.2 ms) speed -0.4

2025-06-05T18:48:07.154Z,1749149287.154 [DAT](INFO): DAT read: 18:48:05.7655 LVL= 25712, 21585, 27682, 32755, AGC= 67, IDX= 492, 0.37, 1.566,-2.476, 1.739, 2.259, PHS=-0.605, 1.595,-0.523, RAW= 328.1,  -4.4, CAL= 330.6,  -6.1, ROT= 179.4,   6.1

2025-06-05T18:48:07.155Z,1749149287.155 [DAT](INFO): got valid direction response:
 18:48:05.7655 LVL= 25712, 21585, 27682, 32755, AGC= 67, IDX= 492, 0.37, 1.566,-2.476, 1.739, 2.259, PHS=-0.605, 1.595,-0.523, RAW= 328.1,  -4.4, CAL= 330.6,  -6.1, ROT= 179.4,   6.1

2025-06-05T18:48:07.156Z,1749149287.156 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-05T18:48:07.158Z,1749149287.158 [DAT](INFO): direction in FSK: [-0.994283,0.010412,-0.106264]
2025-06-05T18:48:07.158Z,1749149287.158 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:07.167Z,1749149287.167 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=40.582375
2025-06-05T18:48:07.229Z,1749149287.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.799999 m,
      deltaT: 0.501065 s,
      deltaX: 0.599998 m,
      approachRate: 1.197446 m/s,
      rangeRepo size: 4

2025-06-05T18:48:07.236Z,1749149287.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.323521 m,
      bearing: 45.770437 deg,
      lat: 36.906175 deg,
      lon: -122.116146 deg,
      deltaT: 0.501065 s,
      deltaX: 0.595135 m,
      approachRate: 1.187740 m/s,
      posRepo size: 4

2025-06-05T18:48:07.236Z,1749149287.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-06-05T18:48:07.397Z,1749149287.397 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=40.812233
2025-06-05T18:48:07.650Z,1749149287.650 [DAT](INFO): DAT read: Rx Time:18:48:06.2658 

2025-06-05T18:48:07.650Z,1749149287.650 [DAT](INFO): Rx dataTimestamp_ set to:1749149287.649735
2025-06-05T18:48:07.651Z,1749149287.651 [DAT](INFO): DAT read: Bearing 179.9,   6.8 (Local)

2025-06-05T18:48:07.652Z,1749149287.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.9,   6.8 (Local)

2025-06-05T18:48:07.654Z,1749149287.654 [DAT](INFO): DAT read: Range 10 to 50 :    59.3 m (trip time 39.5 ms) speed -0.8

2025-06-05T18:48:07.660Z,1749149287.660 [DAT](INFO): DAT read: 18:48:06.2658 LVL= 24912, 19905, 22338, 32755, AGC= 69, IDX= 511,-0.36,-1.477, 0.825,-1.274,-0.777, PHS=-0.612, 1.649,-0.499, RAW= 327.5,  -4.9, CAL= 330.1,  -6.8, ROT= 179.9,   6.8

2025-06-05T18:48:07.661Z,1749149287.661 [DAT](INFO): got valid direction response:
 18:48:06.2658 LVL= 24912, 19905, 22338, 32755, AGC= 69, IDX= 511,-0.36,-1.477, 0.825,-1.274,-0.777, PHS=-0.612, 1.649,-0.499, RAW= 327.5,  -4.9, CAL= 330.1,  -6.8, ROT= 179.9,   6.8

2025-06-05T18:48:07.661Z,1749149287.661 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-05T18:48:07.662Z,1749149287.662 [DAT](INFO): direction in FSK: [-0.992964,0.001733,-0.118404]
2025-06-05T18:48:07.662Z,1749149287.662 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:07.682Z,1749149287.682 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=41.097549
2025-06-05T18:48:07.716Z,1749149287.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.299999 m,
      deltaT: 0.504235 s,
      deltaX: 0.500000 m,
      approachRate: 0.991601 m/s,
      rangeRepo size: 4

2025-06-05T18:48:07.728Z,1749149287.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.819679 m,
      bearing: 46.298602 deg,
      lat: 36.906175 deg,
      lon: -122.116146 deg,
      deltaT: 0.504235 s,
      deltaX: 0.496159 m,
      approachRate: 0.983983 m/s,
      posRepo size: 4

2025-06-05T18:48:07.728Z,1749149287.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.82 m.
2025-06-05T18:48:07.901Z,1749149287.901 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=41.316273
2025-06-05T18:48:08.043Z,1749149288.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:48:08.045Z,1749149288.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.82 m.
2025-06-05T18:48:08.153Z,1749149288.153 [DAT](INFO): DAT read: Rx Time:18:48:06.7662 

2025-06-05T18:48:08.154Z,1749149288.154 [DAT](INFO): Rx dataTimestamp_ set to:1749149288.153509
2025-06-05T18:48:08.155Z,1749149288.155 [DAT](INFO): DAT read: Range 10 to 50 :    59.9 m (trip time 39.9 ms) speed -0.8

2025-06-05T18:48:08.156Z,1749149288.156 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-06-05T18:48:08.158Z,1749149288.158 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=41.573071
2025-06-05T18:48:08.405Z,1749149288.405 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=41.820175
2025-06-05T18:48:08.463Z,1749149288.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.900002 m,
      deltaT: 0.503774 s,
      deltaX: 0.600002 m,
      approachRate: 1.191015 m/s,
      rangeRepo size: 4

2025-06-05T18:48:08.463Z,1749149288.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.82 m.
2025-06-05T18:48:08.658Z,1749149288.658 [DAT](INFO): DAT read: Rx Time:18:48:07.2664 

2025-06-05T18:48:08.659Z,1749149288.659 [DAT](INFO): Rx dataTimestamp_ set to:1749149288.658423
2025-06-05T18:48:08.660Z,1749149288.660 [DAT](INFO): DAT read: Range 10 to 50 :    60.2 m (trip time 40.1 ms) speed -0.9

2025-06-05T18:48:08.661Z,1749149288.661 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-06-05T18:48:08.661Z,1749149288.661 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=42.076958
2025-06-05T18:48:08.888Z,1749149288.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.200001 m,
      deltaT: 0.504914 s,
      deltaX: 0.299999 m,
      approachRate: 0.594159 m/s,
      rangeRepo size: 4

2025-06-05T18:48:08.888Z,1749149288.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.82 m.
2025-06-05T18:48:08.909Z,1749149288.909 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=42.324757
2025-06-05T18:48:09.161Z,1749149289.161 [DAT](INFO): DAT read: Rx Time:18:48:07.7667 

2025-06-05T18:48:09.162Z,1749149289.162 [DAT](INFO): Rx dataTimestamp_ set to:1749149289.161430
2025-06-05T18:48:09.163Z,1749149289.163 [DAT](INFO): DAT read: Range 10 to 50 :    60.8 m (trip time 40.5 ms) speed -0.8

2025-06-05T18:48:09.164Z,1749149289.164 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-06-05T18:48:09.164Z,1749149289.164 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=42.579971
2025-06-05T18:48:09.279Z,1749149289.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.799999 m,
      deltaT: 0.503007 s,
      deltaX: 0.599998 m,
      approachRate: 1.192823 m/s,
      rangeRepo size: 4

2025-06-05T18:48:09.279Z,1749149289.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.82 m.
2025-06-05T18:48:09.413Z,1749149289.413 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=42.828136
2025-06-05T18:48:09.665Z,1749149289.665 [DAT](INFO): DAT read: Rx Time:18:48:08.2669 

2025-06-05T18:48:09.666Z,1749149289.666 [DAT](INFO): Rx dataTimestamp_ set to:1749149289.665466
2025-06-05T18:48:09.667Z,1749149289.667 [DAT](INFO): DAT read: Bearing 178.8,   6.5 (Local)

2025-06-05T18:48:09.667Z,1749149289.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.8,   6.5 (Local)

2025-06-05T18:48:09.669Z,1749149289.669 [DAT](INFO): DAT read: Range 10 to 50 :    61.1 m (trip time 40.7 ms) speed -0.5

2025-06-05T18:48:09.675Z,1749149289.675 [DAT](INFO): DAT read: 18:48:08.2669 LVL= 25312, 21745, 21842, 32755, AGC= 69, IDX= 491, 0.10, 1.045,-3.034, 1.188, 1.706, PHS=-0.574, 1.590,-0.521, RAW= 328.8,  -4.7, CAL= 331.2,  -6.5, ROT= 178.8,   6.5

2025-06-05T18:48:09.676Z,1749149289.676 [DAT](INFO): got valid direction response:
 18:48:08.2669 LVL= 25312, 21745, 21842, 32755, AGC= 69, IDX= 491, 0.10, 1.045,-3.034, 1.188, 1.706, PHS=-0.574, 1.590,-0.521, RAW= 328.8,  -4.7, CAL= 331.2,  -6.5, ROT= 178.8,   6.5

2025-06-05T18:48:09.677Z,1749149289.677 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-05T18:48:09.678Z,1749149289.678 [DAT](INFO): direction in FSK: [-0.993354,0.020808,-0.113203]
2025-06-05T18:48:09.678Z,1749149289.678 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:09.711Z,1749149289.711 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:48:09.711Z,1749149289.711 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:48:09.711Z,1749149289.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:09.753Z,1749149289.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.099998 m,
      deltaT: 0.504036 s,
      deltaX: 0.299999 m,
      approachRate: 0.595194 m/s,
      rangeRepo size: 4

2025-06-05T18:48:09.755Z,1749149289.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.605305 m,
      bearing: 45.240112 deg,
      lat: 36.906177 deg,
      lon: -122.116146 deg,
      deltaT: 2.015731 s,
      deltaX: 1.785625 m,
      approachRate: 0.885845 m/s,
      posRepo size: 4

2025-06-05T18:48:09.760Z,1749149289.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.61 m.
2025-06-05T18:48:09.917Z,1749149289.917 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:09.917Z,1749149289.917 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:09.917Z,1749149289.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:10.097Z,1749149290.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.61 m.
2025-06-05T18:48:10.170Z,1749149290.170 [DAT](INFO): DAT read: Rx Time:18:48:08.7672 

2025-06-05T18:48:10.171Z,1749149290.171 [DAT](INFO): Rx dataTimestamp_ set to:1749149290.169920
2025-06-05T18:48:10.173Z,1749149290.173 [DAT](INFO): DAT read: Range 10 to 50 :    61.5 m (trip time 41.0 ms) speed -0.5

2025-06-05T18:48:10.174Z,1749149290.174 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:10.175Z,1749149290.175 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:10.177Z,1749149290.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:10.422Z,1749149290.422 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:10.422Z,1749149290.422 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:10.422Z,1749149290.422 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:10.576Z,1749149290.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.500000 m,
      deltaT: 0.504454 s,
      deltaX: 0.400002 m,
      approachRate: 0.792940 m/s,
      rangeRepo size: 4

2025-06-05T18:48:10.578Z,1749149290.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.61 m.
2025-06-05T18:48:10.675Z,1749149290.675 [DAT](INFO): DAT read: Rx Time:18:48:09.2674 

2025-06-05T18:48:10.676Z,1749149290.676 [DAT](INFO): Rx dataTimestamp_ set to:1749149290.675792
2025-06-05T18:48:10.678Z,1749149290.678 [DAT](INFO): DAT read: Bearing 182.8,  -9.1 (Local)

2025-06-05T18:48:10.678Z,1749149290.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.8,  -9.1 (Local)

2025-06-05T18:48:10.682Z,1749149290.682 [DAT](INFO): DAT read: Range 10 to 50 :    61.8 m (trip time 41.2 ms) speed -0.9

2025-06-05T18:48:10.690Z,1749149290.690 [DAT](INFO): DAT read: 18:48:09.2674 LVL= 19440, 19249, 17042, 32115, AGC= 68, IDX= 512, 0.17, 1.809,-2.614, 2.093, 2.748, PHS=-0.850, 0.969,-0.658, RAW= 324.5,   6.3, CAL= 327.2,   9.1, ROT= 182.8,  -9.1

2025-06-05T18:48:10.692Z,1749149290.692 [DAT](INFO): got valid direction response:
 18:48:09.2674 LVL= 19440, 19249, 17042, 32115, AGC= 68, IDX= 512, 0.17, 1.809,-2.614, 2.093, 2.748, PHS=-0.850, 0.969,-0.658, RAW= 324.5,   6.3, CAL= 327.2,   9.1, ROT= 182.8,  -9.1

2025-06-05T18:48:10.693Z,1749149290.693 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:10.694Z,1749149290.694 [DAT](INFO): direction in FSK: [-0.986235,-0.048235,0.158158]
2025-06-05T18:48:10.694Z,1749149290.694 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:10.720Z,1749149290.720 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:10.720Z,1749149290.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:10.926Z,1749149290.926 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:10.926Z,1749149290.926 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:10.926Z,1749149290.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:11.003Z,1749149291.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.799999 m,
      deltaT: 0.505872 s,
      deltaX: 0.299999 m,
      approachRate: 0.593034 m/s,
      rangeRepo size: 4

2025-06-05T18:48:11.006Z,1749149291.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.299759 m,
      bearing: 49.541844 deg,
      lat: 36.906177 deg,
      lon: -122.116146 deg,
      deltaT: 1.010326 s,
      deltaX: 0.694454 m,
      approachRate: 0.687357 m/s,
      posRepo size: 4

2025-06-05T18:48:11.015Z,1749149291.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m.
2025-06-05T18:48:11.177Z,1749149291.177 [DAT](INFO): DAT read: Rx Time:18:48:09.7678 

2025-06-05T18:48:11.178Z,1749149291.178 [DAT](INFO): Rx dataTimestamp_ set to:1749149291.177491
2025-06-05T18:48:11.179Z,1749149291.179 [DAT](INFO): DAT read: Bearing 178.3,   7.1 (Local)

2025-06-05T18:48:11.179Z,1749149291.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.3,   7.1 (Local)

2025-06-05T18:48:11.181Z,1749149291.181 [DAT](INFO): DAT read: Range 10 to 50 :    62.4 m (trip time 41.6 ms) speed -0.7

2025-06-05T18:48:11.186Z,1749149291.186 [DAT](INFO): DAT read: 18:48:09.7678 LVL= 31920, 21089, 22930, 32755, AGC= 70, IDX= 500, 0.15, 1.295,-2.742, 1.421, 1.945, PHS=-0.562, 1.643,-0.527, RAW= 329.2,  -5.1, CAL= 331.7,  -7.1, ROT= 178.3,   7.1

2025-06-05T18:48:11.187Z,1749149291.187 [DAT](INFO): got valid direction response:
 18:48:09.7678 LVL= 31920, 21089, 22930, 32755, AGC= 70, IDX= 500, 0.15, 1.295,-2.742, 1.421, 1.945, PHS=-0.562, 1.643,-0.527, RAW= 329.2,  -5.1, CAL= 331.7,  -7.1, ROT= 178.3,   7.1

2025-06-05T18:48:11.188Z,1749149291.188 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:11.189Z,1749149291.189 [DAT](INFO): direction in FSK: [-0.991895,0.029439,-0.123601]
2025-06-05T18:48:11.189Z,1749149291.189 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:11.194Z,1749149291.194 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:11.194Z,1749149291.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:11.405Z,1749149291.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.400002 m,
      deltaT: 0.501699 s,
      deltaX: 0.600002 m,
      approachRate: 1.195941 m/s,
      rangeRepo size: 4

2025-06-05T18:48:11.413Z,1749149291.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.894905 m,
      bearing: 44.901113 deg,
      lat: 36.906181 deg,
      lon: -122.116148 deg,
      deltaT: 0.501699 s,
      deltaX: 0.595146 m,
      approachRate: 1.186261 m/s,
      posRepo size: 4

2025-06-05T18:48:11.414Z,1749149291.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.89 m.
2025-06-05T18:48:11.428Z,1749149291.428 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:11.429Z,1749149291.429 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:11.429Z,1749149291.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:11.681Z,1749149291.681 [DAT](INFO): DAT read: Rx Time:18:48:10.2680 

2025-06-05T18:48:11.682Z,1749149291.682 [DAT](INFO): Rx dataTimestamp_ set to:1749149291.681622
2025-06-05T18:48:11.684Z,1749149291.684 [DAT](INFO): DAT read: Bearing 178.5,   6.9 (Local)

2025-06-05T18:48:11.685Z,1749149291.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.5,   6.9 (Local)

2025-06-05T18:48:11.688Z,1749149291.688 [DAT](INFO): DAT read: Range 10 to 50 :    62.6 m (trip time 41.7 ms) speed -0.6

2025-06-05T18:48:11.702Z,1749149291.702 [DAT](INFO): DAT read: 18:48:10.2680 LVL= 22768, 20049, 20306, 32755, AGC= 69, IDX= 502, 0.13,-0.143, 2.070,-0.010, 0.506, PHS=-0.561, 1.610,-0.520, RAW= 329.0,  -5.0, CAL= 331.5,  -6.9, ROT= 178.5,   6.9

2025-06-05T18:48:11.724Z,1749149291.724 [DAT](INFO): got valid direction response:
 18:48:10.2680 LVL= 22768, 20049, 20306, 32755, AGC= 69, IDX= 502, 0.13,-0.143, 2.070,-0.010, 0.506, PHS=-0.561, 1.610,-0.520, RAW= 329.0,  -5.0, CAL= 331.5,  -6.9, ROT= 178.5,   6.9

2025-06-05T18:48:11.725Z,1749149291.725 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:11.726Z,1749149291.726 [DAT](INFO): direction in FSK: [-0.992417,0.025987,-0.120137]
2025-06-05T18:48:11.726Z,1749149291.726 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:11.737Z,1749149291.737 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:11.737Z,1749149291.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:11.880Z,1749149291.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.599998 m,
      deltaT: 0.504131 s,
      deltaX: 0.199997 m,
      approachRate: 0.396716 m/s,
      rangeRepo size: 4

2025-06-05T18:48:11.882Z,1749149291.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.093533 m,
      bearing: 45.095408 deg,
      lat: 36.906181 deg,
      lon: -122.116151 deg,
      deltaT: 0.504131 s,
      deltaX: 0.198627 m,
      approachRate: 0.394000 m/s,
      posRepo size: 4

2025-06-05T18:48:11.882Z,1749149291.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m.
2025-06-05T18:48:11.933Z,1749149291.933 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:11.933Z,1749149291.933 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:11.934Z,1749149291.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:12.176Z,1749149292.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m.
2025-06-05T18:48:12.185Z,1749149292.185 [DAT](INFO): DAT read: Rx Time:18:48:10.7684 

2025-06-05T18:48:12.185Z,1749149292.185 [DAT](INFO): Rx dataTimestamp_ set to:1749149292.185192
2025-06-05T18:48:12.187Z,1749149292.187 [DAT](INFO): DAT read: Range 10 to 50 :    63.2 m (trip time 42.1 ms) speed -0.8

2025-06-05T18:48:12.187Z,1749149292.187 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:12.189Z,1749149292.189 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:12.189Z,1749149292.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:12.436Z,1749149292.436 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:12.437Z,1749149292.437 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:12.437Z,1749149292.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:12.677Z,1749149292.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.200001 m,
      deltaT: 0.503570 s,
      deltaX: 0.600002 m,
      approachRate: 1.191497 m/s,
      rangeRepo size: 4

2025-06-05T18:48:12.677Z,1749149292.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m.
2025-06-05T18:48:12.691Z,1749149292.691 [DAT](INFO): DAT read: Rx Time:18:48:11.2686 

2025-06-05T18:48:12.692Z,1749149292.692 [DAT](INFO): Rx dataTimestamp_ set to:1749149292.691215
2025-06-05T18:48:12.694Z,1749149292.694 [DAT](INFO): DAT read: Bearing 178.1,   6.6 (Local)

2025-06-05T18:48:12.694Z,1749149292.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.1,   6.6 (Local)

2025-06-05T18:48:12.698Z,1749149292.698 [DAT](INFO): DAT read: Range 10 to 50 :    63.5 m (trip time 42.3 ms) speed -0.6

2025-06-05T18:48:12.715Z,1749149292.715 [DAT](INFO): DAT read: 18:48:11.2686 LVL= 24848, 23153, 20978, 31891, AGC= 69, IDX= 492, 0.06, 0.295, 2.548, 0.407, 0.955, PHS=-0.572, 1.640,-0.551, RAW= 329.5,  -4.7, CAL= 331.9,  -6.6, ROT= 178.1,   6.6

2025-06-05T18:48:12.726Z,1749149292.726 [DAT](INFO): got valid direction response:
 18:48:11.2686 LVL= 24848, 23153, 20978, 31891, AGC= 69, IDX= 492, 0.06, 0.295, 2.548, 0.407, 0.955, PHS=-0.572, 1.640,-0.551, RAW= 329.5,  -4.7, CAL= 331.9,  -6.6, ROT= 178.1,   6.6

2025-06-05T18:48:12.727Z,1749149292.727 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:12.739Z,1749149292.739 [DAT](INFO): direction in FSK: [-0.992827,0.032935,-0.114937]
2025-06-05T18:48:12.744Z,1749149292.744 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:12.747Z,1749149292.747 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:12.747Z,1749149292.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:12.942Z,1749149292.942 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:12.942Z,1749149292.942 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:12.942Z,1749149292.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:13.052Z,1749149293.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.500000 m,
      deltaT: 0.506023 s,
      deltaX: 0.299999 m,
      approachRate: 0.592857 m/s,
      rangeRepo size: 4

2025-06-05T18:48:13.054Z,1749149293.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.986111 m,
      bearing: 44.751672 deg,
      lat: 36.906183 deg,
      lon: -122.116155 deg,
      deltaT: 1.009593 s,
      deltaX: 0.892578 m,
      approachRate: 0.884097 m/s,
      posRepo size: 4

2025-06-05T18:48:13.055Z,1749149293.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m.
2025-06-05T18:48:13.193Z,1749149293.193 [DAT](INFO): DAT read: Rx Time:18:48:11.7689 

2025-06-05T18:48:13.193Z,1749149293.193 [DAT](INFO): Rx dataTimestamp_ set to:1749149293.193137
2025-06-05T18:48:13.195Z,1749149293.195 [DAT](INFO): DAT read: Range 10 to 50 :    63.9 m (trip time 42.6 ms) speed -0.5

2025-06-05T18:48:13.195Z,1749149293.195 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:13.196Z,1749149293.196 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:13.197Z,1749149293.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:13.393Z,1749149293.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.900002 m,
      deltaT: 0.501922 s,
      deltaX: 0.400002 m,
      approachRate: 0.796940 m/s,
      rangeRepo size: 4

2025-06-05T18:48:13.394Z,1749149293.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m.
2025-06-05T18:48:13.445Z,1749149293.445 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:13.446Z,1749149293.446 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:13.446Z,1749149293.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:13.698Z,1749149293.698 [DAT](INFO): DAT read: Rx Time:18:48:12.2692 

2025-06-05T18:48:13.698Z,1749149293.698 [DAT](INFO): Rx dataTimestamp_ set to:1749149293.698203
2025-06-05T18:48:13.700Z,1749149293.700 [DAT](INFO): DAT read: Range 10 to 50 :    64.4 m (trip time 42.9 ms) speed -0.8

2025-06-05T18:48:13.702Z,1749149293.702 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:13.703Z,1749149293.703 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:13.703Z,1749149293.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:13.853Z,1749149293.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.400002 m,
      deltaT: 0.505066 s,
      deltaX: 0.500000 m,
      approachRate: 0.989970 m/s,
      rangeRepo size: 4

2025-06-05T18:48:13.854Z,1749149293.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m.
2025-06-05T18:48:13.949Z,1749149293.949 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:13.949Z,1749149293.949 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:13.950Z,1749149293.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:14.201Z,1749149294.201 [DAT](INFO): DAT read: Rx Time:18:48:12.7696 

2025-06-05T18:48:14.202Z,1749149294.202 [DAT](INFO): Rx dataTimestamp_ set to:1749149294.201483
2025-06-05T18:48:14.203Z,1749149294.203 [DAT](INFO): DAT read: Bearing 177.8,   6.6 (Local)

2025-06-05T18:48:14.203Z,1749149294.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.8,   6.6 (Local)

2025-06-05T18:48:14.205Z,1749149294.205 [DAT](INFO): DAT read: Range 10 to 50 :    65.0 m (trip time 43.3 ms) speed -0.4

2025-06-05T18:48:14.211Z,1749149294.211 [DAT](INFO): DAT read: 18:48:12.7696 LVL= 28096, 20033, 19858, 32755, AGC= 69, IDX= 501,-0.09, 0.085, 2.349, 0.184, 0.744, PHS=-0.571, 1.651,-0.563, RAW= 329.8,  -4.7, CAL= 332.2,  -6.6, ROT= 177.8,   6.6

2025-06-05T18:48:14.212Z,1749149294.212 [DAT](INFO): got valid direction response:
 18:48:12.7696 LVL= 28096, 20033, 19858, 32755, AGC= 69, IDX= 501,-0.09, 0.085, 2.349, 0.184, 0.744, PHS=-0.571, 1.651,-0.563, RAW= 329.8,  -4.7, CAL= 332.2,  -6.6, ROT= 177.8,   6.6

2025-06-05T18:48:14.213Z,1749149294.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:14.214Z,1749149294.214 [DAT](INFO): direction in FSK: [-0.992641,0.038133,-0.114937]
2025-06-05T18:48:14.214Z,1749149294.214 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:14.217Z,1749149294.217 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:14.218Z,1749149294.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:14.249Z,1749149294.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.000000 m,
      deltaT: 0.503280 s,
      deltaX: 0.599998 m,
      approachRate: 1.192176 m/s,
      rangeRepo size: 4

2025-06-05T18:48:14.251Z,1749149294.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.473747 m,
      bearing: 44.532721 deg,
      lat: 36.906183 deg,
      lon: -122.116155 deg,
      deltaT: 1.510268 s,
      deltaX: 1.487637 m,
      approachRate: 0.985015 m/s,
      posRepo size: 4

2025-06-05T18:48:14.260Z,1749149294.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.47 m.
2025-06-05T18:48:14.458Z,1749149294.458 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:14.458Z,1749149294.458 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:14.458Z,1749149294.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:14.663Z,1749149294.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.47 m.
2025-06-05T18:48:14.710Z,1749149294.710 [DAT](INFO): DAT read: Rx Time:18:48:13.2698 

2025-06-05T18:48:14.711Z,1749149294.711 [DAT](INFO): Rx dataTimestamp_ set to:1749149294.710244
2025-06-05T18:48:14.713Z,1749149294.713 [DAT](INFO): DAT read: Bearing 177.8,   6.6 (Local)

2025-06-05T18:48:14.714Z,1749149294.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.8,   6.6 (Local)

2025-06-05T18:48:14.717Z,1749149294.717 [DAT](INFO): DAT read: Range 10 to 50 :    65.3 m (trip time 43.5 ms) speed -0.6

2025-06-05T18:48:14.723Z,1749149294.723 [DAT](INFO): DAT read: 18:48:13.2698 LVL= 22752, 18161, 19730, 32755, AGC= 68, IDX= 503,-0.19,-0.464, 1.723,-0.368, 0.174, PHS=-0.551, 1.595,-0.546, RAW= 329.9,  -4.7, CAL= 332.2,  -6.6, ROT= 177.8,   6.6

2025-06-05T18:48:14.725Z,1749149294.725 [DAT](INFO): got valid direction response:
 18:48:13.2698 LVL= 22752, 18161, 19730, 32755, AGC= 68, IDX= 503,-0.19,-0.464, 1.723,-0.368, 0.174, PHS=-0.551, 1.595,-0.546, RAW= 329.9,  -4.7, CAL= 332.2,  -6.6, ROT= 177.8,   6.6

2025-06-05T18:48:14.725Z,1749149294.725 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:14.726Z,1749149294.726 [DAT](INFO): direction in FSK: [-0.992641,0.038133,-0.114937]
2025-06-05T18:48:14.726Z,1749149294.726 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:14.743Z,1749149294.743 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:14.748Z,1749149294.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:14.962Z,1749149294.962 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:14.962Z,1749149294.962 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:14.962Z,1749149294.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:15.134Z,1749149295.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.300003 m,
      deltaT: 0.508761 s,
      deltaX: 0.300003 m,
      approachRate: 0.589674 m/s,
      rangeRepo size: 4

2025-06-05T18:48:15.137Z,1749149295.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.771500 m,
      bearing: 44.569144 deg,
      lat: 36.906183 deg,
      lon: -122.116156 deg,
      deltaT: 0.508761 s,
      deltaX: 0.297752 m,
      approachRate: 0.585250 m/s,
      posRepo size: 4

2025-06-05T18:48:15.137Z,1749149295.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.77 m.
2025-06-05T18:48:15.214Z,1749149295.214 [DAT](INFO): DAT read: Rx Time:18:48:13.7702 

2025-06-05T18:48:15.215Z,1749149295.215 [DAT](INFO): Rx dataTimestamp_ set to:1749149295.214913
2025-06-05T18:48:15.218Z,1749149295.218 [DAT](INFO): DAT read: Bearing 179.3,   5.9 (Local)

2025-06-05T18:48:15.218Z,1749149295.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.3,   5.9 (Local)

2025-06-05T18:48:15.221Z,1749149295.221 [DAT](INFO): DAT read: Range 10 to 50 :    65.9 m (trip time 43.9 ms) speed -0.4

2025-06-05T18:48:15.228Z,1749149295.228 [DAT](INFO): DAT read: 18:48:13.7702 LVL= 24304, 25121, 23234, 32755, AGC= 70, IDX= 507,-0.24, 1.468,-2.501, 1.635, 2.185, PHS=-0.629, 1.644,-0.553, RAW= 328.3,  -4.2, CAL= 330.7,  -5.9, ROT= 179.3,   5.9

2025-06-05T18:48:15.229Z,1749149295.229 [DAT](INFO): got valid direction response:
 18:48:13.7702 LVL= 24304, 25121, 23234, 32755, AGC= 70, IDX= 507,-0.24, 1.468,-2.501, 1.635, 2.185, PHS=-0.629, 1.644,-0.553, RAW= 328.3,  -4.2, CAL= 330.7,  -5.9, ROT= 179.3,   5.9

2025-06-05T18:48:15.229Z,1749149295.229 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:15.230Z,1749149295.230 [DAT](INFO): direction in FSK: [-0.994629,0.012152,-0.102793]
2025-06-05T18:48:15.230Z,1749149295.230 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:15.234Z,1749149295.234 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:15.234Z,1749149295.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:15.464Z,1749149295.464 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:15.465Z,1749149295.465 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:15.465Z,1749149295.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:15.499Z,1749149295.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.900002 m,
      deltaT: 0.504669 s,
      deltaX: 0.599998 m,
      approachRate: 1.188895 m/s,
      rangeRepo size: 4

2025-06-05T18:48:15.506Z,1749149295.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.366646 m,
      bearing: 46.074443 deg,
      lat: 36.906183 deg,
      lon: -122.116156 deg,
      deltaT: 0.504669 s,
      deltaX: 0.595146 m,
      approachRate: 1.179280 m/s,
      posRepo size: 4

2025-06-05T18:48:15.507Z,1749149295.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.37 m.
2025-06-05T18:48:15.720Z,1749149295.720 [DAT](INFO): DAT read: Rx Time:18:48:14.2704 

2025-06-05T18:48:15.721Z,1749149295.721 [DAT](INFO): Rx dataTimestamp_ set to:1749149295.720258
2025-06-05T18:48:15.722Z,1749149295.722 [DAT](INFO): DAT read: Bearing 179.4,   6.2 (Local)

2025-06-05T18:48:15.722Z,1749149295.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.4,   6.2 (Local)

2025-06-05T18:48:15.726Z,1749149295.726 [DAT](INFO): DAT read: Range 10 to 50 :    66.2 m (trip time 44.1 ms) speed -0.5

2025-06-05T18:48:15.730Z,1749149295.730 [DAT](INFO): DAT read: 18:48:14.2704 LVL= 20656, 20913, 20194, 32755, AGC= 68, IDX= 509,-0.24, 0.474, 2.765, 0.649, 1.177, PHS=-0.616, 1.634,-0.531, RAW= 328.1,  -4.5, CAL= 330.6,  -6.2, ROT= 179.4,   6.2

2025-06-05T18:48:15.731Z,1749149295.731 [DAT](INFO): got valid direction response:
 18:48:14.2704 LVL= 20656, 20913, 20194, 32755, AGC= 68, IDX= 509,-0.24, 0.474, 2.765, 0.649, 1.177, PHS=-0.616, 1.634,-0.531, RAW= 328.1,  -4.5, CAL= 330.6,  -6.2, ROT= 179.4,   6.2

2025-06-05T18:48:15.731Z,1749149295.731 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:15.745Z,1749149295.745 [DAT](INFO): direction in FSK: [-0.994096,0.010411,-0.107999]
2025-06-05T18:48:15.745Z,1749149295.745 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:15.757Z,1749149295.757 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:15.758Z,1749149295.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:15.972Z,1749149295.972 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:15.973Z,1749149295.973 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:15.974Z,1749149295.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:15.994Z,1749149295.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.199997 m,
      deltaT: 0.505345 s,
      deltaX: 0.299995 m,
      approachRate: 0.593645 m/s,
      rangeRepo size: 4

2025-06-05T18:48:16.000Z,1749149296.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.664421 m,
      bearing: 46.171830 deg,
      lat: 36.906183 deg,
      lon: -122.116156 deg,
      deltaT: 0.505345 s,
      deltaX: 0.297775 m,
      approachRate: 0.589251 m/s,
      posRepo size: 4

2025-06-05T18:48:16.001Z,1749149296.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.66 m.
2025-06-05T18:48:16.226Z,1749149296.226 [DAT](INFO): DAT read: Rx Time:18:48:14.7708 

2025-06-05T18:48:16.226Z,1749149296.226 [DAT](INFO): Rx dataTimestamp_ set to:1749149296.225815
2025-06-05T18:48:16.227Z,1749149296.227 [DAT](INFO): DAT read: Bearing 200.5, -11.4 (Local)

2025-06-05T18:48:16.228Z,1749149296.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.5, -11.4 (Local)

2025-06-05T18:48:16.230Z,1749149296.230 [DAT](INFO): DAT read: Range 10 to 50 :    66.8 m (trip time 44.5 ms) speed -0.5

2025-06-05T18:48:16.234Z,1749149296.234 [DAT](INFO): DAT read: 18:48:14.7708 LVL= 28400, 24561, 27090, 32755, AGC= 68, IDX= 513,-0.18, 2.590,-1.720,-2.814,-2.500, PHS=-1.105, 0.827,-0.317, RAW= 306.1,   7.1, CAL= 309.5,  11.4, ROT= 200.5, -11.4

2025-06-05T18:48:16.235Z,1749149296.235 [DAT](INFO): got valid direction response:
 18:48:14.7708 LVL= 28400, 24561, 27090, 32755, AGC= 68, IDX= 513,-0.18, 2.590,-1.720,-2.814,-2.500, PHS=-1.105, 0.827,-0.317, RAW= 306.1,   7.1, CAL= 309.5,  11.4, ROT= 200.5, -11.4

2025-06-05T18:48:16.236Z,1749149296.236 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:16.237Z,1749149296.237 [DAT](INFO): direction in FSK: [-0.918193,-0.343298,0.197657]
2025-06-05T18:48:16.237Z,1749149296.237 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:16.241Z,1749149296.241 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:16.241Z,1749149296.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:16.431Z,1749149296.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.800003 m,
      deltaT: 0.505557 s,
      deltaX: 0.600006 m,
      approachRate: 1.186822 m/s,
      rangeRepo size: 4

2025-06-05T18:48:16.437Z,1749149296.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.259575 m,
      bearing: 67.550221 deg,
      lat: 36.906176 deg,
      lon: -122.116143 deg,
      deltaT: 0.505557 s,
      deltaX: 0.595154 m,
      approachRate: 1.177224 m/s,
      posRepo size: 4

2025-06-05T18:48:16.437Z,1749149296.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.26 m.
2025-06-05T18:48:16.477Z,1749149296.477 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:16.477Z,1749149296.477 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:16.477Z,1749149296.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:16.729Z,1749149296.729 [DAT](INFO): DAT read: Rx Time:18:48:15.2709 

2025-06-05T18:48:16.730Z,1749149296.730 [DAT](INFO): Rx dataTimestamp_ set to:1749149296.729644
2025-06-05T18:48:16.731Z,1749149296.731 [DAT](INFO): DAT read: Range 10 to 50 :    67.1 m (trip time 44.7 ms) speed -0.5

2025-06-05T18:48:16.732Z,1749149296.732 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:16.732Z,1749149296.732 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:16.733Z,1749149296.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:16.845Z,1749149296.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.099998 m,
      deltaT: 0.503829 s,
      deltaX: 0.299995 m,
      approachRate: 0.595431 m/s,
      rangeRepo size: 4

2025-06-05T18:48:16.845Z,1749149296.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.26 m.
2025-06-05T18:48:16.980Z,1749149296.980 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:16.981Z,1749149296.981 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:16.981Z,1749149296.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:17.179Z,1749149297.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.26 m.
2025-06-05T18:48:17.235Z,1749149297.235 [DAT](INFO): DAT read: Rx Time:18:48:15.7712 

2025-06-05T18:48:17.237Z,1749149297.237 [DAT](INFO): Rx dataTimestamp_ set to:1749149297.235688
2025-06-05T18:48:17.239Z,1749149297.239 [DAT](INFO): DAT read: Bearing 178.2,   5.5 (Local)

2025-06-05T18:48:17.241Z,1749149297.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.2,   5.5 (Local)

2025-06-05T18:48:17.245Z,1749149297.245 [DAT](INFO): DAT read: Range 10 to 50 :    67.5 m (trip time 45.0 ms) speed -0.3

2025-06-05T18:48:17.265Z,1749149297.265 [DAT](INFO): DAT read: 18:48:15.7712 LVL= 25488, 28465, 22050, 31203, AGC= 68, IDX= 502,-0.10, 0.522, 2.737, 0.635, 1.203, PHS=-0.593, 1.581,-0.571, RAW= 329.5,  -3.9, CAL= 331.8,  -5.5, ROT= 178.2,   5.5

2025-06-05T18:48:17.267Z,1749149297.267 [DAT](INFO): got valid direction response:
 18:48:15.7712 LVL= 25488, 28465, 22050, 31203, AGC= 68, IDX= 502,-0.10, 0.522, 2.737, 0.635, 1.203, PHS=-0.593, 1.581,-0.571, RAW= 329.5,  -3.9, CAL= 331.8,  -5.5, ROT= 178.2,   5.5

2025-06-05T18:48:17.267Z,1749149297.267 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:17.272Z,1749149297.272 [DAT](INFO): direction in FSK: [-0.994905,0.031266,-0.095846]
2025-06-05T18:48:17.273Z,1749149297.273 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:17.297Z,1749149297.297 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:17.297Z,1749149297.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:17.485Z,1749149297.485 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:17.485Z,1749149297.485 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:17.485Z,1749149297.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:17.651Z,1749149297.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.500000 m,
      deltaT: 0.506044 s,
      deltaX: 0.400002 m,
      approachRate: 0.790448 m/s,
      rangeRepo size: 4

2025-06-05T18:48:17.657Z,1749149297.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.954247 m,
      bearing: 45.067217 deg,
      lat: 36.906176 deg,
      lon: -122.116143 deg,
      deltaT: 1.009873 s,
      deltaX: 0.694672 m,
      approachRate: 0.687880 m/s,
      posRepo size: 4

2025-06-05T18:48:17.658Z,1749149297.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.95 m.
2025-06-05T18:48:17.742Z,1749149297.742 [DAT](INFO): DAT read: Rx Time:18:48:16.2714 

2025-06-05T18:48:17.743Z,1749149297.743 [DAT](INFO): Rx dataTimestamp_ set to:1749149297.742244
2025-06-05T18:48:17.748Z,1749149297.748 [DAT](INFO): DAT read: Bearing 178.7,   6.8 (Local)

2025-06-05T18:48:17.748Z,1749149297.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.7,   6.8 (Local)

2025-06-05T18:48:17.750Z,1749149297.750 [DAT](INFO): DAT read: Range 10 to 50 :    67.8 m (trip time 45.2 ms) speed -1.0

2025-06-05T18:48:17.793Z,1749149297.793 [DAT](INFO): DAT read: 18:48:16.2714 LVL= 25504, 20529, 21698, 32307, AGC= 68, IDX= 504,-0.04,-0.737, 1.500,-0.593,-0.074, PHS=-0.575, 1.621,-0.522, RAW= 328.8,  -4.9, CAL= 331.3,  -6.8, ROT= 178.7,   6.8

2025-06-05T18:48:17.795Z,1749149297.795 [DAT](INFO): got valid direction response:
 18:48:16.2714 LVL= 25504, 20529, 21698, 32307, AGC= 68, IDX= 504,-0.04,-0.737, 1.500,-0.593,-0.074, PHS=-0.575, 1.621,-0.522, RAW= 328.8,  -4.9, CAL= 331.3,  -6.8, ROT= 178.7,   6.8

2025-06-05T18:48:17.820Z,1749149297.820 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:17.821Z,1749149297.821 [DAT](INFO): direction in FSK: [-0.992710,0.022528,-0.118404]
2025-06-05T18:48:17.821Z,1749149297.821 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:17.832Z,1749149297.832 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:17.832Z,1749149297.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:17.988Z,1749149297.988 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:17.988Z,1749149297.988 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:17.989Z,1749149297.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:18.151Z,1749149298.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.800003 m,
      deltaT: 0.506556 s,
      deltaX: 0.300003 m,
      approachRate: 0.592241 m/s,
      rangeRepo size: 4

2025-06-05T18:48:18.153Z,1749149298.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.251823 m,
      bearing: 45.533957 deg,
      lat: 36.906176 deg,
      lon: -122.116143 deg,
      deltaT: 0.506556 s,
      deltaX: 0.297577 m,
      approachRate: 0.587451 m/s,
      posRepo size: 4

2025-06-05T18:48:18.154Z,1749149298.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.25 m.
2025-06-05T18:48:18.243Z,1749149298.243 [DAT](INFO): DAT read: Rx Time:18:48:16.7718 

2025-06-05T18:48:18.244Z,1749149298.244 [DAT](INFO): Rx dataTimestamp_ set to:1749149298.243500
2025-06-05T18:48:18.245Z,1749149298.245 [DAT](INFO): DAT read: Bearing 178.3,   5.8 (Local)

2025-06-05T18:48:18.245Z,1749149298.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.3,   5.8 (Local)

2025-06-05T18:48:18.248Z,1749149298.248 [DAT](INFO): DAT read: Range 10 to 50 :    68.4 m (trip time 45.6 ms) speed -0.6

2025-06-05T18:48:18.254Z,1749149298.254 [DAT](INFO): DAT read: 18:48:16.7718 LVL= 32752, 26225, 27858, 32755, AGC= 72, IDX= 492, 0.04, 0.857, 3.124, 0.976, 1.544, PHS=-0.599, 1.626,-0.571, RAW= 329.4,  -4.2, CAL= 331.7,  -5.8, ROT= 178.3,   5.8

2025-06-05T18:48:18.258Z,1749149298.258 [DAT](INFO): got valid direction response:
 18:48:16.7718 LVL= 32752, 26225, 27858, 32755, AGC= 72, IDX= 492, 0.04, 0.857, 3.124, 0.976, 1.544, PHS=-0.599, 1.626,-0.571, RAW= 329.4,  -4.2, CAL= 331.7,  -5.8, ROT= 178.3,   5.8

2025-06-05T18:48:18.258Z,1749149298.258 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:18.268Z,1749149298.268 [DAT](INFO): direction in FSK: [-0.994443,0.029514,-0.101056]
2025-06-05T18:48:18.269Z,1749149298.269 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:18.280Z,1749149298.280 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:18.280Z,1749149298.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:18.496Z,1749149298.496 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:18.497Z,1749149298.497 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:18.497Z,1749149298.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:18.504Z,1749149298.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.400002 m,
      deltaT: 0.501256 s,
      deltaX: 0.599998 m,
      approachRate: 1.196990 m/s,
      rangeRepo size: 4

2025-06-05T18:48:18.506Z,1749149298.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.846977 m,
      bearing: 45.108176 deg,
      lat: 36.906176 deg,
      lon: -122.116150 deg,
      deltaT: 0.501256 s,
      deltaX: 0.595154 m,
      approachRate: 1.187325 m/s,
      posRepo size: 4

2025-06-05T18:48:18.507Z,1749149298.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.85 m.
2025-06-05T18:48:18.750Z,1749149298.750 [DAT](INFO): DAT read: Rx Time:18:48:17.2720 

2025-06-05T18:48:18.750Z,1749149298.750 [DAT](INFO): Rx dataTimestamp_ set to:1749149298.749881
2025-06-05T18:48:18.752Z,1749149298.752 [DAT](INFO): DAT read: Bearing 177.7,   6.3 (Local)

2025-06-05T18:48:18.752Z,1749149298.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.7,   6.3 (Local)

2025-06-05T18:48:18.754Z,1749149298.754 [DAT](INFO): DAT read: Range 10 to 50 :    68.7 m (trip time 45.8 ms) speed -0.4

2025-06-05T18:48:18.760Z,1749149298.760 [DAT](INFO): DAT read: 18:48:17.2720 LVL= 20208, 21937, 17970, 32323, AGC= 69, IDX= 510, 0.12,-0.794, 1.406,-0.703,-0.147, PHS=-0.559, 1.600,-0.559, RAW= 330.0,  -4.5, CAL= 332.3,  -6.3, ROT= 177.7,   6.3

2025-06-05T18:48:18.761Z,1749149298.761 [DAT](INFO): got valid direction response:
 18:48:17.2720 LVL= 20208, 21937, 17970, 32323, AGC= 69, IDX= 510, 0.12,-0.794, 1.406,-0.703,-0.147, PHS=-0.559, 1.600,-0.559, RAW= 330.0,  -4.5, CAL= 332.3,  -6.3, ROT= 177.7,   6.3

2025-06-05T18:48:18.761Z,1749149298.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:18.762Z,1749149298.762 [DAT](INFO): direction in FSK: [-0.993160,0.039890,-0.109734]
2025-06-05T18:48:18.763Z,1749149298.763 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:18.766Z,1749149298.766 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:18.766Z,1749149298.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:18.988Z,1749149298.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.699997 m,
      deltaT: 0.506381 s,
      deltaX: 0.299995 m,
      approachRate: 0.592430 m/s,
      rangeRepo size: 4

2025-06-05T18:48:18.996Z,1749149298.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.144661 m,
      bearing: 44.524939 deg,
      lat: 36.906181 deg,
      lon: -122.116151 deg,
      deltaT: 0.506381 s,
      deltaX: 0.297684 m,
      approachRate: 0.587865 m/s,
      posRepo size: 4

2025-06-05T18:48:18.997Z,1749149298.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.14 m.
2025-06-05T18:48:19.000Z,1749149299.000 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:19.001Z,1749149299.001 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:19.001Z,1749149299.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:19.254Z,1749149299.254 [DAT](INFO): DAT read: Rx Time:18:48:17.7724 

2025-06-05T18:48:19.255Z,1749149299.255 [DAT](INFO): Rx dataTimestamp_ set to:1749149299.254295
2025-06-05T18:48:19.257Z,1749149299.257 [DAT](INFO): DAT read: Range 10 to 50 :    69.2 m (trip time 46.1 ms) speed -0.6

2025-06-05T18:48:19.259Z,1749149299.259 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:19.260Z,1749149299.260 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:19.260Z,1749149299.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:19.353Z,1749149299.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.199997 m,
      deltaT: 0.504414 s,
      deltaX: 0.500000 m,
      approachRate: 0.991249 m/s,
      rangeRepo size: 4

2025-06-05T18:48:19.354Z,1749149299.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.14 m.
2025-06-05T18:48:19.505Z,1749149299.505 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:19.505Z,1749149299.505 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:19.506Z,1749149299.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:19.762Z,1749149299.762 [DAT](INFO): DAT read: Rx Time:18:48:18.2726 

2025-06-05T18:48:19.765Z,1749149299.765 [DAT](INFO): Rx dataTimestamp_ set to:1749149299.763020
2025-06-05T18:48:19.768Z,1749149299.768 [DAT](INFO): DAT read: Bearing 177.6,   8.3 (Local)

2025-06-05T18:48:19.769Z,1749149299.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.6,   8.3 (Local)

2025-06-05T18:48:19.779Z,1749149299.779 [DAT](INFO): DAT read: Range 10 to 50 :    69.5 m (trip time 46.3 ms) speed -0.6

2025-06-05T18:48:19.812Z,1749149299.812 [DAT](INFO): DAT read: 18:48:18.2726 LVL= 24608, 19841, 22274, 32755, AGC= 70, IDX= 500, 0.20,-2.260,-0.041,-2.163,-1.659, PHS=-0.513, 1.665,-0.507, RAW= 329.9,  -6.0, CAL= 332.4,  -8.3, ROT= 177.6,   8.3

2025-06-05T18:48:19.813Z,1749149299.813 [DAT](INFO): got valid direction response:
 18:48:18.2726 LVL= 24608, 19841, 22274, 32755, AGC= 70, IDX= 500, 0.20,-2.260,-0.041,-2.163,-1.659, PHS=-0.513, 1.665,-0.507, RAW= 329.9,  -6.0, CAL= 332.4,  -8.3, ROT= 177.6,   8.3

2025-06-05T18:48:19.813Z,1749149299.813 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:19.814Z,1749149299.814 [DAT](INFO): direction in FSK: [-0.988658,0.041437,-0.144356]
2025-06-05T18:48:19.814Z,1749149299.814 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:19.834Z,1749149299.834 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:19.834Z,1749149299.834 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:19.981Z,1749149299.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.500000 m,
      deltaT: 0.508725 s,
      deltaX: 0.300003 m,
      approachRate: 0.589716 m/s,
      rangeRepo size: 4

2025-06-05T18:48:19.988Z,1749149299.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.938004 m,
      bearing: 44.389150 deg,
      lat: 36.906181 deg,
      lon: -122.116153 deg,
      deltaT: 1.013139 s,
      deltaX: 0.793343 m,
      approachRate: 0.783054 m/s,
      posRepo size: 4

2025-06-05T18:48:19.989Z,1749149299.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.94 m.
2025-06-05T18:48:20.009Z,1749149300.009 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:20.009Z,1749149300.009 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:20.009Z,1749149300.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:20.261Z,1749149300.261 [DAT](INFO): DAT read: Rx Time:18:48:18.7730 

2025-06-05T18:48:20.262Z,1749149300.262 [DAT](INFO): Rx dataTimestamp_ set to:1749149300.261338
2025-06-05T18:48:20.263Z,1749149300.263 [DAT](INFO): DAT read: Bearing 177.6,   7.6 (Local)

2025-06-05T18:48:20.263Z,1749149300.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.6,   7.6 (Local)

2025-06-05T18:48:20.265Z,1749149300.265 [DAT](INFO): DAT read: Range 10 to 50 :    70.1 m (trip time 46.7 ms) speed -0.7

2025-06-05T18:48:20.270Z,1749149300.270 [DAT](INFO): DAT read: 18:48:18.7730 LVL= 29680, 20641, 23090, 32755, AGC= 71, IDX= 504, 0.22,-1.078, 1.196,-0.984,-0.447, PHS=-0.543, 1.690,-0.540, RAW= 329.9,  -5.5, CAL= 332.4,  -7.6, ROT= 177.6,   7.6

2025-06-05T18:48:20.271Z,1749149300.271 [DAT](INFO): got valid direction response:
 18:48:18.7730 LVL= 29680, 20641, 23090, 32755, AGC= 71, IDX= 504, 0.22,-1.078, 1.196,-0.984,-0.447, PHS=-0.543, 1.690,-0.540, RAW= 329.9,  -5.5, CAL= 332.4,  -7.6, ROT= 177.6,   7.6

2025-06-05T18:48:20.271Z,1749149300.271 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:20.272Z,1749149300.272 [DAT](INFO): direction in FSK: [-0.990346,0.041508,-0.132256]
2025-06-05T18:48:20.272Z,1749149300.272 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:20.277Z,1749149300.277 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:20.277Z,1749149300.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:20.470Z,1749149300.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.099998 m,
      deltaT: 0.498318 s,
      deltaX: 0.599998 m,
      approachRate: 1.204047 m/s,
      rangeRepo size: 4

2025-06-05T18:48:20.472Z,1749149300.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.533150 m,
      bearing: 44.392571 deg,
      lat: 36.906182 deg,
      lon: -122.116158 deg,
      deltaT: 0.498318 s,
      deltaX: 0.595146 m,
      approachRate: 1.194310 m/s,
      posRepo size: 4

2025-06-05T18:48:20.473Z,1749149300.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m.
2025-06-05T18:48:20.512Z,1749149300.512 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:20.513Z,1749149300.513 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:20.513Z,1749149300.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:20.775Z,1749149300.775 [DAT](INFO): DAT read: Rx Time:18:48:19.2733 

2025-06-05T18:48:20.777Z,1749149300.777 [DAT](INFO): Rx dataTimestamp_ set to:1749149300.776094
2025-06-05T18:48:20.779Z,1749149300.779 [DAT](INFO): DAT read: Bearing 177.8,   7.0 (Local)

2025-06-05T18:48:20.780Z,1749149300.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.8,   7.0 (Local)

2025-06-05T18:48:20.782Z,1749149300.782 [DAT](INFO): DAT read: Range 10 to 50 :    70.5 m (trip time 47.0 ms) speed -0.2

2025-06-05T18:48:20.786Z,1749149300.786 [DAT](INFO): DAT read: 18:48:19.2733 LVL= 25472, 24257, 21106, 32755, AGC= 67, IDX= 506, 0.26,-2.773,-0.527,-2.674,-2.130, PHS=-0.555, 1.650,-0.547, RAW= 329.8,  -5.0, CAL= 332.2,  -7.0, ROT= 177.8,   7.0

2025-06-05T18:48:20.788Z,1749149300.788 [DAT](INFO): got valid direction response:
 18:48:19.2733 LVL= 25472, 24257, 21106, 32755, AGC= 67, IDX= 506, 0.26,-2.773,-0.527,-2.674,-2.130, PHS=-0.555, 1.650,-0.547, RAW= 329.8,  -5.0, CAL= 332.2,  -7.0, ROT= 177.8,   7.0

2025-06-05T18:48:20.788Z,1749149300.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:20.789Z,1749149300.789 [DAT](INFO): direction in FSK: [-0.991815,0.038102,-0.121869]
2025-06-05T18:48:20.789Z,1749149300.789 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:20.800Z,1749149300.800 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:20.800Z,1749149300.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:21.022Z,1749149301.022 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:21.023Z,1749149301.023 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:21.024Z,1749149301.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:21.099Z,1749149301.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.500000 m,
      deltaT: 0.514756 s,
      deltaX: 0.400002 m,
      approachRate: 0.777070 m/s,
      rangeRepo size: 4

2025-06-05T18:48:21.106Z,1749149301.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.930031 m,
      bearing: 44.594886 deg,
      lat: 36.906182 deg,
      lon: -122.116158 deg,
      deltaT: 0.514756 s,
      deltaX: 0.396881 m,
      approachRate: 0.771008 m/s,
      posRepo size: 4

2025-06-05T18:48:21.107Z,1749149301.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.93 m.
2025-06-05T18:48:21.275Z,1749149301.275 [DAT](INFO): DAT read: Rx Time:18:48:19.7736 

2025-06-05T18:48:21.276Z,1749149301.276 [DAT](INFO): Rx dataTimestamp_ set to:1749149301.275284
2025-06-05T18:48:21.277Z,1749149301.277 [DAT](INFO): DAT read: Bearing 177.1,   72 (Lcal)

2025-06-05T18:48:21.277Z,1749149301.277 [DAT](INFO): unknown deviceResponse_: Bearing 177.1,   72 (Lcal)

2025-06-05T18:48:21.279Z,1749149301.279 [DAT](INFO): DAT read: Range 10 to 50 :    71.0 m (trip time 47.3 ms) speed -0.5

2025-06-05T18:48:21.293Z,1749149301.293 [DAT](INFO): DAT read: 18:48:19.7736 LVL= 25024, 23665, 19890, 32755, AGC= 69, IDX= 509, 0.29,-2.586,-0.393,-2.517,-1.973, PHS=-0.525, 1.627,-0.547, RAW= 330.5,  -5.2, CAL= 332.9,  -7.2, ROT= 177.1,   7.2

2025-06-05T18:48:21.294Z,1749149301.294 [DAT](INFO): got valid direction response:
 18:48:19.7736 LVL= 25024, 23665, 19890, 32755, AGC= 69, IDX= 509, 0.29,-2.586,-0.393,-2.517,-1.973, PHS=-0.525, 1.627,-0.547, RAW= 330.5,  -5.2, CAL= 332.9,  -7.2, ROT= 177.1,   7.2

2025-06-05T18:48:21.295Z,1749149301.295 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:21.301Z,1749149301.301 [DAT](INFO): direction in FSK: [-0.990844,0.050194,-0.125333]
2025-06-05T18:48:21.302Z,1749149301.302 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:21.327Z,1749149301.327 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:21.327Z,1749149301.327 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:21.450Z,1749149301.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.000000 m,
      deltaT: 0.499190 s,
      deltaX: 0.500000 m,
      approachRate: 1.001623 m/s,
      rangeRepo size: 4

2025-06-05T18:48:21.461Z,1749149301.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.425987 m,
      bearing: 43.896104 deg,
      lat: 36.906183 deg,
      lon: -122.116159 deg,
      deltaT: 0.499190 s,
      deltaX: 0.495956 m,
      approachRate: 0.993522 m/s,
      posRepo size: 4

2025-06-05T18:48:21.461Z,1749149301.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.43 m.
2025-06-05T18:48:21.528Z,1749149301.528 [DAT](INFO): DAT read: Rx Time:18:48:20.2738 

2025-06-05T18:48:21.529Z,1749149301.529 [DAT](INFO): Rx dataTimestamp_ set to:1749149301.528507
2025-06-05T18:48:21.530Z,1749149301.530 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:21.531Z,1749149301.531 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:21.531Z,1749149301.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:21.628Z,1749149301.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:48:21.783Z,1749149301.783 [DAT](INFO): DAT read: Bearing 176.7,   8.0 (Local)

2025-06-05T18:48:21.784Z,1749149301.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.7,   8.0 (Local)

2025-06-05T18:48:21.792Z,1749149301.792 [DAT](INFO): DAT read: Range 10 to 50 :    71.3 m (ri me 47.5 ms) speed -0.8

2025-06-05T18:48:21.832Z,1749149301.832 [DAT](INFO): DAT read: 18:48:20.2738 LVL= 23984, 19745, 21986, 32755, AGC= 69, IDX= 511, 0.31, 2.201,-1.905, 2.253, 2.783, PHS=-0.495, 1.642,-0.533, RAW= 330.9,  -5.7, CAL= 333.3,  -8.0, ROT= 176.7,   8.0

2025-06-05T18:48:21.834Z,1749149301.834 [DAT](INFO): got valid direction response:
 18:48:20.2738 LVL= 23984, 19745, 21986, 32755, AGC= 69, IDX= 511, 0.31, 2.201,-1.905, 2.253, 2.783, PHS=-0.495, 1.642,-0.533, RAW= 330.9,  -5.7, CAL= 333.3,  -8.0, ROT= 176.7,   8.0

2025-06-05T18:48:21.834Z,1749149301.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:21.835Z,1749149301.835 [DAT](INFO): direction in FSK: [-0.988626,0.057004,-0.139173]
2025-06-05T18:48:21.835Z,1749149301.835 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:21.858Z,1749149301.858 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:21.858Z,1749149301.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:21.970Z,1749149301.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.300003 m,
      deltaT: 0.502473 s,
      deltaX: 0.300003 m,
      approachRate: 0.597053 m/s,
      rangeRepo size: 4

2025-06-05T18:48:21.978Z,1749149301.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.723610 m,
      bearing: 43.374538 deg,
      lat: 36.906183 deg,
      lon: -122.116161 deg,
      deltaT: 0.502473 s,
      deltaX: 0.297623 m,
      approachRate: 0.592316 m/s,
      posRepo size: 4

2025-06-05T18:48:21.978Z,1749149301.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.72 m.
2025-06-05T18:48:22.033Z,1749149302.033 [DAT](INFO): DAT read: Rx Time:18:48:20.7743 

2025-06-05T18:48:22.035Z,1749149302.035 [DAT](INFO): Rx dataTimestamp_ set to:1749149302.033808
2025-06-05T18:48:22.037Z,1749149302.037 [DAT](INFO): DAT read: Bearing 176.3,   8.9 (Local)

2025-06-05T18:48:22.038Z,1749149302.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.3,   8.9 (Local)

2025-06-05T18:48:22.038Z,1749149302.038 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:22.039Z,1749149302.039 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:22.041Z,1749149302.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:22.283Z,1749149302.283 [DAT](INFO): DAT read: Range 10 to 50 :    72.0 m (trip time 48.0 ms) speed -0.8

2025-06-05T18:48:22.287Z,1749149302.287 [DAT](INFO): DAT read: 18:48:20.743LL 22064, 22577, 21522, 32755, AGC= 68, IDX= 500, 0.40,-2.005, 0.171,-1.966,-1.454, PHS=-0.463, 1.672,-0.514, RAW= 331.2,  -6.5, CAL= 333.7,  -8.9, ROT= 176.3,   8.9

2025-06-05T18:48:22.289Z,1749149302.289 [DAT](INFO): unknown deviceResponse_: 18:48:20.743LL 22064, 22577, 21522, 32755, AGC= 68, IDX= 500, 0.40,-2.005, 0.171,-1.966,-1.454, PHS=-0.463, 1.672,-0.514, RAW= 331.2,  -6.5, CAL= 333.7,  -8.9, ROT= 176.3,   8.9

2025-06-05T18:48:22.289Z,1749149302.289 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:22.291Z,1749149302.291 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:22.291Z,1749149302.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:22.298Z,1749149302.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.000000 m,
      deltaT: 0.502760 s,
      deltaX: 0.699997 m,
      approachRate: 1.392308 m/s,
      rangeRepo size: 4

2025-06-05T18:48:22.298Z,1749149302.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.72 m.
2025-06-05T18:48:22.535Z,1749149302.535 [DAT](INFO): DAT read: Rx Time:18:48:21.2745 

2025-06-05T18:48:22.537Z,1749149302.537 [DAT](INFO): Rx dataTimestamp_ set to:1749149302.536221
2025-06-05T18:48:22.540Z,1749149302.540 [DAT](INFO): DAT read: Bearing 177.0,   6.7 (Local)

2025-06-05T18:48:22.541Z,1749149302.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.0,   6.7 (Local)

2025-06-05T18:48:22.545Z,1749149302.545 [DAT](INFO): DAT read: Range 10 to 50 :    72.3 m (trip time 48.2 ms) speed -0.7

2025-06-05T18:48:22.547Z,1749149302.547 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:22.550Z,1749149302.550 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:22.550Z,1749149302.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:22.632Z,1749149302.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:48:22.709Z,1749149302.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.300003 m,
      deltaT: 0.255704 s,
      deltaX: 0.300003 m,
      approachRate: 1.173244 m/s,
      rangeRepo size: 4

2025-06-05T18:48:22.710Z,1749149302.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.72 m.
2025-06-05T18:48:22.803Z,1749149302.803 [DAT](INFO): DAT read: 18:48:21.2745 LVL= 20912, 18497, 22866, 32755, AGC= 70, D=46, 0.40,-2.776,-0.554,-2.717,-2.146, PHS=-0.542, 1.639,-0.574, RAW= 330.7,  -4.8, CAL= 333.0,  -6.7, ROT= 177.0,   6.7

2025-06-05T18:48:22.806Z,1749149302.806 [DAT](INFO): unknown deviceResponse_: 18:48:21.2745 LVL= 20912, 18497, 22866, 32755, AGC= 70, D=46, 0.40,-2.776,-0.554,-2.717,-2.146, PHS=-0.542, 1.639,-0.574, RAW= 330.7,  -4.8, CAL= 333.0,  -6.7, ROT= 177.0,   6.7

2025-06-05T18:48:22.809Z,1749149302.809 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:22.810Z,1749149302.810 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:22.810Z,1749149302.810 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:23.039Z,1749149303.039 [DAT](INFO): DAT read: Rx Time:18:48:21.7749 

2025-06-05T18:48:23.041Z,1749149303.041 [DAT](INFO): Rx dataTimestamp_ set to:1749149303.039797
2025-06-05T18:48:23.043Z,1749149303.043 [DAT](INFO): DAT read: Bearing 177.0,   7.4 (Local)

2025-06-05T18:48:23.044Z,1749149303.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.0,   7.4 (Local)

2025-06-05T18:48:23.045Z,1749149303.045 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:23.045Z,1749149303.045 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:23.046Z,1749149303.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:23.207Z,1749149303.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.72 m.
2025-06-05T18:48:23.291Z,1749149303.291 [DAT](INFO): DAT read: Range 10 to 50 :    72.9 m (trip time 48.6 ms) speed -0.7

2025-06-05T18:48:23.296Z,1749149303.296 [DAT](INFO): DAT read: 18:48:21.7749 LVL= 22048, 19953, 115, 3755, AGC= 69, IDX= 506, 0.44,-1.648, 0.569,-1.586,-1.037, PHS=-0.523, 1.653,-0.552, RAW= 330.7,  -5.3, CAL= 333.0,  -7.4, ROT= 177.0,   7.4

2025-06-05T18:48:23.297Z,1749149303.297 [DAT](INFO): got valid direction response:
 18:48:21.7749 LVL= 22048, 19953, 115, 3755, AGC= 69, IDX= 506, 0.44,-1.648, 0.569,-1.586,-1.037, PHS=-0.523, 1.653,-0.552, RAW= 330.7,  -5.3, CAL= 333.0,  -7.4, ROT= 177.0,   7.4

2025-06-05T18:48:23.297Z,1749149303.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:23.298Z,1749149303.298 [DAT](INFO): direction in FSK: [-0.990312,0.051900,-0.128796]
2025-06-05T18:48:23.298Z,1749149303.298 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:23.302Z,1749149303.302 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:23.302Z,1749149303.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:23.547Z,1749149303.547 [DAT](INFO): DAT read: Rx Time:18:48:22.2751 

2025-06-05T18:48:23.549Z,1749149303.549 [DAT](INFO): Rx dataTimestamp_ set to:1749149303.548092
2025-06-05T18:48:23.551Z,1749149303.551 [DAT](INFO): DAT read: Bearing 176.9,   6.7 (Local)

2025-06-05T18:48:23.554Z,1749149303.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.9,   6.7 (Local)

2025-06-05T18:48:23.560Z,1749149303.560 [DAT](INFO): DAT read: Range 10 to 50 :    73.4 m (trip time 48.9 ms) speed -0.4

2025-06-05T18:48:23.562Z,1749149303.562 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:23.580Z,1749149303.580 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:23.580Z,1749149303.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:23.725Z,1749149303.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.400002 m,
      deltaT: 1.011871 s,
      deltaX: 1.099998 m,
      approachRate: 1.087094 m/s,
      rangeRepo size: 4

2025-06-05T18:48:23.733Z,1749149303.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.806938 m,
      bearing: 43.621011 deg,
      lat: 36.906186 deg,
      lon: -122.116163 deg,
      deltaT: 1.770335 s,
      deltaX: 2.083328 m,
      approachRate: 1.176799 m/s,
      posRepo size: 4

2025-06-05T18:48:23.734Z,1749149303.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:48:23.820Z,1749149303.820 [DAT](INFO): DAT read: 18:48:22.2751 LVL= 24944, 16689, 19266, 30899, AGC= 70, IDX= 509,-0.40, 2.198,-1.871, 2.255, 2.826, PHS=-0.539, 1.633,-0.574, RAW= 330.8,  -4.8, CAL= 333.1,  -6.7, ROT= 176.9,   6.7

2025-06-05T18:48:23.830Z,1749149303.830 [DAT](INFO): got valid direction response:
 18:48:22.2751 LVL= 24944, 16689, 19266, 30899, AGC= 70, IDX= 509,-0.40, 2.198,-1.871, 2.255, 2.826, PHS=-0.539, 1.633,-0.574, RAW= 330.8,  -4.8, CAL= 333.1,  -6.7, ROT= 176.9,   6.7

2025-06-05T18:48:23.837Z,1749149303.837 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:23.838Z,1749149303.838 [DAT](INFO): direction in FSK: [-0.991717,0.053709,-0.116671]
2025-06-05T18:48:23.845Z,1749149303.845 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:23.846Z,1749149303.846 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:23.846Z,1749149303.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:24.045Z,1749149304.045 [DAT](INFO): DAT read: Rx Time:18:48:22.7755 

2025-06-05T18:48:24.045Z,1749149304.045 [DAT](INFO): Rx dataTimestamp_ set to:1749149304.045114
2025-06-05T18:48:24.047Z,1749149304.047 [DAT](INFO): DAT read: Range 10 to 50 :    74.0 m (trip time 49.3 ms) speed -0.9

2025-06-05T18:48:24.047Z,1749149304.047 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:24.048Z,1749149304.048 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:24.049Z,1749149304.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:24.239Z,1749149304.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.000000 m,
      deltaT: 0.497022 s,
      deltaX: 0.599998 m,
      approachRate: 1.207187 m/s,
      rangeRepo size: 4

2025-06-05T18:48:24.243Z,1749149304.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.402092 m,
      bearing: 43.516486 deg,
      lat: 36.906188 deg,
      lon: -122.116164 deg,
      deltaT: 0.497022 s,
      deltaX: 0.595154 m,
      approachRate: 1.197440 m/s,
      posRepo size: 4

2025-06-05T18:48:24.243Z,1749149304.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-06-05T18:48:24.297Z,1749149304.297 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:24.297Z,1749149304.297 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:24.297Z,1749149304.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:24.552Z,1749149304.552 [DAT](INFO): DAT read: Rx Time:18:48:23.2757 

2025-06-05T18:48:24.553Z,1749149304.553 [DAT](INFO): Rx dataTimestamp_ set to:1749149304.552650
2025-06-05T18:48:24.556Z,1749149304.556 [DAT](INFO): DAT read: Bearing 177.0,   7.2 (Local)

2025-06-05T18:48:24.558Z,1749149304.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.0,   7.2 (Local)

2025-06-05T18:48:24.564Z,1749149304.564 [DAT](INFO): DAT read: Range 10 to 50 :    74.3 m (trip time 49.5 ms) speed -0.8

2025-06-05T18:48:24.567Z,1749149304.567 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:24.583Z,1749149304.583 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:24.583Z,1749149304.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:24.712Z,1749149304.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.300003 m,
      deltaT: 0.507536 s,
      deltaX: 0.300003 m,
      approachRate: 0.591097 m/s,
      rangeRepo size: 4

2025-06-05T18:48:24.713Z,1749149304.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-06-05T18:48:24.836Z,1749149304.836 [DAT](INFO): DAT read: 18:48:23.2757 LVL= 25552, 18897, 19554, 32755, AGC= 70, IDX= 499,-0.16, 2.045,-2.058, 2.108, 2.651, PHS=-0.519, 1.621,-0.546, RAW= 330.6,  -5.2, CAL= 333.0,  -7.2, ROT= 177.0,   7.2

2025-06-05T18:48:24.839Z,1749149304.839 [DAT](INFO): got valid direction response:
 18:48:23.2757 LVL= 25552, 18897, 19554, 32755, AGC= 70, IDX= 499,-0.16, 2.045,-2.058, 2.108, 2.651, PHS=-0.519, 1.621,-0.546, RAW= 330.6,  -5.2, CAL= 333.0,  -7.2, ROT= 177.0,   7.2

2025-06-05T18:48:24.844Z,1749149304.844 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:24.847Z,1749149304.847 [DAT](INFO): direction in FSK: [-0.990755,0.051923,-0.125333]
2025-06-05T18:48:24.851Z,1749149304.851 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:24.851Z,1749149304.851 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:24.852Z,1749149304.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:25.061Z,1749149305.061 [DAT](INFO): DAT read: Rx Time:18:48:23.7760 

2025-06-05T18:48:25.062Z,1749149305.062 [DAT](INFO): Rx dataTimestamp_ set to:1749149305.061392
2025-06-05T18:48:25.065Z,1749149305.065 [DAT](INFO): DAT read: Bearing 177.7,   6.2 (Local)

2025-06-05T18:48:25.066Z,1749149305.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.7,   6.2 (Local)

2025-06-05T18:48:25.080Z,1749149305.080 [DAT](INFO): DAT read: Range 10 to 50 :    74.7 m (trip time 49.8 ms) speed -0.9

2025-06-05T18:48:25.081Z,1749149305.081 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:25.081Z,1749149305.081 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:25.082Z,1749149305.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:25.280Z,1749149305.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.699997 m,
      deltaT: 0.508742 s,
      deltaX: 0.399994 m,
      approachRate: 0.786241 m/s,
      rangeRepo size: 4

2025-06-05T18:48:25.282Z,1749149305.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.096634 m,
      bearing: 43.500214 deg,
      lat: 36.906189 deg,
      lon: -122.116165 deg,
      deltaT: 1.016278 s,
      deltaX: 0.694542 m,
      approachRate: 0.683417 m/s,
      posRepo size: 4

2025-06-05T18:48:25.283Z,1749149305.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.10 m.
2025-06-05T18:48:25.310Z,1749149305.310 [DAT](INFO): DAT read: 18:48:23.7760 LVL= 23376, 20945, 19218, 31955, AGC= 71, IDX= 486,-0.08, 2.798,-1.285, 2.888,-2.836, PHS=-0.561, 1.599,-0.562, RAW= 330.0,  -4.5, CAL= 332.3,  -6.2, ROT= 177.7,   6.2

2025-06-05T18:48:25.311Z,1749149305.311 [DAT](INFO): got valid direction response:
 18:48:23.7760 LVL= 23376, 20945, 19218, 31955, AGC= 71, IDX= 486,-0.08, 2.798,-1.285, 2.888,-2.836, PHS=-0.561, 1.599,-0.562, RAW= 330.0,  -4.5, CAL= 332.3,  -6.2, ROT= 177.7,   6.2

2025-06-05T18:48:25.311Z,1749149305.311 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:25.313Z,1749149305.313 [DAT](INFO): direction in FSK: [-0.993350,0.039897,-0.107999]
2025-06-05T18:48:25.316Z,1749149305.316 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:25.316Z,1749149305.316 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:25.316Z,1749149305.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:25.561Z,1749149305.561 [DAT](INFO): DAT read: Rx Time:18:48:24.2762 

2025-06-05T18:48:25.562Z,1749149305.562 [DAT](INFO): Rx dataTimestamp_ set to:1749149305.561278
2025-06-05T18:48:25.565Z,1749149305.565 [DAT](INFO): DAT read: Bearing 177.0,   7.2 (Local)

2025-06-05T18:48:25.566Z,1749149305.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.0,   7.2 (Local)

2025-06-05T18:48:25.570Z,1749149305.570 [DAT](INFO): DAT read: Range 10 to 50 :    75.0 m (trip time 50.0 ms) speed -0.6

2025-06-05T18:48:25.585Z,1749149305.585 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:25.585Z,1749149305.585 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:25.586Z,1749149305.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:25.711Z,1749149305.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.000000 m,
      deltaT: 0.499886 s,
      deltaX: 0.300003 m,
      approachRate: 0.600143 m/s,
      rangeRepo size: 4

2025-06-05T18:48:25.718Z,1749149305.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.394394 m,
      bearing: 44.186659 deg,
      lat: 36.906189 deg,
      lon: -122.116165 deg,
      deltaT: 0.499886 s,
      deltaX: 0.297760 m,
      approachRate: 0.595656 m/s,
      posRepo size: 4

2025-06-05T18:48:25.719Z,1749149305.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.39 m.
2025-06-05T18:48:25.824Z,1749149305.824 [DAT](INFO): DAT read: 18:48:24.2762 LVL= 23312, 28065, 20258, 32755, AGC= 68, IDX= 488, 0.04, 2.924,-1.251, 2.986,-2.771, PHS=-0.500, 1.566,-0.529, RAW= 330.7,  -5.2, CAL= 333.0,  -7.2, ROT= 177.0,   7.2

2025-06-05T18:48:25.828Z,1749149305.828 [DAT](INFO): got valid direction response:
 18:48:24.2762 LVL= 23312, 28065, 20258, 32755, AGC= 68, IDX= 488, 0.04, 2.924,-1.251, 2.986,-2.771, PHS=-0.500, 1.566,-0.529, RAW= 330.7,  -5.2, CAL= 333.0,  -7.2, ROT= 177.0,   7.2

2025-06-05T18:48:25.829Z,1749149305.829 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:25.863Z,1749149305.863 [DAT](INFO): direction in FSK: [-0.990755,0.051923,-0.125333]
2025-06-05T18:48:25.888Z,1749149305.888 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:25.889Z,1749149305.889 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:25.889Z,1749149305.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:26.065Z,1749149306.065 [DAT](INFO): DAT read: Rx Time:18:48:24.7766 

2025-06-05T18:48:26.067Z,1749149306.067 [DAT](INFO): Rx dataTimestamp_ set to:1749149306.065806
2025-06-05T18:48:26.070Z,1749149306.070 [DAT](INFO): DAT read: Bearing 177.7,   5.9 (Local)

2025-06-05T18:48:26.071Z,1749149306.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.7,   5.9 (Local)

2025-06-05T18:48:26.082Z,1749149306.082 [DAT](INFO): DAT read: Range 10 to 50 :    75.5 m (trip time 50.3 ms) speed -0.8

2025-06-05T18:48:26.087Z,1749149306.087 [DAT](INFO): DAT read: 18:48:24.7766 LVL= 21120, 24993, 19442, 30483, AGC= 68, IDX= 508, 0.18,-1.199, 0.936,-1.109,-0.557, PHS=-0.554, 1.540,-0.555, RAW= 330.0,  -4.2, CAL= 332.3,  -5.9, ROT= 177.7,   5.9

2025-06-05T18:48:26.088Z,1749149306.088 [DAT](INFO): got valid direction response:
 18:48:24.7766 LVL= 21120, 24993, 19442, 30483, AGC= 68, IDX= 508, 0.18,-1.199, 0.936,-1.109,-0.557, PHS=-0.554, 1.540,-0.555, RAW= 330.0,  -4.2, CAL= 332.3,  -5.9, ROT= 177.7,   5.9

2025-06-05T18:48:26.089Z,1749149306.089 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:26.091Z,1749149306.091 [DAT](INFO): direction in FSK: [-0.993901,0.039919,-0.102793]
2025-06-05T18:48:26.092Z,1749149306.092 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:26.095Z,1749149306.095 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:26.095Z,1749149306.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:26.214Z,1749149306.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.500000 m,
      deltaT: 0.504528 s,
      deltaX: 0.500000 m,
      approachRate: 0.991025 m/s,
      rangeRepo size: 4

2025-06-05T18:48:26.221Z,1749149306.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.890358 m,
      bearing: 44.149107 deg,
      lat: 36.906189 deg,
      lon: -122.116164 deg,
      deltaT: 0.504528 s,
      deltaX: 0.495964 m,
      approachRate: 0.983026 m/s,
      posRepo size: 4

2025-06-05T18:48:26.221Z,1749149306.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.89 m.
2025-06-05T18:48:26.313Z,1749149306.313 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:26.313Z,1749149306.313 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:26.314Z,1749149306.314 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:26.568Z,1749149306.568 [DAT](INFO): DAT read: Rx Time:18:48:25.2769 

2025-06-05T18:48:26.570Z,1749149306.570 [DAT](INFO): Rx dataTimestamp_ set to:1749149306.568962
2025-06-05T18:48:26.574Z,1749149306.574 [DAT](INFO): DAT read: Bearing 177.3,   5.7 (Local)

2025-06-05T18:48:26.575Z,1749149306.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.3,   5.7 (Local)

2025-06-05T18:48:26.579Z,1749149306.579 [DAT](INFO): DAT read: Range 10 to 50 :    75.9 m (trip time 50.6 ms) speed -0.8

2025-06-05T18:48:26.580Z,1749149306.580 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:26.580Z,1749149306.580 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:26.581Z,1749149306.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:26.631Z,1749149306.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.900002 m,
      deltaT: 0.503156 s,
      deltaX: 0.400002 m,
      approachRate: 0.794985 m/s,
      rangeRepo size: 4

2025-06-05T18:48:26.644Z,1749149306.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.89 m.
2025-06-05T18:48:26.838Z,1749149306.838 [DAT](INFO): DAT read: 18:48:25.2769 LVL= 24096, 26273, 23250, 32755, AGC= 68, IDX= 494, 0.47, 2.982,-1.195, 3.054,-2.668, PHS=-0.545, 1.520,-0.564, RAW= 330.5,  -4.0, CAL= 332.7,  -5.7, ROT= 177.3,   5.7

2025-06-05T18:48:26.843Z,1749149306.843 [DAT](INFO): got valid direction response:
 18:48:25.2769 LVL= 24096, 26273, 23250, 32755, AGC= 68, IDX= 494, 0.47, 2.982,-1.195, 3.054,-2.668, PHS=-0.545, 1.520,-0.564, RAW= 330.5,  -4.0, CAL= 332.7,  -5.7, ROT= 177.3,   5.7

2025-06-05T18:48:26.846Z,1749149306.846 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:26.850Z,1749149306.850 [DAT](INFO): direction in FSK: [-0.993951,0.046873,-0.099320]
2025-06-05T18:48:26.876Z,1749149306.876 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:26.876Z,1749149306.876 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:26.877Z,1749149306.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:27.072Z,1749149307.072 [DAT](INFO): DAT read: Rx Time:18:48:25.7773 

2025-06-05T18:48:27.074Z,1749149307.074 [DAT](INFO): Rx dataTimestamp_ set to:1749149307.073045
2025-06-05T18:48:27.078Z,1749149307.078 [DAT](INFO): DAT read: Bearing 178.1,   6.1 (Local)

2025-06-05T18:48:27.078Z,1749149307.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.1,   6.1 (Local)

2025-06-05T18:48:27.081Z,1749149307.081 [DAT](INFO): DAT read: Range 10 to 50 :    76.5 m (trip time 51.0 ms) speed -0.5

2025-06-05T18:48:27.081Z,1749149307.081 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:27.083Z,1749149307.083 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:27.088Z,1749149307.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:27.237Z,1749149307.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.500000 m,
      deltaT: 0.504083 s,
      deltaX: 0.599998 m,
      approachRate: 1.190277 m/s,
      rangeRepo size: 4

2025-06-05T18:48:27.239Z,1749149307.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.882294 m,
      bearing: 43.689274 deg,
      lat: 36.906189 deg,
      lon: -122.116162 deg,
      deltaT: 1.007239 s,
      deltaX: 0.991936 m,
      approachRate: 0.984807 m/s,
      posRepo size: 4

2025-06-05T18:48:27.239Z,1749149307.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.88 m.
2025-06-05T18:48:27.329Z,1749149307.329 [DAT](INFO): DAT read: 18:48:25.7773 LVL= 20528, 26225, 21666, 32755, AGC= 72, IDX= 499,-0.19, 3.029,-1.062, 3.139,-2.596, PHS=-0.570, 1.581,-0.552, RAW= 329.6,  -4.3, CAL= 331.9,  -6.1, ROT= 178.1,   6.1

2025-06-05T18:48:27.331Z,1749149307.331 [DAT](INFO): got valid direction response:
 18:48:25.7773 LVL= 20528, 26225, 21666, 32755, AGC= 72, IDX= 499,-0.19, 3.029,-1.062, 3.139,-2.596, PHS=-0.570, 1.581,-0.552, RAW= 329.6,  -4.3, CAL= 331.9,  -6.1, ROT= 178.1,   6.1

2025-06-05T18:48:27.331Z,1749149307.331 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:27.333Z,1749149307.333 [DAT](INFO): direction in FSK: [-0.993791,0.032967,-0.106264]
2025-06-05T18:48:27.339Z,1749149307.339 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:27.339Z,1749149307.339 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:27.340Z,1749149307.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:27.577Z,1749149307.577 [DAT](INFO): DAT read: Rx Time:18:48:26.2776 

2025-06-05T18:48:27.578Z,1749149307.578 [DAT](INFO): Rx dataTimestamp_ set to:1749149307.577881
2025-06-05T18:48:27.580Z,1749149307.580 [DAT](INFO): DAT read: Bearing 177.2,   5.3 (Local)

2025-06-05T18:48:27.580Z,1749149307.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.2,   5.3 (Local)

2025-06-05T18:48:27.582Z,1749149307.582 [DAT](INFO): DAT read: Range 10 to 50 :    77.0 m (trip time 51.3 ms) speed -0.7

2025-06-05T18:48:27.583Z,1749149307.583 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:27.583Z,1749149307.583 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:27.584Z,1749149307.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:27.717Z,1749149307.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.000000 m,
      deltaT: 0.504836 s,
      deltaX: 0.500000 m,
      approachRate: 0.990421 m/s,
      rangeRepo size: 4

2025-06-05T18:48:27.725Z,1749149307.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.378349 m,
      bearing: 44.435279 deg,
      lat: 36.906185 deg,
      lon: -122.116158 deg,
      deltaT: 0.504836 s,
      deltaX: 0.496056 m,
      approachRate: 0.982607 m/s,
      posRepo size: 4

2025-06-05T18:48:27.725Z,1749149307.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.38 m.
2025-06-05T18:48:27.831Z,1749149307.831 [DAT](INFO): DAT read: 18:48:26.2776 LVL= 23024, 21969, 19314, 26579, AGC= 70, IDX= 501,-0.02,-3.063,-0.895,-3.000,-2.408, PHS=-0.567, 1.561,-0.594, RAW= 330.6,  -3.8, CAL= 332.8,  -5.3, ROT= 177.2,   5.3

2025-06-05T18:48:27.835Z,1749149307.835 [DAT](INFO): got valid direction response:
 18:48:26.2776 LVL= 23024, 21969, 19314, 26579, AGC= 70, IDX= 501,-0.02,-3.063,-0.895,-3.000,-2.408, PHS=-0.567, 1.561,-0.594, RAW= 330.6,  -3.8, CAL= 332.8,  -5.3, ROT= 177.2,   5.3

2025-06-05T18:48:27.837Z,1749149307.837 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:27.842Z,1749149307.842 [DAT](INFO): direction in FSK: [-0.994536,0.048641,-0.092371]
2025-06-05T18:48:27.855Z,1749149307.855 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:27.860Z,1749149307.860 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:27.861Z,1749149307.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:28.079Z,1749149308.079 [DAT](INFO): DAT read: Rx Time:18:48:26.7780 

2025-06-05T18:48:28.080Z,1749149308.080 [DAT](INFO): Rx dataTimestamp_ set to:1749149308.079795
2025-06-05T18:48:28.082Z,1749149308.082 [DAT](INFO): DAT read: Bearing 178.5,   4.4 (Local)

2025-06-05T18:48:28.082Z,1749149308.082 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.5,   4.4 (Local)

2025-06-05T18:48:28.084Z,1749149308.084 [DAT](INFO): DAT read: Range 10 to 50 :    77.6 m (trip time 51.7 ms) speed -0.7

2025-06-05T18:48:28.085Z,1749149308.085 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:48:28.085Z,1749149308.085 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:28.086Z,1749149308.086 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:28.252Z,1749149308.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.599998 m,
      deltaT: 0.501914 s,
      deltaX: 0.599998 m,
      approachRate: 1.195421 m/s,
      rangeRepo size: 4

2025-06-05T18:48:28.254Z,1749149308.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.973503 m,
      bearing: 43.525324 deg,
      lat: 36.906185 deg,
      lon: -122.116158 deg,
      deltaT: 0.501914 s,
      deltaX: 0.595154 m,
      approachRate: 1.185768 m/s,
      posRepo size: 4

2025-06-05T18:48:28.255Z,1749149308.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.97 m.
2025-06-05T18:48:28.334Z,1749149308.334 [DAT](INFO): DAT read: 18:48:26.7780 LVL= 17648, 20977, 15538, 22227, AGC= 70, IDX= 505, 0.15,-0.008, 2.268, 0.112, 0.723, PHS=-0.642, 1.593,-0.614, RAW= 329.4,  -3.1, CAL= 331.5,  -4.4, ROT= 178.5,   4.4

2025-06-05T18:48:28.335Z,1749149308.335 [DAT](INFO): got valid direction response:
 18:48:26.7780 LVL= 17648, 20977, 15538, 22227, AGC= 70, IDX= 505, 0.15,-0.008, 2.268, 0.112, 0.723, PHS=-0.642, 1.593,-0.614, RAW= 329.4,  -3.1, CAL= 331.5,  -4.4, ROT= 178.5,   4.4

2025-06-05T18:48:28.336Z,1749149308.336 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:28.337Z,1749149308.337 [DAT](INFO): direction in FSK: [-0.996711,0.026100,-0.076719]
2025-06-05T18:48:28.340Z,1749149308.340 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:28.341Z,1749149308.341 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:28.341Z,1749149308.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:28.581Z,1749149308.581 [DAT](INFO): DAT read: Rx Time:18:48:27.2783 

2025-06-05T18:48:28.582Z,1749149308.582 [DAT](INFO): Rx dataTimestamp_ set to:1749149308.581501
2025-06-05T18:48:28.583Z,1749149308.583 [DAT](INFO): DAT read: Bearing 177.8,   4.9 (Local)

2025-06-05T18:48:28.583Z,1749149308.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.8,   4.9 (Local)

2025-06-05T18:48:28.585Z,1749149308.585 [DAT](INFO): DAT read: Range 10 to 50 :    78.0 m (trip time 52.0 ms) speed -0.2

2025-06-05T18:48:28.591Z,1749149308.591 [DAT](INFO): DAT read: 18:48:27.2783 LVL= 23328, 20657, 18674, 31699, AGC= 69, IDX= 507, 0.38,-1.083, 1.040,-0.991,-0.419, PHS=-0.576, 1.506,-0.575, RAW= 330.0,  -3.5, CAL= 332.2,  -4.9, ROT= 177.8,   4.9

2025-06-05T18:48:28.596Z,1749149308.596 [DAT](INFO): got valid direction response:
 18:48:27.2783 LVL= 23328, 20657, 18674, 31699, AGC= 69, IDX= 507, 0.38,-1.083, 1.040,-0.991,-0.419, PHS=-0.576, 1.506,-0.575, RAW= 330.0,  -3.5, CAL= 332.2,  -4.9, ROT= 177.8,   4.9

2025-06-05T18:48:28.596Z,1749149308.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:48:28.597Z,1749149308.597 [DAT](INFO): direction in FSK: [-0.995611,0.038247,-0.085417]
2025-06-05T18:48:28.598Z,1749149308.598 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:28.621Z,1749149308.621 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:28.621Z,1749149308.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:28.680Z,1749149308.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.000000 m,
      deltaT: 0.501706 s,
      deltaX: 0.400002 m,
      approachRate: 0.797283 m/s,
      rangeRepo size: 4

2025-06-05T18:48:28.682Z,1749149308.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.370239 m,
      bearing: 44.127986 deg,
      lat: 36.906188 deg,
      lon: -122.116158 deg,
      deltaT: 0.501706 s,
      deltaX: 0.396736 m,
      approachRate: 0.790774 m/s,
      posRepo size: 4

2025-06-05T18:48:28.683Z,1749149308.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:28.835Z,1749149308.835 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:28.836Z,1749149308.836 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:28.837Z,1749149308.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:29.085Z,1749149309.085 [DAT](INFO): DAT read: user:2848>

2025-06-05T18:48:29.085Z,1749149309.085 [DAT](INFO): DAT read: Tx time:18:48:28.1304

2025-06-05T18:48:29.086Z,1749149309.086 [DAT](INFO): Ping request sent.
2025-06-05T18:48:29.086Z,1749149309.086 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:48:29.086Z,1749149309.086 [DAT](INFO): publishing transmit ping time
2025-06-05T18:48:29.087Z,1749149309.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-06-05T18:48:29.088Z,1749149309.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:29.337Z,1749149309.337 [DAT](INFO): DAT read: TxSync time:18:48:28.1296

2025-06-05T18:48:29.337Z,1749149309.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251560
2025-06-05T18:48:29.418Z,1749149309.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:29.589Z,1749149309.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503090
2025-06-05T18:48:29.824Z,1749149309.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:29.845Z,1749149309.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758413
2025-06-05T18:48:30.093Z,1749149310.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006666
2025-06-05T18:48:30.247Z,1749149310.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:30.345Z,1749149310.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258790
2025-06-05T18:48:30.597Z,1749149310.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860
2025-06-05T18:48:30.651Z,1749149310.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:30.849Z,1749149310.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762775
2025-06-05T18:48:31.041Z,1749149311.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:31.101Z,1749149311.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897
2025-06-05T18:48:31.353Z,1749149311.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266779
2025-06-05T18:48:31.416Z,1749149311.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:31.605Z,1749149311.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518679
2025-06-05T18:48:31.857Z,1749149311.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770778
2025-06-05T18:48:31.867Z,1749149311.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:32.110Z,1749149312.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024089
2025-06-05T18:48:32.309Z,1749149312.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:32.362Z,1749149312.362 [DAT](INFO): DAT read: Rx Time:18:48:30.6906

2025-06-05T18:48:32.362Z,1749149312.362 [DAT](INFO): Rx dataTimestamp_ set to:1749149312.361875
2025-06-05T18:48:32.363Z,1749149312.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277085
2025-06-05T18:48:32.617Z,1749149312.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530637
2025-06-05T18:48:32.709Z,1749149312.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:32.785Z,1749149312.785 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:48:32.878Z,1749149312.878 [DAT](INFO): DAT read: 18:48:30.6906 LVL= 25664, 24193, 22002, 32755, AGC= 66, IDX= 346, 0.02,-1.709, 0.441,-1.590,-1.037, PHS=-0.584, 1.526,-0.556, RAW= 329.3,  -3.7, CAL= 331.6,  -5.3, ROT= 178.4,   5.3

2025-06-05T18:48:32.879Z,1749149312.879 [DAT](INFO): got valid direction response:
 18:48:30.6906 LVL= 25664, 24193, 22002, 32755, AGC= 66, IDX= 346, 0.02,-1.709, 0.441,-1.590,-1.037, PHS=-0.584, 1.526,-0.556, RAW= 329.3,  -3.7, CAL= 331.6,  -5.3, ROT= 178.4,   5.3

2025-06-05T18:48:32.880Z,1749149312.880 [DAT](INFO): DAT read: $Error in header

2025-06-05T18:48:32.880Z,1749149312.880 [DAT](INFO): Received a bad header
2025-06-05T18:48:32.893Z,1749149312.893 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:48:32.897Z,1749149312.897 [DAT](INFO): direction in FSK: [-0.995336,0.027802,-0.092371]
2025-06-05T18:48:33.108Z,1749149313.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:33.438Z,1749149313.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:33.840Z,1749149313.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:34.279Z,1749149314.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:34.669Z,1749149314.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:35.103Z,1749149315.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:35.455Z,1749149315.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:35.859Z,1749149315.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:36.287Z,1749149316.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:36.695Z,1749149316.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:37.115Z,1749149317.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:37.477Z,1749149317.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:37.882Z,1749149317.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:38.349Z,1749149318.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:38.730Z,1749149318.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:39.168Z,1749149319.168 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:39.231Z,1749149319.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:39.566Z,1749149319.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:39.925Z,1749149319.925 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:48:39.925Z,1749149319.925 [DAT](INFO): response not received
2025-06-05T18:48:39.925Z,1749149319.925 [DAT](INFO): DAT read: user:2850>

2025-06-05T18:48:39.926Z,1749149319.926 [DAT](ERROR): No response from remote modem.
2025-06-05T18:48:40.057Z,1749149320.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:40.177Z,1749149320.177 [DAT](INFO): DAT read: Tx time:18:48:39.0805

2025-06-05T18:48:40.177Z,1749149320.177 [DAT](INFO): Ping request sent.
2025-06-05T18:48:40.177Z,1749149320.177 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:48:40.178Z,1749149320.178 [DAT](INFO): DAT read: TxSync time:18:48:39.0797

2025-06-05T18:48:40.178Z,1749149320.178 [DAT](INFO): publishing transmit ping time
2025-06-05T18:48:40.395Z,1749149320.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:40.772Z,1749149320.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:41.194Z,1749149321.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:41.586Z,1749149321.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:41.976Z,1749149321.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:42.432Z,1749149322.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:42.797Z,1749149322.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:43.213Z,1749149323.213 [DAT](INFO): DAT read: Rx Time:18:48:41.6963

2025-06-05T18:48:43.213Z,1749149323.213 [DAT](INFO): Rx dataTimestamp_ set to:1749149323.213181
2025-06-05T18:48:43.235Z,1749149323.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:43.595Z,1749149323.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:43.726Z,1749149323.726 [DAT](INFO): DAT read: 18:48:41.6963 LVL= 24672, 25393, 22770, 29971, AGC= 68, IDX=  23, 0.34,-2.313,-0.337,-2.248,-1.726, PHS=-0.499, 1.436,-0.525, RAW= 330.7,  -4.3, CAL= 332.9,  -6.0, ROT= 177.1,   6.0

2025-06-05T18:48:43.727Z,1749149323.727 [DAT](INFO): got valid direction response:
 18:48:41.6963 LVL= 24672, 25393, 22770, 29971, AGC= 68, IDX=  23, 0.34,-2.313,-0.337,-2.248,-1.726, PHS=-0.499, 1.436,-0.525, RAW= 330.7,  -4.3, CAL= 332.9,  -6.0, ROT= 177.1,   6.0

2025-06-05T18:48:43.728Z,1749149323.728 [DAT](INFO): DAT read: Bearing 177.1,   6.0 (Local)

2025-06-05T18:48:43.728Z,1749149323.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.1,   6.0 (Local)

2025-06-05T18:48:43.730Z,1749149323.730 [DAT](INFO): DAT read: Range 10 to 50 : 158.7 m  (Round-trip  211.7 ms) speed -0.1 m/s

2025-06-05T18:48:43.731Z,1749149323.731 [DAT](INFO): DAT read: user:2851>

2025-06-05T18:48:43.731Z,1749149323.731 [DAT](INFO): DAT read: Tx time:18:48:42.7805

2025-06-05T18:48:43.732Z,1749149323.732 [DAT](INFO): Ping request sent.
2025-06-05T18:48:43.732Z,1749149323.732 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:48:43.732Z,1749149323.732 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T18:48:43.733Z,1749149323.733 [DAT](INFO): direction in FSK: [-0.993248,0.050316,-0.104528]
2025-06-05T18:48:43.733Z,1749149323.733 [DAT](INFO): publishing transmit ping time
2025-06-05T18:48:43.734Z,1749149323.734 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:43.738Z,1749149323.738 [DAT](INFO): publishing transmit ping time
2025-06-05T18:48:43.738Z,1749149323.738 [DAT](INFO): publishing direction and range info
2025-06-05T18:48:43.969Z,1749149323.969 [DAT](INFO): DAT read: TxSync time:18:48:42.7797

2025-06-05T18:48:44.020Z,1749149324.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 158.699997 m,
 deltaT: 15.135372 s,
 deltaX: 80.699997 m,
 approachRate: 5.331881 m/s,
 rangeRepo size: 4
2025-06-05T18:48:44.021Z,1749149324.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:44.434Z,1749149324.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:44.814Z,1749149324.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:45.234Z,1749149325.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:45.630Z,1749149325.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:46.021Z,1749149326.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:46.461Z,1749149326.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:46.838Z,1749149326.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:46.993Z,1749149326.993 [DAT](INFO): DAT read: Rx Time:18:48:45.3973

2025-06-05T18:48:46.993Z,1749149326.993 [DAT](INFO): Rx dataTimestamp_ set to:1749149326.992799
2025-06-05T18:48:47.338Z,1749149327.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:47.497Z,1749149327.497 [DAT](INFO): DAT read: Range 10 to 50 : 159.4 m  (Round-trip  212.6 ms) speed -0.4 m/s

2025-06-05T18:48:47.498Z,1749149327.498 [DAT](INFO): DAT read: user:2852>

2025-06-05T18:48:47.499Z,1749149327.499 [DAT](INFO): DAT read: Tx time:18:48:46.4805

2025-06-05T18:48:47.499Z,1749149327.499 [DAT](INFO): Ping request sent.
2025-06-05T18:48:47.499Z,1749149327.499 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:48:47.500Z,1749149327.500 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-06-05T18:48:47.500Z,1749149327.500 [DAT](INFO): publishing transmit ping time
2025-06-05T18:48:47.500Z,1749149327.500 [DAT](INFO): publishing transmit ping time
2025-06-05T18:48:47.735Z,1749149327.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.399994 m,
      deltaT: 18.914493 s,
      deltaX: 81.399994 m,
      approachRate: 4.303578 m/s,
      rangeRepo size: 4

2025-06-05T18:48:47.735Z,1749149327.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.37 m.
2025-06-05T18:48:47.736Z,1749149327.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 159.40 m. Resuming terminal guidance.
2025-06-05T18:48:47.736Z,1749149327.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-05T18:48:47.749Z,1749149327.749 [DAT](INFO): DAT read: TxSync time:18:48:46.4797

2025-06-05T18:48:48.063Z,1749149328.063 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-05T18:48:48.063Z,1749149328.063 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T18:48:48.063Z,1749149328.063 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-05T18:48:48.065Z,1749149328.065 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 159.399994 m (mode  1.000000 count ).
2025-06-05T18:48:48.065Z,1749149328.065 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-05T18:48:48.065Z,1749149328.065 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-05T18:48:48.495Z,1749149328.495 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-05T18:48:48.495Z,1749149328.495 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-05T18:48:48.496Z,1749149328.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:48:48.504Z,1749149328.504 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:48:48.505Z,1749149328.505 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:48:48.505Z,1749149328.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:48.758Z,1749149328.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258353
2025-06-05T18:48:48.865Z,1749149328.865 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-05T18:48:48.866Z,1749149328.866 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-05T18:48:49.009Z,1749149329.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509906
2025-06-05T18:48:49.261Z,1749149329.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761316
2025-06-05T18:48:49.290Z,1749149329.290 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-05T18:48:49.291Z,1749149329.291 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T18:48:49.291Z,1749149329.291 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-05T18:48:49.292Z,1749149329.292 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-05T18:48:49.513Z,1749149329.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013558
2025-06-05T18:48:49.765Z,1749149329.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265916
2025-06-05T18:48:50.017Z,1749149330.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517275
2025-06-05T18:48:50.269Z,1749149330.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769425
2025-06-05T18:48:50.521Z,1749149330.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021297
2025-06-05T18:48:50.538Z,1749149330.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:48:50.773Z,1749149330.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273512
2025-06-05T18:48:51.028Z,1749149331.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527808
2025-06-05T18:48:51.276Z,1749149331.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777139
2025-06-05T18:48:51.529Z,1749149331.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029589
2025-06-05T18:48:51.782Z,1749149331.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282166
2025-06-05T18:48:52.033Z,1749149332.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533192
2025-06-05T18:48:52.287Z,1749149332.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787009
2025-06-05T18:48:52.537Z,1749149332.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037556
2025-06-05T18:48:52.772Z,1749149332.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:48:52.789Z,1749149332.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289188
2025-06-05T18:48:52.927Z,1749149332.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:48:53.042Z,1749149333.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542580
2025-06-05T18:48:53.295Z,1749149333.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795299
2025-06-05T18:48:53.545Z,1749149333.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045290
2025-06-05T18:48:53.776Z,1749149333.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:48:53.797Z,1749149333.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297462
2025-06-05T18:48:54.049Z,1749149334.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549706
2025-06-05T18:48:54.303Z,1749149334.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802826
2025-06-05T18:48:54.553Z,1749149334.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053254
2025-06-05T18:48:54.805Z,1749149334.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305397
2025-06-05T18:48:55.058Z,1749149335.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558525
2025-06-05T18:48:55.195Z,1749149335.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:48:55.309Z,1749149335.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809366
2025-06-05T18:48:55.562Z,1749149335.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062116
2025-06-05T18:48:55.813Z,1749149335.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313260
2025-06-05T18:48:56.066Z,1749149336.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566156
2025-06-05T18:48:56.318Z,1749149336.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818787
2025-06-05T18:48:56.569Z,1749149336.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069177
2025-06-05T18:48:56.825Z,1749149336.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324807
2025-06-05T18:48:57.073Z,1749149337.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573418
2025-06-05T18:48:57.325Z,1749149337.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826105
2025-06-05T18:48:57.415Z,1749149337.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:48:57.576Z,1749149337.576 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:57.577Z,1749149337.577 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:57.577Z,1749149337.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:57.828Z,1749149337.828 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:57.829Z,1749149337.829 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:57.829Z,1749149337.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:58.080Z,1749149338.080 [DAT](INFO): Reached modem response timeout
2025-06-05T18:48:58.081Z,1749149338.081 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:48:58.081Z,1749149338.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:48:58.337Z,1749149338.337 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:48:58.338Z,1749149338.338 [DAT](INFO): response not received
2025-06-05T18:48:58.342Z,1749149338.342 [DAT](INFO): DAT read: user:2853>

2025-06-05T18:48:58.349Z,1749149338.349 [DAT](INFO): DAT read: Tx time:18:48:57.4306

2025-06-05T18:48:58.349Z,1749149338.349 [DAT](INFO): Ping request sent.
2025-06-05T18:48:58.349Z,1749149338.349 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:48:58.349Z,1749149338.349 [DAT](INFO): publishing transmit ping time
2025-06-05T18:48:58.350Z,1749149338.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-06-05T18:48:58.585Z,1749149338.585 [DAT](INFO): DAT read: TxSync time:18:48:57.4298

2025-06-05T18:48:58.586Z,1749149338.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.236506
2025-06-05T18:48:58.838Z,1749149338.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.488753
2025-06-05T18:48:59.089Z,1749149339.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739578
2025-06-05T18:48:59.344Z,1749149339.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994391
2025-06-05T18:48:59.567Z,1749149339.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:48:59.593Z,1749149339.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243693
2025-06-05T18:48:59.848Z,1749149339.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498504
2025-06-05T18:49:00.097Z,1749149340.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747596
2025-06-05T18:49:00.352Z,1749149340.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002227
2025-06-05T18:49:00.601Z,1749149340.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251862
2025-06-05T18:49:00.853Z,1749149340.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503962
2025-06-05T18:49:01.105Z,1749149341.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755547
2025-06-05T18:49:01.360Z,1749149341.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010423
2025-06-05T18:49:01.609Z,1749149341.609 [DAT](INFO): DAT read: Rx Time:18:48:59.9744

2025-06-05T18:49:01.610Z,1749149341.610 [DAT](INFO): Rx dataTimestamp_ set to:1749149341.609551
2025-06-05T18:49:01.610Z,1749149341.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261364
2025-06-05T18:49:01.615Z,1749149341.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:01.861Z,1749149341.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511651
2025-06-05T18:49:02.119Z,1749149342.119 [DAT](INFO): DAT read: 18:48:59.9744 LVL= 15728, 18033, 16114, 19891, AGC= 62, IDX= 161, 0.16,-2.586,-1.851, 2.104,-2.999, PHS= 0.501, 1.195,-1.183, RAW=  13.5,  -4.9, CAL=  13.3,  -8.1, ROT= 136.7,   8.1

2025-06-05T18:49:02.120Z,1749149342.120 [DAT](INFO): got valid direction response:
 18:48:59.9744 LVL= 15728, 18033, 16114, 19891, AGC= 62, IDX= 161, 0.16,-2.586,-1.851, 2.104,-2.999, PHS= 0.501, 1.195,-1.183, RAW=  13.5,  -4.9, CAL=  13.3,  -8.1, ROT= 136.7,   8.1

2025-06-05T18:49:02.121Z,1749149342.121 [DAT](INFO): DAT read: Bearing 136.7,   8.1 (Local)

2025-06-05T18:49:02.121Z,1749149342.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.7,   8.1 (Local)

2025-06-05T18:49:02.123Z,1749149342.123 [DAT](INFO): DAT read: Range 10 to 50 : 104.6 m  (Round-trip  139.5 ms) speed -0.4 m/s

2025-06-05T18:49:02.125Z,1749149342.125 [DAT](INFO): DAT read: user:2854>

2025-06-05T18:49:02.126Z,1749149342.126 [DAT](INFO): DAT read: Tx time:18:49:01.0807

2025-06-05T18:49:02.126Z,1749149342.126 [DAT](INFO): Ping request sent.
2025-06-05T18:49:02.126Z,1749149342.126 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:02.126Z,1749149342.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:02.128Z,1749149342.128 [DAT](INFO): direction in FSK: [-0.720512,0.678976,-0.140901]
2025-06-05T18:49:02.129Z,1749149342.129 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:02.129Z,1749149342.129 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:02.132Z,1749149342.132 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:02.133Z,1749149342.133 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:02.368Z,1749149342.368 [DAT](INFO): DAT read: TxSync time:18:49:01.0799

2025-06-05T18:49:02.510Z,1749149342.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.599998 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-05T18:49:02.512Z,1749149342.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.757050 m,
      bearing: 56.935329 deg,
      lat: 36.906188 deg,
      lon: -122.116153 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-05T18:49:02.513Z,1749149342.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.76 m.
2025-06-05T18:49:02.516Z,1749149342.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 103.757050 m,
      nav range: 104.078384 m,
      bearing: 45.510627 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 46.934879 deg,
      new cmd heading: 45.510627 deg.

2025-06-05T18:49:02.516Z,1749149342.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794310 target range: 103.757050 and range: 104.60 m.
2025-06-05T18:49:02.796Z,1749149342.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.76 m.
2025-06-05T18:49:02.798Z,1749149342.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 103.757050 m,
      nav range: 104.204491 m,
      bearing: 45.581863 deg,
      approach rate: 0.436177 m/s,
      LOS rate: 0.246093 deg/s,
      cmd heading: 45.510626 deg,
      new cmd heading: 45.581863 deg.

2025-06-05T18:49:02.799Z,1749149342.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795554 target range: 103.757050 and range: 104.60 m.
2025-06-05T18:49:03.227Z,1749149343.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.76 m.
2025-06-05T18:49:03.230Z,1749149343.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 103.757050 m,
      nav range: 104.383347 m,
      bearing: 45.682451 deg,
      approach rate: 0.414646 m/s,
      LOS rate: 0.232797 deg/s,
      cmd heading: 45.581862 deg,
      new cmd heading: 45.682451 deg.

2025-06-05T18:49:03.230Z,1749149343.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797309 target range: 103.757050 and range: 104.60 m.
2025-06-05T18:49:03.632Z,1749149343.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:03.634Z,1749149343.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.76 m.
2025-06-05T18:49:03.661Z,1749149343.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 103.757050 m,
      nav range: 104.556015 m,
      bearing: 45.778542 deg,
      approach rate: 0.424190 m/s,
      LOS rate: 0.235675 deg/s,
      cmd heading: 45.682450 deg,
      new cmd heading: 45.778542 deg.

2025-06-05T18:49:03.661Z,1749149343.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798986 target range: 103.757050 and range: 104.60 m.
2025-06-05T18:49:03.881Z,1749149343.881 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:03.881Z,1749149343.881 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:03.882Z,1749149343.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:04.005Z,1749149344.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.76 m.
2025-06-05T18:49:04.009Z,1749149344.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 103.757050 m,
      nav range: 104.693199 m,
      bearing: 45.870702 deg,
      approach rate: 0.369882 m/s,
      LOS rate: 0.248159 deg/s,
      cmd heading: 45.778544 deg,
      new cmd heading: 45.870702 deg.

2025-06-05T18:49:04.010Z,1749149344.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800595 target range: 103.757050 and range: 104.60 m.
2025-06-05T18:49:04.133Z,1749149344.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006371
2025-06-05T18:49:04.388Z,1749149344.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261322
2025-06-05T18:49:04.520Z,1749149344.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.76 m.
2025-06-05T18:49:04.522Z,1749149344.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 103.757050 m,
      nav range: 104.857498 m,
      bearing: 45.992188 deg,
      approach rate: 0.329572 m/s,
      LOS rate: 0.243309 deg/s,
      cmd heading: 45.870704 deg,
      new cmd heading: 45.992188 deg.

2025-06-05T18:49:04.524Z,1749149344.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802715 target range: 103.757050 and range: 104.60 m.
2025-06-05T18:49:04.637Z,1749149344.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510475
2025-06-05T18:49:04.835Z,1749149344.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.76 m.
2025-06-05T18:49:04.842Z,1749149344.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 103.757050 m,
      nav range: 104.960510 m,
      bearing: 46.073225 deg,
      approach rate: 0.310811 m/s,
      LOS rate: 0.244268 deg/s,
      cmd heading: 45.992189 deg,
      new cmd heading: 46.073225 deg.

2025-06-05T18:49:04.843Z,1749149344.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804129 target range: 103.757050 and range: 104.60 m.
2025-06-05T18:49:04.889Z,1749149344.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762541
2025-06-05T18:49:05.142Z,1749149345.142 [DAT](INFO): DAT read: Rx Time:18:49:03.6263

2025-06-05T18:49:05.142Z,1749149345.142 [DAT](INFO): Rx dataTimestamp_ set to:1749149345.141794
2025-06-05T18:49:05.143Z,1749149345.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016442
2025-06-05T18:49:05.242Z,1749149345.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.76 m.
2025-06-05T18:49:05.249Z,1749149345.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 103.757050 m,
      nav range: 105.082008 m,
      bearing: 46.174983 deg,
      approach rate: 0.298232 m/s,
      LOS rate: 0.249488 deg/s,
      cmd heading: 46.073225 deg,
      new cmd heading: 46.174983 deg.

2025-06-05T18:49:05.250Z,1749149345.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805905 target range: 103.757050 and range: 104.60 m.
2025-06-05T18:49:05.397Z,1749149345.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270024
2025-06-05T18:49:05.650Z,1749149345.650 [DAT](INFO): DAT read: 18:49:03.6263 LVL= 18640, 19441, 20514, 28467, AGC= 62, IDX= 453,-0.11,-1.226,-1.626, 2.929,-2.284, PHS= 1.146, 0.705,-1.073, RAW=  40.8,  -7.7, CAL=  43.9, -13.3, ROT= 106.1,  13.3

2025-06-05T18:49:05.651Z,1749149345.651 [DAT](INFO): got valid direction response:
 18:49:03.6263 LVL= 18640, 19441, 20514, 28467, AGC= 62, IDX= 453,-0.11,-1.226,-1.626, 2.929,-2.284, PHS= 1.146, 0.705,-1.073, RAW=  40.8,  -7.7, CAL=  43.9, -13.3, ROT= 106.1,  13.3

2025-06-05T18:49:05.652Z,1749149345.652 [DAT](INFO): DAT read: Bearing 106.1,  13.3 (Local)

2025-06-05T18:49:05.652Z,1749149345.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 106.1,  13.3 (Local)

2025-06-05T18:49:05.654Z,1749149345.654 [DAT](INFO): DAT read: Range 10 to 50 : 106.1 m  (Round-trip  141.5 ms) speed -0.2 m/s

2025-06-05T18:49:05.655Z,1749149345.655 [DAT](INFO): DAT read: user:2855>

2025-06-05T18:49:05.655Z,1749149345.655 [DAT](INFO): DAT read: Tx time:18:49:04.7307

2025-06-05T18:49:05.656Z,1749149345.656 [DAT](INFO): Ping request sent.
2025-06-05T18:49:05.656Z,1749149345.656 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:05.656Z,1749149345.656 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:05.658Z,1749149345.658 [DAT](INFO): direction in FSK: [-0.269877,0.935010,-0.230050]
2025-06-05T18:49:05.659Z,1749149345.659 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:05.659Z,1749149345.659 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:05.662Z,1749149345.662 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:05.662Z,1749149345.662 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:05.809Z,1749149345.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.099998 m,
      deltaT: 3.531452 s,
      deltaX: 1.500000 m,
      approachRate: 0.424754 m/s,
      rangeRepo size: 2

2025-06-05T18:49:05.826Z,1749149345.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.244942 m,
      bearing: 38.951543 deg,
      lat: 36.906193 deg,
      lon: -122.116154 deg,
      deltaT: 3.531452 s,
      deltaX: 1.487892 m,
      approachRate: 0.421326 m/s,
      posRepo size: 2

2025-06-05T18:49:05.827Z,1749149345.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:05.834Z,1749149345.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.534767 m,
      bearing: 46.092197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.249488 deg/s,
      cmd heading: 46.174982 deg,
      new cmd heading: 46.595048 deg.

2025-06-05T18:49:05.835Z,1749149345.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813237 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:05.898Z,1749149345.898 [DAT](INFO): DAT read: TxSync time:18:49:04.7299

2025-06-05T18:49:06.131Z,1749149346.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:06.145Z,1749149346.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:06.149Z,1749149346.149 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:06.149Z,1749149346.149 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:06.150Z,1749149346.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:06.153Z,1749149346.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.624725 m,
      bearing: 46.185236 deg,
      approach rate: 0.263183 m/s,
      LOS rate: 0.271966 deg/s,
      cmd heading: 46.595048 deg,
      new cmd heading: 46.873927 deg.

2025-06-05T18:49:06.154Z,1749149346.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818104 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:06.404Z,1749149346.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748013
2025-06-05T18:49:06.577Z,1749149346.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:06.579Z,1749149346.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.704803 m,
      bearing: 46.306219 deg,
      approach rate: 0.185631 m/s,
      LOS rate: 0.280241 deg/s,
      cmd heading: 46.873929 deg,
      new cmd heading: 47.236597 deg.

2025-06-05T18:49:06.584Z,1749149346.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824434 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:06.654Z,1749149346.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997822
2025-06-05T18:49:06.905Z,1749149346.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248835
2025-06-05T18:49:06.948Z,1749149346.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:06.959Z,1749149346.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.765106 m,
      bearing: 46.405786 deg,
      approach rate: 0.171833 m/s,
      LOS rate: 0.283554 deg/s,
      cmd heading: 47.236598 deg,
      new cmd heading: 47.535126 deg.

2025-06-05T18:49:06.964Z,1749149346.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829644 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:07.158Z,1749149347.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502735
2025-06-05T18:49:07.330Z,1749149347.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:07.333Z,1749149347.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.827759 m,
      bearing: 46.518912 deg,
      approach rate: 0.155760 m/s,
      LOS rate: 0.281073 deg/s,
      cmd heading: 47.535125 deg,
      new cmd heading: 47.874297 deg.

2025-06-05T18:49:07.334Z,1749149347.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835564 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:07.417Z,1749149347.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759707
2025-06-05T18:49:07.661Z,1749149347.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005096
2025-06-05T18:49:07.781Z,1749149347.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:07.784Z,1749149347.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.889656 m,
      bearing: 46.651319 deg,
      approach rate: 0.137243 m/s,
      LOS rate: 0.293410 deg/s,
      cmd heading: 47.874295 deg,
      new cmd heading: 48.271277 deg.

2025-06-05T18:49:07.785Z,1749149347.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842493 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:07.913Z,1749149347.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257320
2025-06-05T18:49:08.139Z,1749149348.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:08.159Z,1749149348.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:08.165Z,1749149348.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508971
2025-06-05T18:49:08.167Z,1749149348.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.933311 m,
      bearing: 46.756734 deg,
      approach rate: 0.115550 m/s,
      LOS rate: 0.278905 deg/s,
      cmd heading: 48.271276 deg,
      new cmd heading: 48.587387 deg.

2025-06-05T18:49:08.176Z,1749149348.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.848010 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:08.418Z,1749149348.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761436
2025-06-05T18:49:08.588Z,1749149348.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:08.593Z,1749149348.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.966232 m,
      bearing: 46.860551 deg,
      approach rate: 0.076604 m/s,
      LOS rate: 0.241497 deg/s,
      cmd heading: 48.587387 deg,
      new cmd heading: 48.898739 deg.

2025-06-05T18:49:08.594Z,1749149348.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.853444 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:08.669Z,1749149348.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013120
2025-06-05T18:49:08.921Z,1749149348.921 [DAT](INFO): DAT read: Rx Time:18:49:07.2773

2025-06-05T18:49:08.921Z,1749149348.921 [DAT](INFO): Rx dataTimestamp_ set to:1749149348.920810
2025-06-05T18:49:08.922Z,1749149348.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265889
2025-06-05T18:49:08.994Z,1749149348.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:08.997Z,1749149348.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 105.986259 m,
      bearing: 46.953447 deg,
      approach rate: 0.049409 m/s,
      LOS rate: 0.229140 deg/s,
      cmd heading: 48.898738 deg,
      new cmd heading: 49.177372 deg.

2025-06-05T18:49:08.998Z,1749149348.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858307 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:09.174Z,1749149349.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517569
2025-06-05T18:49:09.352Z,1749149349.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.24 m.
2025-06-05T18:49:09.354Z,1749149349.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.244942 m,
      nav range: 106.000252 m,
      bearing: 47.036699 deg,
      approach rate: 0.039106 m/s,
      LOS rate: 0.232643 deg/s,
      cmd heading: 49.177372 deg,
      new cmd heading: 49.427094 deg.

2025-06-05T18:49:09.355Z,1749149349.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862666 target range: 105.244942 and range: 106.10 m.
2025-06-05T18:49:09.469Z,1749149349.469 [DAT](INFO): DAT read: 18:49:07.2773 LVL= 17616, 25681, 21554, 30755, AGC= 63, IDX= 431, 0.14, 1.574, 0.665,-0.802, 0.174, PHS= 1.488, 0.539,-0.978, RAW=  52.4,  -9.8, CAL=  59.9, -16.9, ROT=  90.1,  16.9

2025-06-05T18:49:09.489Z,1749149349.489 [DAT](INFO): got valid direction response:
 18:49:07.2773 LVL= 17616, 25681, 21554, 30755, AGC= 63, IDX= 431, 0.14, 1.574, 0.665,-0.802, 0.174, PHS= 1.488, 0.539,-0.978, RAW=  52.4,  -9.8, CAL=  59.9, -16.9, ROT=  90.1,  16.9

2025-06-05T18:49:09.502Z,1749149349.502 [DAT](INFO): DAT read: Bearing  90.1,  16.9 (Local)

2025-06-05T18:49:09.502Z,1749149349.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.1,  16.9 (Local)

2025-06-05T18:49:09.509Z,1749149349.509 [DAT](INFO): DAT read: Range 10 to 50 : 106.8 m  (Round-trip  142.4 ms) speed -0.2 m/s

2025-06-05T18:49:09.510Z,1749149349.510 [DAT](INFO): DAT read: user:2856>

2025-06-05T18:49:09.516Z,1749149349.516 [DAT](INFO): DAT read: Tx time:18:49:08.3807

2025-06-05T18:49:09.517Z,1749149349.517 [DAT](INFO): Ping request sent.
2025-06-05T18:49:09.517Z,1749149349.517 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:09.518Z,1749149349.518 [DAT](INFO): DAT read: TxSync time:18:49:08.3799

2025-06-05T18:49:09.519Z,1749149349.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:09.525Z,1749149349.525 [DAT](INFO): direction in FSK: [-0.001670,0.956812,-0.290702]
2025-06-05T18:49:09.526Z,1749149349.526 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:09.526Z,1749149349.526 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:09.533Z,1749149349.533 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:09.533Z,1749149349.533 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:09.834Z,1749149349.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.800003 m,
      deltaT: 3.782085 s,
      deltaX: 0.700005 m,
      approachRate: 0.185084 m/s,
      rangeRepo size: 3

2025-06-05T18:49:09.842Z,1749149349.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.939598 m,
      bearing: 42.909095 deg,
      lat: 36.906243 deg,
      lon: -122.116154 deg,
      deltaT: 3.782085 s,
      deltaX: 0.694656 m,
      approachRate: 0.183670 m/s,
      posRepo size: 3

2025-06-05T18:49:09.842Z,1749149349.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m.
2025-06-05T18:49:09.850Z,1749149349.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.939598 m,
      nav range: 109.852943 m,
      bearing: 45.074487 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.232643 deg/s,
      cmd heading: 49.427094 deg,
      new cmd heading: 49.763308 deg.

2025-06-05T18:49:09.850Z,1749149349.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868534 target range: 105.939598 and range: 106.80 m.
2025-06-05T18:49:10.158Z,1749149350.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:10.161Z,1749149350.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m.
2025-06-05T18:49:10.163Z,1749149350.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.939598 m,
      nav range: 109.847694 m,
      bearing: 45.187394 deg,
      approach rate: -0.016038 m/s,
      LOS rate: 0.344998 deg/s,
      cmd heading: 49.763307 deg,
      new cmd heading: 50.102041 deg.

2025-06-05T18:49:10.165Z,1749149350.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874446 target range: 105.939598 and range: 106.80 m.
2025-06-05T18:49:10.184Z,1749149350.184 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:10.184Z,1749149350.184 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:10.185Z,1749149350.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:10.437Z,1749149350.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.919844
2025-06-05T18:49:10.625Z,1749149350.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m.
2025-06-05T18:49:10.628Z,1749149350.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.939598 m,
      nav range: 109.837669 m,
      bearing: 45.338721 deg,
      approach rate: -0.021684 m/s,
      LOS rate: 0.327355 deg/s,
      cmd heading: 50.102040 deg,
      new cmd heading: 50.556054 deg.

2025-06-05T18:49:10.629Z,1749149350.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.882370 target range: 105.939598 and range: 106.80 m.
2025-06-05T18:49:10.690Z,1749149350.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.173290
2025-06-05T18:49:10.942Z,1749149350.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.424791
2025-06-05T18:49:10.983Z,1749149350.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m.
2025-06-05T18:49:10.986Z,1749149350.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.939598 m,
      nav range: 109.830444 m,
      bearing: 45.455710 deg,
      approach rate: -0.020071 m/s,
      LOS rate: 0.325016 deg/s,
      cmd heading: 50.556053 deg,
      new cmd heading: 50.907038 deg.

2025-06-05T18:49:10.987Z,1749149350.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888495 target range: 105.939598 and range: 106.80 m.
2025-06-05T18:49:11.193Z,1749149351.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.676039
2025-06-05T18:49:11.376Z,1749149351.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m.
2025-06-05T18:49:11.379Z,1749149351.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.939598 m,
      nav range: 109.802620 m,
      bearing: 45.582857 deg,
      approach rate: -0.070720 m/s,
      LOS rate: 0.323244 deg/s,
      cmd heading: 50.907039 deg,
      new cmd heading: 51.288570 deg.

2025-06-05T18:49:11.380Z,1749149351.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895154 target range: 105.939598 and range: 106.80 m.
2025-06-05T18:49:11.446Z,1749149351.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.929484
2025-06-05T18:49:11.697Z,1749149351.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180529
2025-06-05T18:49:11.825Z,1749149351.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m.
2025-06-05T18:49:11.832Z,1749149351.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.939598 m,
      nav range: 109.767960 m,
      bearing: 45.719343 deg,
      approach rate: -0.077250 m/s,
      LOS rate: 0.304291 deg/s,
      cmd heading: 51.288570 deg,
      new cmd heading: 51.698150 deg.

2025-06-05T18:49:11.833Z,1749149351.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902303 target range: 105.939598 and range: 106.80 m.
2025-06-05T18:49:11.949Z,1749149351.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.431893
2025-06-05T18:49:12.193Z,1749149352.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:12.198Z,1749149352.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m.
2025-06-05T18:49:12.201Z,1749149352.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684076
2025-06-05T18:49:12.202Z,1749149352.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.939598 m,
      nav range: 109.731407 m,
      bearing: 45.838801 deg,
      approach rate: -0.098033 m/s,
      LOS rate: 0.320491 deg/s,
      cmd heading: 51.698149 deg,
      new cmd heading: 52.056638 deg.

2025-06-05T18:49:12.203Z,1749149352.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908560 target range: 105.939598 and range: 106.80 m.
2025-06-05T18:49:12.453Z,1749149352.453 [DAT](INFO): DAT read: Rx Time:18:49:10.9280

2025-06-05T18:49:12.455Z,1749149352.455 [DAT](INFO): Rx dataTimestamp_ set to:1749149352.453704
2025-06-05T18:49:12.456Z,1749149352.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939138
2025-06-05T18:49:12.644Z,1749149352.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m.
2025-06-05T18:49:12.647Z,1749149352.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.939598 m,
      nav range: 109.686340 m,
      bearing: 45.988406 deg,
      approach rate: -0.100941 m/s,
      LOS rate: 0.335224 deg/s,
      cmd heading: 52.056639 deg,
      new cmd heading: 52.505629 deg.

2025-06-05T18:49:12.648Z,1749149352.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.916396 target range: 105.939598 and range: 106.80 m.
2025-06-05T18:49:12.706Z,1749149352.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.189195
2025-06-05T18:49:12.964Z,1749149352.964 [DAT](INFO): DAT read: 18:49:10.9280 LVL= 22160, 25969, 27346, 32755, AGC= 65, IDX= 437, 0.38,-1.371,-2.078, 2.953,-2.421, PHS= 1.139, 0.390,-0.912, RAW=  51.1,  -6.9, CAL=  56.3, -12.6, ROT=  93.7,  12.6

2025-06-05T18:49:12.965Z,1749149352.965 [DAT](INFO): got valid direction response:
 18:49:10.9280 LVL= 22160, 25969, 27346, 32755, AGC= 65, IDX= 437, 0.38,-1.371,-2.078, 2.953,-2.421, PHS= 1.139, 0.390,-0.912, RAW=  51.1,  -6.9, CAL=  56.3, -12.6, ROT=  93.7,  12.6

2025-06-05T18:49:12.966Z,1749149352.966 [DAT](INFO): DAT read: Bearing  93.7,  12.6 (Local)

2025-06-05T18:49:12.966Z,1749149352.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.7,  12.6 (Local)

2025-06-05T18:49:12.968Z,1749149352.968 [DAT](INFO): DAT read: Range 10 to 50 : 107.2 m  (Round-trip  143.0 ms) speed  0.0 m/s

2025-06-05T18:49:12.969Z,1749149352.969 [DAT](INFO): DAT read: user:2857>

2025-06-05T18:49:12.969Z,1749149352.969 [DAT](INFO): DAT read: Tx time:18:49:12.0308

2025-06-05T18:49:12.970Z,1749149352.970 [DAT](INFO): Ping request sent.
2025-06-05T18:49:12.970Z,1749149352.970 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:12.970Z,1749149352.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:12.971Z,1749149352.971 [DAT](INFO): direction in FSK: [-0.062978,0.973883,-0.218143]
2025-06-05T18:49:12.972Z,1749149352.972 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:12.972Z,1749149352.972 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:12.977Z,1749149352.977 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:12.977Z,1749149352.977 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:13.100Z,1749149353.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.199997 m,
      deltaT: 3.530623 s,
      deltaX: 0.399994 m,
      approachRate: 0.113293 m/s,
      rangeRepo size: 4

2025-06-05T18:49:13.109Z,1749149353.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.336250 m,
      bearing: 59.288312 deg,
      lat: 36.906243 deg,
      lon: -122.116016 deg,
      deltaT: 3.530623 s,
      deltaX: 0.396652 m,
      approachRate: 0.112346 m/s,
      posRepo size: 4

2025-06-05T18:49:13.110Z,1749149353.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:13.117Z,1749149353.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.814255 m,
      bearing: 50.238502 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.335224 deg/s,
      cmd heading: 52.505628 deg,
      new cmd heading: 52.958882 deg.

2025-06-05T18:49:13.118Z,1749149353.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924307 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:13.209Z,1749149353.209 [DAT](INFO): DAT read: TxSync time:18:49:12.0300

2025-06-05T18:49:13.420Z,1749149353.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:13.424Z,1749149353.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.777603 m,
      bearing: 50.345604 deg,
      approach rate: -0.112671 m/s,
      LOS rate: 0.329346 deg/s,
      cmd heading: 52.958883 deg,
      new cmd heading: 53.280286 deg.

2025-06-05T18:49:13.425Z,1749149353.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929916 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:13.866Z,1749149353.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:13.875Z,1749149353.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.739349 m,
      bearing: 50.459203 deg,
      approach rate: -0.085786 m/s,
      LOS rate: 0.254834 deg/s,
      cmd heading: 53.280287 deg,
      new cmd heading: 53.621190 deg.

2025-06-05T18:49:13.880Z,1749149353.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.935866 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:14.234Z,1749149354.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:14.237Z,1749149354.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:14.239Z,1749149354.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.696861 m,
      bearing: 50.568176 deg,
      approach rate: -0.114744 m/s,
      LOS rate: 0.294399 deg/s,
      cmd heading: 53.621189 deg,
      new cmd heading: 53.948221 deg.

2025-06-05T18:49:14.242Z,1749149354.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.941574 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:14.468Z,1749149354.468 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:14.469Z,1749149354.469 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:14.469Z,1749149354.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:14.681Z,1749149354.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:14.683Z,1749149354.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.656044 m,
      bearing: 50.667055 deg,
      approach rate: -0.091934 m/s,
      LOS rate: 0.222785 deg/s,
      cmd heading: 53.948222 deg,
      new cmd heading: 54.244958 deg.

2025-06-05T18:49:14.688Z,1749149354.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.946753 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:14.722Z,1749149354.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751764
2025-06-05T18:49:14.973Z,1749149354.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002858
2025-06-05T18:49:15.047Z,1749149355.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:15.054Z,1749149355.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.613846 m,
      bearing: 50.756784 deg,
      approach rate: -0.115084 m/s,
      LOS rate: 0.244799 deg/s,
      cmd heading: 54.244959 deg,
      new cmd heading: 54.514241 deg.

2025-06-05T18:49:15.055Z,1749149355.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.951453 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:15.226Z,1749149355.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256406
2025-06-05T18:49:15.430Z,1749149355.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:15.433Z,1749149355.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.563263 m,
      bearing: 50.852743 deg,
      approach rate: -0.132255 m/s,
      LOS rate: 0.251002 deg/s,
      cmd heading: 54.514240 deg,
      new cmd heading: 54.802236 deg.

2025-06-05T18:49:15.434Z,1749149355.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956479 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:15.479Z,1749149355.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509235
2025-06-05T18:49:15.733Z,1749149355.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762803
2025-06-05T18:49:15.911Z,1749149355.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:15.918Z,1749149355.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.498093 m,
      bearing: 50.969014 deg,
      approach rate: -0.135323 m/s,
      LOS rate: 0.241564 deg/s,
      cmd heading: 54.802235 deg,
      new cmd heading: 55.151234 deg.

2025-06-05T18:49:15.919Z,1749149355.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962571 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:15.986Z,1749149355.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015790
2025-06-05T18:49:16.235Z,1749149356.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:16.237Z,1749149356.237 [DAT](INFO): DAT read: Rx Time:18:49:14.5781

2025-06-05T18:49:16.237Z,1749149356.237 [DAT](INFO): Rx dataTimestamp_ set to:1749149356.236937
2025-06-05T18:49:16.238Z,1749149356.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267944
2025-06-05T18:49:16.241Z,1749149356.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.448250 m,
      bearing: 51.049802 deg,
      approach rate: -0.154119 m/s,
      LOS rate: 0.249912 deg/s,
      cmd heading: 55.151233 deg,
      new cmd heading: 55.393700 deg.

2025-06-05T18:49:16.242Z,1749149356.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.966802 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:16.489Z,1749149356.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519243
2025-06-05T18:49:16.704Z,1749149356.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:16.713Z,1749149356.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.34 m.
2025-06-05T18:49:16.721Z,1749149356.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.336250 m,
      nav range: 118.385841 m,
      bearing: 51.150321 deg,
      approach rate: -0.131933 m/s,
      LOS rate: 0.212610 deg/s,
      cmd heading: 55.393698 deg,
      new cmd heading: 55.695409 deg.

2025-06-05T18:49:16.722Z,1749149356.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972068 target range: 106.336250 and range: 107.20 m.
2025-06-05T18:49:16.748Z,1749149356.748 [DAT](INFO): DAT read: 18:49:14.5781 LVL= 15056, 26705, 18866, 23747, AGC= 61, IDX= 437, 0.19, 2.683, 1.412, 0.440, 1.071, PHS= 1.700, 0.387,-0.634, RAW=  64.1, -14.2, CAL=  76.0, -22.7, ROT=  74.0,  22.7

2025-06-05T18:49:16.749Z,1749149356.749 [DAT](INFO): got valid direction response:
 18:49:14.5781 LVL= 15056, 26705, 18866, 23747, AGC= 61, IDX= 437, 0.19, 2.683, 1.412, 0.440, 1.071, PHS= 1.700, 0.387,-0.634, RAW=  64.1, -14.2, CAL=  76.0, -22.7, ROT=  74.0,  22.7

2025-06-05T18:49:16.750Z,1749149356.750 [DAT](INFO): DAT read: Bearing  74.0,  22.7 (Local)

2025-06-05T18:49:16.750Z,1749149356.750 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.0,  22.7 (Local)

2025-06-05T18:49:16.753Z,1749149356.753 [DAT](INFO): DAT read: Range 10 to 50 : 107.3 m  (Round-trip  143.1 ms) speed  0.0 m/s

2025-06-05T18:49:16.755Z,1749149356.755 [DAT](INFO): DAT read: user:2858>

2025-06-05T18:49:16.760Z,1749149356.760 [DAT](INFO): DAT read: Tx time:18:49:15.6808

2025-06-05T18:49:16.761Z,1749149356.761 [DAT](INFO): Ping request sent.
2025-06-05T18:49:16.761Z,1749149356.761 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:16.761Z,1749149356.761 [DAT](INFO): DAT read: TxSync time:18:49:15.6800

2025-06-05T18:49:16.762Z,1749149356.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:16.763Z,1749149356.763 [DAT](INFO): direction in FSK: [0.254286,0.886801,-0.385906]
2025-06-05T18:49:16.763Z,1749149356.763 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:16.772Z,1749149356.772 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:16.785Z,1749149356.785 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:16.785Z,1749149356.785 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:17.093Z,1749149357.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.300003 m,
      deltaT: 3.784755 s,
      deltaX: 0.100006 m,
      approachRate: 0.026423 m/s,
      rangeRepo size: 4

2025-06-05T18:49:17.100Z,1749149357.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.434433 m,
      bearing: 56.357533 deg,
      lat: 36.906102 deg,
      lon: -122.116066 deg,
      deltaT: 3.784755 s,
      deltaX: 0.098183 m,
      approachRate: 0.025942 m/s,
      posRepo size: 4

2025-06-05T18:49:17.100Z,1749149357.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-06-05T18:49:17.103Z,1749149357.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.434433 m,
      nav range: 105.483612 m,
      bearing: 56.357145 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.212610 deg/s,
      cmd heading: 55.695408 deg,
      new cmd heading: 55.941013 deg.

2025-06-05T18:49:17.109Z,1749149357.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976355 target range: 106.434433 and range: 107.30 m.
2025-06-05T18:49:17.449Z,1749149357.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-06-05T18:49:17.452Z,1749149357.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.434433 m,
      nav range: 105.436836 m,
      bearing: 56.457374 deg,
      approach rate: -0.131197 m/s,
      LOS rate: 0.281249 deg/s,
      cmd heading: 55.941011 deg,
      new cmd heading: 56.241830 deg.

2025-06-05T18:49:17.453Z,1749149357.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.981605 target range: 106.434433 and range: 107.30 m.
2025-06-05T18:49:17.895Z,1749149357.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-06-05T18:49:17.898Z,1749149357.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.434433 m,
      nav range: 105.381668 m,
      bearing: 56.580289 deg,
      approach rate: -0.123875 m/s,
      LOS rate: 0.276139 deg/s,
      cmd heading: 56.241830 deg,
      new cmd heading: 56.610763 deg.

2025-06-05T18:49:17.898Z,1749149357.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988044 target range: 106.434433 and range: 107.30 m.
2025-06-05T18:49:18.265Z,1749149358.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-06-05T18:49:18.268Z,1749149358.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.434433 m,
      nav range: 105.325584 m,
      bearing: 56.680873 deg,
      approach rate: -0.151426 m/s,
      LOS rate: 0.271723 deg/s,
      cmd heading: 56.610763 deg,
      new cmd heading: 56.912673 deg.

2025-06-05T18:49:18.269Z,1749149358.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993314 target range: 106.434433 and range: 107.30 m.
2025-06-05T18:49:18.748Z,1749149358.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:18.750Z,1749149358.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-06-05T18:49:18.757Z,1749149358.757 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:18.758Z,1749149358.758 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:18.758Z,1749149358.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:18.765Z,1749149358.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.434433 m,
      nav range: 105.244614 m,
      bearing: 56.810684 deg,
      approach rate: -0.166824 m/s,
      LOS rate: 0.267655 deg/s,
      cmd heading: 56.912674 deg,
      new cmd heading: 57.302400 deg.

2025-06-05T18:49:18.766Z,1749149358.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000116 target range: 106.434433 and range: 107.30 m.
2025-06-05T18:49:19.009Z,1749149359.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248599
2025-06-05T18:49:19.085Z,1749149359.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-06-05T18:49:19.092Z,1749149359.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.434433 m,
      nav range: 105.183533 m,
      bearing: 56.901237 deg,
      approach rate: -0.182366 m/s,
      LOS rate: 0.270515 deg/s,
      cmd heading: 57.302398 deg,
      new cmd heading: 57.574211 deg.

2025-06-05T18:49:19.093Z,1749149359.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.004860 target range: 106.434433 and range: 107.30 m.
2025-06-05T18:49:19.261Z,1749149359.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499767
2025-06-05T18:49:19.489Z,1749149359.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-06-05T18:49:19.494Z,1749149359.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.434433 m,
      nav range: 105.109093 m,
      bearing: 57.012283 deg,
      approach rate: -0.184401 m/s,
      LOS rate: 0.275277 deg/s,
      cmd heading: 57.574212 deg,
      new cmd heading: 57.907584 deg.

2025-06-05T18:49:19.494Z,1749149359.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.010678 target range: 106.434433 and range: 107.30 m.
2025-06-05T18:49:19.514Z,1749149359.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753553
2025-06-05T18:49:19.765Z,1749149359.765 [DAT](INFO): DAT read: Rx Time:18:49:18.2269

2025-06-05T18:49:19.765Z,1749149359.765 [DAT](INFO): Rx dataTimestamp_ set to:1749149359.764902
2025-06-05T18:49:19.766Z,1749149359.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004959
2025-06-05T18:49:19.912Z,1749149359.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.43 m.
2025-06-05T18:49:19.915Z,1749149359.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.434433 m,
      nav range: 105.028435 m,
      bearing: 57.131107 deg,
      approach rate: -0.190859 m/s,
      LOS rate: 0.281386 deg/s,
      cmd heading: 57.907587 deg,
      new cmd heading: 58.264327 deg.

2025-06-05T18:49:19.932Z,1749149359.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016904 target range: 106.434433 and range: 107.30 m.
2025-06-05T18:49:20.018Z,1749149360.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256883
2025-06-05T18:49:20.276Z,1749149360.276 [DAT](INFO): DAT read: 18:49:18.2269 LVL= 19008, 32753, 21794, 31843, AGC= 60, IDX= 426, 0.43,-0.883,-2.552,-2.680,-2.117, PHS= 1.322,-0.388,-0.566, RAW=  85.1,  -4.1, CAL=  93.5, -11.0, ROT=  56.5,  11.0

2025-06-05T18:49:20.277Z,1749149360.277 [DAT](INFO): got valid direction response:
 18:49:18.2269 LVL= 19008, 32753, 21794, 31843, AGC= 60, IDX= 426, 0.43,-0.883,-2.552,-2.680,-2.117, PHS= 1.322,-0.388,-0.566, RAW=  85.1,  -4.1, CAL=  93.5, -11.0, ROT=  56.5,  11.0

2025-06-05T18:49:20.278Z,1749149360.278 [DAT](INFO): DAT read: Bearing  56.5,  11.0 (Local)

2025-06-05T18:49:20.278Z,1749149360.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.5,  11.0 (Local)

2025-06-05T18:49:20.280Z,1749149360.280 [DAT](INFO): DAT read: Range 10 to 50 : 106.4 m  (Round-trip  141.9 ms) speed  0.3 m/s

2025-06-05T18:49:20.281Z,1749149360.281 [DAT](INFO): DAT read: user:2859>

2025-06-05T18:49:20.282Z,1749149360.282 [DAT](INFO): DAT read: Tx time:18:49:19.3308

2025-06-05T18:49:20.282Z,1749149360.282 [DAT](INFO): Ping request sent.
2025-06-05T18:49:20.282Z,1749149360.282 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:20.282Z,1749149360.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:20.283Z,1749149360.283 [DAT](INFO): direction in FSK: [0.541796,0.818565,-0.190809]
2025-06-05T18:49:20.284Z,1749149360.284 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:20.284Z,1749149360.284 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:20.287Z,1749149360.287 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:20.287Z,1749149360.287 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:20.398Z,1749149360.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.400002 m,
      deltaT: 3.527072 s,
      deltaX: -0.900002 m,
      approachRate: -0.255170 m/s,
      rangeRepo size: 4

2025-06-05T18:49:20.413Z,1749149360.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.542076 m,
      bearing: 50.362769 deg,
      lat: 36.906197 deg,
      lon: -122.116144 deg,
      deltaT: 3.527072 s,
      deltaX: -0.892357 m,
      approachRate: -0.253002 m/s,
      posRepo size: 4

2025-06-05T18:49:20.413Z,1749149360.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:20.420Z,1749149360.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 105.493271 m,
      bearing: 50.362382 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.281386 deg/s,
      cmd heading: 58.264328 deg,
      new cmd heading: 58.674633 deg.

2025-06-05T18:49:20.421Z,1749149360.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.024065 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:20.522Z,1749149360.522 [DAT](INFO): DAT read: TxSync time:18:49:19.3300

2025-06-05T18:49:20.859Z,1749149360.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:20.866Z,1749149360.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:20.874Z,1749149360.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 105.313293 m,
      bearing: 50.503144 deg,
      approach rate: -0.384230 m/s,
      LOS rate: 0.301021 deg/s,
      cmd heading: 58.674631 deg,
      new cmd heading: 59.097628 deg.

2025-06-05T18:49:20.875Z,1749149360.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031448 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:21.025Z,1749149361.025 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:21.025Z,1749149361.025 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:21.026Z,1749149361.026 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:21.195Z,1749149361.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:21.198Z,1749149361.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 105.201653 m,
      bearing: 50.586592 deg,
      approach rate: -0.339536 m/s,
      LOS rate: 0.254062 deg/s,
      cmd heading: 59.097631 deg,
      new cmd heading: 59.348239 deg.

2025-06-05T18:49:21.199Z,1749149361.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035822 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:21.278Z,1749149361.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995508
2025-06-05T18:49:21.529Z,1749149361.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246642
2025-06-05T18:49:21.587Z,1749149361.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:21.589Z,1749149361.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 105.052177 m,
      bearing: 50.687454 deg,
      approach rate: -0.381593 m/s,
      LOS rate: 0.257856 deg/s,
      cmd heading: 59.348238 deg,
      new cmd heading: 59.651251 deg.

2025-06-05T18:49:21.591Z,1749149361.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041111 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:21.782Z,1749149361.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499497
2025-06-05T18:49:22.013Z,1749149362.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:22.016Z,1749149362.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 104.886627 m,
      bearing: 50.792487 deg,
      approach rate: -0.388509 m/s,
      LOS rate: 0.246879 deg/s,
      cmd heading: 59.651252 deg,
      new cmd heading: 59.966847 deg.

2025-06-05T18:49:22.017Z,1749149362.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.046619 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:22.033Z,1749149362.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750628
2025-06-05T18:49:22.285Z,1749149362.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002919
2025-06-05T18:49:22.396Z,1749149362.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:22.398Z,1749149362.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 104.733833 m,
      bearing: 50.884865 deg,
      approach rate: -0.399153 m/s,
      LOS rate: 0.241677 deg/s,
      cmd heading: 59.966848 deg,
      new cmd heading: 60.244384 deg.

2025-06-05T18:49:22.400Z,1749149362.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051463 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:22.537Z,1749149362.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254627
2025-06-05T18:49:22.791Z,1749149362.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508137
2025-06-05T18:49:22.850Z,1749149362.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:22.859Z,1749149362.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 104.550354 m,
      bearing: 50.991762 deg,
      approach rate: -0.403322 m/s,
      LOS rate: 0.235392 deg/s,
      cmd heading: 60.244386 deg,
      new cmd heading: 60.565637 deg.

2025-06-05T18:49:22.864Z,1749149362.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057070 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:23.042Z,1749149363.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759955
2025-06-05T18:49:23.192Z,1749149363.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:23.194Z,1749149363.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:23.197Z,1749149363.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 104.402710 m,
      bearing: 51.073747 deg,
      approach rate: -0.429679 m/s,
      LOS rate: 0.238932 deg/s,
      cmd heading: 60.565637 deg,
      new cmd heading: 60.811937 deg.

2025-06-05T18:49:23.198Z,1749149363.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061369 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:23.294Z,1749149363.294 [DAT](INFO): DAT read: Rx Time:18:49:21.8752

2025-06-05T18:49:23.295Z,1749149363.295 [DAT](INFO): Rx dataTimestamp_ set to:1749149363.294287
2025-06-05T18:49:23.296Z,1749149363.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013500
2025-06-05T18:49:23.545Z,1749149363.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262642
2025-06-05T18:49:23.591Z,1749149363.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:23.611Z,1749149363.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 104.230850 m,
      bearing: 51.164721 deg,
      approach rate: -0.433014 m/s,
      LOS rate: 0.229592 deg/s,
      cmd heading: 60.811940 deg,
      new cmd heading: 61.085309 deg.

2025-06-05T18:49:23.616Z,1749149363.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066140 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:23.799Z,1749149363.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516488
2025-06-05T18:49:23.896Z,1749149363.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:49:24.040Z,1749149364.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.54 m.
2025-06-05T18:49:24.043Z,1749149364.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.542076 m,
      nav range: 104.028702 m,
      bearing: 51.260989 deg,
      approach rate: -0.471548 m/s,
      LOS rate: 0.224999 deg/s,
      cmd heading: 61.085312 deg,
      new cmd heading: 61.374675 deg.

2025-06-05T18:49:24.059Z,1749149364.059 [DAT](INFO): DAT read: 18:49:21.8752 LVL= 19440, 30433, 24946, 32755, AGC= 62, IDX= 425,-0.23,-0.673,-2.298,-1.941,-1.451, PHS= 0.865,-0.800,-0.493, RAW= 100.0,   5.6, CAL= 109.9,   4.1, ROT=  40.1,  -4.1

2025-06-05T18:49:24.060Z,1749149364.060 [DAT](INFO): got valid direction response:
 18:49:21.8752 LVL= 19440, 30433, 24946, 32755, AGC= 62, IDX= 425,-0.23,-0.673,-2.298,-1.941,-1.451, PHS= 0.865,-0.800,-0.493, RAW= 100.0,   5.6, CAL= 109.9,   4.1, ROT=  40.1,  -4.1

2025-06-05T18:49:24.061Z,1749149364.061 [DAT](INFO): DAT read: Bearing  40.1,  -4.1 (Local)

2025-06-05T18:49:24.061Z,1749149364.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.1,  -4.1 (Local)

2025-06-05T18:49:24.063Z,1749149364.063 [DAT](INFO): DAT read: Range 10 to 50 : 105.1 m  (Round-trip  140.2 ms) speed  0.3 m/s

2025-06-05T18:49:24.065Z,1749149364.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071190 target range: 105.542076 and range: 106.40 m.
2025-06-05T18:49:24.074Z,1749149364.074 [DAT](INFO): DAT read: user:2860>

2025-06-05T18:49:24.075Z,1749149364.075 [DAT](INFO): DAT read: Tx time:18:49:22.9809

2025-06-05T18:49:24.080Z,1749149364.080 [DAT](INFO): Ping request sent.
2025-06-05T18:49:24.080Z,1749149364.080 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:24.081Z,1749149364.081 [DAT](INFO): DAT read: TxSync time:18:49:22.9801

2025-06-05T18:49:24.081Z,1749149364.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:24.082Z,1749149364.082 [DAT](INFO): direction in FSK: [0.762964,0.642475,0.071497]
2025-06-05T18:49:24.083Z,1749149364.083 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:24.083Z,1749149364.083 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:24.124Z,1749149364.124 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:24.125Z,1749149364.125 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:24.439Z,1749149364.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.099998 m,
      deltaT: 3.779926 s,
      deltaX: -1.300003 m,
      approachRate: -0.343923 m/s,
      rangeRepo size: 4

2025-06-05T18:49:24.445Z,1749149364.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.252663 m,
      bearing: 47.619345 deg,
      lat: 36.906197 deg,
      lon: -122.116144 deg,
      deltaT: 3.779926 s,
      deltaX: -1.289413 m,
      approachRate: -0.341121 m/s,
      posRepo size: 4

2025-06-05T18:49:24.446Z,1749149364.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-06-05T18:49:24.453Z,1749149364.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.252663 m,
      nav range: 103.831787 m,
      bearing: 51.350400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.224999 deg/s,
      cmd heading: 61.374673 deg,
      new cmd heading: 61.657194 deg.

2025-06-05T18:49:24.454Z,1749149364.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076121 target range: 104.252663 and range: 105.10 m.
2025-06-05T18:49:24.900Z,1749149364.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:49:24.901Z,1749149364.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-06-05T18:49:24.922Z,1749149364.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.252663 m,
      nav range: 103.594620 m,
      bearing: 51.454679 deg,
      approach rate: -0.511950 m/s,
      LOS rate: 0.225612 deg/s,
      cmd heading: 61.657197 deg,
      new cmd heading: 61.970747 deg.

2025-06-05T18:49:24.923Z,1749149364.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081594 target range: 104.252663 and range: 105.10 m.
2025-06-05T18:49:25.211Z,1749149365.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:25.213Z,1749149365.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-06-05T18:49:25.228Z,1749149365.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.252663 m,
      nav range: 103.433434 m,
      bearing: 51.518260 deg,
      approach rate: -0.517246 m/s,
      LOS rate: 0.204347 deg/s,
      cmd heading: 61.970750 deg,
      new cmd heading: 62.161788 deg.

2025-06-05T18:49:25.229Z,1749149365.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084928 target range: 104.252663 and range: 105.10 m.
2025-06-05T18:49:25.309Z,1749149365.309 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:25.309Z,1749149365.309 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:25.310Z,1749149365.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:25.561Z,1749149365.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480617
2025-06-05T18:49:25.617Z,1749149365.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-06-05T18:49:25.620Z,1749149365.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.252663 m,
      nav range: 103.219193 m,
      bearing: 51.598428 deg,
      approach rate: -0.530411 m/s,
      LOS rate: 0.198889 deg/s,
      cmd heading: 62.161791 deg,
      new cmd heading: 62.402792 deg.

2025-06-05T18:49:25.621Z,1749149365.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089134 target range: 104.252663 and range: 105.10 m.
2025-06-05T18:49:25.813Z,1749149365.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732338
2025-06-05T18:49:26.045Z,1749149366.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-06-05T18:49:26.051Z,1749149366.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.252663 m,
      nav range: 102.997711 m,
      bearing: 51.674429 deg,
      approach rate: -0.517587 m/s,
      LOS rate: 0.177991 deg/s,
      cmd heading: 62.402794 deg,
      new cmd heading: 62.631286 deg.

2025-06-05T18:49:26.065Z,1749149366.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984276
2025-06-05T18:49:26.072Z,1749149366.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093122 target range: 104.252663 and range: 105.10 m.
2025-06-05T18:49:26.317Z,1749149366.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236983
2025-06-05T18:49:26.415Z,1749149366.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-06-05T18:49:26.418Z,1749149366.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.252663 m,
      nav range: 102.802292 m,
      bearing: 51.737855 deg,
      approach rate: -0.527952 m/s,
      LOS rate: 0.171680 deg/s,
      cmd heading: 62.631284 deg,
      new cmd heading: 62.821923 deg.

2025-06-05T18:49:26.419Z,1749149366.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096449 target range: 104.252663 and range: 105.10 m.
2025-06-05T18:49:26.569Z,1749149366.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488289
2025-06-05T18:49:26.820Z,1749149366.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740147
2025-06-05T18:49:26.894Z,1749149366.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-06-05T18:49:26.909Z,1749149366.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.252663 m,
      nav range: 102.551895 m,
      bearing: 51.818248 deg,
      approach rate: -0.522291 m/s,
      LOS rate: 0.168099 deg/s,
      cmd heading: 62.821922 deg,
      new cmd heading: 63.063690 deg.

2025-06-05T18:49:26.910Z,1749149366.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100669 target range: 104.252663 and range: 105.10 m.
2025-06-05T18:49:27.077Z,1749149367.077 [DAT](INFO): DAT read: Rx Time:18:49:25.5234

2025-06-05T18:49:27.078Z,1749149367.078 [DAT](INFO): Rx dataTimestamp_ set to:1749149367.077583
2025-06-05T18:49:27.078Z,1749149367.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998121
2025-06-05T18:49:27.248Z,1749149367.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:27.250Z,1749149367.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.25 m.
2025-06-05T18:49:27.261Z,1749149367.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.252663 m,
      nav range: 102.366043 m,
      bearing: 51.870987 deg,
      approach rate: -0.522457 m/s,
      LOS rate: 0.148525 deg/s,
      cmd heading: 63.063690 deg,
      new cmd heading: 63.222193 deg.

2025-06-05T18:49:27.262Z,1749149367.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103435 target range: 104.252663 and range: 105.10 m.
2025-06-05T18:49:27.329Z,1749149367.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248421
2025-06-05T18:49:27.586Z,1749149367.586 [DAT](INFO): DAT read: 18:49:25.5234 LVL= 27120, 32753, 32594, 32755, AGC= 64, IDX= 421, 0.04,-1.068,-2.591,-1.878,-1.628, PHS= 0.648,-0.916,-0.253, RAW= 115.0,   7.7, CAL= 124.5,   4.3, ROT=  25.5,  -4.3

2025-06-05T18:49:27.587Z,1749149367.587 [DAT](INFO): got valid direction response:
 18:49:25.5234 LVL= 27120, 32753, 32594, 32755, AGC= 64, IDX= 421, 0.04,-1.068,-2.591,-1.878,-1.628, PHS= 0.648,-0.916,-0.253, RAW= 115.0,   7.7, CAL= 124.5,   4.3, ROT=  25.5,  -4.3

2025-06-05T18:49:27.588Z,1749149367.588 [DAT](INFO): DAT read: Bearing  25.5,  -4.3 (Local)

2025-06-05T18:49:27.589Z,1749149367.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.5,  -4.3 (Local)

2025-06-05T18:49:27.591Z,1749149367.591 [DAT](INFO): DAT read: Range 10 to 50 : 103.7 m  (Round-trip  138.3 ms) speed  0.4 m/s

2025-06-05T18:49:27.592Z,1749149367.592 [DAT](INFO): DAT read: user:2861>

2025-06-05T18:49:27.592Z,1749149367.592 [DAT](INFO): DAT read: Tx time:18:49:26.6309

2025-06-05T18:49:27.593Z,1749149367.593 [DAT](INFO): Ping request sent.
2025-06-05T18:49:27.593Z,1749149367.593 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:27.593Z,1749149367.593 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:27.594Z,1749149367.594 [DAT](INFO): direction in FSK: [0.900045,0.429299,0.074979]
2025-06-05T18:49:27.594Z,1749149367.594 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:27.595Z,1749149367.595 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:27.613Z,1749149367.613 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:27.613Z,1749149367.613 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:27.788Z,1749149367.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.699997 m,
      deltaT: 3.531578 s,
      deltaX: -1.400002 m,
      approachRate: -0.396424 m/s,
      rangeRepo size: 4

2025-06-05T18:49:27.790Z,1749149367.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.863899 m,
      bearing: 43.963304 deg,
      lat: 36.906197 deg,
      lon: -122.116144 deg,
      deltaT: 3.531578 s,
      deltaX: -1.388763 m,
      approachRate: -0.393242 m/s,
      posRepo size: 4

2025-06-05T18:49:27.790Z,1749149367.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:27.799Z,1749149367.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 102.104614 m,
      bearing: 51.945537 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.148525 deg/s,
      cmd heading: 63.222191 deg,
      new cmd heading: 63.461300 deg.

2025-06-05T18:49:27.804Z,1749149367.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107609 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:27.833Z,1749149367.833 [DAT](INFO): DAT read: TxSync time:18:49:26.6301

2025-06-05T18:49:28.156Z,1749149368.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:28.159Z,1749149368.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 101.868782 m,
      bearing: 52.006208 deg,
      approach rate: -0.661126 m/s,
      LOS rate: 0.170477 deg/s,
      cmd heading: 63.461302 deg,
      new cmd heading: 63.643736 deg.

2025-06-05T18:49:28.165Z,1749149368.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110793 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:28.508Z,1749149368.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:28.511Z,1749149368.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 101.669456 m,
      bearing: 52.054044 deg,
      approach rate: -0.547147 m/s,
      LOS rate: 0.131567 deg/s,
      cmd heading: 63.643737 deg,
      new cmd heading: 63.787526 deg.

2025-06-05T18:49:28.512Z,1749149368.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113302 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:28.946Z,1749149368.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:28.949Z,1749149368.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 101.438713 m,
      bearing: 52.106124 deg,
      approach rate: -0.526621 m/s,
      LOS rate: 0.119133 deg/s,
      cmd heading: 63.787526 deg,
      new cmd heading: 63.944123 deg.

2025-06-05T18:49:28.950Z,1749149368.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116035 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:29.301Z,1749149369.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:29.304Z,1749149369.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:29.307Z,1749149369.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 101.248550 m,
      bearing: 52.146428 deg,
      approach rate: -0.531909 m/s,
      LOS rate: 0.112948 deg/s,
      cmd heading: 63.944122 deg,
      new cmd heading: 64.065262 deg.

2025-06-05T18:49:29.309Z,1749149369.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118150 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:29.345Z,1749149369.345 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:29.345Z,1749149369.345 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:29.345Z,1749149369.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:29.597Z,1749149369.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004013
2025-06-05T18:49:29.794Z,1749149369.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:29.802Z,1749149369.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 101.018089 m,
      bearing: 52.192135 deg,
      approach rate: -0.477605 m/s,
      LOS rate: 0.094938 deg/s,
      cmd heading: 64.065262 deg,
      new cmd heading: 64.202694 deg.

2025-06-05T18:49:29.803Z,1749149369.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120548 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:29.849Z,1749149369.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256293
2025-06-05T18:49:30.101Z,1749149370.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508266
2025-06-05T18:49:30.158Z,1749149370.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:30.162Z,1749149370.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 100.798393 m,
      bearing: 52.234091 deg,
      approach rate: -0.589866 m/s,
      LOS rate: 0.112895 deg/s,
      cmd heading: 64.202692 deg,
      new cmd heading: 64.328835 deg.

2025-06-05T18:49:30.163Z,1749149370.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122750 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:30.353Z,1749149370.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760193
2025-06-05T18:49:30.570Z,1749149370.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:30.574Z,1749149370.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 100.584373 m,
      bearing: 52.275149 deg,
      approach rate: -0.519686 m/s,
      LOS rate: 0.099909 deg/s,
      cmd heading: 64.328832 deg,
      new cmd heading: 64.452267 deg.

2025-06-05T18:49:30.576Z,1749149370.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124904 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:30.605Z,1749149370.605 [DAT](INFO): DAT read: Rx Time:18:49:29.1710

2025-06-05T18:49:30.606Z,1749149370.606 [DAT](INFO): Rx dataTimestamp_ set to:1749149370.605497
2025-06-05T18:49:30.607Z,1749149370.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014138
2025-06-05T18:49:30.857Z,1749149370.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263874
2025-06-05T18:49:30.965Z,1749149370.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:30.967Z,1749149370.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 100.380760 m,
      bearing: 52.305409 deg,
      approach rate: -0.516438 m/s,
      LOS rate: 0.076907 deg/s,
      cmd heading: 64.452267 deg,
      new cmd heading: 64.543232 deg.

2025-06-05T18:49:30.968Z,1749149370.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126492 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:31.112Z,1749149371.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518325
2025-06-05T18:49:31.337Z,1749149371.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:31.339Z,1749149371.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:31.348Z,1749149371.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 100.193031 m,
      bearing: 52.330289 deg,
      approach rate: -0.500975 m/s,
      LOS rate: 0.066518 deg/s,
      cmd heading: 64.543232 deg,
      new cmd heading: 64.618010 deg.

2025-06-05T18:49:31.349Z,1749149371.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127797 target range: 102.863899 and range: 103.70 m.
2025-06-05T18:49:31.362Z,1749149371.362 [DAT](INFO): DAT read: Range 10 to 50 : 102.0 m  (Round-trip  136.0 ms) speed  0.5 m/s

2025-06-05T18:49:31.363Z,1749149371.363 [DAT](INFO): DAT read: user:2862>

2025-06-05T18:49:31.363Z,1749149371.363 [DAT](INFO): DAT read: Tx time:18:49:30.2809

2025-06-05T18:49:31.364Z,1749149371.364 [DAT](INFO): Ping request sent.
2025-06-05T18:49:31.364Z,1749149371.364 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:31.364Z,1749149371.364 [DAT](INFO): DAT read: TxSync time:18:49:30.2801

2025-06-05T18:49:31.365Z,1749149371.365 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:49:31.365Z,1749149371.365 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:31.366Z,1749149371.366 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:31.831Z,1749149371.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.000000 m,
      deltaT: 3.780208 s,
      deltaX: -1.699997 m,
      approachRate: -0.449710 m/s,
      rangeRepo size: 4

2025-06-05T18:49:31.831Z,1749149371.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:31.838Z,1749149371.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 99.966034 m,
      bearing: 52.356911 deg,
      approach rate: -0.462520 m/s,
      LOS rate: 0.054367 deg/s,
      cmd heading: 64.618009 deg,
      new cmd heading: 64.698056 deg.

2025-06-05T18:49:31.839Z,1749149371.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129194 target range: 102.863899 and range: 102.00 m.
2025-06-05T18:49:32.409Z,1749149372.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:32.413Z,1749149372.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 99.613632 m,
      bearing: 52.399980 deg,
      approach rate: -0.608208 m/s,
      LOS rate: 0.074596 deg/s,
      cmd heading: 64.698058 deg,
      new cmd heading: 64.827723 deg.

2025-06-05T18:49:32.414Z,1749149372.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131457 target range: 102.863899 and range: 102.00 m.
2025-06-05T18:49:32.742Z,1749149372.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:32.756Z,1749149372.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 99.448250 m,
      bearing: 52.411800 deg,
      approach rate: -0.507047 m/s,
      LOS rate: 0.036299 deg/s,
      cmd heading: 64.827723 deg,
      new cmd heading: 64.863242 deg.

2025-06-05T18:49:32.759Z,1749149372.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132077 target range: 102.863899 and range: 102.00 m.
2025-06-05T18:49:33.158Z,1749149373.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:33.161Z,1749149373.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 99.192619 m,
      bearing: 52.427907 deg,
      approach rate: -0.606351 m/s,
      LOS rate: 0.038305 deg/s,
      cmd heading: 64.863240 deg,
      new cmd heading: 64.911687 deg.

2025-06-05T18:49:33.162Z,1749149373.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132923 target range: 102.863899 and range: 102.00 m.
2025-06-05T18:49:33.541Z,1749149373.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:33.543Z,1749149373.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:33.550Z,1749149373.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 98.980652 m,
      bearing: 52.437894 deg,
      approach rate: -0.549148 m/s,
      LOS rate: 0.025929 deg/s,
      cmd heading: 64.911686 deg,
      new cmd heading: 64.941712 deg.

2025-06-05T18:49:33.551Z,1749149373.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133447 target range: 102.863899 and range: 102.00 m.
2025-06-05T18:49:33.629Z,1749149373.629 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:33.629Z,1749149373.629 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:33.630Z,1749149373.630 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:33.882Z,1749149373.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517611
2025-06-05T18:49:33.983Z,1749149373.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:33.986Z,1749149373.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 98.701424 m,
      bearing: 52.454590 deg,
      approach rate: -0.635236 m/s,
      LOS rate: 0.038090 deg/s,
      cmd heading: 64.941712 deg,
      new cmd heading: 64.991941 deg.

2025-06-05T18:49:33.987Z,1749149373.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134323 target range: 102.863899 and range: 102.00 m.
2025-06-05T18:49:34.133Z,1749149374.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768765
2025-06-05T18:49:34.345Z,1749149374.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:34.348Z,1749149374.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 98.479881 m,
      bearing: 52.461013 deg,
      approach rate: -0.611205 m/s,
      LOS rate: 0.017760 deg/s,
      cmd heading: 64.991941 deg,
      new cmd heading: 65.011253 deg.

2025-06-05T18:49:34.349Z,1749149374.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134660 target range: 102.863899 and range: 102.00 m.
2025-06-05T18:49:34.385Z,1749149374.385 [DAT](INFO): DAT read: Rx Time:18:49:32.8181

2025-06-05T18:49:34.386Z,1749149374.386 [DAT](INFO): Rx dataTimestamp_ set to:1749149374.385460
2025-06-05T18:49:34.387Z,1749149374.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022772
2025-06-05T18:49:34.637Z,1749149374.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272683
2025-06-05T18:49:34.758Z,1749149374.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.86 m.
2025-06-05T18:49:34.789Z,1749149374.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.863899 m,
      nav range: 98.232422 m,
      bearing: 52.464334 deg,
      approach rate: -0.601564 m/s,
      LOS rate: 0.008093 deg/s,
      cmd heading: 65.011250 deg,
      new cmd heading: 65.021238 deg.

2025-06-05T18:49:34.797Z,1749149374.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134835 target range: 102.863899 and range: 102.00 m.
2025-06-05T18:49:34.895Z,1749149374.895 [DAT](INFO): DAT read: 18:49:32.8181 LVL= 24480, 27505, 20274, 32755, AGC= 67, IDX= 413, 0.31, 1.228,-0.176, 1.123, 0.620, PHS= 0.696,-0.749, 0.500, RAW= 142.8,  -6.6, CAL= 148.9, -15.9, ROT=   1.1,  15.9

2025-06-05T18:49:34.897Z,1749149374.897 [DAT](INFO): got valid direction response:
 18:49:32.8181 LVL= 24480, 27505, 20274, 32755, AGC= 67, IDX= 413, 0.31, 1.228,-0.176, 1.123, 0.620, PHS= 0.696,-0.749, 0.500, RAW= 142.8,  -6.6, CAL= 148.9, -15.9, ROT=   1.1,  15.9

2025-06-05T18:49:34.897Z,1749149374.897 [DAT](INFO): DAT read: Bearing   1.1,  15.9 (Local)

2025-06-05T18:49:34.898Z,1749149374.898 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  15.9 (Local)

2025-06-05T18:49:34.899Z,1749149374.899 [DAT](INFO): DAT read: Range 10 to 50 : 99.7 m  (Round-trip  133.0 ms) speed  0.7 m/s

2025-06-05T18:49:34.900Z,1749149374.900 [DAT](INFO): DAT read: user:2863>

2025-06-05T18:49:34.901Z,1749149374.901 [DAT](INFO): DAT read: Tx time:18:49:33.9310

2025-06-05T18:49:34.901Z,1749149374.901 [DAT](INFO): Ping request sent.
2025-06-05T18:49:34.901Z,1749149374.901 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:34.902Z,1749149374.902 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:34.902Z,1749149374.902 [DAT](INFO): direction in FSK: [0.961564,0.018463,-0.273959]
2025-06-05T18:49:34.903Z,1749149374.903 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:34.903Z,1749149374.903 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:34.906Z,1749149374.906 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:34.906Z,1749149374.906 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:35.142Z,1749149375.142 [DAT](INFO): DAT read: TxSync time:18:49:33.9302

2025-06-05T18:49:35.285Z,1749149375.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.699997 m,
      deltaT: 3.528917 s,
      deltaX: -2.300003 m,
      approachRate: -0.651759 m/s,
      rangeRepo size: 4

2025-06-05T18:49:35.287Z,1749149375.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.895363 m,
      bearing: 56.150807 deg,
      lat: 36.906197 deg,
      lon: -122.116144 deg,
      deltaT: 7.309125 s,
      deltaX: -3.968536 m,
      approachRate: -0.542956 m/s,
      posRepo size: 4

2025-06-05T18:49:35.296Z,1749149375.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:35.298Z,1749149375.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 97.913948 m,
      bearing: 52.463529 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008093 deg/s,
      cmd heading: 65.021236 deg,
      new cmd heading: 65.033930 deg.

2025-06-05T18:49:35.304Z,1749149375.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135056 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:35.588Z,1749149375.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:35.591Z,1749149375.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:35.614Z,1749149375.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 97.713074 m,
      bearing: 52.459706 deg,
      approach rate: -0.646874 m/s,
      LOS rate: -0.012336 deg/s,
      cmd heading: 65.033933 deg,
      new cmd heading: 65.022441 deg.

2025-06-05T18:49:35.615Z,1749149375.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134856 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:35.645Z,1749149375.645 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:35.645Z,1749149375.645 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:35.645Z,1749149375.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:35.897Z,1749149375.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995793
2025-06-05T18:49:36.036Z,1749149376.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:36.038Z,1749149376.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 97.423355 m,
      bearing: 52.452422 deg,
      approach rate: -0.650023 m/s,
      LOS rate: -0.016391 deg/s,
      cmd heading: 65.022438 deg,
      new cmd heading: 65.000522 deg.

2025-06-05T18:49:36.052Z,1749149376.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134473 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:36.151Z,1749149376.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249130
2025-06-05T18:49:36.399Z,1749149376.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:36.401Z,1749149376.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499554
2025-06-05T18:49:36.403Z,1749149376.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 97.189018 m,
      bearing: 52.442989 deg,
      approach rate: -0.645261 m/s,
      LOS rate: -0.026040 deg/s,
      cmd heading: 65.000520 deg,
      new cmd heading: 64.972150 deg.

2025-06-05T18:49:36.404Z,1749149376.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133978 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:36.653Z,1749149376.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751633
2025-06-05T18:49:36.824Z,1749149376.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:36.828Z,1749149376.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 96.926201 m,
      bearing: 52.428847 deg,
      approach rate: -0.619633 m/s,
      LOS rate: -0.033431 deg/s,
      cmd heading: 64.972147 deg,
      new cmd heading: 64.929608 deg.

2025-06-05T18:49:36.829Z,1749149376.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133235 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:36.908Z,1749149376.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006028
2025-06-05T18:49:37.158Z,1749149377.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256128
2025-06-05T18:49:37.233Z,1749149377.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:37.264Z,1749149377.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 96.652115 m,
      bearing: 52.409795 deg,
      approach rate: -0.668413 m/s,
      LOS rate: -0.046593 deg/s,
      cmd heading: 64.929609 deg,
      new cmd heading: 64.872291 deg.

2025-06-05T18:49:37.266Z,1749149377.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132235 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:37.409Z,1749149377.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507744
2025-06-05T18:49:37.613Z,1749149377.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:37.615Z,1749149377.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:37.618Z,1749149377.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 96.408623 m,
      bearing: 52.389270 deg,
      approach rate: -0.637716 m/s,
      LOS rate: -0.053892 deg/s,
      cmd heading: 64.872290 deg,
      new cmd heading: 64.810558 deg.

2025-06-05T18:49:37.619Z,1749149377.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131158 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:37.664Z,1749149377.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762698
2025-06-05T18:49:37.917Z,1749149377.917 [DAT](INFO): DAT read: Rx Time:18:49:36.4649

2025-06-05T18:49:37.919Z,1749149377.919 [DAT](INFO): Rx dataTimestamp_ set to:1749149377.917843
2025-06-05T18:49:37.919Z,1749149377.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017904
2025-06-05T18:49:38.094Z,1749149378.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:38.097Z,1749149378.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 96.117065 m,
      bearing: 52.363983 deg,
      approach rate: -0.608740 m/s,
      LOS rate: -0.052956 deg/s,
      cmd heading: 64.810559 deg,
      new cmd heading: 64.734469 deg.

2025-06-05T18:49:38.098Z,1749149378.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129830 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:38.166Z,1749149378.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264270
2025-06-05T18:49:38.419Z,1749149378.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517430
2025-06-05T18:49:38.497Z,1749149378.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.90 m.
2025-06-05T18:49:38.504Z,1749149378.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.895363 m,
      nav range: 95.845985 m,
      bearing: 52.337082 deg,
      approach rate: -0.672313 m/s,
      LOS rate: -0.066906 deg/s,
      cmd heading: 64.734470 deg,
      new cmd heading: 64.653540 deg.

2025-06-05T18:49:38.505Z,1749149378.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128417 target range: 98.895363 and range: 99.70 m.
2025-06-05T18:49:38.677Z,1749149378.677 [DAT](INFO): DAT read: 18:49:36.4649 LVL= 32480, 32753, 20690, 32755, AGC= 66, IDX= 413, 0.05,-0.897,-2.167,-0.441,-1.115, PHS= 0.305,-1.006, 0.670, RAW= 161.9,   0.4, CAL= 163.8,  -8.2, ROT= 346.2,   8.2

2025-06-05T18:49:38.679Z,1749149378.679 [DAT](INFO): got valid direction response:
 18:49:36.4649 LVL= 32480, 32753, 20690, 32755, AGC= 66, IDX= 413, 0.05,-0.897,-2.167,-0.441,-1.115, PHS= 0.305,-1.006, 0.670, RAW= 161.9,   0.4, CAL= 163.8,  -8.2, ROT= 346.2,   8.2

2025-06-05T18:49:38.682Z,1749149378.682 [DAT](INFO): DAT read: Bearing 346.2,   8.2 (Local)

2025-06-05T18:49:38.682Z,1749149378.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,   8.2 (Local)

2025-06-05T18:49:38.685Z,1749149378.685 [DAT](INFO): DAT read: Range 10 to 50 : 97.2 m  (Round-trip  129.7 ms) speed  0.6 m/s

2025-06-05T18:49:38.686Z,1749149378.686 [DAT](INFO): DAT read: user:2864>

2025-06-05T18:49:38.687Z,1749149378.687 [DAT](INFO): DAT read: Tx time:18:49:37.5810

2025-06-05T18:49:38.687Z,1749149378.687 [DAT](INFO): Ping request sent.
2025-06-05T18:49:38.688Z,1749149378.688 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:38.689Z,1749149378.689 [DAT](INFO): DAT read: TxSync time:18:49:37.5802

2025-06-05T18:49:38.690Z,1749149378.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:38.705Z,1749149378.705 [DAT](INFO): direction in FSK: [0.961206,-0.236094,-0.142629]
2025-06-05T18:49:38.705Z,1749149378.705 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:38.706Z,1749149378.706 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:38.715Z,1749149378.715 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:38.780Z,1749149378.780 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:38.947Z,1749149378.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.199997 m,
      deltaT: 3.779075 s,
      deltaX: -2.500000 m,
      approachRate: -0.661538 m/s,
      rangeRepo size: 4

2025-06-05T18:49:38.958Z,1749149378.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.416664 m,
      bearing: 51.032311 deg,
      lat: 36.906204 deg,
      lon: -122.116171 deg,
      deltaT: 3.779075 s,
      deltaX: -2.478699 m,
      approachRate: -0.655901 m/s,
      posRepo size: 4

2025-06-05T18:49:38.958Z,1749149378.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:38.969Z,1749149378.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 94.238708 m,
      bearing: 51.031966 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.066906 deg/s,
      cmd heading: 64.653539 deg,
      new cmd heading: 64.575218 deg.

2025-06-05T18:49:38.970Z,1749149378.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127050 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:39.315Z,1749149379.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:39.328Z,1749149379.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 93.934601 m,
      bearing: 50.992692 deg,
      approach rate: -0.711658 m/s,
      LOS rate: -0.092204 deg/s,
      cmd heading: 64.575218 deg,
      new cmd heading: 64.457016 deg.

2025-06-05T18:49:39.329Z,1749149379.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124987 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:39.627Z,1749149379.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:39.629Z,1749149379.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:39.632Z,1749149379.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 93.721054 m,
      bearing: 50.960551 deg,
      approach rate: -0.678488 m/s,
      LOS rate: -0.102353 deg/s,
      cmd heading: 64.457014 deg,
      new cmd heading: 64.360371 deg.

2025-06-05T18:49:39.633Z,1749149379.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123300 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:39.677Z,1749149379.677 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:39.677Z,1749149379.677 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:39.677Z,1749149379.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:39.932Z,1749149379.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243930
2025-06-05T18:49:40.089Z,1749149380.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:40.097Z,1749149380.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 93.441132 m,
      bearing: 50.914022 deg,
      approach rate: -0.608599 m/s,
      LOS rate: -0.101466 deg/s,
      cmd heading: 64.360374 deg,
      new cmd heading: 64.220367 deg.

2025-06-05T18:49:40.098Z,1749149380.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120857 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:40.182Z,1749149380.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494059
2025-06-05T18:49:40.433Z,1749149380.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745221
2025-06-05T18:49:40.439Z,1749149380.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:40.443Z,1749149380.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 93.205544 m,
      bearing: 50.873383 deg,
      approach rate: -0.672966 m/s,
      LOS rate: -0.116379 deg/s,
      cmd heading: 64.220369 deg,
      new cmd heading: 64.098145 deg.

2025-06-05T18:49:40.444Z,1749149380.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118724 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:40.685Z,1749149380.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997874
2025-06-05T18:49:40.851Z,1749149380.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:40.854Z,1749149380.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 92.944138 m,
      bearing: 50.827143 deg,
      approach rate: -0.635166 m/s,
      LOS rate: -0.112671 deg/s,
      cmd heading: 64.098142 deg,
      new cmd heading: 63.959031 deg.

2025-06-05T18:49:40.855Z,1749149380.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116296 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:40.940Z,1749149380.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251726
2025-06-05T18:49:41.189Z,1749149381.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501114
2025-06-05T18:49:41.314Z,1749149381.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:41.326Z,1749149381.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 92.676170 m,
      bearing: 50.777689 deg,
      approach rate: -0.578563 m/s,
      LOS rate: -0.107084 deg/s,
      cmd heading: 63.959032 deg,
      new cmd heading: 63.810241 deg.

2025-06-05T18:49:41.327Z,1749149381.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113699 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:41.442Z,1749149381.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754745
2025-06-05T18:49:41.661Z,1749149381.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:41.663Z,1749149381.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:41.670Z,1749149381.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 92.448265 m,
      bearing: 50.734648 deg,
      approach rate: -0.653237 m/s,
      LOS rate: -0.123670 deg/s,
      cmd heading: 63.810243 deg,
      new cmd heading: 63.680804 deg.

2025-06-05T18:49:41.671Z,1749149381.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111440 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:41.694Z,1749149381.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006185
2025-06-05T18:49:41.948Z,1749149381.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260014
2025-06-05T18:49:42.085Z,1749149382.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:42.109Z,1749149382.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 92.175758 m,
      bearing: 50.680894 deg,
      approach rate: -0.644992 m/s,
      LOS rate: -0.127606 deg/s,
      cmd heading: 63.680804 deg,
      new cmd heading: 63.519066 deg.

2025-06-05T18:49:42.116Z,1749149382.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108617 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:42.198Z,1749149382.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510064
2025-06-05T18:49:42.449Z,1749149382.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761305
2025-06-05T18:49:42.487Z,1749149382.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:42.495Z,1749149382.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 91.935051 m,
      bearing: 50.633419 deg,
      approach rate: -0.598961 m/s,
      LOS rate: -0.118443 deg/s,
      cmd heading: 63.519065 deg,
      new cmd heading: 63.376268 deg.

2025-06-05T18:49:42.499Z,1749149382.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106125 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:42.701Z,1749149382.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013596
2025-06-05T18:49:42.861Z,1749149382.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:42.884Z,1749149382.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 91.678734 m,
      bearing: 50.582931 deg,
      approach rate: -0.686090 m/s,
      LOS rate: -0.135521 deg/s,
      cmd heading: 63.376267 deg,
      new cmd heading: 63.224379 deg.

2025-06-05T18:49:42.887Z,1749149382.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103474 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:42.958Z,1749149382.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269722
2025-06-05T18:49:43.205Z,1749149383.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.517191
2025-06-05T18:49:43.320Z,1749149383.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:43.322Z,1749149383.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 91.401093 m,
      bearing: 50.524914 deg,
      approach rate: -0.638714 m/s,
      LOS rate: -0.133873 deg/s,
      cmd heading: 63.224377 deg,
      new cmd heading: 63.049798 deg.

2025-06-05T18:49:43.328Z,1749149383.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100427 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:43.457Z,1749149383.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.769244
2025-06-05T18:49:43.686Z,1749149383.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:43.689Z,1749149383.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:43.695Z,1749149383.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 91.151833 m,
      bearing: 50.473120 deg,
      approach rate: -0.633566 m/s,
      LOS rate: -0.132010 deg/s,
      cmd heading: 63.049797 deg,
      new cmd heading: 62.893990 deg.

2025-06-05T18:49:43.697Z,1749149383.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097707 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:43.710Z,1749149383.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.021959
2025-06-05T18:49:43.964Z,1749149383.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275615
2025-06-05T18:49:44.116Z,1749149384.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:44.118Z,1749149384.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 90.877228 m,
      bearing: 50.414021 deg,
      approach rate: -0.643687 m/s,
      LOS rate: -0.138950 deg/s,
      cmd heading: 62.893994 deg,
      new cmd heading: 62.716161 deg.

2025-06-05T18:49:44.119Z,1749149384.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094604 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:44.213Z,1749149384.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.525673
2025-06-05T18:49:44.465Z,1749149384.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.777143
2025-06-05T18:49:44.576Z,1749149384.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:44.579Z,1749149384.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 90.592026 m,
      bearing: 50.352928 deg,
      approach rate: -0.618842 m/s,
      LOS rate: -0.132979 deg/s,
      cmd heading: 62.716163 deg,
      new cmd heading: 62.532307 deg.

2025-06-05T18:49:44.584Z,1749149384.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091395 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:44.718Z,1749149384.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.030121
2025-06-05T18:49:44.977Z,1749149384.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288944
2025-06-05T18:49:45.042Z,1749149385.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:45.056Z,1749149385.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 90.330673 m,
      bearing: 50.297319 deg,
      approach rate: -0.563157 m/s,
      LOS rate: -0.120171 deg/s,
      cmd heading: 62.532308 deg,
      new cmd heading: 62.364999 deg.

2025-06-05T18:49:45.058Z,1749149385.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.088475 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:45.226Z,1749149385.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538343
2025-06-05T18:49:45.477Z,1749149385.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789353
2025-06-05T18:49:45.537Z,1749149385.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:45.540Z,1749149385.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 89.969376 m,
      bearing: 50.214315 deg,
      approach rate: -0.727752 m/s,
      LOS rate: -0.167865 deg/s,
      cmd heading: 62.365002 deg,
      new cmd heading: 62.114991 deg.

2025-06-05T18:49:45.542Z,1749149385.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084111 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:45.729Z,1749149385.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041401
2025-06-05T18:49:45.914Z,1749149385.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:45.936Z,1749149385.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:45.938Z,1749149385.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 89.728699 m,
      bearing: 50.159250 deg,
      approach rate: -0.635736 m/s,
      LOS rate: -0.145839 deg/s,
      cmd heading: 62.114990 deg,
      new cmd heading: 61.949355 deg.

2025-06-05T18:49:45.939Z,1749149385.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081220 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:45.984Z,1749149385.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295825
2025-06-05T18:49:46.233Z,1749149386.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.545305
2025-06-05T18:49:46.340Z,1749149386.340 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-05T18:49:46.340Z,1749149386.340 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-05T18:49:46.341Z,1749149386.341 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-05T18:49:46.405Z,1749149386.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:46.427Z,1749149386.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 89.415390 m,
      bearing: 50.087717 deg,
      approach rate: -0.639722 m/s,
      LOS rate: -0.146571 deg/s,
      cmd heading: 61.949358 deg,
      new cmd heading: 61.734007 deg.

2025-06-05T18:49:46.428Z,1749149386.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077462 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:46.486Z,1749149386.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798099
2025-06-05T18:49:46.684Z,1749149386.684 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-05T18:49:46.737Z,1749149386.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.049234
2025-06-05T18:49:46.742Z,1749149386.742 [RDI_Pathfinder](INFO): Powering down
2025-06-05T18:49:46.759Z,1749149386.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:46.762Z,1749149386.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 89.190895 m,
      bearing: 50.036632 deg,
      approach rate: -0.636122 m/s,
      LOS rate: -0.145117 deg/s,
      cmd heading: 61.734009 deg,
      new cmd heading: 61.580369 deg.

2025-06-05T18:49:46.763Z,1749149386.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074780 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:46.989Z,1749149386.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.301827
2025-06-05T18:49:47.137Z,1749149387.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:47.140Z,1749149387.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 88.948456 m,
      bearing: 49.981596 deg,
      approach rate: -0.639430 m/s,
      LOS rate: -0.145552 deg/s,
      cmd heading: 61.580371 deg,
      new cmd heading: 61.414814 deg.

2025-06-05T18:49:47.141Z,1749149387.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071891 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:47.242Z,1749149387.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554178
2025-06-05T18:49:47.493Z,1749149387.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.805179
2025-06-05T18:49:47.534Z,1749149387.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:47.536Z,1749149387.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 88.695801 m,
      bearing: 49.924442 deg,
      approach rate: -0.637833 m/s,
      LOS rate: -0.144697 deg/s,
      cmd heading: 61.414814 deg,
      new cmd heading: 61.242864 deg.

2025-06-05T18:49:47.537Z,1749149387.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068890 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:47.746Z,1749149387.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.057883
2025-06-05T18:49:47.788Z,1749149387.788 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-05T18:49:47.788Z,1749149387.788 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-05T18:49:47.937Z,1749149387.937 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-05T18:49:47.951Z,1749149387.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:47.954Z,1749149387.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:47.957Z,1749149387.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 88.427666 m,
      bearing: 49.863815 deg,
      approach rate: -0.637961 m/s,
      LOS rate: -0.144686 deg/s,
      cmd heading: 61.242864 deg,
      new cmd heading: 61.060430 deg.

2025-06-05T18:49:47.959Z,1749149387.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065706 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:47.997Z,1749149387.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.309223
2025-06-05T18:49:48.249Z,1749149388.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.561129
2025-06-05T18:49:48.356Z,1749149388.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:48.364Z,1749149388.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 88.181061 m,
      bearing: 49.808277 deg,
      approach rate: -0.638936 m/s,
      LOS rate: -0.144296 deg/s,
      cmd heading: 61.060430 deg,
      new cmd heading: 60.893351 deg.

2025-06-05T18:49:48.365Z,1749149388.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062789 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:48.501Z,1749149388.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.813376
2025-06-05T18:49:48.752Z,1749149388.752 [DAT](INFO): Reached modem response timeout
2025-06-05T18:49:48.753Z,1749149388.753 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:49:48.753Z,1749149388.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:48.766Z,1749149388.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:48.769Z,1749149388.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 87.909073 m,
      bearing: 49.747112 deg,
      approach rate: -0.638309 m/s,
      LOS rate: -0.143988 deg/s,
      cmd heading: 60.893349 deg,
      new cmd heading: 60.709288 deg.

2025-06-05T18:49:48.770Z,1749149388.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.059577 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:49.005Z,1749149389.005 [DAT](INFO): Reached modem response timeout
2025-06-05T18:49:49.005Z,1749149389.005 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:49:49.006Z,1749149389.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:49.257Z,1749149389.257 [DAT](INFO): Reached modem response timeout
2025-06-05T18:49:49.258Z,1749149389.258 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:49:49.259Z,1749149389.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:49.317Z,1749149389.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:49.320Z,1749149389.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 87.556320 m,
      bearing: 49.667186 deg,
      approach rate: -0.639659 m/s,
      LOS rate: -0.145516 deg/s,
      cmd heading: 60.709289 deg,
      new cmd heading: 60.468547 deg.

2025-06-05T18:49:49.321Z,1749149389.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055375 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:49.509Z,1749149389.509 [DAT](INFO): DAT read: Response Not Received

2025-06-05T18:49:49.509Z,1749149389.509 [DAT](INFO): response not received
2025-06-05T18:49:49.510Z,1749149389.510 [DAT](INFO): DAT read: user:2865>

2025-06-05T18:49:49.511Z,1749149389.511 [DAT](INFO): DAT read: Tx time:18:49:48.5311

2025-06-05T18:49:49.511Z,1749149389.511 [DAT](INFO): Ping request sent.
2025-06-05T18:49:49.511Z,1749149389.511 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:49.511Z,1749149389.511 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:49.512Z,1749149389.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000841
2025-06-05T18:49:49.700Z,1749149389.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:49.709Z,1749149389.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 87.337212 m,
      bearing: 49.618693 deg,
      approach rate: -0.580034 m/s,
      LOS rate: -0.128695 deg/s,
      cmd heading: 60.468546 deg,
      new cmd heading: 60.322702 deg.

2025-06-05T18:49:49.711Z,1749149389.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.052830 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:49.761Z,1749149389.761 [DAT](INFO): DAT read: TxSync time:18:49:48.5303

2025-06-05T18:49:49.762Z,1749149389.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813
2025-06-05T18:49:50.013Z,1749149390.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501710
2025-06-05T18:49:50.189Z,1749149390.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:50.191Z,1749149390.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:50.204Z,1749149390.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 87.007080 m,
      bearing: 49.545349 deg,
      approach rate: -0.665637 m/s,
      LOS rate: -0.148443 deg/s,
      cmd heading: 60.322701 deg,
      new cmd heading: 60.101835 deg.

2025-06-05T18:49:50.205Z,1749149390.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.048975 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:50.267Z,1749149390.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755142
2025-06-05T18:49:50.517Z,1749149390.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005889
2025-06-05T18:49:50.576Z,1749149390.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:50.579Z,1749149390.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 86.751205 m,
      bearing: 49.488351 deg,
      approach rate: -0.664958 m/s,
      LOS rate: -0.148562 deg/s,
      cmd heading: 60.101833 deg,
      new cmd heading: 59.930334 deg.

2025-06-05T18:49:50.580Z,1749149390.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.045982 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:50.772Z,1749149390.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260225
2025-06-05T18:49:51.009Z,1749149391.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:51.011Z,1749149391.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 86.473907 m,
      bearing: 49.426711 deg,
      approach rate: -0.641983 m/s,
      LOS rate: -0.143161 deg/s,
      cmd heading: 59.930334 deg,
      new cmd heading: 59.744823 deg.

2025-06-05T18:49:51.013Z,1749149391.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042744 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:51.021Z,1749149391.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509734
2025-06-05T18:49:51.274Z,1749149391.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762523
2025-06-05T18:49:51.392Z,1749149391.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:51.395Z,1749149391.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 86.227661 m,
      bearing: 49.372557 deg,
      approach rate: -0.642656 m/s,
      LOS rate: -0.141735 deg/s,
      cmd heading: 59.744826 deg,
      new cmd heading: 59.581901 deg.

2025-06-05T18:49:51.396Z,1749149391.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039900 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:51.526Z,1749149391.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014694
2025-06-05T18:49:51.777Z,1749149391.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265724
2025-06-05T18:49:51.796Z,1749149391.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:51.799Z,1749149391.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 85.968315 m,
      bearing: 49.316171 deg,
      approach rate: -0.640628 m/s,
      LOS rate: -0.139704 deg/s,
      cmd heading: 59.581898 deg,
      new cmd heading: 59.412230 deg.

2025-06-05T18:49:51.800Z,1749149391.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.036939 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:52.029Z,1749149392.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517723
2025-06-05T18:49:52.204Z,1749149392.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:52.206Z,1749149392.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:52.209Z,1749149392.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 85.703407 m,
      bearing: 49.259107 deg,
      approach rate: -0.645485 m/s,
      LOS rate: -0.139474 deg/s,
      cmd heading: 59.412230 deg,
      new cmd heading: 59.240510 deg.

2025-06-05T18:49:52.210Z,1749149392.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.033942 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:52.282Z,1749149392.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771384
2025-06-05T18:49:52.533Z,1749149392.533 [DAT](INFO): DAT read: Rx Time:18:49:51.0528

2025-06-05T18:49:52.533Z,1749149392.533 [DAT](INFO): Rx dataTimestamp_ set to:1749149392.532789
2025-06-05T18:49:52.534Z,1749149392.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022670
2025-06-05T18:49:52.624Z,1749149392.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.42 m.
2025-06-05T18:49:52.627Z,1749149392.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.416664 m,
      nav range: 85.434677 m,
      bearing: 49.201774 deg,
      approach rate: -0.644813 m/s,
      LOS rate: -0.138004 deg/s,
      cmd heading: 59.240512 deg,
      new cmd heading: 59.067970 deg.

2025-06-05T18:49:52.628Z,1749149392.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030931 target range: 96.416664 and range: 97.20 m.
2025-06-05T18:49:52.785Z,1749149392.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273898
2025-06-05T18:49:53.056Z,1749149393.056 [DAT](INFO): DAT read: 18:49:51.0528 LVL= 23136, 31089, 17090, 30339, AGC= 68, IDX= 288,-0.36, 2.586, 1.397,-3.052, 2.558, PHS= 0.116,-1.114, 0.671, RAW= 167.7,   4.2, CAL= 168.0,  -4.9, ROT= 342.0,   4.9

2025-06-05T18:49:53.058Z,1749149393.058 [DAT](INFO): got valid direction response:
 18:49:51.0528 LVL= 23136, 31089, 17090, 30339, AGC= 68, IDX= 288,-0.36, 2.586, 1.397,-3.052, 2.558, PHS= 0.116,-1.114, 0.671, RAW= 167.7,   4.2, CAL= 168.0,  -4.9, ROT= 342.0,   4.9

2025-06-05T18:49:53.059Z,1749149393.059 [DAT](INFO): DAT read: Bearing 342.0,   4.9 (Local)

2025-06-05T18:49:53.060Z,1749149393.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.0,   4.9 (Local)

2025-06-05T18:49:53.061Z,1749149393.061 [DAT](INFO): DAT read: Range 10 to 50 : 88.1 m  (Round-trip  117.5 ms) speed  0.8 m/s

2025-06-05T18:49:53.062Z,1749149393.062 [DAT](INFO): DAT read: user:2866>

2025-06-05T18:49:53.063Z,1749149393.063 [DAT](INFO): DAT read: Tx time:18:49:52.1311

2025-06-05T18:49:53.063Z,1749149393.063 [DAT](INFO): Ping request sent.
2025-06-05T18:49:53.063Z,1749149393.063 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:53.068Z,1749149393.068 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:53.069Z,1749149393.069 [DAT](INFO): direction in FSK: [0.947581,-0.307888,-0.085417]
2025-06-05T18:49:53.069Z,1749149393.069 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:53.070Z,1749149393.070 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:53.089Z,1749149393.089 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:53.089Z,1749149393.089 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:53.109Z,1749149393.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.099998 m,
      deltaT: 14.376795 s,
      deltaX: -9.099998 m,
      approachRate: -0.632964 m/s,
      rangeRepo size: 4

2025-06-05T18:49:53.111Z,1749149393.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.391037 m,
      bearing: 43.276577 deg,
      lat: 36.906227 deg,
      lon: -122.116215 deg,
      deltaT: 14.376795 s,
      deltaX: -9.025627 m,
      approachRate: -0.627791 m/s,
      posRepo size: 4

2025-06-05T18:49:53.111Z,1749149393.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:53.122Z,1749149393.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 84.010948 m,
      bearing: 46.059878 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138004 deg/s,
      cmd heading: 59.067968 deg,
      new cmd heading: 58.869126 deg.

2025-06-05T18:49:53.130Z,1749149393.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027460 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:53.297Z,1749149393.297 [DAT](INFO): DAT read: TxSync time:18:49:52.1303

2025-06-05T18:49:53.489Z,1749149393.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:53.505Z,1749149393.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 83.765778 m,
      bearing: 45.997450 deg,
      approach rate: -0.635080 m/s,
      LOS rate: -0.162183 deg/s,
      cmd heading: 58.869127 deg,
      new cmd heading: 58.681298 deg.

2025-06-05T18:49:53.507Z,1749149393.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.024182 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:53.856Z,1749149393.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:53.861Z,1749149393.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 83.520775 m,
      bearing: 45.935135 deg,
      approach rate: -0.668774 m/s,
      LOS rate: -0.170598 deg/s,
      cmd heading: 58.681297 deg,
      new cmd heading: 58.493805 deg.

2025-06-05T18:49:53.862Z,1749149393.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020909 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:54.278Z,1749149394.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:54.280Z,1749149394.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:54.282Z,1749149394.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 83.252312 m,
      bearing: 45.866927 deg,
      approach rate: -0.633259 m/s,
      LOS rate: -0.161411 deg/s,
      cmd heading: 58.493802 deg,
      new cmd heading: 58.288517 deg.

2025-06-05T18:49:54.286Z,1749149394.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017326 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:54.308Z,1749149394.308 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:54.309Z,1749149394.309 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:54.309Z,1749149394.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:54.561Z,1749149394.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497479
2025-06-05T18:49:54.684Z,1749149394.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:54.693Z,1749149394.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 83.007919 m,
      bearing: 45.804940 deg,
      approach rate: -0.610920 m/s,
      LOS rate: -0.155408 deg/s,
      cmd heading: 58.288513 deg,
      new cmd heading: 58.102006 deg.

2025-06-05T18:49:54.695Z,1749149394.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.014071 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:54.813Z,1749149394.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749857
2025-06-05T18:49:55.028Z,1749149395.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:49:55.065Z,1749149395.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001696
2025-06-05T18:49:55.077Z,1749149395.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:55.080Z,1749149395.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 82.745941 m,
      bearing: 45.738822 deg,
      approach rate: -0.658471 m/s,
      LOS rate: -0.166711 deg/s,
      cmd heading: 58.102008 deg,
      new cmd heading: 57.903027 deg.

2025-06-05T18:49:55.081Z,1749149395.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.010598 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:55.317Z,1749149395.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253982
2025-06-05T18:49:55.470Z,1749149395.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:55.474Z,1749149395.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 82.494537 m,
      bearing: 45.675685 deg,
      approach rate: -0.639649 m/s,
      LOS rate: -0.161130 deg/s,
      cmd heading: 57.903024 deg,
      new cmd heading: 57.713037 deg.

2025-06-05T18:49:55.476Z,1749149395.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007282 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:55.569Z,1749149395.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505478
2025-06-05T18:49:55.821Z,1749149395.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757492
2025-06-05T18:49:55.875Z,1749149395.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:55.878Z,1749149395.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 82.237663 m,
      bearing: 45.611392 deg,
      approach rate: -0.634694 m/s,
      LOS rate: -0.159354 deg/s,
      cmd heading: 57.713036 deg,
      new cmd heading: 57.519555 deg.

2025-06-05T18:49:55.879Z,1749149395.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003906 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:56.032Z,1749149396.032 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:49:56.073Z,1749149396.073 [DAT](INFO): DAT read: Rx Time:18:49:54.6495

2025-06-05T18:49:56.074Z,1749149396.074 [DAT](INFO): Rx dataTimestamp_ set to:1749149396.072821
2025-06-05T18:49:56.075Z,1749149396.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011563
2025-06-05T18:49:56.285Z,1749149396.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:56.287Z,1749149396.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:56.296Z,1749149396.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 81.974640 m,
      bearing: 45.545728 deg,
      approach rate: -0.638969 m/s,
      LOS rate: -0.160032 deg/s,
      cmd heading: 57.519557 deg,
      new cmd heading: 57.321933 deg.

2025-06-05T18:49:56.298Z,1749149396.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000456 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:56.326Z,1749149396.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262689
2025-06-05T18:49:56.577Z,1749149396.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513398
2025-06-05T18:49:56.695Z,1749149396.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.39 m.
2025-06-05T18:49:56.701Z,1749149396.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.391037 m,
      nav range: 81.719765 m,
      bearing: 45.482252 deg,
      approach rate: -0.624887 m/s,
      LOS rate: -0.156111 deg/s,
      cmd heading: 57.321932 deg,
      new cmd heading: 57.130912 deg.

2025-06-05T18:49:56.702Z,1749149396.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997123 target range: 87.391037 and range: 88.10 m.
2025-06-05T18:49:56.836Z,1749149396.836 [DAT](INFO): DAT read: 18:49:54.6495 LVL= 27776, 32753, 20066, 32755, AGC= 65, IDX= 414, 0.10,-2.895, 2.246,-2.340,-2.954, PHS= 0.147,-1.036, 0.611, RAW= 165.8,   3.8, CAL= 166.4,  -5.2, ROT= 343.6,   5.2

2025-06-05T18:49:56.837Z,1749149396.837 [DAT](INFO): got valid direction response:
 18:49:54.6495 LVL= 27776, 32753, 20066, 32755, AGC= 65, IDX= 414, 0.10,-2.895, 2.246,-2.340,-2.954, PHS= 0.147,-1.036, 0.611, RAW= 165.8,   3.8, CAL= 166.4,  -5.2, ROT= 343.6,   5.2

2025-06-05T18:49:56.838Z,1749149396.838 [DAT](INFO): DAT read: Bearing 343.6,   5.2 (Local)

2025-06-05T18:49:56.838Z,1749149396.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.6,   5.2 (Local)

2025-06-05T18:49:56.840Z,1749149396.840 [DAT](INFO): DAT read: Range 10 to 50 : 85.6 m  (Round-trip  114.2 ms) speed  0.7 m/s

2025-06-05T18:49:56.842Z,1749149396.842 [DAT](INFO): DAT read: user:2867>

2025-06-05T18:49:56.843Z,1749149396.843 [DAT](INFO): DAT read: Tx time:18:49:55.7311

2025-06-05T18:49:56.843Z,1749149396.843 [DAT](INFO): Ping request sent.
2025-06-05T18:49:56.843Z,1749149396.843 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:49:56.844Z,1749149396.844 [DAT](INFO): DAT read: TxSync time:18:49:55.7303

2025-06-05T18:49:56.845Z,1749149396.845 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:49:56.846Z,1749149396.846 [DAT](INFO): direction in FSK: [0.955366,-0.281179,-0.090633]
2025-06-05T18:49:56.846Z,1749149396.846 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:56.846Z,1749149396.846 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:56.858Z,1749149396.858 [DAT](INFO): publishing transmit ping time
2025-06-05T18:49:56.859Z,1749149396.859 [DAT](INFO): publishing direction and range info
2025-06-05T18:49:57.116Z,1749149397.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.599998 m,
      deltaT: 3.783880 s,
      deltaX: -2.500000 m,
      approachRate: -0.660697 m/s,
      rangeRepo size: 4

2025-06-05T18:49:57.118Z,1749149397.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.911812 m,
      bearing: 43.212903 deg,
      lat: 36.906262 deg,
      lon: -122.116223 deg,
      deltaT: 3.783880 s,
      deltaX: -2.479225 m,
      approachRate: -0.655207 m/s,
      posRepo size: 4

2025-06-05T18:49:57.120Z,1749149397.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.91 m.
2025-06-05T18:49:57.146Z,1749149397.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.911812 m,
      nav range: 83.684547 m,
      bearing: 43.212607 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.156111 deg/s,
      cmd heading: 57.130912 deg,
      new cmd heading: 56.934078 deg.

2025-06-05T18:49:57.154Z,1749149397.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993687 target range: 84.911812 and range: 85.60 m.
2025-06-05T18:49:57.636Z,1749149397.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.91 m.
2025-06-05T18:49:57.639Z,1749149397.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.911812 m,
      nav range: 83.363136 m,
      bearing: 43.124882 deg,
      approach rate: -0.620795 m/s,
      LOS rate: -0.170091 deg/s,
      cmd heading: 56.934077 deg,
      new cmd heading: 56.669889 deg.

2025-06-05T18:49:57.642Z,1749149397.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989076 target range: 84.911812 and range: 85.60 m.
2025-06-05T18:49:58.025Z,1749149398.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.91 m.
2025-06-05T18:49:58.028Z,1749149398.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.911812 m,
      nav range: 83.106766 m,
      bearing: 43.054531 deg,
      approach rate: -0.653218 m/s,
      LOS rate: -0.179804 deg/s,
      cmd heading: 56.669888 deg,
      new cmd heading: 56.458184 deg.

2025-06-05T18:49:58.029Z,1749149398.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985381 target range: 84.911812 and range: 85.60 m.
2025-06-05T18:49:58.493Z,1749149398.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:49:58.495Z,1749149398.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.91 m.
2025-06-05T18:49:58.498Z,1749149398.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.911812 m,
      nav range: 82.810898 m,
      bearing: 42.973338 deg,
      approach rate: -0.629359 m/s,
      LOS rate: -0.173328 deg/s,
      cmd heading: 56.458183 deg,
      new cmd heading: 56.213736 deg.

2025-06-05T18:49:58.499Z,1749149398.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.981115 target range: 84.911812 and range: 85.60 m.
2025-06-05T18:49:58.593Z,1749149398.593 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:49:58.593Z,1749149398.593 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:49:58.593Z,1749149398.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:49:58.846Z,1749149398.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002254
2025-06-05T18:49:58.919Z,1749149398.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.91 m.
2025-06-05T18:49:58.926Z,1749149398.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.911812 m,
      nav range: 82.548676 m,
      bearing: 42.901692 deg,
      approach rate: -0.619653 m/s,
      LOS rate: -0.169842 deg/s,
      cmd heading: 56.213734 deg,
      new cmd heading: 55.998116 deg.

2025-06-05T18:49:58.927Z,1749149398.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977351 target range: 84.911812 and range: 85.60 m.
2025-06-05T18:49:59.097Z,1749149399.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253416
2025-06-05T18:49:59.320Z,1749149399.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.91 m.
2025-06-05T18:49:59.323Z,1749149399.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.911812 m,
      nav range: 82.291428 m,
      bearing: 42.831808 deg,
      approach rate: -0.641059 m/s,
      LOS rate: -0.174694 deg/s,
      cmd heading: 55.998115 deg,
      new cmd heading: 55.787810 deg.

2025-06-05T18:49:59.324Z,1749149399.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.973681 target range: 84.911812 and range: 85.60 m.
2025-06-05T18:49:59.349Z,1749149399.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505937
2025-06-05T18:49:59.601Z,1749149399.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757465
2025-06-05T18:49:59.726Z,1749149399.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.91 m.
2025-06-05T18:49:59.729Z,1749149399.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.911812 m,
      nav range: 82.035118 m,
      bearing: 42.762665 deg,
      approach rate: -0.630494 m/s,
      LOS rate: -0.170617 deg/s,
      cmd heading: 55.787810 deg,
      new cmd heading: 55.579733 deg.

2025-06-05T18:49:59.730Z,1749149399.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970049 target range: 84.911812 and range: 85.60 m.
2025-06-05T18:49:59.853Z,1749149399.853 [DAT](INFO): DAT read: Rx Time:18:49:58.2463

2025-06-05T18:49:59.853Z,1749149399.853 [DAT](INFO): Rx dataTimestamp_ set to:1749149399.852969
2025-06-05T18:49:59.854Z,1749149399.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010572
2025-06-05T18:50:00.104Z,1749149400.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261235
2025-06-05T18:50:00.126Z,1749149400.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.91 m.
2025-06-05T18:50:00.129Z,1749149400.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.911812 m,
      nav range: 81.781723 m,
      bearing: 42.693849 deg,
      approach rate: -0.634455 m/s,
      LOS rate: -0.172838 deg/s,
      cmd heading: 55.579732 deg,
      new cmd heading: 55.372644 deg.

2025-06-05T18:50:00.130Z,1749149400.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.966435 target range: 84.911812 and range: 85.60 m.
2025-06-05T18:50:00.366Z,1749149400.366 [DAT](INFO): DAT read: 18:49:58.2463 LVL= 23648, 25969, 17890, 32755, AGC= 66, IDX= 413, 0.09, 1.334, 0.091, 1.827, 1.220, PHS= 0.202,-1.083, 0.604, RAW= 163.2,   3.7, CAL= 163.9,  -5.4, ROT= 346.1,   5.4

2025-06-05T18:50:00.380Z,1749149400.380 [DAT](INFO): got valid direction response:
 18:49:58.2463 LVL= 23648, 25969, 17890, 32755, AGC= 66, IDX= 413, 0.09, 1.334, 0.091, 1.827, 1.220, PHS= 0.202,-1.083, 0.604, RAW= 163.2,   3.7, CAL= 163.9,  -5.4, ROT= 346.1,   5.4

2025-06-05T18:50:00.381Z,1749149400.381 [DAT](INFO): DAT read: Bearing 346.1,   5.4 (Local)

2025-06-05T18:50:00.382Z,1749149400.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.1,   5.4 (Local)

2025-06-05T18:50:00.384Z,1749149400.384 [DAT](INFO): DAT read: Range 10 to 50 : 83.2 m  (Round-trip  111.0 ms) speed  0.8 m/s

2025-06-05T18:50:00.385Z,1749149400.385 [DAT](INFO): DAT read: user:2868>

2025-06-05T18:50:00.388Z,1749149400.388 [DAT](INFO): DAT read: Tx time:18:49:59.3312

2025-06-05T18:50:00.389Z,1749149400.389 [DAT](INFO): Ping request sent.
2025-06-05T18:50:00.389Z,1749149400.389 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:00.389Z,1749149400.389 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:00.392Z,1749149400.392 [DAT](INFO): direction in FSK: [0.966408,-0.239162,-0.094108]
2025-06-05T18:50:00.392Z,1749149400.392 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:00.393Z,1749149400.393 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:00.396Z,1749149400.396 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:00.396Z,1749149400.396 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:00.592Z,1749149400.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.199997 m,
      deltaT: 3.527459 s,
      deltaX: -2.400002 m,
      approachRate: -0.680377 m/s,
      rangeRepo size: 4

2025-06-05T18:50:00.594Z,1749149400.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.531219 m,
      bearing: 44.756461 deg,
      lat: 36.906262 deg,
      lon: -122.116223 deg,
      deltaT: 3.527459 s,
      deltaX: -2.380592 m,
      approachRate: -0.674875 m/s,
      posRepo size: 4

2025-06-05T18:50:00.595Z,1749149400.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:00.609Z,1749149400.609 [DAT](INFO): DAT read: TxSync time:18:49:59.3304

2025-06-05T18:50:00.612Z,1749149400.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 81.498848 m,
      bearing: 42.616482 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.172838 deg/s,
      cmd heading: 55.372644 deg,
      new cmd heading: 55.133307 deg.

2025-06-05T18:50:00.613Z,1749149400.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962258 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:00.949Z,1749149400.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:00.951Z,1749149400.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:00.957Z,1749149400.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 81.265884 m,
      bearing: 42.555026 deg,
      approach rate: -0.640984 m/s,
      LOS rate: -0.169575 deg/s,
      cmd heading: 55.133307 deg,
      new cmd heading: 54.948413 deg.

2025-06-05T18:50:00.959Z,1749149400.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959031 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:01.121Z,1749149401.121 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:01.121Z,1749149401.121 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:01.121Z,1749149401.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:01.362Z,1749149401.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:01.365Z,1749149401.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 80.998672 m,
      bearing: 42.490753 deg,
      approach rate: -0.649495 m/s,
      LOS rate: -0.156741 deg/s,
      cmd heading: 54.948414 deg,
      new cmd heading: 54.754958 deg.

2025-06-05T18:50:01.366Z,1749149401.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955654 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:01.373Z,1749149401.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983697
2025-06-05T18:50:01.626Z,1749149401.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236564
2025-06-05T18:50:01.737Z,1749149401.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:01.760Z,1749149401.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 80.762024 m,
      bearing: 42.434167 deg,
      approach rate: -0.631160 m/s,
      LOS rate: -0.151362 deg/s,
      cmd heading: 54.754959 deg,
      new cmd heading: 54.584704 deg.

2025-06-05T18:50:01.761Z,1749149401.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952683 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:01.877Z,1749149401.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487598
2025-06-05T18:50:02.129Z,1749149402.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739568
2025-06-05T18:50:02.154Z,1749149402.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:02.161Z,1749149402.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 80.506218 m,
      bearing: 42.373847 deg,
      approach rate: -0.613583 m/s,
      LOS rate: -0.145143 deg/s,
      cmd heading: 54.584703 deg,
      new cmd heading: 54.403171 deg.

2025-06-05T18:50:02.162Z,1749149402.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.949514 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:02.381Z,1749149402.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991499
2025-06-05T18:50:02.587Z,1749149402.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:02.589Z,1749149402.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 80.226440 m,
      bearing: 42.311068 deg,
      approach rate: -0.646790 m/s,
      LOS rate: -0.145640 deg/s,
      cmd heading: 54.403170 deg,
      new cmd heading: 54.214175 deg.

2025-06-05T18:50:02.592Z,1749149402.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.946216 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:02.633Z,1749149402.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243931
2025-06-05T18:50:02.885Z,1749149402.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495605
2025-06-05T18:50:02.947Z,1749149402.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:02.950Z,1749149402.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 80.000099 m,
      bearing: 42.262067 deg,
      approach rate: -0.628284 m/s,
      LOS rate: -0.136401 deg/s,
      cmd heading: 54.214176 deg,
      new cmd heading: 54.066759 deg.

2025-06-05T18:50:02.951Z,1749149402.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.943643 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:03.137Z,1749149403.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747722
2025-06-05T18:50:03.389Z,1749149403.389 [DAT](INFO): DAT read: Rx Time:18:50:01.8432

2025-06-05T18:50:03.389Z,1749149403.389 [DAT](INFO): Rx dataTimestamp_ set to:1749149403.388918
2025-06-05T18:50:03.390Z,1749149403.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000694
2025-06-05T18:50:03.399Z,1749149403.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:03.405Z,1749149403.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:03.413Z,1749149403.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 79.733292 m,
      bearing: 42.207449 deg,
      approach rate: -0.582051 m/s,
      LOS rate: -0.119550 deg/s,
      cmd heading: 54.066760 deg,
      new cmd heading: 53.902359 deg.

2025-06-05T18:50:03.420Z,1749149403.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940774 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:03.642Z,1749149403.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252573
2025-06-05T18:50:03.769Z,1749149403.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.53 m.
2025-06-05T18:50:03.779Z,1749149403.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.531219 m,
      nav range: 79.481689 m,
      bearing: 42.156689 deg,
      approach rate: -0.691865 m/s,
      LOS rate: -0.140026 deg/s,
      cmd heading: 53.902357 deg,
      new cmd heading: 53.749593 deg.

2025-06-05T18:50:03.794Z,1749149403.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.938107 target range: 82.531219 and range: 83.20 m.
2025-06-05T18:50:03.902Z,1749149403.902 [DAT](INFO): DAT read: 18:50:01.8432 LVL= 24560, 27169, 15778, 31843, AGC= 66, IDX= 412, 0.40,-0.148,-1.412, 0.283,-0.310, PHS= 0.250,-1.055, 0.590, RAW= 161.3,   2.9, CAL= 162.3,  -6.1, ROT= 347.7,   6.1

2025-06-05T18:50:03.904Z,1749149403.904 [DAT](INFO): got valid direction response:
 18:50:01.8432 LVL= 24560, 27169, 15778, 31843, AGC= 66, IDX= 412, 0.40,-0.148,-1.412, 0.283,-0.310, PHS= 0.250,-1.055, 0.590, RAW= 161.3,   2.9, CAL= 162.3,  -6.1, ROT= 347.7,   6.1

2025-06-05T18:50:03.905Z,1749149403.905 [DAT](INFO): DAT read: Bearing 347.7,   6.1 (Local)

2025-06-05T18:50:03.905Z,1749149403.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,   6.1 (Local)

2025-06-05T18:50:03.908Z,1749149403.908 [DAT](INFO): DAT read: Range 10 to 50 : 80.9 m  (Round-trip  107.9 ms) speed  0.8 m/s

2025-06-05T18:50:03.909Z,1749149403.909 [DAT](INFO): DAT read: user:2869>

2025-06-05T18:50:03.909Z,1749149403.909 [DAT](INFO): DAT read: Tx time:18:50:02.9312

2025-06-05T18:50:03.910Z,1749149403.910 [DAT](INFO): Ping request sent.
2025-06-05T18:50:03.910Z,1749149403.910 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:03.910Z,1749149403.910 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:03.911Z,1749149403.911 [DAT](INFO): direction in FSK: [0.971514,-0.211824,-0.106264]
2025-06-05T18:50:03.917Z,1749149403.917 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:03.917Z,1749149403.917 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:03.925Z,1749149403.925 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:03.926Z,1749149403.926 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:04.145Z,1749149404.145 [DAT](INFO): DAT read: TxSync time:18:50:02.9304

2025-06-05T18:50:04.169Z,1749149404.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.900002 m,
      deltaT: 3.536597 s,
      deltaX: -2.299995 m,
      approachRate: -0.650341 m/s,
      rangeRepo size: 4

2025-06-05T18:50:04.171Z,1749149404.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.250046 m,
      bearing: 43.590480 deg,
      lat: 36.906262 deg,
      lon: -122.116223 deg,
      deltaT: 3.536597 s,
      deltaX: -2.281174 m,
      approachRate: -0.645019 m/s,
      posRepo size: 4

2025-06-05T18:50:04.172Z,1749149404.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.25 m.
2025-06-05T18:50:04.176Z,1749149404.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.250046 m,
      nav range: 79.226601 m,
      bearing: 42.104882 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.140026 deg/s,
      cmd heading: 53.749593 deg,
      new cmd heading: 53.582092 deg.

2025-06-05T18:50:04.177Z,1749149404.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.935184 target range: 80.250046 and range: 80.90 m.
2025-06-05T18:50:04.602Z,1749149404.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.25 m.
2025-06-05T18:50:04.610Z,1749149404.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.250046 m,
      nav range: 78.941780 m,
      bearing: 42.051569 deg,
      approach rate: -0.655421 m/s,
      LOS rate: -0.123126 deg/s,
      cmd heading: 53.582093 deg,
      new cmd heading: 53.421576 deg.

2025-06-05T18:50:04.611Z,1749149404.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.932382 target range: 80.250046 and range: 80.90 m.
2025-06-05T18:50:04.981Z,1749149404.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.25 m.
2025-06-05T18:50:04.985Z,1749149404.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.250046 m,
      nav range: 78.693443 m,
      bearing: 42.004959 deg,
      approach rate: -0.655374 m/s,
      LOS rate: -0.123393 deg/s,
      cmd heading: 53.421577 deg,
      new cmd heading: 53.281307 deg.

2025-06-05T18:50:04.985Z,1749149404.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929934 target range: 80.250046 and range: 80.90 m.
2025-06-05T18:50:05.417Z,1749149405.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:05.420Z,1749149405.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.25 m.
2025-06-05T18:50:05.422Z,1749149405.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.250046 m,
      nav range: 78.397469 m,
      bearing: 41.953039 deg,
      approach rate: -0.675321 m/s,
      LOS rate: -0.118913 deg/s,
      cmd heading: 53.281309 deg,
      new cmd heading: 53.124960 deg.

2025-06-05T18:50:05.423Z,1749149405.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927206 target range: 80.250046 and range: 80.90 m.
2025-06-05T18:50:05.657Z,1749149405.657 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:05.657Z,1749149405.657 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:05.657Z,1749149405.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:05.794Z,1749149405.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.25 m.
2025-06-05T18:50:05.797Z,1749149405.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.250046 m,
      nav range: 78.144020 m,
      bearing: 41.908976 deg,
      approach rate: -0.676819 m/s,
      LOS rate: -0.118049 deg/s,
      cmd heading: 53.124962 deg,
      new cmd heading: 52.992344 deg.

2025-06-05T18:50:05.798Z,1749149405.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924891 target range: 80.250046 and range: 80.90 m.
2025-06-05T18:50:05.909Z,1749149405.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999289
2025-06-05T18:50:06.162Z,1749149406.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252504
2025-06-05T18:50:06.219Z,1749149406.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.25 m.
2025-06-05T18:50:06.222Z,1749149406.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.250046 m,
      nav range: 77.856606 m,
      bearing: 41.858650 deg,
      approach rate: -0.675769 m/s,
      LOS rate: -0.118764 deg/s,
      cmd heading: 52.992344 deg,
      new cmd heading: 52.840808 deg.

2025-06-05T18:50:06.223Z,1749149406.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922246 target range: 80.250046 and range: 80.90 m.
2025-06-05T18:50:06.415Z,1749149406.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504463
2025-06-05T18:50:06.644Z,1749149406.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.25 m.
2025-06-05T18:50:06.646Z,1749149406.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.250046 m,
      nav range: 77.579788 m,
      bearing: 41.810158 deg,
      approach rate: -0.685259 m/s,
      LOS rate: -0.120468 deg/s,
      cmd heading: 52.840809 deg,
      new cmd heading: 52.694816 deg.

2025-06-05T18:50:06.652Z,1749149406.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.919698 target range: 80.250046 and range: 80.90 m.
2025-06-05T18:50:06.665Z,1749149406.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754836
2025-06-05T18:50:06.917Z,1749149406.917 [DAT](INFO): DAT read: Rx Time:18:50:05.4398

2025-06-05T18:50:06.917Z,1749149406.917 [DAT](INFO): Rx dataTimestamp_ set to:1749149406.916789
2025-06-05T18:50:06.918Z,1749149406.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007724
2025-06-05T18:50:07.032Z,1749149407.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.25 m.
2025-06-05T18:50:07.035Z,1749149407.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.250046 m,
      nav range: 77.306732 m,
      bearing: 41.762650 deg,
      approach rate: -0.670637 m/s,
      LOS rate: -0.117095 deg/s,
      cmd heading: 52.694817 deg,
      new cmd heading: 52.551788 deg.

2025-06-05T18:50:07.036Z,1749149407.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.917202 target range: 80.250046 and range: 80.90 m.
2025-06-05T18:50:07.169Z,1749149407.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259327
2025-06-05T18:50:07.438Z,1749149407.438 [DAT](INFO): DAT read: 18:50:05.4398 LVL= 23440, 25793, 15266, 27443, AGC= 68, IDX= 410,-0.05,-1.502,-2.809,-1.121,-1.707, PHS= 0.293,-1.055, 0.583, RAW= 159.6,   2.4, CAL= 161.0,  -6.5, ROT= 349.0,   6.5

2025-06-05T18:50:07.439Z,1749149407.439 [DAT](INFO): got valid direction response:
 18:50:05.4398 LVL= 23440, 25793, 15266, 27443, AGC= 68, IDX= 410,-0.05,-1.502,-2.809,-1.121,-1.707, PHS= 0.293,-1.055, 0.583, RAW= 159.6,   2.4, CAL= 161.0,  -6.5, ROT= 349.0,   6.5

2025-06-05T18:50:07.460Z,1749149407.460 [DAT](INFO): DAT read: Bearing 349.0,   6.5 (Local)

2025-06-05T18:50:07.460Z,1749149407.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,   6.5 (Local)

2025-06-05T18:50:07.462Z,1749149407.462 [DAT](INFO): DAT read: Range 10 to 50 : 78.3 m  (Round-trip  104.4 ms) speed  0.7 m/s

2025-06-05T18:50:07.462Z,1749149407.462 [DAT](INFO): DAT read: user:2870>

2025-06-05T18:50:07.463Z,1749149407.463 [DAT](INFO): DAT read: Tx time:18:50:06.5312

2025-06-05T18:50:07.463Z,1749149407.463 [DAT](INFO): Ping request sent.
2025-06-05T18:50:07.472Z,1749149407.472 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:07.472Z,1749149407.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:07.473Z,1749149407.473 [DAT](INFO): direction in FSK: [0.975317,-0.189583,-0.113203]
2025-06-05T18:50:07.473Z,1749149407.473 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:07.474Z,1749149407.474 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:07.489Z,1749149407.489 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:07.489Z,1749149407.489 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:07.586Z,1749149407.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.300003 m,
      deltaT: 3.528747 s,
      deltaX: -2.599998 m,
      approachRate: -0.736805 m/s,
      rangeRepo size: 4

2025-06-05T18:50:07.596Z,1749149407.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.671074 m,
      bearing: 42.978386 deg,
      lat: 36.906251 deg,
      lon: -122.116210 deg,
      deltaT: 3.528747 s,
      deltaX: -2.578972 m,
      approachRate: -0.730846 m/s,
      posRepo size: 4

2025-06-05T18:50:07.597Z,1749149407.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:07.599Z,1749149407.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 76.860779 m,
      bearing: 42.978116 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117095 deg/s,
      cmd heading: 52.551790 deg,
      new cmd heading: 52.356970 deg.

2025-06-05T18:50:07.605Z,1749149407.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.913801 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:07.674Z,1749149407.674 [DAT](INFO): DAT read: TxSync time:18:50:06.5304

2025-06-05T18:50:07.914Z,1749149407.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:07.920Z,1749149407.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:07.923Z,1749149407.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 76.615417 m,
      bearing: 42.938954 deg,
      approach rate: -0.741634 m/s,
      LOS rate: -0.118748 deg/s,
      cmd heading: 52.356969 deg,
      new cmd heading: 52.239109 deg.

2025-06-05T18:50:07.925Z,1749149407.925 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:07.925Z,1749149407.925 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:07.926Z,1749149407.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:07.936Z,1749149407.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.911744 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:08.177Z,1749149408.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.713239
2025-06-05T18:50:08.319Z,1749149408.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:08.353Z,1749149408.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 76.340248 m,
      bearing: 42.894813 deg,
      approach rate: -0.685610 m/s,
      LOS rate: -0.110379 deg/s,
      cmd heading: 52.239110 deg,
      new cmd heading: 52.106209 deg.

2025-06-05T18:50:08.362Z,1749149408.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909425 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:08.430Z,1749149408.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966022
2025-06-05T18:50:08.681Z,1749149408.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217502
2025-06-05T18:50:08.749Z,1749149408.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:08.752Z,1749149408.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 76.026588 m,
      bearing: 42.845756 deg,
      approach rate: -0.726479 m/s,
      LOS rate: -0.114091 deg/s,
      cmd heading: 52.106209 deg,
      new cmd heading: 51.958432 deg.

2025-06-05T18:50:08.753Z,1749149408.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.906846 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:08.933Z,1749149408.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469322
2025-06-05T18:50:09.131Z,1749149409.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:09.138Z,1749149409.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 75.764038 m,
      bearing: 42.804825 deg,
      approach rate: -0.687342 m/s,
      LOS rate: -0.107527 deg/s,
      cmd heading: 51.958431 deg,
      new cmd heading: 51.835211 deg.

2025-06-05T18:50:09.139Z,1749149409.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.904695 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:09.185Z,1749149409.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721176
2025-06-05T18:50:09.437Z,1749149409.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973137
2025-06-05T18:50:09.547Z,1749149409.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:09.550Z,1749149409.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 75.470436 m,
      bearing: 42.755595 deg,
      approach rate: -0.705728 m/s,
      LOS rate: -0.118794 deg/s,
      cmd heading: 51.835211 deg,
      new cmd heading: 51.686947 deg.

2025-06-05T18:50:09.551Z,1749149409.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902107 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:09.690Z,1749149409.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226131
2025-06-05T18:50:09.928Z,1749149409.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:09.931Z,1749149409.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 75.220604 m,
      bearing: 42.713810 deg,
      approach rate: -0.684301 m/s,
      LOS rate: -0.114830 deg/s,
      cmd heading: 51.686948 deg,
      new cmd heading: 51.561178 deg.

2025-06-05T18:50:09.933Z,1749149409.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899912 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:09.944Z,1749149409.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479570
2025-06-05T18:50:10.193Z,1749149410.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729719
2025-06-05T18:50:10.326Z,1749149410.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:10.333Z,1749149410.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:10.364Z,1749149410.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 74.934685 m,
      bearing: 42.665582 deg,
      approach rate: -0.683798 m/s,
      LOS rate: -0.115783 deg/s,
      cmd heading: 51.561177 deg,
      new cmd heading: 51.415939 deg.

2025-06-05T18:50:10.372Z,1749149410.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897377 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:10.446Z,1749149410.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982161
2025-06-05T18:50:10.697Z,1749149410.697 [DAT](INFO): DAT read: Rx Time:18:50:09.0367

2025-06-05T18:50:10.698Z,1749149410.698 [DAT](INFO): Rx dataTimestamp_ set to:1749149410.697472
2025-06-05T18:50:10.699Z,1749149410.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235245
2025-06-05T18:50:10.783Z,1749149410.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:10.786Z,1749149410.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 74.618004 m,
      bearing: 42.607064 deg,
      approach rate: -0.699459 m/s,
      LOS rate: -0.129798 deg/s,
      cmd heading: 51.415939 deg,
      new cmd heading: 51.239642 deg.

2025-06-05T18:50:10.787Z,1749149410.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.894300 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:10.949Z,1749149410.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485142
2025-06-05T18:50:11.129Z,1749149411.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.67 m.
2025-06-05T18:50:11.132Z,1749149411.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.671074 m,
      nav range: 74.376625 m,
      bearing: 42.562621 deg,
      approach rate: -0.696260 m/s,
      LOS rate: -0.128614 deg/s,
      cmd heading: 51.239642 deg,
      new cmd heading: 51.105878 deg.

2025-06-05T18:50:11.133Z,1749149411.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.891966 target range: 77.671074 and range: 78.30 m.
2025-06-05T18:50:11.215Z,1749149411.215 [DAT](INFO): DAT read: 18:50:09.0367 LVL= 20656, 23329, 12450, 28147, AGC= 66, IDX= 409, 0.06, 2.920, 1.621,-3.077, 2.666, PHS= 0.342,-0.998, 0.537, RAW= 156.7,   1.7, CAL= 158.7,  -7.2, ROT= 351.3,   7.2

2025-06-05T18:50:11.238Z,1749149411.238 [DAT](INFO): got valid direction response:
 18:50:09.0367 LVL= 20656, 23329, 12450, 28147, AGC= 66, IDX= 409, 0.06, 2.920, 1.621,-3.077, 2.666, PHS= 0.342,-0.998, 0.537, RAW= 156.7,   1.7, CAL= 158.7,  -7.2, ROT= 351.3,   7.2

2025-06-05T18:50:11.239Z,1749149411.239 [DAT](INFO): DAT read: Bearing 351.3,   7.2 (Local)

2025-06-05T18:50:11.239Z,1749149411.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.3,   7.2 (Local)

2025-06-05T18:50:11.249Z,1749149411.249 [DAT](INFO): DAT read: Range 10 to 50 : 75.9 m  (Round-trip  101.2 ms) speed  0.6 m/s

2025-06-05T18:50:11.250Z,1749149411.250 [DAT](INFO): DAT read: user:2871>

2025-06-05T18:50:11.251Z,1749149411.251 [DAT](INFO): DAT read: Tx time:18:50:10.1313

2025-06-05T18:50:11.251Z,1749149411.251 [DAT](INFO): Ping request sent.
2025-06-05T18:50:11.251Z,1749149411.251 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:11.256Z,1749149411.256 [DAT](INFO): DAT read: TxSync time:18:50:10.1305

2025-06-05T18:50:11.257Z,1749149411.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:11.259Z,1749149411.259 [DAT](INFO): direction in FSK: [0.980699,-0.150068,-0.125333]
2025-06-05T18:50:11.259Z,1749149411.259 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:11.264Z,1749149411.264 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:11.267Z,1749149411.267 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:11.267Z,1749149411.267 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:11.617Z,1749149411.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.900002 m,
      deltaT: 3.778592 s,
      deltaX: -2.400002 m,
      approachRate: -0.635158 m/s,
      rangeRepo size: 4

2025-06-05T18:50:11.624Z,1749149411.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.289833 m,
      bearing: 44.308272 deg,
      lat: 36.906250 deg,
      lon: -122.116205 deg,
      deltaT: 3.778592 s,
      deltaX: -2.381241 m,
      approachRate: -0.630193 m/s,
      posRepo size: 4

2025-06-05T18:50:11.624Z,1749149411.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.29 m.
2025-06-05T18:50:11.627Z,1749149411.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.289833 m,
      nav range: 74.224846 m,
      bearing: 42.761923 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.128614 deg/s,
      cmd heading: 51.105880 deg,
      new cmd heading: 50.917854 deg.

2025-06-05T18:50:11.631Z,1749149411.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888684 target range: 75.289833 and range: 75.90 m.
2025-06-05T18:50:11.960Z,1749149411.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.29 m.
2025-06-05T18:50:11.963Z,1749149411.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.289833 m,
      nav range: 73.977097 m,
      bearing: 42.715308 deg,
      approach rate: -0.722394 m/s,
      LOS rate: -0.136377 deg/s,
      cmd heading: 50.917855 deg,
      new cmd heading: 50.777541 deg.

2025-06-05T18:50:11.965Z,1749149411.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.886235 target range: 75.289833 and range: 75.90 m.
2025-06-05T18:50:12.500Z,1749149412.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:12.502Z,1749149412.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.29 m.
2025-06-05T18:50:12.505Z,1749149412.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.289833 m,
      nav range: 73.609337 m,
      bearing: 42.639999 deg,
      approach rate: -0.678461 m/s,
      LOS rate: -0.139629 deg/s,
      cmd heading: 50.777542 deg,
      new cmd heading: 50.550486 deg.

2025-06-05T18:50:12.506Z,1749149412.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.882272 target range: 75.289833 and range: 75.90 m.
2025-06-05T18:50:12.713Z,1749149412.713 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:12.713Z,1749149412.713 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:12.714Z,1749149412.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:12.801Z,1749149412.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.29 m.
2025-06-05T18:50:12.808Z,1749149412.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.289833 m,
      nav range: 73.414970 m,
      bearing: 42.600734 deg,
      approach rate: -0.649725 m/s,
      LOS rate: -0.131600 deg/s,
      cmd heading: 50.550486 deg,
      new cmd heading: 50.432382 deg.

2025-06-05T18:50:12.809Z,1749149412.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.880211 target range: 75.289833 and range: 75.90 m.
2025-06-05T18:50:12.965Z,1749149412.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713572
2025-06-05T18:50:13.199Z,1749149413.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.29 m.
2025-06-05T18:50:13.202Z,1749149413.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.289833 m,
      nav range: 73.138298 m,
      bearing: 42.545956 deg,
      approach rate: -0.695092 m/s,
      LOS rate: -0.138141 deg/s,
      cmd heading: 50.432382 deg,
      new cmd heading: 50.267426 deg.

2025-06-05T18:50:13.203Z,1749149413.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877332 target range: 75.289833 and range: 75.90 m.
2025-06-05T18:50:13.217Z,1749149413.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965918
2025-06-05T18:50:13.469Z,1749149413.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217685
2025-06-05T18:50:13.645Z,1749149413.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.29 m.
2025-06-05T18:50:13.648Z,1749149413.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.289833 m,
      nav range: 72.840706 m,
      bearing: 42.484326 deg,
      approach rate: -0.667323 m/s,
      LOS rate: -0.138764 deg/s,
      cmd heading: 50.267426 deg,
      new cmd heading: 50.081782 deg.

2025-06-05T18:50:13.649Z,1749149413.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874092 target range: 75.289833 and range: 75.90 m.
2025-06-05T18:50:13.721Z,1749149413.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470314
2025-06-05T18:50:13.973Z,1749149413.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721981
2025-06-05T18:50:14.005Z,1749149414.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.29 m.
2025-06-05T18:50:14.009Z,1749149414.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.289833 m,
      nav range: 72.594170 m,
      bearing: 42.433652 deg,
      approach rate: -0.684532 m/s,
      LOS rate: -0.141180 deg/s,
      cmd heading: 50.081782 deg,
      new cmd heading: 49.929242 deg.

2025-06-05T18:50:14.010Z,1749149414.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871430 target range: 75.289833 and range: 75.90 m.
2025-06-05T18:50:14.225Z,1749149414.225 [DAT](INFO): DAT read: Rx Time:18:50:12.6333

2025-06-05T18:50:14.226Z,1749149414.226 [DAT](INFO): Rx dataTimestamp_ set to:1749149414.225540
2025-06-05T18:50:14.226Z,1749149414.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975415
2025-06-05T18:50:14.477Z,1749149414.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225891
2025-06-05T18:50:14.483Z,1749149414.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.29 m.
2025-06-05T18:50:14.489Z,1749149414.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.289833 m,
      nav range: 72.298119 m,
      bearing: 42.372327 deg,
      approach rate: -0.620075 m/s,
      LOS rate: -0.128971 deg/s,
      cmd heading: 49.929243 deg,
      new cmd heading: 49.744514 deg.

2025-06-05T18:50:14.491Z,1749149414.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868206 target range: 75.289833 and range: 75.90 m.
2025-06-05T18:50:14.734Z,1749149414.734 [DAT](INFO): DAT read: 18:50:12.6333 LVL= 23600, 29169, 17634, 32755, AGC= 67, IDX= 406, 0.49, 0.796,-0.556, 1.036, 0.518, PHS= 0.366,-1.027, 0.515, RAW= 155.0,   2.0, CAL= 157.1,  -6.9, ROT= 352.9,   6.9

2025-06-05T18:50:14.735Z,1749149414.735 [DAT](INFO): got valid direction response:
 18:50:12.6333 LVL= 23600, 29169, 17634, 32755, AGC= 67, IDX= 406, 0.49, 0.796,-0.556, 1.036, 0.518, PHS= 0.366,-1.027, 0.515, RAW= 155.0,   2.0, CAL= 157.1,  -6.9, ROT= 352.9,   6.9

2025-06-05T18:50:14.736Z,1749149414.736 [DAT](INFO): DAT read: Bearing 352.9,   6.9 (Local)

2025-06-05T18:50:14.736Z,1749149414.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.9,   6.9 (Local)

2025-06-05T18:50:14.738Z,1749149414.738 [DAT](INFO): DAT read: Range 10 to 50 : 73.4 m  (Round-trip  97.9 ms) speed  0.8 m/s

2025-06-05T18:50:14.739Z,1749149414.739 [DAT](INFO): DAT read: user:2872>

2025-06-05T18:50:14.739Z,1749149414.739 [DAT](INFO): DAT read: Tx time:18:50:13.7313

2025-06-05T18:50:14.740Z,1749149414.740 [DAT](INFO): Ping request sent.
2025-06-05T18:50:14.740Z,1749149414.740 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:14.741Z,1749149414.741 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:14.742Z,1749149414.742 [DAT](INFO): direction in FSK: [0.985145,-0.122706,-0.120137]
2025-06-05T18:50:14.743Z,1749149414.743 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:14.743Z,1749149414.743 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:14.746Z,1749149414.746 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:14.746Z,1749149414.746 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:14.951Z,1749149414.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.400002 m,
      deltaT: 3.527775 s,
      deltaX: -2.500000 m,
      approachRate: -0.708662 m/s,
      rangeRepo size: 4

2025-06-05T18:50:14.959Z,1749149414.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.809349 m,
      bearing: 44.413074 deg,
      lat: 36.906243 deg,
      lon: -122.116199 deg,
      deltaT: 3.527775 s,
      deltaX: -2.480484 m,
      approachRate: -0.703130 m/s,
      posRepo size: 4

2025-06-05T18:50:14.964Z,1749149414.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:14.966Z,1749149414.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 71.819572 m,
      bearing: 43.092420 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.128971 deg/s,
      cmd heading: 49.744514 deg,
      new cmd heading: 49.563432 deg.

2025-06-05T18:50:14.972Z,1749149414.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865045 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:14.981Z,1749149414.981 [DAT](INFO): DAT read: TxSync time:18:50:13.7305

2025-06-05T18:50:15.278Z,1749149415.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:15.280Z,1749149415.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:15.283Z,1749149415.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 71.582512 m,
      bearing: 43.046861 deg,
      approach rate: -0.720260 m/s,
      LOS rate: -0.138878 deg/s,
      cmd heading: 49.563432 deg,
      new cmd heading: 49.426304 deg.

2025-06-05T18:50:15.284Z,1749149415.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862652 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:15.484Z,1749149415.484 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:15.484Z,1749149415.484 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:15.485Z,1749149415.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:15.733Z,1749149415.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:15.737Z,1749149415.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997029
2025-06-05T18:50:15.735Z,1749149415.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 71.299896 m,
      bearing: 42.994975 deg,
      approach rate: -0.623788 m/s,
      LOS rate: -0.114978 deg/s,
      cmd heading: 49.426305 deg,
      new cmd heading: 49.270028 deg.

2025-06-05T18:50:15.742Z,1749149415.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859924 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:15.989Z,1749149415.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248928
2025-06-05T18:50:16.115Z,1749149416.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:16.118Z,1749149416.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 71.028221 m,
      bearing: 42.944574 deg,
      approach rate: -0.711363 m/s,
      LOS rate: -0.132474 deg/s,
      cmd heading: 49.270027 deg,
      new cmd heading: 49.118249 deg.

2025-06-05T18:50:16.119Z,1749149416.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.857275 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:16.242Z,1749149416.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502516
2025-06-05T18:50:16.493Z,1749149416.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753501
2025-06-05T18:50:16.557Z,1749149416.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:16.560Z,1749149416.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 70.728493 m,
      bearing: 42.894992 deg,
      approach rate: -0.677574 m/s,
      LOS rate: -0.112563 deg/s,
      cmd heading: 49.118250 deg,
      new cmd heading: 48.968872 deg.

2025-06-05T18:50:16.561Z,1749149416.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.854668 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:16.745Z,1749149416.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005242
2025-06-05T18:50:16.898Z,1749149416.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:16.901Z,1749149416.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 70.510521 m,
      bearing: 42.859608 deg,
      approach rate: -0.638753 m/s,
      LOS rate: -0.104010 deg/s,
      cmd heading: 48.968874 deg,
      new cmd heading: 48.862395 deg.

2025-06-05T18:50:16.902Z,1749149416.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.852810 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:16.997Z,1749149416.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257053
2025-06-05T18:50:17.249Z,1749149417.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508896
2025-06-05T18:50:17.294Z,1749149417.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:17.297Z,1749149417.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:17.299Z,1749149417.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 70.235191 m,
      bearing: 42.815256 deg,
      approach rate: -0.691243 m/s,
      LOS rate: -0.111787 deg/s,
      cmd heading: 48.862395 deg,
      new cmd heading: 48.728817 deg.

2025-06-05T18:50:17.301Z,1749149417.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850478 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:17.501Z,1749149417.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760818
2025-06-05T18:50:17.743Z,1749149417.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:17.751Z,1749149417.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 69.939682 m,
      bearing: 42.772508 deg,
      approach rate: -0.663987 m/s,
      LOS rate: -0.096457 deg/s,
      cmd heading: 48.728817 deg,
      new cmd heading: 48.600032 deg.

2025-06-05T18:50:17.762Z,1749149417.762 [DAT](INFO): DAT read: Rx Time:18:50:16.2299

2025-06-05T18:50:17.762Z,1749149417.762 [DAT](INFO): Rx dataTimestamp_ set to:1749149417.761717
2025-06-05T18:50:17.763Z,1749149417.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022795
2025-06-05T18:50:17.769Z,1749149417.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.848231 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:18.013Z,1749149418.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273151
2025-06-05T18:50:18.106Z,1749149418.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.81 m.
2025-06-05T18:50:18.110Z,1749149418.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.809349 m,
      nav range: 69.690811 m,
      bearing: 42.736898 deg,
      approach rate: -0.683304 m/s,
      LOS rate: -0.098120 deg/s,
      cmd heading: 48.600030 deg,
      new cmd heading: 48.492820 deg.

2025-06-05T18:50:18.111Z,1749149418.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.846359 target range: 72.809349 and range: 73.40 m.
2025-06-05T18:50:18.273Z,1749149418.273 [DAT](INFO): DAT read: 18:50:16.2299 LVL= 23072, 28145, 17618, 31571, AGC= 65, IDX= 404, 0.12,-1.735,-3.075,-1.523,-2.059, PHS= 0.412,-0.969, 0.532, RAW= 154.1,   0.4, CAL= 156.8,  -8.4, ROT= 353.2,   8.4

2025-06-05T18:50:18.276Z,1749149418.276 [DAT](INFO): got valid direction response:
 18:50:16.2299 LVL= 23072, 28145, 17618, 31571, AGC= 65, IDX= 404, 0.12,-1.735,-3.075,-1.523,-2.059, PHS= 0.412,-0.969, 0.532, RAW= 154.1,   0.4, CAL= 156.8,  -8.4, ROT= 353.2,   8.4

2025-06-05T18:50:18.277Z,1749149418.277 [DAT](INFO): DAT read: Bearing 353.2,   8.4 (Local)

2025-06-05T18:50:18.278Z,1749149418.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,   8.4 (Local)

2025-06-05T18:50:18.286Z,1749149418.286 [DAT](INFO): DAT read: Range 10 to 50 : 70.8 m  (Round-trip  94.5 ms) speed  0.8 m/s

2025-06-05T18:50:18.292Z,1749149418.292 [DAT](INFO): DAT read: user:2873>

2025-06-05T18:50:18.293Z,1749149418.293 [DAT](INFO): DAT read: Tx time:18:50:17.3313

2025-06-05T18:50:18.294Z,1749149418.294 [DAT](INFO): Ping request sent.
2025-06-05T18:50:18.294Z,1749149418.294 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:18.294Z,1749149418.294 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:18.301Z,1749149418.301 [DAT](INFO): direction in FSK: [0.982313,-0.117134,-0.146083]
2025-06-05T18:50:18.302Z,1749149418.302 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:18.302Z,1749149418.302 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:18.326Z,1749149418.326 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:18.326Z,1749149418.326 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:18.521Z,1749149418.521 [DAT](INFO): DAT read: TxSync time:18:50:17.3305

2025-06-05T18:50:18.637Z,1749149418.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.800003 m,
      deltaT: 3.538508 s,
      deltaX: -2.599998 m,
      approachRate: -0.734773 m/s,
      rangeRepo size: 4

2025-06-05T18:50:18.639Z,1749149418.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.230240 m,
      bearing: 43.560954 deg,
      lat: 36.906239 deg,
      lon: -122.116189 deg,
      deltaT: 3.538508 s,
      deltaX: -2.579109 m,
      approachRate: -0.728869 m/s,
      posRepo size: 4

2025-06-05T18:50:18.648Z,1749149418.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.23 m.
2025-06-05T18:50:18.657Z,1749149418.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.230240 m,
      nav range: 69.611298 m,
      bearing: 43.401489 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.098120 deg/s,
      cmd heading: 48.492820 deg,
      new cmd heading: 48.338093 deg.

2025-06-05T18:50:18.659Z,1749149418.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843659 target range: 70.230240 and range: 70.80 m.
2025-06-05T18:50:19.107Z,1749149419.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.23 m.
2025-06-05T18:50:19.128Z,1749149419.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.230240 m,
      nav range: 69.284607 m,
      bearing: 43.361688 deg,
      approach rate: -0.687292 m/s,
      LOS rate: -0.084129 deg/s,
      cmd heading: 48.338092 deg,
      new cmd heading: 48.218126 deg.

2025-06-05T18:50:19.129Z,1749149419.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841565 target range: 70.230240 and range: 70.80 m.
2025-06-05T18:50:19.601Z,1749149419.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:19.603Z,1749149419.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.23 m.
2025-06-05T18:50:19.610Z,1749149419.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.230240 m,
      nav range: 68.972420 m,
      bearing: 43.329719 deg,
      approach rate: -0.629105 m/s,
      LOS rate: -0.064713 deg/s,
      cmd heading: 48.218127 deg,
      new cmd heading: 48.121787 deg.

2025-06-05T18:50:19.611Z,1749149419.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839884 target range: 70.230240 and range: 70.80 m.
2025-06-05T18:50:19.782Z,1749149419.782 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:19.783Z,1749149419.783 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:19.784Z,1749149419.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:20.033Z,1749149420.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738799
2025-06-05T18:50:20.036Z,1749149420.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.23 m.
2025-06-05T18:50:20.039Z,1749149420.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.230240 m,
      nav range: 68.675369 m,
      bearing: 43.300256 deg,
      approach rate: -0.685760 m/s,
      LOS rate: -0.068312 deg/s,
      cmd heading: 48.121787 deg,
      new cmd heading: 48.033015 deg.

2025-06-05T18:50:20.041Z,1749149420.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838334 target range: 70.230240 and range: 70.80 m.
2025-06-05T18:50:20.285Z,1749149420.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990742
2025-06-05T18:50:20.445Z,1749149420.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.23 m.
2025-06-05T18:50:20.452Z,1749149420.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.230240 m,
      nav range: 68.417534 m,
      bearing: 43.275406 deg,
      approach rate: -0.631026 m/s,
      LOS rate: -0.061048 deg/s,
      cmd heading: 48.033015 deg,
      new cmd heading: 47.958183 deg.

2025-06-05T18:50:20.453Z,1749149420.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837028 target range: 70.230240 and range: 70.80 m.
2025-06-05T18:50:20.540Z,1749149420.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245635
2025-06-05T18:50:20.790Z,1749149420.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495941
2025-06-05T18:50:20.865Z,1749149420.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.23 m.
2025-06-05T18:50:20.883Z,1749149420.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.230240 m,
      nav range: 68.126755 m,
      bearing: 43.247462 deg,
      approach rate: -0.692367 m/s,
      LOS rate: -0.066819 deg/s,
      cmd heading: 47.958184 deg,
      new cmd heading: 47.873996 deg.

2025-06-05T18:50:20.885Z,1749149420.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835559 target range: 70.230240 and range: 70.80 m.
2025-06-05T18:50:21.042Z,1749149421.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747866
2025-06-05T18:50:21.262Z,1749149421.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.23 m.
2025-06-05T18:50:21.265Z,1749149421.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.230240 m,
      nav range: 67.861206 m,
      bearing: 43.222789 deg,
      approach rate: -0.668759 m/s,
      LOS rate: -0.062380 deg/s,
      cmd heading: 47.873995 deg,
      new cmd heading: 47.799686 deg.

2025-06-05T18:50:21.266Z,1749149421.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834262 target range: 70.230240 and range: 70.80 m.
2025-06-05T18:50:21.293Z,1749149421.293 [DAT](INFO): DAT read: Rx Time:18:50:19.8269

2025-06-05T18:50:21.293Z,1749149421.293 [DAT](INFO): Rx dataTimestamp_ set to:1749149421.292705
2025-06-05T18:50:21.293Z,1749149421.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999615
2025-06-05T18:50:21.548Z,1749149421.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254028
2025-06-05T18:50:21.663Z,1749149421.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:21.686Z,1749149421.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.23 m.
2025-06-05T18:50:21.702Z,1749149421.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.230240 m,
      nav range: 67.583481 m,
      bearing: 43.196736 deg,
      approach rate: -0.654537 m/s,
      LOS rate: -0.061654 deg/s,
      cmd heading: 47.799686 deg,
      new cmd heading: 47.721205 deg.

2025-06-05T18:50:21.703Z,1749149421.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832892 target range: 70.230240 and range: 70.80 m.
2025-06-05T18:50:21.819Z,1749149421.819 [DAT](INFO): DAT read: 18:50:19.8269 LVL= 22592, 29009, 15042, 32755, AGC= 67, IDX= 403, 0.33,-1.788, 3.106,-1.651,-2.152, PHS= 0.453,-0.978, 0.499, RAW= 151.6,   0.4, CAL= 154.5,  -8.5, ROT= 355.5,   8.5

2025-06-05T18:50:21.822Z,1749149421.822 [DAT](INFO): got valid direction response:
 18:50:19.8269 LVL= 22592, 29009, 15042, 32755, AGC= 67, IDX= 403, 0.33,-1.788, 3.106,-1.651,-2.152, PHS= 0.453,-0.978, 0.499, RAW= 151.6,   0.4, CAL= 154.5,  -8.5, ROT= 355.5,   8.5

2025-06-05T18:50:21.823Z,1749149421.823 [DAT](INFO): DAT read: Bearing 355.5,   8.5 (Local)

2025-06-05T18:50:21.836Z,1749149421.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.5,   8.5 (Local)

2025-06-05T18:50:21.837Z,1749149421.837 [DAT](INFO): DAT read: Range 10 to 50 : 68.5 m  (Round-trip  91.4 ms) speed  0.6 m/s

2025-06-05T18:50:21.838Z,1749149421.838 [DAT](INFO): DAT read: user:2874>

2025-06-05T18:50:21.839Z,1749149421.839 [DAT](INFO): DAT read: Tx time:18:50:20.9314

2025-06-05T18:50:21.839Z,1749149421.839 [DAT](INFO): Ping request sent.
2025-06-05T18:50:21.839Z,1749149421.839 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:21.844Z,1749149421.844 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:21.845Z,1749149421.845 [DAT](INFO): direction in FSK: [0.985967,-0.077597,-0.147809]
2025-06-05T18:50:21.846Z,1749149421.846 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:21.846Z,1749149421.846 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:21.876Z,1749149421.876 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:21.876Z,1749149421.876 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:22.049Z,1749149422.049 [DAT](INFO): DAT read: TxSync time:18:50:20.9306

2025-06-05T18:50:22.131Z,1749149422.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.500000 m,
      deltaT: 3.531401 s,
      deltaX: -2.300003 m,
      approachRate: -0.651300 m/s,
      rangeRepo size: 4

2025-06-05T18:50:22.138Z,1749149422.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.948112 m,
      bearing: 44.270763 deg,
      lat: 36.906237 deg,
      lon: -122.116187 deg,
      deltaT: 3.531401 s,
      deltaX: -2.282127 m,
      approachRate: -0.646239 m/s,
      posRepo size: 4

2025-06-05T18:50:22.139Z,1749149422.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:22.150Z,1749149422.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 67.226662 m,
      bearing: 43.468600 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061654 deg/s,
      cmd heading: 47.721203 deg,
      new cmd heading: 47.639003 deg.

2025-06-05T18:50:22.151Z,1749149422.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831457 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:22.506Z,1749149422.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:22.514Z,1749149422.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 66.954628 m,
      bearing: 43.444593 deg,
      approach rate: -0.724722 m/s,
      LOS rate: -0.064218 deg/s,
      cmd heading: 47.639002 deg,
      new cmd heading: 47.566686 deg.

2025-06-05T18:50:22.519Z,1749149422.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830195 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:22.928Z,1749149422.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:22.931Z,1749149422.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 66.679588 m,
      bearing: 43.417526 deg,
      approach rate: -0.677929 m/s,
      LOS rate: -0.066991 deg/s,
      cmd heading: 47.566687 deg,
      new cmd heading: 47.485152 deg.

2025-06-05T18:50:22.936Z,1749149422.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828772 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:23.301Z,1749149423.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:23.304Z,1749149423.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 66.413574 m,
      bearing: 43.391500 deg,
      approach rate: -0.683181 m/s,
      LOS rate: -0.067108 deg/s,
      cmd heading: 47.485152 deg,
      new cmd heading: 47.406761 deg.

2025-06-05T18:50:23.305Z,1749149423.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827404 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:23.758Z,1749149423.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:23.764Z,1749149423.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:23.767Z,1749149423.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 66.095451 m,
      bearing: 43.355734 deg,
      approach rate: -0.686662 m/s,
      LOS rate: -0.077571 deg/s,
      cmd heading: 47.406762 deg,
      new cmd heading: 47.298948 deg.

2025-06-05T18:50:23.772Z,1749149423.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825522 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:23.817Z,1749149423.817 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:23.817Z,1749149423.817 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:23.817Z,1749149423.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:24.069Z,1749149424.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229564
2025-06-05T18:50:24.133Z,1749149424.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:24.141Z,1749149424.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 65.848869 m,
      bearing: 43.328811 deg,
      approach rate: -0.668103 m/s,
      LOS rate: -0.073220 deg/s,
      cmd heading: 47.298947 deg,
      new cmd heading: 47.217876 deg.

2025-06-05T18:50:24.142Z,1749149424.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824107 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:24.321Z,1749149424.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481436
2025-06-05T18:50:24.505Z,1749149424.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:24.509Z,1749149424.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 65.572182 m,
      bearing: 43.298845 deg,
      approach rate: -0.745028 m/s,
      LOS rate: -0.081028 deg/s,
      cmd heading: 47.217876 deg,
      new cmd heading: 47.127600 deg.

2025-06-05T18:50:24.510Z,1749149424.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822532 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:24.578Z,1749149424.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737804
2025-06-05T18:50:24.826Z,1749149424.826 [DAT](INFO): DAT read: Rx Time:18:50:23.4236

2025-06-05T18:50:24.826Z,1749149424.826 [DAT](INFO): Rx dataTimestamp_ set to:1749149424.826002
2025-06-05T18:50:24.827Z,1749149424.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987719
2025-06-05T18:50:24.939Z,1749149424.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:24.943Z,1749149424.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 65.266823 m,
      bearing: 43.258809 deg,
      approach rate: -0.702816 m/s,
      LOS rate: -0.092580 deg/s,
      cmd heading: 47.127598 deg,
      new cmd heading: 47.006927 deg.

2025-06-05T18:50:24.945Z,1749149424.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820426 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:25.077Z,1749149425.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237540
2025-06-05T18:50:25.317Z,1749149425.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.95 m.
2025-06-05T18:50:25.320Z,1749149425.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.948112 m,
      nav range: 65.002197 m,
      bearing: 43.224045 deg,
      approach rate: -0.700132 m/s,
      LOS rate: -0.092350 deg/s,
      cmd heading: 47.006926 deg,
      new cmd heading: 46.902211 deg.

2025-06-05T18:50:25.321Z,1749149425.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818598 target range: 67.948112 and range: 68.50 m.
2025-06-05T18:50:25.329Z,1749149425.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489671
2025-06-05T18:50:25.614Z,1749149425.614 [DAT](INFO): DAT read: 18:50:23.4236 LVL= 23760, 26417, 18226, 30003, AGC= 68, IDX= 401, 0.34, 0.286,-1.110, 0.442,-0.186, PHS= 0.559,-0.877, 0.625, RAW= 152.2,  -4.2, CAL= 156.6, -12.6, ROT= 353.4,  12.6

2025-06-05T18:50:25.615Z,1749149425.615 [DAT](INFO): got valid direction response:
 18:50:23.4236 LVL= 23760, 26417, 18226, 30003, AGC= 68, IDX= 401, 0.34, 0.286,-1.110, 0.442,-0.186, PHS= 0.559,-0.877, 0.625, RAW= 152.2,  -4.2, CAL= 156.6, -12.6, ROT= 353.4,  12.6

2025-06-05T18:50:25.616Z,1749149425.616 [DAT](INFO): DAT read: Bearing 353.4,  12.6 (Local)

2025-06-05T18:50:25.617Z,1749149425.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,  12.6 (Local)

2025-06-05T18:50:25.618Z,1749149425.618 [DAT](INFO): DAT read: Range 10 to 50 : 66.0 m  (Round-trip  88.0 ms) speed  0.6 m/s

2025-06-05T18:50:25.619Z,1749149425.619 [DAT](INFO): DAT read: user:2875>

2025-06-05T18:50:25.620Z,1749149425.620 [DAT](INFO): DAT read: Tx time:18:50:24.5314

2025-06-05T18:50:25.620Z,1749149425.620 [DAT](INFO): Ping request sent.
2025-06-05T18:50:25.620Z,1749149425.620 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:25.621Z,1749149425.621 [DAT](INFO): DAT read: TxSync time:18:50:24.5306

2025-06-05T18:50:25.622Z,1749149425.622 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:25.625Z,1749149425.625 [DAT](INFO): direction in FSK: [0.969449,-0.112169,-0.218143]
2025-06-05T18:50:25.625Z,1749149425.625 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:25.626Z,1749149425.626 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:25.631Z,1749149425.631 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:25.631Z,1749149425.631 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:25.861Z,1749149425.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.000000 m,
      deltaT: 3.783842 s,
      deltaX: -2.500000 m,
      approachRate: -0.660704 m/s,
      rangeRepo size: 4

2025-06-05T18:50:25.868Z,1749149425.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.468468 m,
      bearing: 41.600055 deg,
      lat: 36.906237 deg,
      lon: -122.116187 deg,
      deltaT: 3.783842 s,
      deltaX: -2.479645 m,
      approachRate: -0.655325 m/s,
      posRepo size: 4

2025-06-05T18:50:25.870Z,1749149425.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.47 m.
2025-06-05T18:50:25.886Z,1749149425.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.468468 m,
      nav range: 64.629211 m,
      bearing: 43.167755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092350 deg/s,
      cmd heading: 46.902209 deg,
      new cmd heading: 46.751610 deg.

2025-06-05T18:50:25.887Z,1749149425.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815970 target range: 65.468468 and range: 66.00 m.
2025-06-05T18:50:26.152Z,1749149426.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:50:26.222Z,1749149426.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:26.225Z,1749149426.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.47 m.
2025-06-05T18:50:26.227Z,1749149426.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.468468 m,
      nav range: 64.350761 m,
      bearing: 43.125512 deg,
      approach rate: -0.767577 m/s,
      LOS rate: -0.116952 deg/s,
      cmd heading: 46.751610 deg,
      new cmd heading: 46.624332 deg.

2025-06-05T18:50:26.242Z,1749149426.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813748 target range: 65.468468 and range: 66.00 m.
2025-06-05T18:50:26.341Z,1749149426.341 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:26.341Z,1749149426.341 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:26.341Z,1749149426.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:26.596Z,1749149426.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974865
2025-06-05T18:50:26.710Z,1749149426.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.47 m.
2025-06-05T18:50:26.721Z,1749149426.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.468468 m,
      nav range: 64.019028 m,
      bearing: 43.076357 deg,
      approach rate: -0.682892 m/s,
      LOS rate: -0.101713 deg/s,
      cmd heading: 46.624333 deg,
      new cmd heading: 46.476104 deg.

2025-06-05T18:50:26.722Z,1749149426.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811161 target range: 65.468468 and range: 66.00 m.
2025-06-05T18:50:26.846Z,1749149426.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225560
2025-06-05T18:50:27.004Z,1749149427.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.47 m.
2025-06-05T18:50:27.007Z,1749149427.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.468468 m,
      nav range: 63.790470 m,
      bearing: 43.042196 deg,
      approach rate: -0.776693 m/s,
      LOS rate: -0.116501 deg/s,
      cmd heading: 46.476104 deg,
      new cmd heading: 46.373256 deg.

2025-06-05T18:50:27.009Z,1749149427.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809366 target range: 65.468468 and range: 66.00 m.
2025-06-05T18:50:27.097Z,1749149427.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476465
2025-06-05T18:50:27.156Z,1749149427.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:50:27.349Z,1749149427.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728402
2025-06-05T18:50:27.438Z,1749149427.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.47 m.
2025-06-05T18:50:27.442Z,1749149427.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.468468 m,
      nav range: 63.478477 m,
      bearing: 42.995753 deg,
      approach rate: -0.719000 m/s,
      LOS rate: -0.107556 deg/s,
      cmd heading: 46.373255 deg,
      new cmd heading: 46.233241 deg.

2025-06-05T18:50:27.443Z,1749149427.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806922 target range: 65.468468 and range: 66.00 m.
2025-06-05T18:50:27.604Z,1749149427.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983526
2025-06-05T18:50:27.853Z,1749149427.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232417
2025-06-05T18:50:27.889Z,1749149427.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.47 m.
2025-06-05T18:50:27.891Z,1749149427.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.468468 m,
      nav range: 63.153225 m,
      bearing: 42.952982 deg,
      approach rate: -0.720877 m/s,
      LOS rate: -0.095284 deg/s,
      cmd heading: 46.233240 deg,
      new cmd heading: 46.104267 deg.

2025-06-05T18:50:27.893Z,1749149427.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804671 target range: 65.468468 and range: 66.00 m.
2025-06-05T18:50:28.105Z,1749149428.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485008
2025-06-05T18:50:28.340Z,1749149428.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:28.343Z,1749149428.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.47 m.
2025-06-05T18:50:28.350Z,1749149428.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.468468 m,
      nav range: 62.841637 m,
      bearing: 42.911511 deg,
      approach rate: -0.685890 m/s,
      LOS rate: -0.091741 deg/s,
      cmd heading: 46.104265 deg,
      new cmd heading: 45.979236 deg.

2025-06-05T18:50:28.351Z,1749149428.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802489 target range: 65.468468 and range: 66.00 m.
2025-06-05T18:50:28.357Z,1749149428.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736925
2025-06-05T18:50:28.612Z,1749149428.612 [DAT](INFO): DAT read: Rx Time:18:50:27.0201

2025-06-05T18:50:28.613Z,1749149428.613 [DAT](INFO): Rx dataTimestamp_ set to:1749149428.612230
2025-06-05T18:50:28.615Z,1749149428.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994285
2025-06-05T18:50:28.826Z,1749149428.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.47 m.
2025-06-05T18:50:28.831Z,1749149428.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.468468 m,
      nav range: 62.487762 m,
      bearing: 42.871193 deg,
      approach rate: -0.734560 m/s,
      LOS rate: -0.084166 deg/s,
      cmd heading: 45.979235 deg,
      new cmd heading: 45.857594 deg.

2025-06-05T18:50:28.832Z,1749149428.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800366 target range: 65.468468 and range: 66.00 m.
2025-06-05T18:50:28.863Z,1749149428.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242362
2025-06-05T18:50:29.125Z,1749149429.125 [DAT](INFO): DAT read: 18:50:27.0201 LVL= 21056, 25921, 17762, 30387, AGC= 64, IDX= 398,-0.07,-2.697, 2.195,-2.584, 3.093, PHS= 0.582,-0.851, 0.603, RAW= 150.7,  -4.7, CAL= 155.4, -13.1, ROT= 354.6,  13.1

2025-06-05T18:50:29.127Z,1749149429.127 [DAT](INFO): got valid direction response:
 18:50:27.0201 LVL= 21056, 25921, 17762, 30387, AGC= 64, IDX= 398,-0.07,-2.697, 2.195,-2.584, 3.093, PHS= 0.582,-0.851, 0.603, RAW= 150.7,  -4.7, CAL= 155.4, -13.1, ROT= 354.6,  13.1

2025-06-05T18:50:29.129Z,1749149429.129 [DAT](INFO): DAT read: Bearing 354.6,  13.1 (Local)

2025-06-05T18:50:29.130Z,1749149429.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  13.1 (Local)

2025-06-05T18:50:29.155Z,1749149429.155 [DAT](INFO): DAT read: Range 10 to 50 : 63.3 m  (Round-trip  84.5 ms) speed  0.7 m/s

2025-06-05T18:50:29.185Z,1749149429.185 [DAT](INFO): DAT read: user:2876>

2025-06-05T18:50:29.186Z,1749149429.186 [DAT](INFO): DAT read: Tx time:18:50:28.1330

2025-06-05T18:50:29.187Z,1749149429.187 [DAT](INFO): Ping request sent.
2025-06-05T18:50:29.187Z,1749149429.187 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:29.208Z,1749149429.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:29.211Z,1749149429.211 [DAT](INFO): direction in FSK: [0.969653,-0.091659,-0.226651]
2025-06-05T18:50:29.211Z,1749149429.211 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:29.211Z,1749149429.211 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:29.222Z,1749149429.222 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:29.223Z,1749149429.223 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:29.352Z,1749149429.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.531765 s,
      deltaX: -2.700001 m,
      approachRate: -0.764490 m/s,
      rangeRepo size: 4

2025-06-05T18:50:29.354Z,1749149429.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.789902 m,
      bearing: 42.515415 deg,
      lat: 36.906235 deg,
      lon: -122.116189 deg,
      deltaT: 3.531765 s,
      deltaX: -2.678566 m,
      approachRate: -0.758421 m/s,
      posRepo size: 4

2025-06-05T18:50:29.355Z,1749149429.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:29.365Z,1749149429.365 [DAT](INFO): DAT read: TxSync time:18:50:28.1322

2025-06-05T18:50:29.375Z,1749149429.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 61.872498 m,
      bearing: 42.767974 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084166 deg/s,
      cmd heading: 45.857593 deg,
      new cmd heading: 45.725656 deg.

2025-06-05T18:50:29.381Z,1749149429.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798063 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:29.749Z,1749149429.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:29.751Z,1749149429.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 61.580269 m,
      bearing: 42.738928 deg,
      approach rate: -0.729685 m/s,
      LOS rate: -0.072871 deg/s,
      cmd heading: 45.725654 deg,
      new cmd heading: 45.638103 deg.

2025-06-05T18:50:29.772Z,1749149429.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796535 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:30.093Z,1749149430.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:30.096Z,1749149430.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 61.338467 m,
      bearing: 42.714888 deg,
      approach rate: -0.699951 m/s,
      LOS rate: -0.069865 deg/s,
      cmd heading: 45.638101 deg,
      new cmd heading: 45.565696 deg.

2025-06-05T18:50:30.097Z,1749149430.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795271 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:30.482Z,1749149430.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:30.485Z,1749149430.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:30.488Z,1749149430.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 61.062927 m,
      bearing: 42.687285 deg,
      approach rate: -0.703131 m/s,
      LOS rate: -0.070754 deg/s,
      cmd heading: 45.565695 deg,
      new cmd heading: 45.482514 deg.

2025-06-05T18:50:30.489Z,1749149430.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793820 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:30.626Z,1749149430.626 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:30.626Z,1749149430.626 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:30.626Z,1749149430.626 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:30.877Z,1749149430.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689463
2025-06-05T18:50:30.930Z,1749149430.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:30.949Z,1749149430.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 60.765682 m,
      bearing: 42.664583 deg,
      approach rate: -0.668602 m/s,
      LOS rate: -0.051315 deg/s,
      cmd heading: 45.482513 deg,
      new cmd heading: 45.414073 deg.

2025-06-05T18:50:30.950Z,1749149430.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792625 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:31.129Z,1749149431.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.941508
2025-06-05T18:50:31.325Z,1749149431.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:31.335Z,1749149431.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 60.507599 m,
      bearing: 42.644690 deg,
      approach rate: -0.654899 m/s,
      LOS rate: -0.050695 deg/s,
      cmd heading: 45.414075 deg,
      new cmd heading: 45.354141 deg.

2025-06-05T18:50:31.336Z,1749149431.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791579 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:31.384Z,1749149431.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.196957
2025-06-05T18:50:31.638Z,1749149431.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.448043
2025-06-05T18:50:31.766Z,1749149431.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:31.770Z,1749149431.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 60.197495 m,
      bearing: 42.619464 deg,
      approach rate: -0.700612 m/s,
      LOS rate: -0.057287 deg/s,
      cmd heading: 45.354140 deg,
      new cmd heading: 45.278071 deg.

2025-06-05T18:50:31.771Z,1749149431.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790251 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:31.886Z,1749149431.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698343
2025-06-05T18:50:32.122Z,1749149432.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:32.129Z,1749149432.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 59.972336 m,
      bearing: 42.601734 deg,
      approach rate: -0.632667 m/s,
      LOS rate: -0.050006 deg/s,
      cmd heading: 45.278072 deg,
      new cmd heading: 45.224682 deg.

2025-06-05T18:50:32.130Z,1749149432.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789320 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:32.137Z,1749149432.137 [DAT](INFO): DAT read: Rx Time:18:50:30.6185

2025-06-05T18:50:32.137Z,1749149432.137 [DAT](INFO): Rx dataTimestamp_ set to:1749149432.136961
2025-06-05T18:50:32.138Z,1749149432.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950653
2025-06-05T18:50:32.390Z,1749149432.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202086
2025-06-05T18:50:32.531Z,1749149432.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:32.533Z,1749149432.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m.
2025-06-05T18:50:32.537Z,1749149432.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.789902 m,
      nav range: 59.677193 m,
      bearing: 42.579581 deg,
      approach rate: -0.717724 m/s,
      LOS rate: -0.054137 deg/s,
      cmd heading: 45.224680 deg,
      new cmd heading: 45.157893 deg.

2025-06-05T18:50:32.538Z,1749149432.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788154 target range: 62.789902 and range: 63.30 m.
2025-06-05T18:50:32.651Z,1749149432.651 [DAT](INFO): DAT read: 18:50:30.6185 LVL= 23600, 29041, 22002, 32531, AGC= 67, IDX= 413,-0.27, 2.363, 1.025, 2.469, 1.872, PHS= 0.578,-0.801, 0.594, RAW= 150.6,  -5.4, CAL= 155.4, -13.8, ROT= 354.6,  13.8

2025-06-05T18:50:32.652Z,1749149432.652 [DAT](INFO): got valid direction response:
 18:50:30.6185 LVL= 23600, 29041, 22002, 32531, AGC= 67, IDX= 413,-0.27, 2.363, 1.025, 2.469, 1.872, PHS= 0.578,-0.801, 0.594, RAW= 150.6,  -5.4, CAL= 155.4, -13.8, ROT= 354.6,  13.8

2025-06-05T18:50:32.653Z,1749149432.653 [DAT](INFO): DAT read: Bearing 354.6,  13.8 (Local)

2025-06-05T18:50:32.653Z,1749149432.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  13.8 (Local)

2025-06-05T18:50:32.655Z,1749149432.655 [DAT](INFO): DAT read: Range 10 to 50 : 60.9 m  (Round-trip  81.3 ms) speed  0.5 m/s

2025-06-05T18:50:32.656Z,1749149432.656 [DAT](INFO): DAT read: user:2877>

2025-06-05T18:50:32.657Z,1749149432.657 [DAT](INFO): DAT read: Tx time:18:50:31.7315

2025-06-05T18:50:32.657Z,1749149432.657 [DAT](INFO): Ping request sent.
2025-06-05T18:50:32.658Z,1749149432.658 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:32.659Z,1749149432.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:32.663Z,1749149432.663 [DAT](INFO): direction in FSK: [0.966824,-0.091392,-0.238533]
2025-06-05T18:50:32.663Z,1749149432.663 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:32.690Z,1749149432.690 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:32.749Z,1749149432.749 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:32.749Z,1749149432.749 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:32.894Z,1749149432.894 [DAT](INFO): DAT read: TxSync time:18:50:31.7307

2025-06-05T18:50:33.029Z,1749149433.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.900002 m,
      deltaT: 3.528771 s,
      deltaX: -2.399998 m,
      approachRate: -0.680123 m/s,
      rangeRepo size: 4

2025-06-05T18:50:33.031Z,1749149433.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.409332 m,
      bearing: 41.746784 deg,
      lat: 36.906237 deg,
      lon: -122.116194 deg,
      deltaT: 3.528771 s,
      deltaX: -2.380569 m,
      approachRate: -0.674617 m/s,
      posRepo size: 4

2025-06-05T18:50:33.033Z,1749149433.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:33.045Z,1749149433.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 59.222412 m,
      bearing: 42.198957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054137 deg/s,
      cmd heading: 45.157891 deg,
      new cmd heading: 45.077486 deg.

2025-06-05T18:50:33.048Z,1749149433.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786751 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:33.326Z,1749149433.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:33.329Z,1749149433.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 58.999752 m,
      bearing: 42.180284 deg,
      approach rate: -0.748269 m/s,
      LOS rate: -0.062988 deg/s,
      cmd heading: 45.077486 deg,
      new cmd heading: 45.021257 deg.

2025-06-05T18:50:33.330Z,1749149433.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785769 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:33.796Z,1749149433.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:33.799Z,1749149433.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 58.692928 m,
      bearing: 42.149491 deg,
      approach rate: -0.652414 m/s,
      LOS rate: -0.065819 deg/s,
      cmd heading: 45.021257 deg,
      new cmd heading: 44.928394 deg.

2025-06-05T18:50:33.820Z,1749149433.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784148 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:34.130Z,1749149434.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:34.149Z,1749149434.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 58.469994 m,
      bearing: 42.128154 deg,
      approach rate: -0.667837 m/s,
      LOS rate: -0.064161 deg/s,
      cmd heading: 44.928394 deg,
      new cmd heading: 44.864139 deg.

2025-06-05T18:50:34.150Z,1749149434.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783027 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:34.535Z,1749149434.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:34.538Z,1749149434.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:34.542Z,1749149434.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 58.200863 m,
      bearing: 42.103358 deg,
      approach rate: -0.660706 m/s,
      LOS rate: -0.061155 deg/s,
      cmd heading: 44.864139 deg,
      new cmd heading: 44.789407 deg.

2025-06-05T18:50:34.543Z,1749149434.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781723 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:34.657Z,1749149434.657 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:34.657Z,1749149434.657 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:34.658Z,1749149434.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:34.911Z,1749149434.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253212
2025-06-05T18:50:35.003Z,1749149435.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:35.010Z,1749149435.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 57.908764 m,
      bearing: 42.067715 deg,
      approach rate: -0.627845 m/s,
      LOS rate: -0.076998 deg/s,
      cmd heading: 44.789406 deg,
      new cmd heading: 44.681938 deg.

2025-06-05T18:50:35.011Z,1749149435.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779847 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:35.161Z,1749149435.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503317
2025-06-05T18:50:35.354Z,1749149435.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:35.357Z,1749149435.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 57.659206 m,
      bearing: 42.036975 deg,
      approach rate: -0.711456 m/s,
      LOS rate: -0.088016 deg/s,
      cmd heading: 44.681940 deg,
      new cmd heading: 44.589320 deg.

2025-06-05T18:50:35.359Z,1749149435.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778230 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:35.413Z,1749149435.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755593
2025-06-05T18:50:35.665Z,1749149435.665 [DAT](INFO): DAT read: Rx Time:18:50:34.2135

2025-06-05T18:50:35.665Z,1749149435.665 [DAT](INFO): Rx dataTimestamp_ set to:1749149435.664810
2025-06-05T18:50:35.666Z,1749149435.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008271
2025-06-05T18:50:35.850Z,1749149435.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:35.870Z,1749149435.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 57.344696 m,
      bearing: 41.993216 deg,
      approach rate: -0.633460 m/s,
      LOS rate: -0.088619 deg/s,
      cmd heading: 44.589319 deg,
      new cmd heading: 44.457322 deg.

2025-06-05T18:50:35.871Z,1749149435.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775927 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:35.917Z,1749149435.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259353
2025-06-05T18:50:36.171Z,1749149436.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512950
2025-06-05T18:50:36.291Z,1749149436.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.41 m.
2025-06-05T18:50:36.294Z,1749149436.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.409332 m,
      nav range: 57.038364 m,
      bearing: 41.950127 deg,
      approach rate: -0.696253 m/s,
      LOS rate: -0.098463 deg/s,
      cmd heading: 44.457322 deg,
      new cmd heading: 44.327360 deg.

2025-06-05T18:50:36.295Z,1749149436.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773658 target range: 60.409332 and range: 60.90 m.
2025-06-05T18:50:36.428Z,1749149436.428 [DAT](INFO): DAT read: 18:50:34.2135 LVL= 22768, 29793, 18290, 32755, AGC= 68, IDX= 410,-0.32,-1.486,-2.936,-1.414,-2.035, PHS= 0.637,-0.854, 0.618, RAW= 149.4,  -5.5, CAL= 154.4, -13.9, ROT= 355.6,  13.9

2025-06-05T18:50:36.429Z,1749149436.429 [DAT](INFO): got valid direction response:
 18:50:34.2135 LVL= 22768, 29793, 18290, 32755, AGC= 68, IDX= 410,-0.32,-1.486,-2.936,-1.414,-2.035, PHS= 0.637,-0.854, 0.618, RAW= 149.4,  -5.5, CAL= 154.4, -13.9, ROT= 355.6,  13.9

2025-06-05T18:50:36.430Z,1749149436.430 [DAT](INFO): DAT read: Bearing 355.6,  13.9 (Local)

2025-06-05T18:50:36.430Z,1749149436.430 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  13.9 (Local)

2025-06-05T18:50:36.435Z,1749149436.435 [DAT](INFO): DAT read: Range 10 to 50 : 58.4 m  (Round-trip  77.9 ms) speed  0.7 m/s

2025-06-05T18:50:36.452Z,1749149436.452 [DAT](INFO): DAT read: user:2878>

2025-06-05T18:50:36.453Z,1749149436.453 [DAT](INFO): DAT read: Tx time:18:50:35.3315

2025-06-05T18:50:36.453Z,1749149436.453 [DAT](INFO): Ping request sent.
2025-06-05T18:50:36.453Z,1749149436.453 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:36.454Z,1749149436.454 [DAT](INFO): DAT read: TxSync time:18:50:35.3307

2025-06-05T18:50:36.455Z,1749149436.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:36.464Z,1749149436.464 [DAT](INFO): direction in FSK: [0.967856,-0.074472,-0.240228]
2025-06-05T18:50:36.464Z,1749149436.464 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:36.464Z,1749149436.464 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:36.467Z,1749149436.467 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:36.488Z,1749149436.488 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:36.680Z,1749149436.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.400002 m,
      deltaT: 3.777837 s,
      deltaX: -2.500000 m,
      approachRate: -0.661754 m/s,
      rangeRepo size: 4

2025-06-05T18:50:36.682Z,1749149436.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.929085 m,
      bearing: 41.091637 deg,
      lat: 36.906238 deg,
      lon: -122.116199 deg,
      deltaT: 3.777837 s,
      deltaX: -2.480247 m,
      approachRate: -0.656526 m/s,
      posRepo size: 4

2025-06-05T18:50:36.684Z,1749149436.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m.
2025-06-05T18:50:36.685Z,1749149436.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-06-05T18:50:36.689Z,1749149436.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.929085 m,
      nav range: 56.631466 m,
      bearing: 41.441899 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.098463 deg/s,
      cmd heading: 44.327361 deg,
      new cmd heading: 44.212469 deg.

2025-06-05T18:50:36.691Z,1749149436.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771653 target range: 57.929085 and range: 58.40 m.
2025-06-05T18:50:36.797Z,1749149436.797 [DockingStepper](INFO): Changing to mode: 2
2025-06-05T18:50:36.798Z,1749149436.798 [DockingStepper](INFO): Armed mode.
2025-06-05T18:50:36.868Z,1749149436.868 [DockingStepper](INFO): Commanding negative:54500
2025-06-05T18:50:37.127Z,1749149437.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:37.159Z,1749149437.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m.
2025-06-05T18:50:37.159Z,1749149437.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-06-05T18:50:37.166Z,1749149437.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.929085 m,
      nav range: 56.328114 m,
      bearing: 41.391536 deg,
      approach rate: -0.632485 m/s,
      LOS rate: -0.105573 deg/s,
      cmd heading: 44.212470 deg,
      new cmd heading: 44.060566 deg.

2025-06-05T18:50:37.167Z,1749149437.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769002 target range: 57.929085 and range: 58.40 m.
2025-06-05T18:50:37.176Z,1749149437.176 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:37.177Z,1749149437.177 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:37.177Z,1749149437.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:37.429Z,1749149437.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975044
2025-06-05T18:50:37.511Z,1749149437.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m.
2025-06-05T18:50:37.511Z,1749149437.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-06-05T18:50:37.514Z,1749149437.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.929085 m,
      nav range: 56.075272 m,
      bearing: 41.349579 deg,
      approach rate: -0.718385 m/s,
      LOS rate: -0.119746 deg/s,
      cmd heading: 44.060567 deg,
      new cmd heading: 43.934130 deg.

2025-06-05T18:50:37.515Z,1749149437.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766795 target range: 57.929085 and range: 58.40 m.
2025-06-05T18:50:37.682Z,1749149437.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227830
2025-06-05T18:50:37.933Z,1749149437.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479185
2025-06-05T18:50:37.941Z,1749149437.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m.
2025-06-05T18:50:37.941Z,1749149437.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-06-05T18:50:37.945Z,1749149437.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.929085 m,
      nav range: 55.788166 m,
      bearing: 41.303901 deg,
      approach rate: -0.667703 m/s,
      LOS rate: -0.106776 deg/s,
      cmd heading: 43.934130 deg,
      new cmd heading: 43.796392 deg.

2025-06-05T18:50:37.946Z,1749149437.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764391 target range: 57.929085 and range: 58.40 m.
2025-06-05T18:50:38.186Z,1749149438.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732098
2025-06-05T18:50:38.331Z,1749149438.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m.
2025-06-05T18:50:38.332Z,1749149438.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-06-05T18:50:38.335Z,1749149438.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.929085 m,
      nav range: 55.527767 m,
      bearing: 41.262760 deg,
      approach rate: -0.666747 m/s,
      LOS rate: -0.105837 deg/s,
      cmd heading: 43.796392 deg,
      new cmd heading: 43.672389 deg.

2025-06-05T18:50:38.336Z,1749149438.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762227 target range: 57.929085 and range: 58.40 m.
2025-06-05T18:50:38.437Z,1749149438.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983269
2025-06-05T18:50:38.689Z,1749149438.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235832
2025-06-05T18:50:38.747Z,1749149438.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m.
2025-06-05T18:50:38.748Z,1749149438.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-06-05T18:50:38.787Z,1749149438.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.929085 m,
      nav range: 55.250916 m,
      bearing: 41.218857 deg,
      approach rate: -0.665482 m/s,
      LOS rate: -0.106060 deg/s,
      cmd heading: 43.672390 deg,
      new cmd heading: 43.540022 deg.

2025-06-05T18:50:38.799Z,1749149438.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759917 target range: 57.929085 and range: 58.40 m.
2025-06-05T18:50:38.941Z,1749149438.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487238
2025-06-05T18:50:39.161Z,1749149439.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:39.163Z,1749149439.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m.
2025-06-05T18:50:39.164Z,1749149439.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-06-05T18:50:39.167Z,1749149439.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.929085 m,
      nav range: 54.966660 m,
      bearing: 41.178940 deg,
      approach rate: -0.683255 m/s,
      LOS rate: -0.096443 deg/s,
      cmd heading: 43.540021 deg,
      new cmd heading: 43.419651 deg.

2025-06-05T18:50:39.168Z,1749149439.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757816 target range: 57.929085 and range: 58.40 m.
2025-06-05T18:50:39.193Z,1749149439.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739066
2025-06-05T18:50:39.445Z,1749149439.445 [DAT](INFO): DAT read: Rx Time:18:50:37.8102

2025-06-05T18:50:39.445Z,1749149439.445 [DAT](INFO): Rx dataTimestamp_ set to:1749149439.444773
2025-06-05T18:50:39.446Z,1749149439.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992097
2025-06-05T18:50:39.550Z,1749149439.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m.
2025-06-05T18:50:39.551Z,1749149439.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.40 m.
2025-06-05T18:50:39.564Z,1749149439.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.929085 m,
      nav range: 54.707191 m,
      bearing: 41.142419 deg,
      approach rate: -0.669970 m/s,
      LOS rate: -0.094748 deg/s,
      cmd heading: 43.419653 deg,
      new cmd heading: 43.309570 deg.

2025-06-05T18:50:39.565Z,1749149439.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755895 target range: 57.929085 and range: 58.40 m.
2025-06-05T18:50:39.697Z,1749149439.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243196
2025-06-05T18:50:39.954Z,1749149439.954 [DAT](INFO): DAT read: 18:50:37.8102 LVL= 20112, 22769, 20898, 25507, AGC= 61, IDX= 408, 0.07,-0.850,-2.251,-0.824,-1.409, PHS= 0.647,-0.795, 0.582, RAW= 147.7,  -6.2, CAL= 153.1, -14.8, ROT= 356.9,  14.8

2025-06-05T18:50:39.956Z,1749149439.956 [DAT](INFO): got valid direction response:
 18:50:37.8102 LVL= 20112, 22769, 20898, 25507, AGC= 61, IDX= 408, 0.07,-0.850,-2.251,-0.824,-1.409, PHS= 0.647,-0.795, 0.582, RAW= 147.7,  -6.2, CAL= 153.1, -14.8, ROT= 356.9,  14.8

2025-06-05T18:50:39.957Z,1749149439.957 [DAT](INFO): DAT read: Bearing 356.9,  14.8 (Local)

2025-06-05T18:50:39.957Z,1749149439.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  14.8 (Local)

2025-06-05T18:50:39.958Z,1749149439.958 [DAT](INFO): DAT read: Range 10 to 50 : 55.9 m  (Round-trip  74.6 ms) speed  0.7 m/s

2025-06-05T18:50:39.959Z,1749149439.959 [DAT](INFO): DAT read: user:2879>

2025-06-05T18:50:39.960Z,1749149439.960 [DAT](INFO): DAT read: Tx time:18:50:38.9315

2025-06-05T18:50:39.960Z,1749149439.960 [DAT](INFO): Ping request sent.
2025-06-05T18:50:39.960Z,1749149439.960 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:39.960Z,1749149439.960 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:39.961Z,1749149439.961 [DAT](INFO): direction in FSK: [0.965409,-0.052285,-0.255446]
2025-06-05T18:50:39.962Z,1749149439.962 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:39.962Z,1749149439.962 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:39.965Z,1749149439.965 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:39.965Z,1749149439.965 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:40.029Z,1749149440.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.900002 m,
      deltaT: 3.528007 s,
      deltaX: -2.500000 m,
      approachRate: -0.708615 m/s,
      rangeRepo size: 4

2025-06-05T18:50:40.031Z,1749149440.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.448765 m,
      bearing: 42.067458 deg,
      lat: 36.906238 deg,
      lon: -122.116199 deg,
      deltaT: 3.528007 s,
      deltaX: -2.480320 m,
      approachRate: -0.703037 m/s,
      posRepo size: 4

2025-06-05T18:50:40.036Z,1749149440.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:40.037Z,1749149440.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m.
2025-06-05T18:50:40.039Z,1749149440.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 54.400024 m,
      bearing: 41.098531 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.094748 deg/s,
      cmd heading: 43.309570 deg,
      new cmd heading: 43.178485 deg.

2025-06-05T18:50:40.046Z,1749149440.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753607 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:40.201Z,1749149440.201 [DAT](INFO): DAT read: TxSync time:18:50:38.9307

2025-06-05T18:50:40.428Z,1749149440.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:40.428Z,1749149440.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m.
2025-06-05T18:50:40.431Z,1749149440.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 54.106949 m,
      bearing: 41.056624 deg,
      approach rate: -0.711203 m/s,
      LOS rate: -0.102246 deg/s,
      cmd heading: 43.178485 deg,
      new cmd heading: 43.052084 deg.

2025-06-05T18:50:40.437Z,1749149440.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751401 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:40.797Z,1749149440.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:40.799Z,1749149440.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m.
2025-06-05T18:50:40.829Z,1749149440.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 53.866467 m,
      bearing: 41.021761 deg,
      approach rate: -0.691105 m/s,
      LOS rate: -0.100637 deg/s,
      cmd heading: 43.052083 deg,
      new cmd heading: 42.947028 deg.

2025-06-05T18:50:40.838Z,1749149440.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749567 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:41.237Z,1749149441.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:41.240Z,1749149441.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:41.241Z,1749149441.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m.
2025-06-05T18:50:41.245Z,1749149441.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 53.538376 m,
      bearing: 40.980014 deg,
      approach rate: -0.701537 m/s,
      LOS rate: -0.089812 deg/s,
      cmd heading: 42.947027 deg,
      new cmd heading: 42.821019 deg.

2025-06-05T18:50:41.246Z,1749149441.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747368 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:41.461Z,1749149441.461 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:41.461Z,1749149441.461 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:41.461Z,1749149441.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:41.595Z,1749149441.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:41.600Z,1749149441.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m.
2025-06-05T18:50:41.603Z,1749149441.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 53.305134 m,
      bearing: 40.949776 deg,
      approach rate: -0.655806 m/s,
      LOS rate: -0.085392 deg/s,
      cmd heading: 42.821021 deg,
      new cmd heading: 42.729910 deg.

2025-06-05T18:50:41.612Z,1749149441.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745778 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:41.714Z,1749149441.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753267
2025-06-05T18:50:41.965Z,1749149441.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004779
2025-06-05T18:50:42.014Z,1749149442.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:42.014Z,1749149442.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m.
2025-06-05T18:50:42.017Z,1749149442.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 52.995941 m,
      bearing: 40.910053 deg,
      approach rate: -0.738843 m/s,
      LOS rate: -0.095477 deg/s,
      cmd heading: 42.729909 deg,
      new cmd heading: 42.610043 deg.

2025-06-05T18:50:42.018Z,1749149442.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743686 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:42.221Z,1749149442.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261223
2025-06-05T18:50:42.389Z,1749149442.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:42.390Z,1749149442.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m.
2025-06-05T18:50:42.394Z,1749149442.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 52.729900 m,
      bearing: 40.876046 deg,
      approach rate: -0.708017 m/s,
      LOS rate: -0.090959 deg/s,
      cmd heading: 42.610043 deg,
      new cmd heading: 42.507508 deg.

2025-06-05T18:50:42.395Z,1749149442.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741896 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:42.476Z,1749149442.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515690
2025-06-05T18:50:42.725Z,1749149442.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765190
2025-06-05T18:50:42.801Z,1749149442.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:42.801Z,1749149442.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m.
2025-06-05T18:50:42.802Z,1749149442.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.90 m.
2025-06-05T18:50:42.802Z,1749149442.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-05T18:50:42.805Z,1749149442.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 52.444332 m,
      bearing: 40.839613 deg,
      approach rate: -0.693910 m/s,
      LOS rate: -0.089013 deg/s,
      cmd heading: 42.507508 deg,
      new cmd heading: 42.397613 deg.

2025-06-05T18:50:42.809Z,1749149442.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739978 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:42.979Z,1749149442.979 [DAT](INFO): DAT read: Rx Time:18:50:41.4071

2025-06-05T18:50:42.980Z,1749149442.980 [DAT](INFO): Rx dataTimestamp_ set to:1749149442.979497
2025-06-05T18:50:42.980Z,1749149442.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020150
2025-06-05T18:50:43.233Z,1749149443.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272469
2025-06-05T18:50:43.248Z,1749149443.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:43.250Z,1749149443.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.45 m.
2025-06-05T18:50:43.274Z,1749149443.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.448765 m,
      nav range: 52.122292 m,
      bearing: 40.802449 deg,
      approach rate: -0.716238 m/s,
      LOS rate: -0.083166 deg/s,
      cmd heading: 42.397614 deg,
      new cmd heading: 42.285433 deg.

2025-06-05T18:50:43.280Z,1749149443.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738020 target range: 55.448765 and range: 55.90 m.
2025-06-05T18:50:43.492Z,1749149443.492 [DAT](INFO): DAT read: 18:50:41.4071 LVL= 19952, 23825, 16322, 26723, AGC= 63, IDX= 407,-0.07,-1.776,-3.129,-1.683,-2.295, PHS= 0.607,-0.787, 0.608, RAW= 150.1,  -6.2, CAL= 155.2, -14.5, ROT= 354.8,  14.5

2025-06-05T18:50:43.493Z,1749149443.493 [DAT](INFO): got valid direction response:
 18:50:41.4071 LVL= 19952, 23825, 16322, 26723, AGC= 63, IDX= 407,-0.07,-1.776,-3.129,-1.683,-2.295, PHS= 0.607,-0.787, 0.608, RAW= 150.1,  -6.2, CAL= 155.2, -14.5, ROT= 354.8,  14.5

2025-06-05T18:50:43.494Z,1749149443.494 [DAT](INFO): DAT read: Bearing 354.8,  14.5 (Local)

2025-06-05T18:50:43.494Z,1749149443.494 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  14.5 (Local)

2025-06-05T18:50:43.496Z,1749149443.496 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m  (Round-trip  71.3 ms) speed  0.7 m/s

2025-06-05T18:50:43.497Z,1749149443.497 [DAT](INFO): DAT read: user:2880>

2025-06-05T18:50:43.497Z,1749149443.497 [DAT](INFO): DAT read: Tx time:18:50:42.5316

2025-06-05T18:50:43.498Z,1749149443.498 [DAT](INFO): Ping request sent.
2025-06-05T18:50:43.498Z,1749149443.498 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:43.498Z,1749149443.498 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:43.499Z,1749149443.499 [DAT](INFO): direction in FSK: [0.964163,-0.087746,-0.250380]
2025-06-05T18:50:43.499Z,1749149443.499 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:43.500Z,1749149443.500 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:43.503Z,1749149443.503 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:43.503Z,1749149443.503 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:43.632Z,1749149443.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.400002 m,
      deltaT: 3.536187 s,
      deltaX: -2.500000 m,
      approachRate: -0.706976 m/s,
      rangeRepo size: 4

2025-06-05T18:50:43.634Z,1749149443.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.968666 m,
      bearing: 39.697600 deg,
      lat: 36.906238 deg,
      lon: -122.116199 deg,
      deltaT: 3.536187 s,
      deltaX: -2.480099 m,
      approachRate: -0.701348 m/s,
      posRepo size: 4

2025-06-05T18:50:43.635Z,1749149443.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:43.643Z,1749149443.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 51.872768 m,
      bearing: 40.773119 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.083166 deg/s,
      cmd heading: 42.285435 deg,
      new cmd heading: 42.191362 deg.

2025-06-05T18:50:43.653Z,1749149443.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736378 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:43.738Z,1749149443.738 [DAT](INFO): DAT read: TxSync time:18:50:42.5308

2025-06-05T18:50:44.047Z,1749149444.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:44.063Z,1749149444.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 51.561131 m,
      bearing: 40.734389 deg,
      approach rate: -0.742727 m/s,
      LOS rate: -0.092863 deg/s,
      cmd heading: 42.191363 deg,
      new cmd heading: 42.074471 deg.

2025-06-05T18:50:44.069Z,1749149444.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734338 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:44.402Z,1749149444.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:44.422Z,1749149444.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 51.301620 m,
      bearing: 40.701565 deg,
      approach rate: -0.730284 m/s,
      LOS rate: -0.092838 deg/s,
      cmd heading: 42.074471 deg,
      new cmd heading: 41.975499 deg.

2025-06-05T18:50:44.422Z,1749149444.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732611 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:44.809Z,1749149444.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:44.813Z,1749149444.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 51.012489 m,
      bearing: 40.664928 deg,
      approach rate: -0.711900 m/s,
      LOS rate: -0.090719 deg/s,
      cmd heading: 41.975498 deg,
      new cmd heading: 41.864964 deg.

2025-06-05T18:50:44.814Z,1749149444.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730681 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:45.265Z,1749149445.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:45.267Z,1749149445.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:45.286Z,1749149445.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 50.693329 m,
      bearing: 40.624850 deg,
      approach rate: -0.696779 m/s,
      LOS rate: -0.088048 deg/s,
      cmd heading: 41.864965 deg,
      new cmd heading: 41.743974 deg.

2025-06-05T18:50:45.287Z,1749149445.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728570 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:45.500Z,1749149445.500 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:45.501Z,1749149445.501 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:45.501Z,1749149445.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:45.616Z,1749149445.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:45.619Z,1749149445.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 50.449100 m,
      bearing: 40.594011 deg,
      approach rate: -0.698338 m/s,
      LOS rate: -0.088606 deg/s,
      cmd heading: 41.743975 deg,
      new cmd heading: 41.651011 deg.

2025-06-05T18:50:45.620Z,1749149445.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.726947 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:45.753Z,1749149445.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254777
2025-06-05T18:50:46.005Z,1749149446.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506651
2025-06-05T18:50:46.084Z,1749149446.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:46.087Z,1749149446.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 50.133392 m,
      bearing: 40.556610 deg,
      approach rate: -0.674778 m/s,
      LOS rate: -0.080443 deg/s,
      cmd heading: 41.651013 deg,
      new cmd heading: 41.538103 deg.

2025-06-05T18:50:46.088Z,1749149446.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724977 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:46.257Z,1749149446.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758676
2025-06-05T18:50:46.435Z,1749149446.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:46.438Z,1749149446.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 49.892296 m,
      bearing: 40.527017 deg,
      approach rate: -0.694448 m/s,
      LOS rate: -0.085651 deg/s,
      cmd heading: 41.538103 deg,
      new cmd heading: 41.448895 deg.

2025-06-05T18:50:46.439Z,1749149446.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723420 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:46.510Z,1749149446.510 [DAT](INFO): DAT read: Rx Time:18:50:45.0039

2025-06-05T18:50:46.510Z,1749149446.510 [DAT](INFO): Rx dataTimestamp_ set to:1749149446.509983
2025-06-05T18:50:46.511Z,1749149446.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012919
2025-06-05T18:50:46.761Z,1749149446.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262807
2025-06-05T18:50:46.848Z,1749149446.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.97 m.
2025-06-05T18:50:46.854Z,1749149446.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.968666 m,
      nav range: 49.616135 m,
      bearing: 40.491626 deg,
      approach rate: -0.663138 m/s,
      LOS rate: -0.085455 deg/s,
      cmd heading: 41.448894 deg,
      new cmd heading: 41.342131 deg.

2025-06-05T18:50:46.857Z,1749149446.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721556 target range: 52.968666 and range: 53.40 m.
2025-06-05T18:50:47.018Z,1749149447.018 [DAT](INFO): DAT read: 18:50:45.0039 LVL= 19184, 25457, 15906, 26227, AGC= 63, IDX= 406,-0.36,-3.038, 1.964,-2.921, 2.742, PHS= 0.591,-0.731, 0.618, RAW= 151.0,  -7.2, CAL= 156.4, -15.3, ROT= 353.6,  15.3

2025-06-05T18:50:47.020Z,1749149447.020 [DAT](INFO): got valid direction response:
 18:50:45.0039 LVL= 19184, 25457, 15906, 26227, AGC= 63, IDX= 406,-0.36,-3.038, 1.964,-2.921, 2.742, PHS= 0.591,-0.731, 0.618, RAW= 151.0,  -7.2, CAL= 156.4, -15.3, ROT= 353.6,  15.3

2025-06-05T18:50:47.021Z,1749149447.021 [DAT](INFO): DAT read: Bearing 353.6,  15.3 (Local)

2025-06-05T18:50:47.021Z,1749149447.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  15.3 (Local)

2025-06-05T18:50:47.022Z,1749149447.022 [DAT](INFO): DAT read: Range 10 to 50 : 51.0 m  (Round-trip  68.1 ms) speed  0.8 m/s

2025-06-05T18:50:47.023Z,1749149447.023 [DAT](INFO): DAT read: user:2881>

2025-06-05T18:50:47.025Z,1749149447.025 [DAT](INFO): DAT read: Tx time:18:50:46.0816

2025-06-05T18:50:47.025Z,1749149447.025 [DAT](INFO): Ping request sent.
2025-06-05T18:50:47.025Z,1749149447.025 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:47.026Z,1749149447.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:47.027Z,1749149447.027 [DAT](INFO): direction in FSK: [0.958546,-0.107518,-0.263873]
2025-06-05T18:50:47.027Z,1749149447.027 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:47.028Z,1749149447.028 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:47.031Z,1749149447.031 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:47.031Z,1749149447.031 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:47.265Z,1749149447.265 [DAT](INFO): DAT read: TxSync time:18:50:46.0808

2025-06-05T18:50:47.359Z,1749149447.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.000000 m,
      deltaT: 3.527922 s,
      deltaX: -2.400002 m,
      approachRate: -0.680288 m/s,
      rangeRepo size: 4

2025-06-05T18:50:47.365Z,1749149447.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.588257 m,
      bearing: 39.105516 deg,
      lat: 36.906240 deg,
      lon: -122.116202 deg,
      deltaT: 3.527922 s,
      deltaX: -2.380409 m,
      approachRate: -0.674734 m/s,
      posRepo size: 4

2025-06-05T18:50:47.366Z,1749149447.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:47.372Z,1749149447.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 49.228870 m,
      bearing: 40.038839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085455 deg/s,
      cmd heading: 41.342131 deg,
      new cmd heading: 41.211681 deg.

2025-06-05T18:50:47.374Z,1749149447.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719280 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:47.664Z,1749149447.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:47.666Z,1749149447.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:47.675Z,1749149447.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 49.011360 m,
      bearing: 40.003848 deg,
      approach rate: -0.702049 m/s,
      LOS rate: -0.113439 deg/s,
      cmd heading: 41.211681 deg,
      new cmd heading: 41.106243 deg.

2025-06-05T18:50:47.680Z,1749149447.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717439 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:47.769Z,1749149447.769 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:47.770Z,1749149447.770 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:47.770Z,1749149447.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:48.021Z,1749149448.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995161
2025-06-05T18:50:48.076Z,1749149448.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:48.079Z,1749149448.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 48.739296 m,
      bearing: 39.960182 deg,
      approach rate: -0.663965 m/s,
      LOS rate: -0.107161 deg/s,
      cmd heading: 41.106244 deg,
      new cmd heading: 40.974514 deg.

2025-06-05T18:50:48.096Z,1749149448.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715140 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:48.275Z,1749149448.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249352
2025-06-05T18:50:48.478Z,1749149448.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:48.481Z,1749149448.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 48.499435 m,
      bearing: 39.921166 deg,
      approach rate: -0.596434 m/s,
      LOS rate: -0.097496 deg/s,
      cmd heading: 40.974513 deg,
      new cmd heading: 40.856886 deg.

2025-06-05T18:50:48.482Z,1749149448.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713087 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:48.527Z,1749149448.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500842
2025-06-05T18:50:48.777Z,1749149448.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751600
2025-06-05T18:50:48.856Z,1749149448.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:48.861Z,1749149448.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 48.239536 m,
      bearing: 39.879273 deg,
      approach rate: -0.688566 m/s,
      LOS rate: -0.111587 deg/s,
      cmd heading: 40.856887 deg,
      new cmd heading: 40.730532 deg.

2025-06-05T18:50:48.862Z,1749149448.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710882 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:49.031Z,1749149449.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005392
2025-06-05T18:50:49.281Z,1749149449.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255045
2025-06-05T18:50:49.350Z,1749149449.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:49.358Z,1749149449.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 47.941029 m,
      bearing: 39.829390 deg,
      approach rate: -0.604198 m/s,
      LOS rate: -0.101597 deg/s,
      cmd heading: 40.730532 deg,
      new cmd heading: 40.579949 deg.

2025-06-05T18:50:49.359Z,1749149449.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708254 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:49.533Z,1749149449.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507082
2025-06-05T18:50:49.668Z,1749149449.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:49.670Z,1749149449.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:49.673Z,1749149449.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 47.728313 m,
      bearing: 39.794486 deg,
      approach rate: -0.665132 m/s,
      LOS rate: -0.109624 deg/s,
      cmd heading: 40.579950 deg,
      new cmd heading: 40.474774 deg.

2025-06-05T18:50:49.675Z,1749149449.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706418 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:49.785Z,1749149449.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759442
2025-06-05T18:50:50.037Z,1749149450.037 [DAT](INFO): DAT read: Rx Time:18:50:48.5505

2025-06-05T18:50:50.037Z,1749149450.037 [DAT](INFO): Rx dataTimestamp_ set to:1749149450.036880
2025-06-05T18:50:50.038Z,1749149450.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012188
2025-06-05T18:50:50.119Z,1749149450.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:50.122Z,1749149450.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 47.454651 m,
      bearing: 39.747386 deg,
      approach rate: -0.609686 m/s,
      LOS rate: -0.105539 deg/s,
      cmd heading: 40.474772 deg,
      new cmd heading: 40.332657 deg.

2025-06-05T18:50:50.122Z,1749149450.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703938 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:50.290Z,1749149450.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264410
2025-06-05T18:50:50.485Z,1749149450.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.59 m.
2025-06-05T18:50:50.494Z,1749149450.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.588257 m,
      nav range: 47.241966 m,
      bearing: 39.711492 deg,
      approach rate: -0.583388 m/s,
      LOS rate: -0.098900 deg/s,
      cmd heading: 40.332656 deg,
      new cmd heading: 40.224489 deg.

2025-06-05T18:50:50.497Z,1749149450.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702050 target range: 50.588257 and range: 51.00 m.
2025-06-05T18:50:50.552Z,1749149450.552 [DAT](INFO): DAT read: 18:50:48.5505 LVL= 16112, 28833, 16434, 28195, AGC= 64, IDX= 404,-0.31, 1.017,-0.298, 1.102, 0.518, PHS= 0.587,-0.769, 0.581, RAW= 149.8,  -6.0, CAL= 154.9, -14.4, ROT= 355.1,  14.4

2025-06-05T18:50:50.553Z,1749149450.553 [DAT](INFO): got valid direction response:
 18:50:48.5505 LVL= 16112, 28833, 16434, 28195, AGC= 64, IDX= 404,-0.31, 1.017,-0.298, 1.102, 0.518, PHS= 0.587,-0.769, 0.581, RAW= 149.8,  -6.0, CAL= 154.9, -14.4, ROT= 355.1,  14.4

2025-06-05T18:50:50.554Z,1749149450.554 [DAT](INFO): DAT read: Bearing 355.1,  14.4 (Local)

2025-06-05T18:50:50.554Z,1749149450.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  14.4 (Local)

2025-06-05T18:50:50.555Z,1749149450.555 [DAT](INFO): DAT read: Range 10 to 50 : 48.6 m  (Round-trip  64.8 ms) speed  0.7 m/s

2025-06-05T18:50:50.560Z,1749149450.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:50.561Z,1749149450.561 [DAT](INFO): direction in FSK: [0.965043,-0.082733,-0.248690]
2025-06-05T18:50:50.561Z,1749149450.561 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:50.564Z,1749149450.564 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:50.565Z,1749149450.565 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:50.565Z,1749149450.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:50.793Z,1749149450.793 [DAT](INFO): DAT read: user:2882>

2025-06-05T18:50:50.794Z,1749149450.794 [DAT](INFO): DAT read: Tx time:18:50:49.6316

2025-06-05T18:50:50.795Z,1749149450.795 [DAT](INFO): Ping request sent.
2025-06-05T18:50:50.795Z,1749149450.795 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:50.796Z,1749149450.796 [DAT](INFO): DAT read: TxSync time:18:50:49.6308

2025-06-05T18:50:50.797Z,1749149450.797 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:50.798Z,1749149450.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002806
2025-06-05T18:50:51.014Z,1749149451.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.599998 m,
      deltaT: 3.529789 s,
      deltaX: -2.400002 m,
      approachRate: -0.679928 m/s,
      rangeRepo size: 4

2025-06-05T18:50:51.026Z,1749149451.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.207268 m,
      bearing: 39.219605 deg,
      lat: 36.906242 deg,
      lon: -122.116206 deg,
      deltaT: 3.529789 s,
      deltaX: -2.380989 m,
      approachRate: -0.674541 m/s,
      posRepo size: 4

2025-06-05T18:50:51.027Z,1749149451.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:51.043Z,1749149451.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 46.896755 m,
      bearing: 39.225162 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.098900 deg/s,
      cmd heading: 40.224490 deg,
      new cmd heading: 40.067042 deg.

2025-06-05T18:50:51.045Z,1749149451.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249995
2025-06-05T18:50:51.048Z,1749149451.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699302 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:51.299Z,1749149451.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503627
2025-06-05T18:50:51.406Z,1749149451.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:51.414Z,1749149451.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 46.636776 m,
      bearing: 39.178793 deg,
      approach rate: -0.662759 m/s,
      LOS rate: -0.118866 deg/s,
      cmd heading: 40.067041 deg,
      new cmd heading: 39.927158 deg.

2025-06-05T18:50:51.415Z,1749149451.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696860 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:51.551Z,1749149451.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755548
2025-06-05T18:50:51.756Z,1749149451.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:51.760Z,1749149451.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:51.763Z,1749149451.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 46.415668 m,
      bearing: 39.140144 deg,
      approach rate: -0.624929 m/s,
      LOS rate: -0.109758 deg/s,
      cmd heading: 39.927158 deg,
      new cmd heading: 39.810658 deg.

2025-06-05T18:50:51.764Z,1749149451.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694827 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:51.802Z,1749149451.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007565
2025-06-05T18:50:52.053Z,1749149452.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257873
2025-06-05T18:50:52.212Z,1749149452.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:52.215Z,1749149452.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 46.153660 m,
      bearing: 39.088874 deg,
      approach rate: -0.612953 m/s,
      LOS rate: -0.120624 deg/s,
      cmd heading: 39.810659 deg,
      new cmd heading: 39.655977 deg.

2025-06-05T18:50:52.221Z,1749149452.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692127 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:52.306Z,1749149452.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511182
2025-06-05T18:50:52.557Z,1749149452.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761679
2025-06-05T18:50:52.604Z,1749149452.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:52.610Z,1749149452.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 45.917595 m,
      bearing: 39.043416 deg,
      approach rate: -0.572541 m/s,
      LOS rate: -0.110818 deg/s,
      cmd heading: 39.655976 deg,
      new cmd heading: 39.518902 deg.

2025-06-05T18:50:52.611Z,1749149452.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689735 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:52.809Z,1749149452.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014434
2025-06-05T18:50:53.039Z,1749149453.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:53.046Z,1749149453.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 45.643879 m,
      bearing: 38.991589 deg,
      approach rate: -0.623082 m/s,
      LOS rate: -0.118686 deg/s,
      cmd heading: 39.518901 deg,
      new cmd heading: 39.362487 deg.

2025-06-05T18:50:53.047Z,1749149453.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687005 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:53.061Z,1749149453.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266151
2025-06-05T18:50:53.313Z,1749149453.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517823
2025-06-05T18:50:53.411Z,1749149453.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:53.414Z,1749149453.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 45.404037 m,
      bearing: 38.942454 deg,
      approach rate: -0.644408 m/s,
      LOS rate: -0.132714 deg/s,
      cmd heading: 39.362486 deg,
      new cmd heading: 39.214303 deg.

2025-06-05T18:50:53.415Z,1749149453.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684419 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:53.565Z,1749149453.565 [DAT](INFO): DAT read: Rx Time:18:50:52.0974

2025-06-05T18:50:53.566Z,1749149453.566 [DAT](INFO): Rx dataTimestamp_ set to:1749149453.565574
2025-06-05T18:50:53.566Z,1749149453.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771636
2025-06-05T18:50:53.811Z,1749149453.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:53.813Z,1749149453.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:53.817Z,1749149453.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021950
2025-06-05T18:50:53.820Z,1749149453.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 45.177231 m,
      bearing: 38.896501 deg,
      approach rate: -0.563810 m/s,
      LOS rate: -0.114807 deg/s,
      cmd heading: 39.214302 deg,
      new cmd heading: 39.075750 deg.

2025-06-05T18:50:53.821Z,1749149453.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682001 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:54.071Z,1749149454.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275756
2025-06-05T18:50:54.234Z,1749149454.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.21 m.
2025-06-05T18:50:54.248Z,1749149454.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.207268 m,
      nav range: 44.888657 m,
      bearing: 38.840529 deg,
      approach rate: -0.688163 m/s,
      LOS rate: -0.134334 deg/s,
      cmd heading: 39.075751 deg,
      new cmd heading: 38.906757 deg.

2025-06-05T18:50:54.249Z,1749149454.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679051 target range: 48.207268 and range: 48.60 m.
2025-06-05T18:50:54.329Z,1749149454.329 [DAT](INFO): DAT read: 18:50:52.0974 LVL= 16064, 27473, 16370, 29971, AGC= 63, IDX= 404,-0.10,-1.169,-2.502,-1.183,-1.710, PHS= 0.629,-0.745, 0.523, RAW= 146.0,  -6.2, CAL= 151.6, -15.0, ROT= 358.4,  15.0

2025-06-05T18:50:54.330Z,1749149454.330 [DAT](INFO): got valid direction response:
 18:50:52.0974 LVL= 16064, 27473, 16370, 29971, AGC= 63, IDX= 404,-0.10,-1.169,-2.502,-1.183,-1.710, PHS= 0.629,-0.745, 0.523, RAW= 146.0,  -6.2, CAL= 151.6, -15.0, ROT= 358.4,  15.0

2025-06-05T18:50:54.332Z,1749149454.332 [DAT](INFO): DAT read: Bearing 358.4,  15.0 (Local)

2025-06-05T18:50:54.333Z,1749149454.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  15.0 (Local)

2025-06-05T18:50:54.346Z,1749149454.346 [DAT](INFO): DAT read: Range 10 to 50 : 46.2 m  (Round-trip  61.7 ms) speed  0.5 m/s

2025-06-05T18:50:54.353Z,1749149454.353 [DAT](INFO): DAT read: user:2883>

2025-06-05T18:50:54.354Z,1749149454.354 [DAT](INFO): DAT read: Tx time:18:50:53.1816

2025-06-05T18:50:54.355Z,1749149454.355 [DAT](INFO): Ping request sent.
2025-06-05T18:50:54.355Z,1749149454.355 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:54.364Z,1749149454.364 [DAT](INFO): DAT read: TxSync time:18:50:53.1808

2025-06-05T18:50:54.365Z,1749149454.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:54.366Z,1749149454.366 [DAT](INFO): direction in FSK: [0.965549,-0.026970,-0.258819]
2025-06-05T18:50:54.366Z,1749149454.366 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:54.366Z,1749149454.366 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:54.388Z,1749149454.388 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:54.388Z,1749149454.388 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:54.646Z,1749149454.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.200001 m,
      deltaT: 3.778232 s,
      deltaX: -2.399998 m,
      approachRate: -0.635217 m/s,
      rangeRepo size: 4

2025-06-05T18:50:54.652Z,1749149454.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.826874 m,
      bearing: 40.866541 deg,
      lat: 36.906242 deg,
      lon: -122.116206 deg,
      deltaT: 3.778232 s,
      deltaX: -2.380394 m,
      approachRate: -0.630029 m/s,
      posRepo size: 4

2025-06-05T18:50:54.653Z,1749149454.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:54.660Z,1749149454.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 44.636673 m,
      bearing: 38.791883 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.134334 deg/s,
      cmd heading: 38.906759 deg,
      new cmd heading: 38.740618 deg.

2025-06-05T18:50:54.661Z,1749149454.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676151 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:55.046Z,1749149455.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:55.062Z,1749149455.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 44.390106 m,
      bearing: 38.744078 deg,
      approach rate: -0.625150 m/s,
      LOS rate: -0.121879 deg/s,
      cmd heading: 38.740618 deg,
      new cmd heading: 38.596407 deg.

2025-06-05T18:50:55.063Z,1749149455.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673634 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:55.457Z,1749149455.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:55.465Z,1749149455.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 44.083305 m,
      bearing: 38.689232 deg,
      approach rate: -0.735361 m/s,
      LOS rate: -0.132374 deg/s,
      cmd heading: 38.596409 deg,
      new cmd heading: 38.430725 deg.

2025-06-05T18:50:55.466Z,1749149455.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670743 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:55.797Z,1749149455.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:55.799Z,1749149455.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 43.855148 m,
      bearing: 38.649242 deg,
      approach rate: -0.671230 m/s,
      LOS rate: -0.118262 deg/s,
      cmd heading: 38.430725 deg,
      new cmd heading: 38.310131 deg.

2025-06-05T18:50:55.818Z,1749149455.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668638 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:56.257Z,1749149456.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:56.267Z,1749149456.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:56.275Z,1749149456.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 43.554630 m,
      bearing: 38.593397 deg,
      approach rate: -0.640047 m/s,
      LOS rate: -0.119759 deg/s,
      cmd heading: 38.310131 deg,
      new cmd heading: 38.141442 deg.

2025-06-05T18:50:56.281Z,1749149456.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665694 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:56.338Z,1749149456.338 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:56.338Z,1749149456.338 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:56.339Z,1749149456.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:56.589Z,1749149456.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233588
2025-06-05T18:50:56.632Z,1749149456.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:56.634Z,1749149456.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 43.311787 m,
      bearing: 38.548733 deg,
      approach rate: -0.719694 m/s,
      LOS rate: -0.133109 deg/s,
      cmd heading: 38.141443 deg,
      new cmd heading: 38.006699 deg.

2025-06-05T18:50:56.640Z,1749149456.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663342 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:56.842Z,1749149456.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486483
2025-06-05T18:50:57.014Z,1749149457.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:57.017Z,1749149457.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 43.040524 m,
      bearing: 38.498749 deg,
      approach rate: -0.661540 m/s,
      LOS rate: -0.122665 deg/s,
      cmd heading: 38.006700 deg,
      new cmd heading: 37.855805 deg.

2025-06-05T18:50:57.018Z,1749149457.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660708 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:57.093Z,1749149457.093 [DAT](INFO): DAT read: Rx Time:18:50:55.6447

2025-06-05T18:50:57.094Z,1749149457.094 [DAT](INFO): Rx dataTimestamp_ set to:1749149457.093558
2025-06-05T18:50:57.094Z,1749149457.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739201
2025-06-05T18:50:57.283Z,1749149457.283 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:50:57.345Z,1749149457.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989647
2025-06-05T18:50:57.483Z,1749149457.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:57.486Z,1749149457.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 42.715958 m,
      bearing: 38.444687 deg,
      approach rate: -0.690995 m/s,
      LOS rate: -0.115972 deg/s,
      cmd heading: 37.855804 deg,
      new cmd heading: 37.692387 deg.

2025-06-05T18:50:57.487Z,1749149457.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657856 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:57.599Z,1749149457.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243493
2025-06-05T18:50:57.823Z,1749149457.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.83 m.
2025-06-05T18:50:57.827Z,1749149457.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.826874 m,
      nav range: 42.482590 m,
      bearing: 38.406241 deg,
      approach rate: -0.687211 m/s,
      LOS rate: -0.113836 deg/s,
      cmd heading: 37.692385 deg,
      new cmd heading: 37.576414 deg.

2025-06-05T18:50:57.828Z,1749149457.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655832 target range: 45.826874 and range: 46.20 m.
2025-06-05T18:50:57.855Z,1749149457.855 [DAT](INFO): DAT read: 18:50:55.6447 LVL= 18912, 26705, 18674, 31827, AGC= 62, IDX= 407,-0.19, 0.270,-1.061, 0.191,-0.310, PHS= 0.668,-0.703, 0.499, RAW= 143.5,  -7.2, CAL= 149.6, -16.3, ROT=   0.4,  16.3

2025-06-05T18:50:57.856Z,1749149457.856 [DAT](INFO): got valid direction response:
 18:50:55.6447 LVL= 18912, 26705, 18674, 31827, AGC= 62, IDX= 407,-0.19, 0.270,-1.061, 0.191,-0.310, PHS= 0.668,-0.703, 0.499, RAW= 143.5,  -7.2, CAL= 149.6, -16.3, ROT=   0.4,  16.3

2025-06-05T18:50:57.858Z,1749149457.858 [DAT](INFO): DAT read: Bearing   0.4,  16.3 (Local)

2025-06-05T18:50:57.858Z,1749149457.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  16.3 (Local)

2025-06-05T18:50:57.860Z,1749149457.860 [DAT](INFO): DAT read: Range 10 to 50 : 44.1 m  (Round-trip  58.8 ms) speed  0.6 m/s

2025-06-05T18:50:57.861Z,1749149457.861 [DAT](INFO): DAT read: user:2884>

2025-06-05T18:50:57.862Z,1749149457.862 [DAT](INFO): DAT read: Tx time:18:50:56.7317

2025-06-05T18:50:57.862Z,1749149457.862 [DAT](INFO): Ping request sent.
2025-06-05T18:50:57.862Z,1749149457.862 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:50:57.863Z,1749149457.863 [DAT](INFO): DAT read: TxSync time:18:50:56.7309

2025-06-05T18:50:57.863Z,1749149457.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:50:57.868Z,1749149457.868 [DAT](INFO): direction in FSK: [0.959782,0.006701,-0.280667]
2025-06-05T18:50:57.869Z,1749149457.869 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:57.870Z,1749149457.870 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:57.881Z,1749149457.881 [DAT](INFO): publishing transmit ping time
2025-06-05T18:50:57.881Z,1749149457.881 [DAT](INFO): publishing direction and range info
2025-06-05T18:50:58.284Z,1749149458.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:50:58.327Z,1749149458.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.099998 m,
      deltaT: 3.527776 s,
      deltaX: -2.100002 m,
      approachRate: -0.595277 m/s,
      rangeRepo size: 4

2025-06-05T18:50:58.337Z,1749149458.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.743717 m,
      bearing: 41.650244 deg,
      lat: 36.906242 deg,
      lon: -122.116206 deg,
      deltaT: 3.527776 s,
      deltaX: -2.083157 m,
      approachRate: -0.590501 m/s,
      posRepo size: 4

2025-06-05T18:50:58.338Z,1749149458.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.74 m.
2025-06-05T18:50:58.350Z,1749149458.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.743717 m,
      nav range: 42.165989 m,
      bearing: 38.354015 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.113836 deg/s,
      cmd heading: 37.576412 deg,
      new cmd heading: 37.405685 deg.

2025-06-05T18:50:58.351Z,1749149458.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652852 target range: 43.743717 and range: 44.10 m.
2025-06-05T18:50:58.662Z,1749149458.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:50:58.665Z,1749149458.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.74 m.
2025-06-05T18:50:58.668Z,1749149458.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.743717 m,
      nav range: 41.917912 m,
      bearing: 38.312662 deg,
      approach rate: -0.725436 m/s,
      LOS rate: -0.121640 deg/s,
      cmd heading: 37.405685 deg,
      new cmd heading: 37.280893 deg.

2025-06-05T18:50:58.669Z,1749149458.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650674 target range: 43.743717 and range: 44.10 m.
2025-06-05T18:50:58.860Z,1749149458.860 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:50:58.860Z,1749149458.860 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:50:58.861Z,1749149458.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:50:59.113Z,1749149459.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249814
2025-06-05T18:50:59.122Z,1749149459.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.74 m.
2025-06-05T18:50:59.130Z,1749149459.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.743717 m,
      nav range: 41.661640 m,
      bearing: 38.269340 deg,
      approach rate: -0.559860 m/s,
      LOS rate: -0.095226 deg/s,
      cmd heading: 37.280894 deg,
      new cmd heading: 37.150127 deg.

2025-06-05T18:50:59.131Z,1749149459.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648392 target range: 43.743717 and range: 44.10 m.
2025-06-05T18:50:59.363Z,1749149459.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500537
2025-06-05T18:50:59.613Z,1749149459.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750584
2025-06-05T18:50:59.614Z,1749149459.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.74 m.
2025-06-05T18:50:59.617Z,1749149459.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.743717 m,
      nav range: 41.284206 m,
      bearing: 38.204927 deg,
      approach rate: -0.768372 m/s,
      LOS rate: -0.132330 deg/s,
      cmd heading: 37.150126 deg,
      new cmd heading: 36.955121 deg.

2025-06-05T18:50:59.618Z,1749149459.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644989 target range: 43.743717 and range: 44.10 m.
2025-06-05T18:50:59.868Z,1749149459.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005828
2025-06-05T18:50:59.971Z,1749149459.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.74 m.
2025-06-05T18:50:59.976Z,1749149459.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.743717 m,
      nav range: 41.047337 m,
      bearing: 38.164877 deg,
      approach rate: -0.663189 m/s,
      LOS rate: -0.112778 deg/s,
      cmd heading: 36.955121 deg,
      new cmd heading: 36.834279 deg.

2025-06-05T18:50:59.977Z,1749149459.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642879 target range: 43.743717 and range: 44.10 m.
2025-06-05T18:51:00.119Z,1749149460.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256969
2025-06-05T18:51:00.369Z,1749149460.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506396
2025-06-05T18:51:00.431Z,1749149460.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.74 m.
2025-06-05T18:51:00.438Z,1749149460.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.743717 m,
      nav range: 40.753082 m,
      bearing: 38.122602 deg,
      approach rate: -0.639294 m/s,
      LOS rate: -0.092510 deg/s,
      cmd heading: 36.834278 deg,
      new cmd heading: 36.706536 deg.

2025-06-05T18:51:00.441Z,1749149460.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640650 target range: 43.743717 and range: 44.10 m.
2025-06-05T18:51:00.621Z,1749149460.621 [DAT](INFO): DAT read: Rx Time:18:50:59.1916

2025-06-05T18:51:00.621Z,1749149460.621 [DAT](INFO): Rx dataTimestamp_ set to:1749149460.620882
2025-06-05T18:51:00.622Z,1749149460.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759534
2025-06-05T18:51:00.797Z,1749149460.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:00.799Z,1749149460.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.74 m.
2025-06-05T18:51:00.802Z,1749149460.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.743717 m,
      nav range: 40.519413 m,
      bearing: 38.089377 deg,
      approach rate: -0.635541 m/s,
      LOS rate: -0.090886 deg/s,
      cmd heading: 36.706536 deg,
      new cmd heading: 36.606288 deg.

2025-06-05T18:51:00.803Z,1749149460.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638900 target range: 43.743717 and range: 44.10 m.
2025-06-05T18:51:00.874Z,1749149460.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011546
2025-06-05T18:51:01.130Z,1749149461.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266667
2025-06-05T18:51:01.253Z,1749149461.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.74 m.
2025-06-05T18:51:01.255Z,1749149461.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.743717 m,
      nav range: 40.237705 m,
      bearing: 38.046875 deg,
      approach rate: -0.620818 m/s,
      LOS rate: -0.094320 deg/s,
      cmd heading: 36.606286 deg,
      new cmd heading: 36.477888 deg.

2025-06-05T18:51:01.257Z,1749149461.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636659 target range: 43.743717 and range: 44.10 m.
2025-06-05T18:51:01.383Z,1749149461.383 [DAT](INFO): DAT read: 18:50:59.1916 LVL= 20032, 31361, 18194, 32163, AGC= 62, IDX= 407,-0.09,-0.029,-1.378,-0.168,-0.611, PHS= 0.669,-0.720, 0.440, RAW= 141.1,  -6.1, CAL= 147.0, -15.6, ROT=   3.0,  15.6

2025-06-05T18:51:01.384Z,1749149461.384 [DAT](INFO): got valid direction response:
 18:50:59.1916 LVL= 20032, 31361, 18194, 32163, AGC= 62, IDX= 407,-0.09,-0.029,-1.378,-0.168,-0.611, PHS= 0.669,-0.720, 0.440, RAW= 141.1,  -6.1, CAL= 147.0, -15.6, ROT=   3.0,  15.6

2025-06-05T18:51:01.385Z,1749149461.385 [DAT](INFO): DAT read: Bearing   3.0,  15.6 (Local)

2025-06-05T18:51:01.385Z,1749149461.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,  15.6 (Local)

2025-06-05T18:51:01.387Z,1749149461.387 [DAT](INFO): DAT read: Range 10 to 50 : 41.7 m  (Round-trip  55.7 ms) speed  0.7 m/s

2025-06-05T18:51:01.388Z,1749149461.388 [DAT](INFO): DAT read: user:2885>

2025-06-05T18:51:01.389Z,1749149461.389 [DAT](INFO): DAT read: Tx time:18:51:00.2817

2025-06-05T18:51:01.389Z,1749149461.389 [DAT](INFO): Ping request sent.
2025-06-05T18:51:01.389Z,1749149461.389 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:01.389Z,1749149461.389 [DAT](INFO): DAT read: TxSync time:18:51:00.2809

2025-06-05T18:51:01.390Z,1749149461.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:51:01.391Z,1749149461.391 [DAT](INFO): direction in FSK: [0.961843,0.050408,-0.268920]
2025-06-05T18:51:01.391Z,1749149461.391 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:01.392Z,1749149461.392 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:01.399Z,1749149461.399 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:01.399Z,1749149461.399 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:01.636Z,1749149461.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.700001 m,
      deltaT: 3.528099 s,
      deltaX: -2.399998 m,
      approachRate: -0.680252 m/s,
      rangeRepo size: 4

2025-06-05T18:51:01.639Z,1749149461.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.363274 m,
      bearing: 43.303538 deg,
      lat: 36.906231 deg,
      lon: -122.116193 deg,
      deltaT: 3.528099 s,
      deltaX: -2.380444 m,
      approachRate: -0.674710 m/s,
      posRepo size: 4

2025-06-05T18:51:01.639Z,1749149461.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:01.646Z,1749149461.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 39.858761 m,
      bearing: 40.326228 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.094320 deg/s,
      cmd heading: 36.477889 deg,
      new cmd heading: 36.370769 deg.

2025-06-05T18:51:01.647Z,1749149461.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634790 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:02.017Z,1749149462.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:02.020Z,1749149462.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 39.612373 m,
      bearing: 40.303794 deg,
      approach rate: -0.638334 m/s,
      LOS rate: -0.058484 deg/s,
      cmd heading: 36.370771 deg,
      new cmd heading: 36.303049 deg.

2025-06-05T18:51:02.021Z,1749149462.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633608 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:02.441Z,1749149462.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:02.444Z,1749149462.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 39.354221 m,
      bearing: 40.283205 deg,
      approach rate: -0.609590 m/s,
      LOS rate: -0.048937 deg/s,
      cmd heading: 36.303050 deg,
      new cmd heading: 36.240878 deg.

2025-06-05T18:51:02.445Z,1749149462.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.632523 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:02.829Z,1749149462.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:02.831Z,1749149462.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:02.838Z,1749149462.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 39.127392 m,
      bearing: 40.264819 deg,
      approach rate: -0.580855 m/s,
      LOS rate: -0.047356 deg/s,
      cmd heading: 36.240878 deg,
      new cmd heading: 36.185399 deg.

2025-06-05T18:51:02.839Z,1749149462.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631554 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:02.889Z,1749149462.889 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:51:02.889Z,1749149462.889 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:51:02.889Z,1749149462.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:51:03.144Z,1749149463.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754618
2025-06-05T18:51:03.251Z,1749149463.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:03.254Z,1749149463.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 38.864773 m,
      bearing: 40.239365 deg,
      approach rate: -0.626145 m/s,
      LOS rate: -0.061098 deg/s,
      cmd heading: 36.185400 deg,
      new cmd heading: 36.108522 deg.

2025-06-05T18:51:03.255Z,1749149463.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630213 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:03.396Z,1749149463.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007049
2025-06-05T18:51:03.632Z,1749149463.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:03.635Z,1749149463.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 38.630634 m,
      bearing: 40.217059 deg,
      approach rate: -0.613505 m/s,
      LOS rate: -0.058800 deg/s,
      cmd heading: 36.108522 deg,
      new cmd heading: 36.041201 deg.

2025-06-05T18:51:03.637Z,1749149463.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629038 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:03.645Z,1749149463.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255778
2025-06-05T18:51:03.897Z,1749149463.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507872
2025-06-05T18:51:04.033Z,1749149464.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:04.036Z,1749149464.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 38.387447 m,
      bearing: 40.194512 deg,
      approach rate: -0.607202 m/s,
      LOS rate: -0.056653 deg/s,
      cmd heading: 36.041201 deg,
      new cmd heading: 35.973131 deg.

2025-06-05T18:51:04.037Z,1749149464.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627850 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:04.152Z,1749149464.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762217
2025-06-05T18:51:04.401Z,1749149464.401 [DAT](INFO): DAT read: Rx Time:18:51:02.7383

2025-06-05T18:51:04.401Z,1749149464.401 [DAT](INFO): Rx dataTimestamp_ set to:1749149464.400794
2025-06-05T18:51:04.402Z,1749149464.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012690
2025-06-05T18:51:04.473Z,1749149464.473 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +605,    -6,A
2025-06-05T18:51:04.497Z,1749149464.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:04.500Z,1749149464.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 38.106236 m,
      bearing: 40.169307 deg,
      approach rate: -0.605331 m/s,
      LOS rate: -0.054658 deg/s,
      cmd heading: 35.973131 deg,
      new cmd heading: 35.896956 deg.

2025-06-05T18:51:04.501Z,1749149464.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626520 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:04.653Z,1749149464.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263811
2025-06-05T18:51:04.834Z,1749149464.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:04.856Z,1749149464.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.36 m.
2025-06-05T18:51:04.864Z,1749149464.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.363274 m,
      nav range: 37.898369 m,
      bearing: 40.151516 deg,
      approach rate: -0.614349 m/s,
      LOS rate: -0.052869 deg/s,
      cmd heading: 35.896957 deg,
      new cmd heading: 35.843293 deg.

2025-06-05T18:51:04.865Z,1749149464.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625583 target range: 41.363274 and range: 41.70 m.
2025-06-05T18:51:04.916Z,1749149464.916 [DAT](INFO): DAT read: 18:51:02.7383 LVL= 20752, 32753, 20514, 32755, AGC= 63, IDX= 405, 0.21,-1.468,-2.836,-1.725,-2.050, PHS= 0.670,-0.739, 0.322, RAW= 136.3,  -4.0, CAL= 141.8, -13.9, ROT=   8.2,  13.9

2025-06-05T18:51:04.918Z,1749149464.918 [DAT](INFO): got valid direction response:
 18:51:02.7383 LVL= 20752, 32753, 20514, 32755, AGC= 63, IDX= 405, 0.21,-1.468,-2.836,-1.725,-2.050, PHS= 0.670,-0.739, 0.322, RAW= 136.3,  -4.0, CAL= 141.8, -13.9, ROT=   8.2,  13.9

2025-06-05T18:51:04.919Z,1749149464.919 [DAT](INFO): DAT read: Bearing   8.2,  13.9 (Local)

2025-06-05T18:51:04.920Z,1749149464.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  13.9 (Local)

2025-06-05T18:51:04.922Z,1749149464.922 [DAT](INFO): DAT read: Range 10 to 50 : 39.3 m  (Round-trip  52.5 ms) speed  0.5 m/s

2025-06-05T18:51:04.932Z,1749149464.932 [DAT](INFO): DAT read: user:2886>

2025-06-05T18:51:04.933Z,1749149464.933 [DAT](INFO): DAT read: Tx time:18:51:03.8317

2025-06-05T18:51:04.934Z,1749149464.934 [DAT](INFO): Ping request sent.
2025-06-05T18:51:04.934Z,1749149464.934 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:04.935Z,1749149464.935 [DAT](INFO): DAT read: TxSync time:18:51:03.8309

2025-06-05T18:51:04.944Z,1749149464.944 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:51:04.945Z,1749149464.945 [DAT](INFO): direction in FSK: [0.960792,0.138452,-0.240228]
2025-06-05T18:51:04.945Z,1749149464.945 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:04.946Z,1749149464.946 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:04.984Z,1749149464.984 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:04.984Z,1749149464.984 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:05.326Z,1749149465.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.299999 m,
      deltaT: 3.528198 s,
      deltaX: -2.400002 m,
      approachRate: -0.680234 m/s,
      rangeRepo size: 4

2025-06-05T18:51:05.337Z,1749149465.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.982338 m,
      bearing: 47.401172 deg,
      lat: 36.906228 deg,
      lon: -122.116184 deg,
      deltaT: 3.528198 s,
      deltaX: -2.380936 m,
      approachRate: -0.674830 m/s,
      posRepo size: 4

2025-06-05T18:51:05.337Z,1749149465.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:51:05.345Z,1749149465.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.982338 m,
      nav range: 37.858624 m,
      bearing: 41.367839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052869 deg/s,
      cmd heading: 35.843293 deg,
      new cmd heading: 35.765681 deg.

2025-06-05T18:51:05.345Z,1749149465.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624229 target range: 38.982338 and range: 39.30 m.
2025-06-05T18:51:05.678Z,1749149465.678 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-05T18:51:05.678Z,1749149465.678 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T18:51:05.678Z,1749149465.678 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-05T18:51:05.681Z,1749149465.681 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.299999 m (mode  2.000000 count ).
2025-06-05T18:51:05.681Z,1749149465.681 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-05T18:51:05.681Z,1749149465.681 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-05T18:51:05.685Z,1749149465.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:51:05.689Z,1749149465.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.982338 m,
      nav range: 37.624912 m,
      bearing: 41.362847 deg,
      approach rate: -0.651398 m/s,
      LOS rate: -0.013999 deg/s,
      cmd heading: 35.765681 deg,
      new cmd heading: 35.750613 deg.

2025-06-05T18:51:05.692Z,1749149465.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623966 target range: 38.982338 and range: 39.30 m.
2025-06-05T18:51:06.053Z,1749149466.053 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-05T18:51:06.053Z,1749149466.053 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-05T18:51:06.056Z,1749149466.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:51:06.060Z,1749149466.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.982338 m,
      nav range: 37.390415 m,
      bearing: 41.359475 deg,
      approach rate: -0.630966 m/s,
      LOS rate: -0.009130 deg/s,
      cmd heading: 35.750614 deg,
      new cmd heading: 35.740435 deg.

2025-06-05T18:51:06.061Z,1749149466.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623788 target range: 38.982338 and range: 39.30 m.
2025-06-05T18:51:06.490Z,1749149466.490 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-05T18:51:06.490Z,1749149466.490 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-05T18:51:06.500Z,1749149466.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:51:06.503Z,1749149466.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.982338 m,
      nav range: 37.111538 m,
      bearing: 41.360821 deg,
      approach rate: -0.638881 m/s,
      LOS rate: 0.003106 deg/s,
      cmd heading: 35.740433 deg,
      new cmd heading: 35.744500 deg.

2025-06-05T18:51:06.504Z,1749149466.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623859 target range: 38.982338 and range: 39.30 m.
2025-06-05T18:51:06.863Z,1749149466.863 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-05T18:51:06.863Z,1749149466.863 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T18:51:06.863Z,1749149466.863 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-05T18:51:06.863Z,1749149466.863 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-05T18:51:06.864Z,1749149466.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:06.866Z,1749149466.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:51:06.869Z,1749149466.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.982338 m,
      nav range: 36.874222 m,
      bearing: 41.363168 deg,
      approach rate: -0.634281 m/s,
      LOS rate: 0.006313 deg/s,
      cmd heading: 35.744501 deg,
      new cmd heading: 35.751587 deg.

2025-06-05T18:51:06.870Z,1749149466.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623983 target range: 38.982338 and range: 39.30 m.
2025-06-05T18:51:06.921Z,1749149466.921 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:51:06.921Z,1749149466.921 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:51:06.922Z,1749149466.922 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-05T18:51:07.176Z,1749149467.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241923
2025-06-05T18:51:07.378Z,1749149467.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:51:07.381Z,1749149467.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.982338 m,
      nav range: 36.542755 m,
      bearing: 41.363805 deg,
      approach rate: -0.647991 m/s,
      LOS rate: 0.001257 deg/s,
      cmd heading: 35.751587 deg,
      new cmd heading: 35.753515 deg.

2025-06-05T18:51:07.381Z,1749149467.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624017 target range: 38.982338 and range: 39.30 m.
2025-06-05T18:51:07.426Z,1749149467.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492113
2025-06-05T18:51:07.677Z,1749149467.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742837
2025-06-05T18:51:07.678Z,1749149467.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:51:07.680Z,1749149467.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.982338 m,
      nav range: 36.349869 m,
      bearing: 41.364780 deg,
      approach rate: -0.646571 m/s,
      LOS rate: 0.003285 deg/s,
      cmd heading: 35.753517 deg,
      new cmd heading: 35.756457 deg.

2025-06-05T18:51:07.682Z,1749149467.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624068 target range: 38.982338 and range: 39.30 m.
2025-06-05T18:51:07.929Z,1749149467.929 [DAT](INFO): DAT read: Rx Time:18:51:06.2855

2025-06-05T18:51:07.929Z,1749149467.929 [DAT](INFO): Rx dataTimestamp_ set to:1749149467.928867
2025-06-05T18:51:07.930Z,1749149467.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995817
2025-06-05T18:51:08.088Z,1749149468.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.98 m.
2025-06-05T18:51:08.093Z,1749149468.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.982338 m,
      nav range: 36.082668 m,
      bearing: 41.366525 deg,
      approach rate: -0.648515 m/s,
      LOS rate: 0.004269 deg/s,
      cmd heading: 35.756457 deg,
      new cmd heading: 35.761733 deg.

2025-06-05T18:51:08.094Z,1749149468.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624160 target range: 38.982338 and range: 39.30 m.
2025-06-05T18:51:08.185Z,1749149468.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250524
2025-06-05T18:51:08.438Z,1749149468.438 [DAT](INFO): DAT read: 18:51:06.2855 LVL= 20000, 26993, 20978, 31443, AGC= 62, IDX= 407, 0.48,-2.828, 2.064,-3.140, 2.866, PHS= 0.677,-0.755, 0.274, RAW= 134.2,  -3.1, CAL= 139.6, -13.0, ROT=  10.4,  13.0

2025-06-05T18:51:08.439Z,1749149468.439 [DAT](INFO): got valid direction response:
 18:51:06.2855 LVL= 20000, 26993, 20978, 31443, AGC= 62, IDX= 407, 0.48,-2.828, 2.064,-3.140, 2.866, PHS= 0.677,-0.755, 0.274, RAW= 134.2,  -3.1, CAL= 139.6, -13.0, ROT=  10.4,  13.0

2025-06-05T18:51:08.440Z,1749149468.440 [DAT](INFO): DAT read: Bearing  10.4,  13.0 (Local)

2025-06-05T18:51:08.441Z,1749149468.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,  13.0 (Local)

2025-06-05T18:51:08.442Z,1749149468.442 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m  (Round-trip  49.6 ms) speed  0.5 m/s

2025-06-05T18:51:08.443Z,1749149468.443 [DAT](INFO): DAT read: user:2887>

2025-06-05T18:51:08.443Z,1749149468.443 [DAT](INFO): DAT read: Tx time:18:51:07.3818

2025-06-05T18:51:08.456Z,1749149468.456 [DAT](INFO): Ping request sent.
2025-06-05T18:51:08.456Z,1749149468.456 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:08.457Z,1749149468.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:51:08.480Z,1749149468.480 [DAT](INFO): direction in FSK: [0.958363,0.175892,-0.224951]
2025-06-05T18:51:08.480Z,1749149468.480 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:08.481Z,1749149468.481 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:08.490Z,1749149468.490 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:08.490Z,1749149468.490 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:08.499Z,1749149468.499 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.043373
2025-06-05T18:51:08.655Z,1749149468.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 3.527684 s,
      deltaX: -2.099998 m,
      approachRate: -0.595291 m/s,
      rangeRepo size: 4

2025-06-05T18:51:08.661Z,1749149468.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.899563 m,
      bearing: 48.590221 deg,
      lat: 36.906221 deg,
      lon: -122.116173 deg,
      deltaT: 3.527684 s,
      deltaX: -2.082775 m,
      approachRate: -0.590409 m/s,
      posRepo size: 4

2025-06-05T18:51:08.662Z,1749149468.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:08.669Z,1749149468.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 35.691338 m,
      bearing: 43.400641 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004269 deg/s,
      cmd heading: 35.761733 deg,
      new cmd heading: 35.768986 deg.

2025-06-05T18:51:08.670Z,1749149468.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624287 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:08.686Z,1749149468.686 [DAT](INFO): DAT read: TxSync time:18:51:07.3810

2025-06-05T18:51:08.693Z,1749149468.693 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.236684
2025-06-05T18:51:08.938Z,1749149468.938 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.481802
2025-06-05T18:51:09.022Z,1749149469.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:09.029Z,1749149469.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:09.036Z,1749149469.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 35.442093 m,
      bearing: 43.411760 deg,
      approach rate: -0.665483 m/s,
      LOS rate: 0.029896 deg/s,
      cmd heading: 35.768987 deg,
      new cmd heading: 35.802578 deg.

2025-06-05T18:51:09.037Z,1749149469.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624873 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:09.189Z,1749149469.189 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.732805
2025-06-05T18:51:09.415Z,1749149469.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:09.418Z,1749149469.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 35.170830 m,
      bearing: 43.420475 deg,
      approach rate: -0.701943 m/s,
      LOS rate: 0.022726 deg/s,
      cmd heading: 35.802578 deg,
      new cmd heading: 35.828925 deg.

2025-06-05T18:51:09.420Z,1749149469.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625333 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:09.441Z,1749149469.441 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.984780
2025-06-05T18:51:09.695Z,1749149469.695 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.238548
2025-06-05T18:51:09.802Z,1749149469.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:09.805Z,1749149469.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 34.912914 m,
      bearing: 43.429733 deg,
      approach rate: -0.667532 m/s,
      LOS rate: 0.024138 deg/s,
      cmd heading: 35.828925 deg,
      new cmd heading: 35.856905 deg.

2025-06-05T18:51:09.806Z,1749149469.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625821 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:09.945Z,1749149469.945 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.488825
2025-06-05T18:51:10.197Z,1749149470.197 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.740867
2025-06-05T18:51:10.259Z,1749149470.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:10.278Z,1749149470.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 34.645023 m,
      bearing: 43.440207 deg,
      approach rate: -0.588324 m/s,
      LOS rate: 0.023180 deg/s,
      cmd heading: 35.856905 deg,
      new cmd heading: 35.888570 deg.

2025-06-05T18:51:10.279Z,1749149470.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626374 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:10.449Z,1749149470.449 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.992609
2025-06-05T18:51:10.666Z,1749149470.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:10.673Z,1749149470.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 34.362324 m,
      bearing: 43.445989 deg,
      approach rate: -0.692038 m/s,
      LOS rate: 0.014272 deg/s,
      cmd heading: 35.888570 deg,
      new cmd heading: 35.906060 deg.

2025-06-05T18:51:10.674Z,1749149470.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626679 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:10.702Z,1749149470.702 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.245984
2025-06-05T18:51:10.953Z,1749149470.953 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.496721
2025-06-05T18:51:11.023Z,1749149471.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:11.026Z,1749149471.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:11.032Z,1749149471.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 34.104858 m,
      bearing: 43.451339 deg,
      approach rate: -0.713283 m/s,
      LOS rate: 0.014933 deg/s,
      cmd heading: 35.906059 deg,
      new cmd heading: 35.922229 deg.

2025-06-05T18:51:11.033Z,1749149471.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626961 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:11.205Z,1749149471.205 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.748594
2025-06-05T18:51:11.433Z,1749149471.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:11.436Z,1749149471.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 33.837399 m,
      bearing: 43.444578 deg,
      approach rate: -0.657979 m/s,
      LOS rate: -0.016764 deg/s,
      cmd heading: 35.922229 deg,
      new cmd heading: 35.901786 deg.

2025-06-05T18:51:11.437Z,1749149471.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626604 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:11.457Z,1749149471.457 [DAT](INFO): DAT read: Rx Time:18:51:09.8326

2025-06-05T18:51:11.458Z,1749149471.458 [DAT](INFO): Rx dataTimestamp_ set to:1749149471.457426
2025-06-05T18:51:11.459Z,1749149471.459 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.003107
2025-06-05T18:51:11.709Z,1749149471.709 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.253239
2025-06-05T18:51:11.848Z,1749149471.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.90 m.
2025-06-05T18:51:11.851Z,1749149471.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.899563 m,
      nav range: 33.564060 m,
      bearing: 43.437593 deg,
      approach rate: -0.658883 m/s,
      LOS rate: -0.016975 deg/s,
      cmd heading: 35.901786 deg,
      new cmd heading: 35.880659 deg.

2025-06-05T18:51:11.852Z,1749149471.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626236 target range: 36.899563 and range: 37.20 m.
2025-06-05T18:51:11.970Z,1749149471.970 [DAT](INFO): DAT read: 18:51:09.8326 LVL= 21456, 26593, 19954, 30451, AGC= 60, IDX= 410,-0.28,-2.375, 2.521,-2.710,-2.913, PHS= 0.626,-0.802, 0.200, RAW= 133.1,  -0.4, CAL= 138.7,  -9.3, ROT=  11.3,   9.3

2025-06-05T18:51:11.971Z,1749149471.971 [DAT](INFO): got valid direction response:
 18:51:09.8326 LVL= 21456, 26593, 19954, 30451, AGC= 60, IDX= 410,-0.28,-2.375, 2.521,-2.710,-2.913, PHS= 0.626,-0.802, 0.200, RAW= 133.1,  -0.4, CAL= 138.7,  -9.3, ROT=  11.3,   9.3

2025-06-05T18:51:11.972Z,1749149471.972 [DAT](INFO): DAT read: Bearing  11.3,   9.3 (Local)

2025-06-05T18:51:11.972Z,1749149471.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.3,   9.3 (Local)

2025-06-05T18:51:11.974Z,1749149471.974 [DAT](INFO): DAT read: Range 10 to 50 : 34.9 m  (Round-trip  46.6 ms) speed  0.6 m/s

2025-06-05T18:51:11.975Z,1749149471.975 [DAT](INFO): DAT read: user:2888>

2025-06-05T18:51:11.976Z,1749149471.976 [DAT](INFO): DAT read: Tx time:18:51:10.9318

2025-06-05T18:51:11.976Z,1749149471.976 [DAT](INFO): Ping request sent.
2025-06-05T18:51:11.977Z,1749149471.977 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:11.977Z,1749149471.977 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T18:51:11.978Z,1749149471.978 [DAT](INFO): direction in FSK: [0.967725,0.193371,-0.161604]
2025-06-05T18:51:11.978Z,1749149471.978 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:11.978Z,1749149471.978 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:11.996Z,1749149471.996 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:11.996Z,1749149471.996 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:11.999Z,1749149471.999 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.022565
2025-06-05T18:51:12.215Z,1749149472.215 [DAT](INFO): DAT read: TxSync time:18:51:10.9310

2025-06-05T18:51:12.217Z,1749149472.217 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.239999
2025-06-05T18:51:12.325Z,1749149472.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.900002 m,
      deltaT: 3.529194 s,
      deltaX: -2.299999 m,
      approachRate: -0.651707 m/s,
      rangeRepo size: 4

2025-06-05T18:51:12.327Z,1749149472.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.618313 m,
      bearing: 48.927529 deg,
      lat: 36.906205 deg,
      lon: -122.116151 deg,
      deltaT: 3.529194 s,
      deltaX: -2.281250 m,
      approachRate: -0.646394 m/s,
      posRepo size: 4

2025-06-05T18:51:12.332Z,1749149472.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:12.335Z,1749149472.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 33.542351 m,
      bearing: 47.922192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016975 deg/s,
      cmd heading: 35.880661 deg,
      new cmd heading: 35.856631 deg.

2025-06-05T18:51:12.349Z,1749149472.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625816 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:12.465Z,1749149472.465 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.488271
2025-06-05T18:51:12.675Z,1749149472.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:12.682Z,1749149472.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 33.292282 m,
      bearing: 47.948452 deg,
      approach rate: -0.706373 m/s,
      LOS rate: 0.074734 deg/s,
      cmd heading: 35.856632 deg,
      new cmd heading: 35.936003 deg.

2025-06-05T18:51:12.683Z,1749149472.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627202 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:12.717Z,1749149472.717 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.740863
2025-06-05T18:51:12.969Z,1749149472.969 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.992035
2025-06-05T18:51:13.046Z,1749149473.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:13.048Z,1749149473.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:13.051Z,1749149473.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 33.038776 m,
      bearing: 47.975479 deg,
      approach rate: -0.677631 m/s,
      LOS rate: 0.072798 deg/s,
      cmd heading: 35.936002 deg,
      new cmd heading: 36.017705 deg.

2025-06-05T18:51:13.052Z,1749149473.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628628 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:13.221Z,1749149473.221 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.244214
2025-06-05T18:51:13.460Z,1749149473.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:13.463Z,1749149473.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 32.778805 m,
      bearing: 48.006116 deg,
      approach rate: -0.630155 m/s,
      LOS rate: 0.074850 deg/s,
      cmd heading: 36.017705 deg,
      new cmd heading: 36.110343 deg.

2025-06-05T18:51:13.464Z,1749149473.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630244 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:13.473Z,1749149473.473 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.496087
2025-06-05T18:51:13.725Z,1749149473.725 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.748740
2025-06-05T18:51:13.854Z,1749149473.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:13.861Z,1749149473.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 32.540115 m,
      bearing: 48.034618 deg,
      approach rate: -0.605995 m/s,
      LOS rate: 0.072894 deg/s,
      cmd heading: 36.110343 deg,
      new cmd heading: 36.196477 deg.

2025-06-05T18:51:13.862Z,1749149473.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631748 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:13.977Z,1749149473.977 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.000549
2025-06-05T18:51:14.229Z,1749149474.229 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.252121
2025-06-05T18:51:14.269Z,1749149474.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:14.339Z,1749149474.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 32.275181 m,
      bearing: 48.066808 deg,
      approach rate: -0.641222 m/s,
      LOS rate: 0.078549 deg/s,
      cmd heading: 36.196478 deg,
      new cmd heading: 36.293841 deg.

2025-06-05T18:51:14.345Z,1749149474.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633447 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:14.481Z,1749149474.481 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.504293
2025-06-05T18:51:14.665Z,1749149474.665 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +7,   -13,A
2025-06-05T18:51:14.681Z,1749149474.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:14.687Z,1749149474.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 32.010372 m,
      bearing: 48.099517 deg,
      approach rate: -0.640750 m/s,
      LOS rate: 0.079799 deg/s,
      cmd heading: 36.293839 deg,
      new cmd heading: 36.392776 deg.

2025-06-05T18:51:14.690Z,1749149474.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635174 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:14.733Z,1749149474.733 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.756139
2025-06-05T18:51:14.985Z,1749149474.985 [DAT](INFO): DAT read: Rx Time:18:51:13.3793

2025-06-05T18:51:14.985Z,1749149474.985 [DAT](INFO): Rx dataTimestamp_ set to:1749149474.985031
2025-06-05T18:51:14.986Z,1749149474.986 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.009277
2025-06-05T18:51:15.078Z,1749149475.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:15.085Z,1749149475.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:15.092Z,1749149475.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 31.764610 m,
      bearing: 48.130868 deg,
      approach rate: -0.608231 m/s,
      LOS rate: 0.078192 deg/s,
      cmd heading: 36.392778 deg,
      new cmd heading: 36.487561 deg.

2025-06-05T18:51:15.093Z,1749149475.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636828 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:15.238Z,1749149475.238 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.260993
2025-06-05T18:51:15.471Z,1749149475.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m.
2025-06-05T18:51:15.496Z,1749149475.496 [DAT](INFO): DAT read: 18:51:13.3794 LVL= 20384, 30241, 20210, 31443, AGC= 60, IDX= 408, 0.34,-1.556,-2.995,-1.891,-2.130, PHS= 0.662,-0.818, 0.236, RAW= 133.7,  -1.2, CAL= 139.2, -10.5, ROT=  10.8,  10.5

2025-06-05T18:51:15.497Z,1749149475.497 [DAT](INFO): got valid direction response:
 18:51:13.3794 LVL= 20384, 30241, 20210, 31443, AGC= 60, IDX= 408, 0.34,-1.556,-2.995,-1.891,-2.130, PHS= 0.662,-0.818, 0.236, RAW= 133.7,  -1.2, CAL= 139.2, -10.5, ROT=  10.8,  10.5

2025-06-05T18:51:15.498Z,1749149475.498 [DAT](INFO): DAT read: Bearing  10.8,  10.5 (Local)

2025-06-05T18:51:15.498Z,1749149475.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.8,  10.5 (Local)

2025-06-05T18:51:15.499Z,1749149475.499 [DAT](INFO): DAT read: Range 10 to 50 : 32.5 m  (Round-trip  43.4 ms) speed  0.7 m/s

2025-06-05T18:51:15.500Z,1749149475.500 [DAT](INFO): DAT read: user:2889>

2025-06-05T18:51:15.501Z,1749149475.501 [DAT](INFO): DAT read: Tx time:18:51:14.4819

2025-06-05T18:51:15.501Z,1749149475.501 [DAT](INFO): Ping request sent.
2025-06-05T18:51:15.501Z,1749149475.501 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:15.502Z,1749149475.502 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T18:51:15.502Z,1749149475.502 [DAT](INFO): direction in FSK: [0.965839,0.184244,-0.182236]
2025-06-05T18:51:15.503Z,1749149475.503 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:15.503Z,1749149475.503 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:15.509Z,1749149475.509 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:15.509Z,1749149475.509 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:15.512Z,1749149475.512 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.010948
2025-06-05T18:51:15.520Z,1749149475.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.618313 m,
      nav range: 31.515755 m,
      bearing: 48.174680 deg,
      approach rate: -0.643945 m/s,
      LOS rate: 0.114263 deg/s,
      cmd heading: 36.487560 deg,
      new cmd heading: 36.620032 deg.

2025-06-05T18:51:15.521Z,1749149475.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639140 target range: 34.618313 and range: 34.90 m.
2025-06-05T18:51:15.747Z,1749149475.747 [DAT](INFO): DAT read: TxSync time:18:51:14.4811

2025-06-05T18:51:15.748Z,1749149475.748 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.246984
2025-06-05T18:51:15.890Z,1749149475.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.500000 m,
      deltaT: 3.526919 s,
      deltaX: -2.400002 m,
      approachRate: -0.680481 m/s,
      rangeRepo size: 4

2025-06-05T18:51:15.897Z,1749149475.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.237160 m,
      bearing: 48.794031 deg,
      lat: 36.906205 deg,
      lon: -122.116145 deg,
      deltaT: 3.526919 s,
      deltaX: -2.381153 m,
      approachRate: -0.675137 m/s,
      posRepo size: 4

2025-06-05T18:51:15.898Z,1749149475.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m.
2025-06-05T18:51:15.905Z,1749149475.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.237160 m,
      nav range: 31.643410 m,
      bearing: 48.823370 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.114263 deg/s,
      cmd heading: 36.620032 deg,
      new cmd heading: 36.763378 deg.

2025-06-05T18:51:15.906Z,1749149475.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641642 target range: 32.237160 and range: 32.50 m.
2025-06-05T18:51:15.998Z,1749149475.998 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.496517
2025-06-05T18:51:16.249Z,1749149476.249 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.747486
2025-06-05T18:51:16.262Z,1749149476.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m.
2025-06-05T18:51:16.265Z,1749149476.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.237160 m,
      nav range: 31.398661 m,
      bearing: 48.871487 deg,
      approach rate: -0.656472 m/s,
      LOS rate: 0.130067 deg/s,
      cmd heading: 36.763377 deg,
      new cmd heading: 36.908854 deg.

2025-06-05T18:51:16.266Z,1749149476.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644181 target range: 32.237160 and range: 32.50 m.
2025-06-05T18:51:16.501Z,1749149476.501 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.999976
2025-06-05T18:51:16.713Z,1749149476.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m.
2025-06-05T18:51:16.723Z,1749149476.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.237160 m,
      nav range: 31.132116 m,
      bearing: 48.931278 deg,
      approach rate: -0.597975 m/s,
      LOS rate: 0.135284 deg/s,
      cmd heading: 36.908853 deg,
      new cmd heading: 37.089760 deg.

2025-06-05T18:51:16.729Z,1749149476.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647338 target range: 32.237160 and range: 32.50 m.
2025-06-05T18:51:16.753Z,1749149476.753 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.251711
2025-06-05T18:51:17.005Z,1749149477.005 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.503381
2025-06-05T18:51:17.072Z,1749149477.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m.
2025-06-05T18:51:17.077Z,1749149477.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.237160 m,
      nav range: 30.891541 m,
      bearing: 48.985604 deg,
      approach rate: -0.661546 m/s,
      LOS rate: 0.150552 deg/s,
      cmd heading: 37.089761 deg,
      new cmd heading: 37.254009 deg.

2025-06-05T18:51:17.078Z,1749149477.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650205 target range: 32.237160 and range: 32.50 m.
2025-06-05T18:51:17.257Z,1749149477.257 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.755407
2025-06-05T18:51:17.510Z,1749149477.510 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.008262
2025-06-05T18:51:17.512Z,1749149477.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:17.518Z,1749149477.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m.
2025-06-05T18:51:17.521Z,1749149477.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.237160 m,
      nav range: 30.628365 m,
      bearing: 49.053390 deg,
      approach rate: -0.589714 m/s,
      LOS rate: 0.153196 deg/s,
      cmd heading: 37.254010 deg,
      new cmd heading: 37.459113 deg.

2025-06-05T18:51:17.522Z,1749149477.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653785 target range: 32.237160 and range: 32.50 m.
2025-06-05T18:51:17.762Z,1749149477.762 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.260328
2025-06-05T18:51:17.877Z,1749149477.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m.
2025-06-05T18:51:17.880Z,1749149477.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.237160 m,
      nav range: 30.389933 m,
      bearing: 49.116340 deg,
      approach rate: -0.662991 m/s,
      LOS rate: 0.176415 deg/s,
      cmd heading: 37.459114 deg,
      new cmd heading: 37.649446 deg.

2025-06-05T18:51:17.881Z,1749149477.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657107 target range: 32.237160 and range: 32.50 m.
2025-06-05T18:51:18.013Z,1749149478.013 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.511602
2025-06-05T18:51:18.265Z,1749149478.265 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.763372
2025-06-05T18:51:18.295Z,1749149478.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m.
2025-06-05T18:51:18.297Z,1749149478.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.237160 m,
      nav range: 30.129793 m,
      bearing: 49.185933 deg,
      approach rate: -0.623661 m/s,
      LOS rate: 0.168284 deg/s,
      cmd heading: 37.649447 deg,
      new cmd heading: 37.860028 deg.

2025-06-05T18:51:18.298Z,1749149478.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660782 target range: 32.237160 and range: 32.50 m.
2025-06-05T18:51:18.517Z,1749149478.517 [DAT](INFO): DAT read: Rx Time:18:51:16.9263

2025-06-05T18:51:18.517Z,1749149478.517 [DAT](INFO): Rx dataTimestamp_ set to:1749149478.517067
2025-06-05T18:51:18.518Z,1749149478.518 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.016632
2025-06-05T18:51:18.752Z,1749149478.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m.
2025-06-05T18:51:18.760Z,1749149478.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.237160 m,
      nav range: 29.840940 m,
      bearing: 49.266220 deg,
      approach rate: -0.632470 m/s,
      LOS rate: 0.177498 deg/s,
      cmd heading: 37.860029 deg,
      new cmd heading: 38.103221 deg.

2025-06-05T18:51:18.762Z,1749149478.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665027 target range: 32.237160 and range: 32.50 m.
2025-06-05T18:51:18.770Z,1749149478.770 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.268517
2025-06-05T18:51:19.028Z,1749149479.028 [DAT](INFO): DAT read: 18:51:16.9263 LVL= 26096, 32753, 23682, 32755, AGC= 60, IDX= 409,-0.18, 1.120,-0.215, 0.796, 0.598, PHS= 0.609,-0.767, 0.195, RAW= 132.9,  -0.6, CAL= 138.5,  -9.6, ROT=  11.5,   9.6

2025-06-05T18:51:19.029Z,1749149479.029 [DAT](INFO): got valid direction response:
 18:51:16.9263 LVL= 26096, 32753, 23682, 32755, AGC= 60, IDX= 409,-0.18, 1.120,-0.215, 0.796, 0.598, PHS= 0.609,-0.767, 0.195, RAW= 132.9,  -0.6, CAL= 138.5,  -9.6, ROT=  11.5,   9.6

2025-06-05T18:51:19.030Z,1749149479.030 [DAT](INFO): DAT read: Bearing  11.5,   9.6 (Local)

2025-06-05T18:51:19.030Z,1749149479.030 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,   9.6 (Local)

2025-06-05T18:51:19.031Z,1749149479.031 [DAT](INFO): DAT read: Range 10 to 50 : 30.2 m  (Round-trip  40.3 ms) speed  0.6 m/s

2025-06-05T18:51:19.032Z,1749149479.032 [DAT](INFO): DAT read: user:2890>

2025-06-05T18:51:19.033Z,1749149479.033 [DAT](INFO): DAT read: Tx time:18:51:18.0319

2025-06-05T18:51:19.033Z,1749149479.033 [DAT](INFO): Ping request sent.
2025-06-05T18:51:19.033Z,1749149479.033 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:19.033Z,1749149479.033 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T18:51:19.034Z,1749149479.034 [DAT](INFO): direction in FSK: [0.966202,0.196576,-0.166769]
2025-06-05T18:51:19.035Z,1749149479.035 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:19.035Z,1749149479.035 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:19.046Z,1749149479.046 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:19.046Z,1749149479.046 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:19.050Z,1749149479.050 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.016493
2025-06-05T18:51:19.157Z,1749149479.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 3.532482 s,
      deltaX: -2.299999 m,
      approachRate: -0.651100 m/s,
      rangeRepo size: 4

2025-06-05T18:51:19.164Z,1749149479.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.955507 m,
      bearing: 49.758209 deg,
      lat: 36.906204 deg,
      lon: -122.116145 deg,
      deltaT: 3.532482 s,
      deltaX: -2.281652 m,
      approachRate: -0.645906 m/s,
      posRepo size: 4

2025-06-05T18:51:19.165Z,1749149479.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:19.167Z,1749149479.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 29.548885 m,
      bearing: 49.593784 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.177498 deg/s,
      cmd heading: 38.103221 deg,
      new cmd heading: 38.316450 deg.

2025-06-05T18:51:19.172Z,1749149479.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668748 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:19.275Z,1749149479.275 [DAT](INFO): DAT read: TxSync time:18:51:18.0311

2025-06-05T18:51:19.276Z,1749149479.276 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.242828
2025-06-05T18:51:19.526Z,1749149479.526 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492370
2025-06-05T18:51:19.570Z,1749149479.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:19.579Z,1749149479.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:19.586Z,1749149479.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 29.274162 m,
      bearing: 49.668333 deg,
      approach rate: -0.642741 m/s,
      LOS rate: 0.176052 deg/s,
      cmd heading: 38.316449 deg,
      new cmd heading: 38.542195 deg.

2025-06-05T18:51:19.587Z,1749149479.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672688 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:19.779Z,1749149479.779 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.745354
2025-06-05T18:51:19.901Z,1749149479.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:19.904Z,1749149479.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 29.059855 m,
      bearing: 49.725902 deg,
      approach rate: -0.665802 m/s,
      LOS rate: 0.180172 deg/s,
      cmd heading: 38.542194 deg,
      new cmd heading: 38.716174 deg.

2025-06-05T18:51:19.905Z,1749149479.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675725 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:20.030Z,1749149480.030 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.995955
2025-06-05T18:51:20.281Z,1749149480.281 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.247290
2025-06-05T18:51:20.309Z,1749149480.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:20.317Z,1749149480.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 28.801537 m,
      bearing: 49.795285 deg,
      approach rate: -0.632432 m/s,
      LOS rate: 0.171391 deg/s,
      cmd heading: 38.716173 deg,
      new cmd heading: 38.926187 deg.

2025-06-05T18:51:20.318Z,1749149480.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679390 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:20.533Z,1749149480.533 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.499762
2025-06-05T18:51:20.768Z,1749149480.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:20.771Z,1749149480.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 28.509695 m,
      bearing: 49.865208 deg,
      approach rate: -0.637071 m/s,
      LOS rate: 0.154201 deg/s,
      cmd heading: 38.926187 deg,
      new cmd heading: 39.138104 deg.

2025-06-05T18:51:20.772Z,1749149480.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683089 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:20.787Z,1749149480.787 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.753338
2025-06-05T18:51:21.037Z,1749149481.037 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.003320
2025-06-05T18:51:21.115Z,1749149481.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:21.118Z,1749149481.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 28.281910 m,
      bearing: 49.918629 deg,
      approach rate: -0.655161 m/s,
      LOS rate: 0.154887 deg/s,
      cmd heading: 39.138104 deg,
      new cmd heading: 39.299657 deg.

2025-06-05T18:51:21.119Z,1749149481.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685908 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:21.289Z,1749149481.289 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.255364
2025-06-05T18:51:21.538Z,1749149481.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:21.552Z,1749149481.552 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.519108
2025-06-05T18:51:21.561Z,1749149481.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 28.008902 m,
      bearing: 49.976852 deg,
      approach rate: -0.645478 m/s,
      LOS rate: 0.139000 deg/s,
      cmd heading: 39.299655 deg,
      new cmd heading: 39.476026 deg.

2025-06-05T18:51:21.562Z,1749149481.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688987 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:21.802Z,1749149481.802 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.768668
2025-06-05T18:51:21.909Z,1749149481.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:21.912Z,1749149481.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:21.914Z,1749149481.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 27.770256 m,
      bearing: 50.026991 deg,
      approach rate: -0.639339 m/s,
      LOS rate: 0.135478 deg/s,
      cmd heading: 39.476028 deg,
      new cmd heading: 39.627737 deg.

2025-06-05T18:51:21.915Z,1749149481.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691634 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:22.053Z,1749149482.053 [DAT](INFO): DAT read: Rx Time:18:51:20.4735

2025-06-05T18:51:22.053Z,1749149482.053 [DAT](INFO): Rx dataTimestamp_ set to:1749149482.053068
2025-06-05T18:51:22.054Z,1749149482.054 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.020672
2025-06-05T18:51:22.305Z,1749149482.305 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.271495
2025-06-05T18:51:22.327Z,1749149482.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:22.330Z,1749149482.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 27.505919 m,
      bearing: 50.081819 deg,
      approach rate: -0.635742 m/s,
      LOS rate: 0.133130 deg/s,
      cmd heading: 39.627736 deg,
      new cmd heading: 39.793800 deg.

2025-06-05T18:51:22.331Z,1749149482.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694533 target range: 29.955507 and range: 30.20 m.
2025-06-05T18:51:22.558Z,1749149482.558 [DAT](INFO): DAT read: Range 10 to 50 : 28.1 m  (Round-trip  37.5 ms) speed  0.8 m/s

2025-06-05T18:51:22.559Z,1749149482.559 [DAT](INFO): DAT read: user:2891>

2025-06-05T18:51:22.560Z,1749149482.560 [DAT](INFO): DAT read: Tx time:18:51:21.5819

2025-06-05T18:51:22.560Z,1749149482.560 [DAT](INFO): Ping request sent.
2025-06-05T18:51:22.560Z,1749149482.560 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:22.561Z,1749149482.561 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-06-05T18:51:22.561Z,1749149482.561 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:22.561Z,1749149482.561 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:22.562Z,1749149482.562 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.001826
2025-06-05T18:51:22.772Z,1749149482.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 3.535353 s,
      deltaX: -2.100000 m,
      approachRate: -0.594000 m/s,
      rangeRepo size: 4

2025-06-05T18:51:22.773Z,1749149482.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:22.792Z,1749149482.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 27.215614 m,
      bearing: 50.129611 deg,
      approach rate: -0.653420 m/s,
      LOS rate: 0.108719 deg/s,
      cmd heading: 39.793799 deg,
      new cmd heading: 39.938705 deg.

2025-06-05T18:51:22.793Z,1749149482.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697062 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:22.809Z,1749149482.809 [DAT](INFO): DAT read: TxSync time:18:51:21.5811

2025-06-05T18:51:22.810Z,1749149482.810 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.249241
2025-06-05T18:51:23.061Z,1749149483.061 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.500201
2025-06-05T18:51:23.145Z,1749149483.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:23.152Z,1749149483.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 26.971916 m,
      bearing: 50.168404 deg,
      approach rate: -0.653157 m/s,
      LOS rate: 0.104911 deg/s,
      cmd heading: 39.938705 deg,
      new cmd heading: 40.056134 deg.

2025-06-05T18:51:23.153Z,1749149483.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699111 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:23.313Z,1749149483.313 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.752006
2025-06-05T18:51:23.565Z,1749149483.565 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.004319
2025-06-05T18:51:23.580Z,1749149483.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:23.583Z,1749149483.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 26.705099 m,
      bearing: 50.210411 deg,
      approach rate: -0.619355 m/s,
      LOS rate: 0.098483 deg/s,
      cmd heading: 40.056133 deg,
      new cmd heading: 40.183411 deg.

2025-06-05T18:51:23.588Z,1749149483.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701333 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:23.817Z,1749149483.817 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.256665
2025-06-05T18:51:23.949Z,1749149483.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:23.951Z,1749149483.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:23.954Z,1749149483.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 26.450615 m,
      bearing: 50.251267 deg,
      approach rate: -0.678028 m/s,
      LOS rate: 0.109902 deg/s,
      cmd heading: 40.183410 deg,
      new cmd heading: 40.307159 deg.

2025-06-05T18:51:23.955Z,1749149483.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703493 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:24.069Z,1749149484.069 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.507991
2025-06-05T18:51:24.321Z,1749149484.321 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.760376
2025-06-05T18:51:24.406Z,1749149484.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:24.430Z,1749149484.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 26.164368 m,
      bearing: 50.291359 deg,
      approach rate: -0.628154 m/s,
      LOS rate: 0.088941 deg/s,
      cmd heading: 40.307159 deg,
      new cmd heading: 40.428749 deg.

2025-06-05T18:51:24.438Z,1749149484.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705615 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:24.573Z,1749149484.573 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.012301
2025-06-05T18:51:24.826Z,1749149484.826 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.265314
2025-06-05T18:51:24.828Z,1749149484.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:24.831Z,1749149484.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 25.885445 m,
      bearing: 50.318950 deg,
      approach rate: -0.661145 m/s,
      LOS rate: 0.066107 deg/s,
      cmd heading: 40.428750 deg,
      new cmd heading: 40.512417 deg.

2025-06-05T18:51:24.832Z,1749149484.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707075 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:25.077Z,1749149485.077 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.516093
2025-06-05T18:51:25.198Z,1749149485.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:25.201Z,1749149485.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 25.642458 m,
      bearing: 50.341857 deg,
      approach rate: -0.658049 m/s,
      LOS rate: 0.062622 deg/s,
      cmd heading: 40.512417 deg,
      new cmd heading: 40.581787 deg.

2025-06-05T18:51:25.202Z,1749149485.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708286 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:25.329Z,1749149485.329 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.768430
2025-06-05T18:51:25.581Z,1749149485.581 [DAT](INFO): DAT read: Rx Time:18:51:24.0204

2025-06-05T18:51:25.581Z,1749149485.581 [DAT](INFO): Rx dataTimestamp_ set to:1749149485.580816
2025-06-05T18:51:25.582Z,1749149485.582 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.021100
2025-06-05T18:51:25.659Z,1749149485.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:25.662Z,1749149485.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 25.346003 m,
      bearing: 50.372665 deg,
      approach rate: -0.642678 m/s,
      LOS rate: 0.067570 deg/s,
      cmd heading: 40.581788 deg,
      new cmd heading: 40.675294 deg.

2025-06-05T18:51:25.663Z,1749149485.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709918 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:25.833Z,1749149485.833 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.272306
2025-06-05T18:51:26.049Z,1749149486.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:26.051Z,1749149486.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.96 m.
2025-06-05T18:51:26.054Z,1749149486.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.955507 m,
      nav range: 25.094709 m,
      bearing: 50.399351 deg,
      approach rate: -0.640755 m/s,
      LOS rate: 0.068725 deg/s,
      cmd heading: 40.675293 deg,
      new cmd heading: 40.756151 deg.

2025-06-05T18:51:26.055Z,1749149486.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711329 target range: 29.955507 and range: 28.10 m.
2025-06-05T18:51:26.112Z,1749149486.112 [DAT](INFO): DAT read: 18:51:24.0204 LVL= 22944, 32753, 19922, 32755, AGC= 57, IDX= 411,-0.43, 1.797, 0.452, 1.643, 1.306, PHS= 0.579,-0.807, 0.333, RAW= 140.4,  -1.7, CAL= 145.3, -10.8, ROT=   4.7,  10.8

2025-06-05T18:51:26.114Z,1749149486.114 [DAT](INFO): got valid direction response:
 18:51:24.0204 LVL= 22944, 32753, 19922, 32755, AGC= 57, IDX= 411,-0.43, 1.797, 0.452, 1.643, 1.306, PHS= 0.579,-0.807, 0.333, RAW= 140.4,  -1.7, CAL= 145.3, -10.8, ROT=   4.7,  10.8

2025-06-05T18:51:26.115Z,1749149486.115 [DAT](INFO): DAT read: Bearing   4.7,  10.8 (Local)

2025-06-05T18:51:26.115Z,1749149486.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  10.8 (Local)

2025-06-05T18:51:26.117Z,1749149486.117 [DAT](INFO): DAT read: Range 10 to 50 : 25.6 m  (Round-trip  34.2 ms) speed  0.8 m/s

2025-06-05T18:51:26.117Z,1749149486.117 [DAT](INFO): DAT read: user:2892>

2025-06-05T18:51:26.118Z,1749149486.118 [DAT](INFO): DAT read: Tx time:18:51:25.1335

2025-06-05T18:51:26.118Z,1749149486.118 [DAT](INFO): Ping request sent.
2025-06-05T18:51:26.118Z,1749149486.118 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:26.119Z,1749149486.119 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T18:51:26.132Z,1749149486.132 [DAT](INFO): direction in FSK: [0.978984,0.080487,-0.187381]
2025-06-05T18:51:26.132Z,1749149486.132 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:26.132Z,1749149486.132 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:26.135Z,1749149486.135 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:26.140Z,1749149486.140 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:26.150Z,1749149486.150 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.031586
2025-06-05T18:51:26.349Z,1749149486.349 [DAT](INFO): DAT read: TxSync time:18:51:25.1328

2025-06-05T18:51:26.350Z,1749149486.350 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.231144
2025-06-05T18:51:26.432Z,1749149486.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.600000 m,
      deltaT: 3.540476 s,
      deltaX: -2.500000 m,
      approachRate: -0.706120 m/s,
      rangeRepo size: 4

2025-06-05T18:51:26.434Z,1749149486.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.393417 m,
      bearing: 46.525967 deg,
      lat: 36.906205 deg,
      lon: -122.116145 deg,
      deltaT: 7.075829 s,
      deltaX: -4.562090 m,
      approachRate: -0.644743 m/s,
      posRepo size: 4

2025-06-05T18:51:26.435Z,1749149486.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m.
2025-06-05T18:51:26.457Z,1749149486.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.393417 m,
      nav range: 24.953794 m,
      bearing: 50.179467 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.068725 deg/s,
      cmd heading: 40.756152 deg,
      new cmd heading: 40.833680 deg.

2025-06-05T18:51:26.466Z,1749149486.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712682 target range: 25.393417 and range: 25.60 m.
2025-06-05T18:51:26.601Z,1749149486.601 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.482488
2025-06-05T18:51:26.855Z,1749149486.855 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.736150
2025-06-05T18:51:26.881Z,1749149486.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m.
2025-06-05T18:51:26.898Z,1749149486.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.393417 m,
      nav range: 24.653717 m,
      bearing: 50.219972 deg,
      approach rate: -0.661519 m/s,
      LOS rate: 0.090380 deg/s,
      cmd heading: 40.833681 deg,
      new cmd heading: 40.956676 deg.

2025-06-05T18:51:26.905Z,1749149486.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714829 target range: 25.393417 and range: 25.60 m.
2025-06-05T18:51:27.105Z,1749149487.105 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.986127
2025-06-05T18:51:27.215Z,1749149487.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m.
2025-06-05T18:51:27.217Z,1749149487.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.393417 m,
      nav range: 24.440367 m,
      bearing: 50.248290 deg,
      approach rate: -0.639148 m/s,
      LOS rate: 0.085573 deg/s,
      cmd heading: 40.956676 deg,
      new cmd heading: 41.042370 deg.

2025-06-05T18:51:27.218Z,1749149487.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716325 target range: 25.393417 and range: 25.60 m.
2025-06-05T18:51:27.358Z,1749149487.358 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.239082
2025-06-05T18:51:27.611Z,1749149487.611 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.492186
2025-06-05T18:51:27.671Z,1749149487.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m.
2025-06-05T18:51:27.675Z,1749149487.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.393417 m,
      nav range: 24.148417 m,
      bearing: 50.298885 deg,
      approach rate: -0.640013 m/s,
      LOS rate: 0.112255 deg/s,
      cmd heading: 41.042371 deg,
      new cmd heading: 41.195991 deg.

2025-06-05T18:51:27.677Z,1749149487.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719006 target range: 25.393417 and range: 25.60 m.
2025-06-05T18:51:27.861Z,1749149487.861 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.742080
2025-06-05T18:51:28.036Z,1749149488.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m.
2025-06-05T18:51:28.039Z,1749149488.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.393417 m,
      nav range: 23.924932 m,
      bearing: 50.337060 deg,
      approach rate: -0.611252 m/s,
      LOS rate: 0.105389 deg/s,
      cmd heading: 41.195992 deg,
      new cmd heading: 41.311588 deg.

2025-06-05T18:51:28.044Z,1749149488.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721023 target range: 25.393417 and range: 25.60 m.
2025-06-05T18:51:28.114Z,1749149488.114 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.995079
2025-06-05T18:51:28.365Z,1749149488.365 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.246203
2025-06-05T18:51:28.420Z,1749149488.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:51:28.428Z,1749149488.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:28.430Z,1749149488.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m.
2025-06-05T18:51:28.445Z,1749149488.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.393417 m,
      nav range: 23.665564 m,
      bearing: 50.381461 deg,
      approach rate: -0.658273 m/s,
      LOS rate: 0.113924 deg/s,
      cmd heading: 41.311590 deg,
      new cmd heading: 41.446252 deg.

2025-06-05T18:51:28.446Z,1749149488.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723374 target range: 25.393417 and range: 25.60 m.
2025-06-05T18:51:28.617Z,1749149488.617 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.498605
2025-06-05T18:51:28.871Z,1749149488.871 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.752280
2025-06-05T18:51:28.899Z,1749149488.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m.
2025-06-05T18:51:28.906Z,1749149488.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.393417 m,
      nav range: 23.372913 m,
      bearing: 50.433880 deg,
      approach rate: -0.624735 m/s,
      LOS rate: 0.113302 deg/s,
      cmd heading: 41.446254 deg,
      new cmd heading: 41.605478 deg.

2025-06-05T18:51:28.907Z,1749149488.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.726153 target range: 25.393417 and range: 25.60 m.
2025-06-05T18:51:29.121Z,1749149489.121 [DAT](INFO): DAT read: Rx Time:18:51:27.5688

2025-06-05T18:51:29.121Z,1749149489.121 [DAT](INFO): Rx dataTimestamp_ set to:1749149489.120913
2025-06-05T18:51:29.122Z,1749149489.122 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.003291
2025-06-05T18:51:29.251Z,1749149489.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m.
2025-06-05T18:51:29.264Z,1749149489.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.393417 m,
      nav range: 23.156759 m,
      bearing: 50.473398 deg,
      approach rate: -0.614453 m/s,
      LOS rate: 0.113384 deg/s,
      cmd heading: 41.605479 deg,
      new cmd heading: 41.725139 deg.

2025-06-05T18:51:29.265Z,1749149489.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728241 target range: 25.393417 and range: 25.60 m.
2025-06-05T18:51:29.373Z,1749149489.373 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.254630
2025-06-05T18:51:29.426Z,1749149489.426 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:51:29.631Z,1749149489.631 [DAT](INFO): DAT read: 18:51:27.5688 LVL= 20928, 32497, 18834, 32755, AGC= 58, IDX= 410, 0.18,-2.487, 2.436,-2.507,-2.982, PHS= 0.582,-0.818, 0.472, RAW= 145.9,  -3.5, CAL= 150.7, -12.5, ROT= 359.3,  12.5

2025-06-05T18:51:29.633Z,1749149489.633 [DAT](INFO): got valid direction response:
 18:51:27.5688 LVL= 20928, 32497, 18834, 32755, AGC= 58, IDX= 410, 0.18,-2.487, 2.436,-2.507,-2.982, PHS= 0.582,-0.818, 0.472, RAW= 145.9,  -3.5, CAL= 150.7, -12.5, ROT= 359.3,  12.5

2025-06-05T18:51:29.634Z,1749149489.634 [DAT](INFO): DAT read: Bearing 359.3,  12.5 (Local)

2025-06-05T18:51:29.634Z,1749149489.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  12.5 (Local)

2025-06-05T18:51:29.640Z,1749149489.640 [DAT](INFO): DAT read: Range 10 to 50 : 23.3 m  (Round-trip  31.1 ms) speed  0.6 m/s

2025-06-05T18:51:29.642Z,1749149489.642 [DAT](INFO): DAT read: user:2893>

2025-06-05T18:51:29.643Z,1749149489.643 [DAT](INFO): DAT read: Tx time:18:51:28.6820

2025-06-05T18:51:29.643Z,1749149489.643 [DAT](INFO): Ping request sent.
2025-06-05T18:51:29.643Z,1749149489.643 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:29.643Z,1749149489.643 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T18:51:29.648Z,1749149489.648 [DAT](INFO): direction in FSK: [0.976223,-0.011927,-0.216440]
2025-06-05T18:51:29.649Z,1749149489.649 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:29.649Z,1749149489.649 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:29.677Z,1749149489.677 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:29.678Z,1749149489.678 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:29.698Z,1749149489.698 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.054857
2025-06-05T18:51:29.782Z,1749149489.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 3.528381 s,
      deltaX: -2.300001 m,
      approachRate: -0.651857 m/s,
      rangeRepo size: 4

2025-06-05T18:51:29.796Z,1749149489.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.111557 m,
      bearing: 41.968231 deg,
      lat: 36.906206 deg,
      lon: -122.116145 deg,
      deltaT: 3.528381 s,
      deltaX: -2.281860 m,
      approachRate: -0.646716 m/s,
      posRepo size: 4

2025-06-05T18:51:29.797Z,1749149489.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:29.799Z,1749149489.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 22.863638 m,
      bearing: 50.435532 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.113384 deg/s,
      cmd heading: 41.725141 deg,
      new cmd heading: 41.905586 deg.

2025-06-05T18:51:29.805Z,1749149489.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731390 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:29.878Z,1749149489.878 [DAT](INFO): DAT read: TxSync time:18:51:28.6812

2025-06-05T18:51:29.881Z,1749149489.881 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.237680
2025-06-05T18:51:30.127Z,1749149490.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:30.129Z,1749149490.129 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.485688
2025-06-05T18:51:30.145Z,1749149490.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 22.630375 m,
      bearing: 50.494802 deg,
      approach rate: -0.675189 m/s,
      LOS rate: 0.173326 deg/s,
      cmd heading: 41.905584 deg,
      new cmd heading: 42.085225 deg.

2025-06-05T18:51:30.146Z,1749149490.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734526 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:30.381Z,1749149490.381 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.737755
2025-06-05T18:51:30.494Z,1749149490.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:30.501Z,1749149490.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:30.526Z,1749149490.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 22.399166 m,
      bearing: 50.552538 deg,
      approach rate: -0.626304 m/s,
      LOS rate: 0.158012 deg/s,
      cmd heading: 42.085225 deg,
      new cmd heading: 42.260221 deg.

2025-06-05T18:51:30.534Z,1749149490.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737580 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:30.633Z,1749149490.633 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.990020
2025-06-05T18:51:30.885Z,1749149490.885 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.241596
2025-06-05T18:51:30.940Z,1749149490.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:30.943Z,1749149490.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 22.114443 m,
      bearing: 50.632857 deg,
      approach rate: -0.647081 m/s,
      LOS rate: 0.184887 deg/s,
      cmd heading: 42.260221 deg,
      new cmd heading: 42.504277 deg.

2025-06-05T18:51:30.948Z,1749149490.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741840 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:31.137Z,1749149491.137 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.493501
2025-06-05T18:51:31.292Z,1749149491.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:31.295Z,1749149491.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 21.869764 m,
      bearing: 50.702080 deg,
      approach rate: -0.689865 m/s,
      LOS rate: 0.197359 deg/s,
      cmd heading: 42.504277 deg,
      new cmd heading: 42.714272 deg.

2025-06-05T18:51:31.296Z,1749149491.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745505 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:31.389Z,1749149491.389 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.745838
2025-06-05T18:51:31.642Z,1749149491.642 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.998778
2025-06-05T18:51:31.735Z,1749149491.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:31.738Z,1749149491.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 21.579008 m,
      bearing: 50.774279 deg,
      approach rate: -0.653761 m/s,
      LOS rate: 0.164524 deg/s,
      cmd heading: 42.714272 deg,
      new cmd heading: 42.933783 deg.

2025-06-05T18:51:31.739Z,1749149491.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749336 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:31.893Z,1749149491.893 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.249618
2025-06-05T18:51:32.106Z,1749149492.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:32.113Z,1749149492.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 21.339087 m,
      bearing: 50.835906 deg,
      approach rate: -0.647081 m/s,
      LOS rate: 0.168080 deg/s,
      cmd heading: 42.933784 deg,
      new cmd heading: 43.120743 deg.

2025-06-05T18:51:32.114Z,1749149492.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752599 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:32.145Z,1749149492.145 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.501890
2025-06-05T18:51:32.397Z,1749149492.397 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.753483
2025-06-05T18:51:32.634Z,1749149492.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:32.644Z,1749149492.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:32.647Z,1749149492.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 21.025312 m,
      bearing: 50.918689 deg,
      approach rate: -0.591994 m/s,
      LOS rate: 0.158517 deg/s,
      cmd heading: 43.120743 deg,
      new cmd heading: 43.372798 deg.

2025-06-05T18:51:32.649Z,1749149492.649 [DAT](INFO): DAT read: Rx Time:18:51:31.1143

2025-06-05T18:51:32.649Z,1749149492.649 [DAT](INFO): Rx dataTimestamp_ set to:1749149492.649070
2025-06-05T18:51:32.650Z,1749149492.650 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.006829
2025-06-05T18:51:32.652Z,1749149492.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756998 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:32.902Z,1749149492.902 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.259033
2025-06-05T18:51:33.071Z,1749149493.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.11 m.
2025-06-05T18:51:33.087Z,1749149493.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.111557 m,
      nav range: 20.723690 m,
      bearing: 50.968222 deg,
      approach rate: -0.695953 m/s,
      LOS rate: 0.115955 deg/s,
      cmd heading: 43.372797 deg,
      new cmd heading: 43.523559 deg.

2025-06-05T18:51:33.100Z,1749149493.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759629 target range: 23.111557 and range: 23.30 m.
2025-06-05T18:51:33.163Z,1749149493.163 [DAT](INFO): DAT read: 18:51:31.1143 LVL= 19488, 29105, 18642, 30371, AGC= 59, IDX= 412,-0.36,-1.332,-2.685,-1.309,-1.753, PHS= 0.509,-0.885, 0.441, RAW= 147.5,  -1.0, CAL= 151.3, -10.0, ROT= 358.7,  10.0

2025-06-05T18:51:33.164Z,1749149493.164 [DAT](INFO): got valid direction response:
 18:51:31.1143 LVL= 19488, 29105, 18642, 30371, AGC= 59, IDX= 412,-0.36,-1.332,-2.685,-1.309,-1.753, PHS= 0.509,-0.885, 0.441, RAW= 147.5,  -1.0, CAL= 151.3, -10.0, ROT= 358.7,  10.0

2025-06-05T18:51:33.166Z,1749149493.166 [DAT](INFO): DAT read: Bearing 358.7,  10.0 (Local)

2025-06-05T18:51:33.166Z,1749149493.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,  10.0 (Local)

2025-06-05T18:51:33.169Z,1749149493.169 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m  (Round-trip  28.1 ms) speed  0.7 m/s

2025-06-05T18:51:33.170Z,1749149493.170 [DAT](INFO): DAT read: user:2894>

2025-06-05T18:51:33.171Z,1749149493.171 [DAT](INFO): DAT read: Tx time:18:51:32.2321

2025-06-05T18:51:33.173Z,1749149493.173 [DAT](INFO): Ping request sent.
2025-06-05T18:51:33.173Z,1749149493.173 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:33.174Z,1749149493.174 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T18:51:33.176Z,1749149493.176 [DAT](INFO): direction in FSK: [0.984554,-0.022343,-0.173648]
2025-06-05T18:51:33.176Z,1749149493.176 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:33.177Z,1749149493.177 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:33.194Z,1749149493.194 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:33.194Z,1749149493.194 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:33.213Z,1749149493.213 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.040019
2025-06-05T18:51:33.405Z,1749149493.405 [DAT](INFO): DAT read: TxSync time:18:51:32.2313

2025-06-05T18:51:33.406Z,1749149493.406 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.232639
2025-06-05T18:51:33.453Z,1749149493.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 3.528036 s,
      deltaX: -2.299999 m,
      approachRate: -0.651921 m/s,
      rangeRepo size: 4

2025-06-05T18:51:33.455Z,1749149493.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.830072 m,
      bearing: 41.819554 deg,
      lat: 36.906216 deg,
      lon: -122.116157 deg,
      deltaT: 3.528036 s,
      deltaX: -2.281485 m,
      approachRate: -0.646673 m/s,
      posRepo size: 4

2025-06-05T18:51:33.468Z,1749149493.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T18:51:33.471Z,1749149493.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.830072 m,
      nav range: 20.378696 m,
      bearing: 46.683340 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.115955 deg/s,
      cmd heading: 43.523560 deg,
      new cmd heading: 43.656817 deg.

2025-06-05T18:51:33.476Z,1749149493.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761955 target range: 20.830072 and range: 21.00 m.
2025-06-05T18:51:33.660Z,1749149493.660 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.486978
2025-06-05T18:51:33.857Z,1749149493.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T18:51:33.860Z,1749149493.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.830072 m,
      nav range: 20.095760 m,
      bearing: 46.684900 deg,
      approach rate: -0.699809 m/s,
      LOS rate: 0.003913 deg/s,
      cmd heading: 43.656817 deg,
      new cmd heading: 43.661563 deg.

2025-06-05T18:51:33.861Z,1749149493.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762038 target range: 20.830072 and range: 21.00 m.
2025-06-05T18:51:33.911Z,1749149493.911 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.736963
2025-06-05T18:51:34.161Z,1749149494.161 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.987498
2025-06-05T18:51:34.203Z,1749149494.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T18:51:34.206Z,1749149494.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.830072 m,
      nav range: 19.850508 m,
      bearing: 46.684402 deg,
      approach rate: -0.707847 m/s,
      LOS rate: -0.001456 deg/s,
      cmd heading: 43.661564 deg,
      new cmd heading: 43.660051 deg.

2025-06-05T18:51:34.208Z,1749149494.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762012 target range: 20.830072 and range: 21.00 m.
2025-06-05T18:51:34.413Z,1749149494.413 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.239772
2025-06-05T18:51:34.665Z,1749149494.665 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.491506
2025-06-05T18:51:34.689Z,1749149494.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:34.710Z,1749149494.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T18:51:34.728Z,1749149494.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.830072 m,
      nav range: 19.520142 m,
      bearing: 46.683182 deg,
      approach rate: -0.652046 m/s,
      LOS rate: -0.002447 deg/s,
      cmd heading: 43.660051 deg,
      new cmd heading: 43.656331 deg.

2025-06-05T18:51:34.729Z,1749149494.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761947 target range: 20.830072 and range: 21.00 m.
2025-06-05T18:51:34.920Z,1749149494.920 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.746988
2025-06-05T18:51:35.028Z,1749149495.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T18:51:35.051Z,1749149495.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.830072 m,
      nav range: 19.292892 m,
      bearing: 46.682240 deg,
      approach rate: -0.716567 m/s,
      LOS rate: -0.003008 deg/s,
      cmd heading: 43.656332 deg,
      new cmd heading: 43.653470 deg.

2025-06-05T18:51:35.056Z,1749149495.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761897 target range: 20.830072 and range: 21.00 m.
2025-06-05T18:51:35.169Z,1749149495.169 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.996159
2025-06-05T18:51:35.421Z,1749149495.421 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.247632
2025-06-05T18:51:35.433Z,1749149495.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T18:51:35.436Z,1749149495.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.830072 m,
      nav range: 19.013084 m,
      bearing: 46.680079 deg,
      approach rate: -0.688584 m/s,
      LOS rate: -0.005395 deg/s,
      cmd heading: 43.653470 deg,
      new cmd heading: 43.646894 deg.

2025-06-05T18:51:35.437Z,1749149495.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761782 target range: 20.830072 and range: 21.00 m.
2025-06-05T18:51:35.674Z,1749149495.674 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.499938
2025-06-05T18:51:35.865Z,1749149495.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T18:51:35.872Z,1749149495.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.830072 m,
      nav range: 18.736464 m,
      bearing: 46.671106 deg,
      approach rate: -0.640417 m/s,
      LOS rate: -0.021080 deg/s,
      cmd heading: 43.646893 deg,
      new cmd heading: 43.619577 deg.

2025-06-05T18:51:35.873Z,1749149495.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761305 target range: 20.830072 and range: 21.00 m.
2025-06-05T18:51:35.926Z,1749149495.926 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.753061
2025-06-05T18:51:36.177Z,1749149496.177 [DAT](INFO): DAT read: Rx Time:18:51:34.6612

2025-06-05T18:51:36.177Z,1749149496.177 [DAT](INFO): Rx dataTimestamp_ set to:1749149496.176888
2025-06-05T18:51:36.178Z,1749149496.178 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.004573
2025-06-05T18:51:36.258Z,1749149496.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-05T18:51:36.262Z,1749149496.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.830072 m,
      nav range: 18.468250 m,
      bearing: 46.659965 deg,
      approach rate: -0.684729 m/s,
      LOS rate: -0.028857 deg/s,
      cmd heading: 43.619576 deg,
      new cmd heading: 43.585666 deg.

2025-06-05T18:51:36.263Z,1749149496.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760713 target range: 20.830072 and range: 21.00 m.
2025-06-05T18:51:36.429Z,1749149496.429 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.255773
2025-06-05T18:51:36.700Z,1749149496.700 [DAT](INFO): DAT read: 18:51:34.6612 LVL= 22624, 30961, 20562, 32755, AGC= 58, IDX= 412, 0.02, 2.781, 1.429, 2.879, 2.403, PHS= 0.467,-0.927, 0.473, RAW= 150.2,  -0.2, CAL= 153.5,  -9.1, ROT= 356.5,   9.1

2025-06-05T18:51:36.702Z,1749149496.702 [DAT](INFO): got valid direction response:
 18:51:34.6612 LVL= 22624, 30961, 20562, 32755, AGC= 58, IDX= 412, 0.02, 2.781, 1.429, 2.879, 2.403, PHS= 0.467,-0.927, 0.473, RAW= 150.2,  -0.2, CAL= 153.5,  -9.1, ROT= 356.5,   9.1

2025-06-05T18:51:36.703Z,1749149496.703 [DAT](INFO): DAT read: Bearing 356.5,   9.1 (Local)

2025-06-05T18:51:36.703Z,1749149496.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,   9.1 (Local)

2025-06-05T18:51:36.714Z,1749149496.714 [DAT](INFO): DAT read: Range 10 to 50 : 18.7 m  (Round-trip  25.0 ms) speed  0.8 m/s

2025-06-05T18:51:36.715Z,1749149496.715 [DAT](INFO): DAT read: user:2895>

2025-06-05T18:51:36.720Z,1749149496.720 [DAT](INFO): DAT read: Tx time:18:51:35.7821

2025-06-05T18:51:36.720Z,1749149496.720 [DAT](INFO): Ping request sent.
2025-06-05T18:51:36.720Z,1749149496.720 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:36.721Z,1749149496.721 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T18:51:36.722Z,1749149496.722 [DAT](INFO): direction in FSK: [0.985572,-0.060280,-0.158158]
2025-06-05T18:51:36.722Z,1749149496.722 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:36.722Z,1749149496.722 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:36.730Z,1749149496.730 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:36.730Z,1749149496.730 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:36.778Z,1749149496.778 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.057180
2025-06-05T18:51:36.836Z,1749149496.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.700001 m,
      deltaT: 3.527467 s,
      deltaX: -2.299999 m,
      approachRate: -0.652026 m/s,
      rangeRepo size: 4

2025-06-05T18:51:36.838Z,1749149496.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.548513 m,
      bearing: 40.179150 deg,
      lat: 36.906225 deg,
      lon: -122.116170 deg,
      deltaT: 3.527467 s,
      deltaX: -2.281559 m,
      approachRate: -0.646798 m/s,
      posRepo size: 4

2025-06-05T18:51:36.839Z,1749149496.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:36.854Z,1749149496.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 18.015165 m,
      bearing: 41.575390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028857 deg/s,
      cmd heading: 43.585667 deg,
      new cmd heading: 43.536318 deg.

2025-06-05T18:51:36.855Z,1749149496.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759852 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:36.934Z,1749149496.934 [DAT](INFO): DAT read: TxSync time:18:51:35.7813

2025-06-05T18:51:36.935Z,1749149496.935 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.214398
2025-06-05T18:51:37.178Z,1749149497.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:37.185Z,1749149497.185 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.464186
2025-06-05T18:51:37.185Z,1749149497.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:37.193Z,1749149497.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 17.780659 m,
      bearing: 41.483399 deg,
      approach rate: -0.664733 m/s,
      LOS rate: -0.264197 deg/s,
      cmd heading: 43.536319 deg,
      new cmd heading: 43.256709 deg.

2025-06-05T18:51:37.194Z,1749149497.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754972 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:37.438Z,1749149497.438 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.717053
2025-06-05T18:51:37.564Z,1749149497.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:37.566Z,1749149497.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 17.542238 m,
      bearing: 41.385159 deg,
      approach rate: -0.628082 m/s,
      LOS rate: -0.262315 deg/s,
      cmd heading: 43.256708 deg,
      new cmd heading: 42.957986 deg.

2025-06-05T18:51:37.567Z,1749149497.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749758 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:37.690Z,1749149497.690 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.969586
2025-06-05T18:51:37.941Z,1749149497.941 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.220148
2025-06-05T18:51:37.000Z,1749149498.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:38.006Z,1749149498.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 17.265440 m,
      bearing: 41.241125 deg,
      approach rate: -0.634719 m/s,
      LOS rate: -0.335576 deg/s,
      cmd heading: 42.957986 deg,
      new cmd heading: 42.518965 deg.

2025-06-05T18:51:38.007Z,1749149498.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742096 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:38.193Z,1749149498.193 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.472402
2025-06-05T18:51:38.353Z,1749149498.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:38.355Z,1749149498.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 17.029373 m,
      bearing: 41.113256 deg,
      approach rate: -0.661037 m/s,
      LOS rate: -0.363022 deg/s,
      cmd heading: 42.518966 deg,
      new cmd heading: 42.130049 deg.

2025-06-05T18:51:38.357Z,1749149498.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735308 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:38.445Z,1749149498.445 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.724282
2025-06-05T18:51:38.697Z,1749149498.697 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.976460
2025-06-05T18:51:38.798Z,1749149498.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:38.801Z,1749149498.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 16.754805 m,
      bearing: 40.928327 deg,
      approach rate: -0.616523 m/s,
      LOS rate: -0.422049 deg/s,
      cmd heading: 42.130048 deg,
      new cmd heading: 41.566187 deg.

2025-06-05T18:51:38.802Z,1749149498.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725467 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:38.949Z,1749149498.949 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.228138
2025-06-05T18:51:39.180Z,1749149499.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:39.183Z,1749149499.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 16.530571 m,
      bearing: 40.771642 deg,
      approach rate: -0.586557 m/s,
      LOS rate: -0.415420 deg/s,
      cmd heading: 41.566189 deg,
      new cmd heading: 41.089769 deg.

2025-06-05T18:51:39.189Z,1749149499.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717152 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:39.201Z,1749149499.201 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.480199
2025-06-05T18:51:39.453Z,1749149499.453 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.732054
2025-06-05T18:51:39.564Z,1749149499.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:39.566Z,1749149499.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:39.570Z,1749149499.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 16.279707 m,
      bearing: 40.589748 deg,
      approach rate: -0.649574 m/s,
      LOS rate: -0.478241 deg/s,
      cmd heading: 41.089769 deg,
      new cmd heading: 40.535699 deg.

2025-06-05T18:51:39.571Z,1749149499.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707481 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:39.709Z,1749149499.709 [DAT](INFO): DAT read: Rx Time:18:51:38.2081

2025-06-05T18:51:39.711Z,1749149499.711 [DAT](INFO): Rx dataTimestamp_ set to:1749149499.710025
2025-06-05T18:51:39.715Z,1749149499.715 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.993689
2025-06-05T18:51:39.957Z,1749149499.957 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.236085
2025-06-05T18:51:40.033Z,1749149500.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.55 m.
2025-06-05T18:51:40.040Z,1749149500.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.548513 m,
      nav range: 16.007738 m,
      bearing: 40.389168 deg,
      approach rate: -0.582358 m/s,
      LOS rate: -0.436793 deg/s,
      cmd heading: 40.535697 deg,
      new cmd heading: 39.923756 deg.

2025-06-05T18:51:40.041Z,1749149500.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696801 target range: 18.548513 and range: 18.70 m.
2025-06-05T18:51:40.221Z,1749149500.221 [DAT](INFO): DAT read: 18:51:38.2081 LVL= 20608, 27553, 15522, 31619, AGC= 57, IDX= 411, 0.47, 1.358,-0.007, 1.635, 1.027, PHS= 0.419,-0.987, 0.605, RAW= 156.1,  -0.5, CAL= 158.9,  -9.2, ROT= 351.1,   9.2

2025-06-05T18:51:40.222Z,1749149500.222 [DAT](INFO): got valid direction response:
 18:51:38.2081 LVL= 20608, 27553, 15522, 31619, AGC= 57, IDX= 411, 0.47, 1.358,-0.007, 1.635, 1.027, PHS= 0.419,-0.987, 0.605, RAW= 156.1,  -0.5, CAL= 158.9,  -9.2, ROT= 351.1,   9.2

2025-06-05T18:51:40.223Z,1749149500.223 [DAT](INFO): DAT read: Bearing 351.1,   9.2 (Local)

2025-06-05T18:51:40.223Z,1749149500.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.1,   9.2 (Local)

2025-06-05T18:51:40.226Z,1749149500.226 [DAT](INFO): DAT read: Range 10 to 50 : 16.3 m  (Round-trip  21.8 ms) speed  0.6 m/s

2025-06-05T18:51:40.227Z,1749149500.227 [DAT](INFO): DAT read: user:2896>

2025-06-05T18:51:40.227Z,1749149500.227 [DAT](INFO): DAT read: Tx time:18:51:39.3321

2025-06-05T18:51:40.233Z,1749149500.233 [DAT](INFO): Ping request sent.
2025-06-05T18:51:40.233Z,1749149500.233 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:40.234Z,1749149500.234 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-05T18:51:40.235Z,1749149500.235 [DAT](INFO): direction in FSK: [0.975251,-0.152720,-0.159881]
2025-06-05T18:51:40.235Z,1749149500.235 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:40.235Z,1749149500.235 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:40.239Z,1749149500.239 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:40.239Z,1749149500.239 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:40.272Z,1749149500.272 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.038746
2025-06-05T18:51:40.407Z,1749149500.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.299999 m,
      deltaT: 3.530107 s,
      deltaX: -2.400002 m,
      approachRate: -0.679866 m/s,
      rangeRepo size: 4

2025-06-05T18:51:40.418Z,1749149500.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.167936 m,
      bearing: 35.324158 deg,
      lat: 36.906227 deg,
      lon: -122.116173 deg,
      deltaT: 3.530107 s,
      deltaX: -2.380577 m,
      approachRate: -0.674364 m/s,
      posRepo size: 4

2025-06-05T18:51:40.418Z,1749149500.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:40.427Z,1749149500.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 15.815455 m,
      bearing: 39.203145 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.436793 deg/s,
      cmd heading: 39.923757 deg,
      new cmd heading: 39.435570 deg.

2025-06-05T18:51:40.432Z,1749149500.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688281 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:40.461Z,1749149500.461 [DAT](INFO): DAT read: TxSync time:18:51:39.3313

2025-06-05T18:51:40.462Z,1749149500.462 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.228368
2025-06-05T18:51:40.718Z,1749149500.718 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.481849
2025-06-05T18:51:40.803Z,1749149500.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:40.806Z,1749149500.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 15.562966 m,
      bearing: 38.979889 deg,
      approach rate: -0.635770 m/s,
      LOS rate: -0.571280 deg/s,
      cmd heading: 39.435569 deg,
      new cmd heading: 38.754969 deg.

2025-06-05T18:51:40.808Z,1749149500.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676402 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:40.965Z,1749149500.965 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.731162
2025-06-05T18:51:41.194Z,1749149501.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:41.197Z,1749149501.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 15.330709 m,
      bearing: 38.770330 deg,
      approach rate: -0.594036 m/s,
      LOS rate: -0.544100 deg/s,
      cmd heading: 38.754968 deg,
      new cmd heading: 38.116793 deg.

2025-06-05T18:51:41.198Z,1749149501.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665264 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:41.217Z,1749149501.217 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.984044
2025-06-05T18:51:41.469Z,1749149501.469 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.235160
2025-06-05T18:51:41.587Z,1749149501.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:41.606Z,1749149501.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:41.613Z,1749149501.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 15.094222 m,
      bearing: 38.554804 deg,
      approach rate: -0.574571 m/s,
      LOS rate: -0.531847 deg/s,
      cmd heading: 38.116793 deg,
      new cmd heading: 37.460116 deg.

2025-06-05T18:51:41.616Z,1749149501.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653802 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:41.726Z,1749149501.726 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.491527
2025-06-05T18:51:41.973Z,1749149501.973 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.739257
2025-06-05T18:51:42.046Z,1749149502.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:42.053Z,1749149502.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 14.836611 m,
      bearing: 38.334162 deg,
      approach rate: -0.586827 m/s,
      LOS rate: -0.511340 deg/s,
      cmd heading: 37.460118 deg,
      new cmd heading: 36.786729 deg.

2025-06-05T18:51:42.054Z,1749149502.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642050 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:42.226Z,1749149502.226 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.992964
2025-06-05T18:51:42.432Z,1749149502.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:42.435Z,1749149502.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 14.597381 m,
      bearing: 38.132286 deg,
      approach rate: -0.617929 m/s,
      LOS rate: -0.529987 deg/s,
      cmd heading: 36.786730 deg,
      new cmd heading: 36.171203 deg.

2025-06-05T18:51:42.436Z,1749149502.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631307 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:42.478Z,1749149502.478 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.244582
2025-06-05T18:51:42.731Z,1749149502.731 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.497194
2025-06-05T18:51:42.853Z,1749149502.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:42.860Z,1749149502.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 14.352980 m,
      bearing: 37.954146 deg,
      approach rate: -0.580468 m/s,
      LOS rate: -0.430298 deg/s,
      cmd heading: 36.171203 deg,
      new cmd heading: 35.627700 deg.

2025-06-05T18:51:42.862Z,1749149502.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621821 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:42.981Z,1749149502.981 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.747128
2025-06-05T18:51:43.229Z,1749149503.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:43.233Z,1749149503.233 [DAT](INFO): DAT read: Rx Time:18:51:41.7553

2025-06-05T18:51:43.233Z,1749149503.233 [DAT](INFO): Rx dataTimestamp_ set to:1749149503.232951
2025-06-05T18:51:43.234Z,1749149503.234 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.000352
2025-06-05T18:51:43.235Z,1749149503.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 14.130456 m,
      bearing: 37.790986 deg,
      approach rate: -0.593628 m/s,
      LOS rate: -0.442117 deg/s,
      cmd heading: 35.627701 deg,
      new cmd heading: 35.130526 deg.

2025-06-05T18:51:43.236Z,1749149503.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613143 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:43.485Z,1749149503.485 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.251241
2025-06-05T18:51:43.606Z,1749149503.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:43.609Z,1749149503.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.17 m.
2025-06-05T18:51:43.612Z,1749149503.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.167936 m,
      nav range: 13.889001 m,
      bearing: 37.612689 deg,
      approach rate: -0.632522 m/s,
      LOS rate: -0.475191 deg/s,
      cmd heading: 35.130525 deg,
      new cmd heading: 34.586352 deg.

2025-06-05T18:51:43.613Z,1749149503.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603646 target range: 16.167936 and range: 16.30 m.
2025-06-05T18:51:43.756Z,1749149503.756 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.521483
2025-06-05T18:51:44.013Z,1749149504.013 [DAT](INFO): DAT read: 18:51:41.7553 LVL= 21488, 29905, 16146, 30627, AGC= 55, IDX= 414, 0.29, 0.976,-0.359, 1.308, 0.693, PHS= 0.371,-1.005, 0.613, RAW= 158.0,   0.3, CAL= 160.3,  -8.4, ROT= 349.7,   8.4

2025-06-05T18:51:44.014Z,1749149504.014 [DAT](INFO): got valid direction response:
 18:51:41.7553 LVL= 21488, 29905, 16146, 30627, AGC= 55, IDX= 414, 0.29, 0.976,-0.359, 1.308, 0.693, PHS= 0.371,-1.005, 0.613, RAW= 158.0,   0.3, CAL= 160.3,  -8.4, ROT= 349.7,   8.4

2025-06-05T18:51:44.015Z,1749149504.015 [DAT](INFO): DAT read: Bearing 349.7,   8.4 (Local)

2025-06-05T18:51:44.015Z,1749149504.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.7,   8.4 (Local)

2025-06-05T18:51:44.017Z,1749149504.017 [DAT](INFO): DAT read: Range 10 to 50 : 14.2 m  (Round-trip  19.0 ms) speed  0.4 m/s

2025-06-05T18:51:44.018Z,1749149504.018 [DAT](INFO): DAT read: user:2897>

2025-06-05T18:51:44.018Z,1749149504.018 [DAT](INFO): DAT read: Tx time:18:51:42.8322

2025-06-05T18:51:44.019Z,1749149504.019 [DAT](INFO): Ping request sent.
2025-06-05T18:51:44.019Z,1749149504.019 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:44.052Z,1749149504.052 [DAT](INFO): DAT read: TxSync time:18:51:42.8314

2025-06-05T18:51:44.052Z,1749149504.052 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-05T18:51:44.053Z,1749149504.053 [DAT](INFO): direction in FSK: [0.973330,-0.176884,-0.146083]
2025-06-05T18:51:44.054Z,1749149504.054 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:44.054Z,1749149504.054 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:44.073Z,1749149504.073 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:44.073Z,1749149504.073 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:44.106Z,1749149504.106 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.087080
2025-06-05T18:51:44.189Z,1749149504.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.200000 m,
      deltaT: 3.795853 s,
      deltaX: -2.099999 m,
      approachRate: -0.553235 m/s,
      rangeRepo size: 4

2025-06-05T18:51:44.193Z,1749149504.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.084949 m,
      bearing: 31.363829 deg,
      lat: 36.906229 deg,
      lon: -122.116174 deg,
      deltaT: 3.795853 s,
      deltaX: -2.082988 m,
      approachRate: -0.548754 m/s,
      posRepo size: 4

2025-06-05T18:51:44.194Z,1749149504.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-05T18:51:44.205Z,1749149504.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.084949 m,
      nav range: 13.699543 m,
      bearing: 36.403685 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.475191 deg/s,
      cmd heading: 34.586350 deg,
      new cmd heading: 33.768107 deg.

2025-06-05T18:51:44.206Z,1749149504.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589365 target range: 14.084949 and range: 14.20 m.
2025-06-05T18:51:44.262Z,1749149504.262 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.242786
2025-06-05T18:51:44.513Z,1749149504.513 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.493863
2025-06-05T18:51:44.523Z,1749149504.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-05T18:51:44.531Z,1749149504.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.084949 m,
      nav range: 13.475204 m,
      bearing: 36.247577 deg,
      approach rate: -0.660265 m/s,
      LOS rate: -0.467097 deg/s,
      cmd heading: 33.768107 deg,
      new cmd heading: 33.291998 deg.

2025-06-05T18:51:44.536Z,1749149504.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581055 target range: 14.084949 and range: 14.20 m.
2025-06-05T18:51:44.769Z,1749149504.769 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.749232
2025-06-05T18:51:44.927Z,1749149504.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-05T18:51:44.930Z,1749149504.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.084949 m,
      nav range: 13.213750 m,
      bearing: 36.086942 deg,
      approach rate: -0.647642 m/s,
      LOS rate: -0.405780 deg/s,
      cmd heading: 33.291998 deg,
      new cmd heading: 32.800569 deg.

2025-06-05T18:51:44.931Z,1749149504.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572478 target range: 14.084949 and range: 14.20 m.
2025-06-05T18:51:45.018Z,1749149505.018 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.999174
2025-06-05T18:51:45.268Z,1749149505.268 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.249638
2025-06-05T18:51:45.293Z,1749149505.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-05T18:51:45.296Z,1749149505.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.084949 m,
      nav range: 12.980898 m,
      bearing: 35.961557 deg,
      approach rate: -0.636408 m/s,
      LOS rate: -0.348834 deg/s,
      cmd heading: 32.800570 deg,
      new cmd heading: 32.417676 deg.

2025-06-05T18:51:45.297Z,1749149505.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565795 target range: 14.084949 and range: 14.20 m.
2025-06-05T18:51:45.521Z,1749149505.521 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.502406
2025-06-05T18:51:45.778Z,1749149505.778 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.758377
2025-06-05T18:51:45.818Z,1749149505.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:45.826Z,1749149505.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-05T18:51:45.834Z,1749149505.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.084949 m,
      nav range: 12.663362 m,
      bearing: 35.798276 deg,
      approach rate: -0.595892 m/s,
      LOS rate: -0.314099 deg/s,
      cmd heading: 32.417676 deg,
      new cmd heading: 31.915561 deg.

2025-06-05T18:51:45.835Z,1749149505.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557032 target range: 14.084949 and range: 14.20 m.
2025-06-05T18:51:46.027Z,1749149506.027 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.007808
2025-06-05T18:51:46.193Z,1749149506.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-05T18:51:46.200Z,1749149506.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.084949 m,
      nav range: 12.410596 m,
      bearing: 35.716509 deg,
      approach rate: -0.688551 m/s,
      LOS rate: -0.227275 deg/s,
      cmd heading: 31.915562 deg,
      new cmd heading: 31.665266 deg.

2025-06-05T18:51:46.202Z,1749149506.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552663 target range: 14.084949 and range: 14.20 m.
2025-06-05T18:51:46.278Z,1749149506.278 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.259177
2025-06-05T18:51:46.529Z,1749149506.529 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.509790
2025-06-05T18:51:46.562Z,1749149506.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-05T18:51:46.565Z,1749149506.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.084949 m,
      nav range: 12.160584 m,
      bearing: 35.643631 deg,
      approach rate: -0.676540 m/s,
      LOS rate: -0.201264 deg/s,
      cmd heading: 31.665266 deg,
      new cmd heading: 31.442139 deg.

2025-06-05T18:51:46.566Z,1749149506.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548769 target range: 14.084949 and range: 14.20 m.
2025-06-05T18:51:46.784Z,1749149506.784 [DAT](INFO): DAT read: Rx Time:18:51:45.2526

2025-06-05T18:51:46.785Z,1749149506.785 [DAT](INFO): Rx dataTimestamp_ set to:1749149506.784491
2025-06-05T18:51:46.787Z,1749149506.787 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.768074
2025-06-05T18:51:46.994Z,1749149506.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.08 m.
2025-06-05T18:51:47.001Z,1749149507.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.084949 m,
      nav range: 11.867393 m,
      bearing: 35.573688 deg,
      approach rate: -0.679558 m/s,
      LOS rate: -0.166120 deg/s,
      cmd heading: 31.442141 deg,
      new cmd heading: 31.227127 deg.

2025-06-05T18:51:47.002Z,1749149507.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545016 target range: 14.084949 and range: 14.20 m.
2025-06-05T18:51:47.033Z,1749149507.033 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.014138
2025-06-05T18:51:47.290Z,1749149507.290 [DAT](INFO): DAT read: 18:51:45.2526 LVL= 23728, 32753, 20690, 32755, AGC= 56, IDX= 419,-0.38, 3.076, 1.639,-3.035, 2.796, PHS= 0.368,-1.111, 0.449, RAW= 152.7,   3.9, CAL= 154.4,  -5.1, ROT= 355.6,   5.1

2025-06-05T18:51:47.293Z,1749149507.293 [DAT](INFO): got valid direction response:
 18:51:45.2526 LVL= 23728, 32753, 20690, 32755, AGC= 56, IDX= 419,-0.38, 3.076, 1.639,-3.035, 2.796, PHS= 0.368,-1.111, 0.449, RAW= 152.7,   3.9, CAL= 154.4,  -5.1, ROT= 355.6,   5.1

2025-06-05T18:51:47.294Z,1749149507.294 [DAT](INFO): DAT read: Bearing 355.6,   5.1 (Local)

2025-06-05T18:51:47.294Z,1749149507.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,   5.1 (Local)

2025-06-05T18:51:47.297Z,1749149507.297 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m  (Round-trip  16.3 ms) speed  0.7 m/s

2025-06-05T18:51:47.297Z,1749149507.297 [DAT](INFO): DAT read: user:2898>

2025-06-05T18:51:47.298Z,1749149507.298 [DAT](INFO): DAT read: Tx time:18:51:46.3822

2025-06-05T18:51:47.298Z,1749149507.298 [DAT](INFO): Ping request sent.
2025-06-05T18:51:47.298Z,1749149507.298 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:47.299Z,1749149507.299 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T18:51:47.300Z,1749149507.300 [DAT](INFO): direction in FSK: [0.993105,-0.076415,-0.088894]
2025-06-05T18:51:47.300Z,1749149507.300 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:47.300Z,1749149507.300 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:47.303Z,1749149507.303 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:47.304Z,1749149507.304 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:47.308Z,1749149507.308 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.008289
2025-06-05T18:51:47.431Z,1749149507.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 3.277777 s,
      deltaX: -2.000000 m,
      approachRate: -0.610170 m/s,
      rangeRepo size: 4

2025-06-05T18:51:47.437Z,1749149507.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.101189 m,
      bearing: 32.752094 deg,
      lat: 36.906233 deg,
      lon: -122.116176 deg,
      deltaT: 3.277777 s,
      deltaX: -1.983760 m,
      approachRate: -0.605215 m/s,
      posRepo size: 4

2025-06-05T18:51:47.438Z,1749149507.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:47.445Z,1749149507.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 11.800017 m,
      bearing: 33.377954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166120 deg/s,
      cmd heading: 31.227126 deg,
      new cmd heading: 31.009537 deg.

2025-06-05T18:51:47.446Z,1749149507.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541219 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:47.537Z,1749149507.537 [DAT](INFO): DAT read: TxSync time:18:51:46.3814

2025-06-05T18:51:47.538Z,1749149507.538 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.239284
2025-06-05T18:51:47.781Z,1749149507.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:47.793Z,1749149507.793 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.494074
2025-06-05T18:51:47.819Z,1749149507.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 11.545983 m,
      bearing: 33.288461 deg,
      approach rate: -0.739587 m/s,
      LOS rate: -0.266279 deg/s,
      cmd heading: 31.009537 deg,
      new cmd heading: 30.735154 deg.

2025-06-05T18:51:47.848Z,1749149507.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536430 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:48.045Z,1749149508.045 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.746411
2025-06-05T18:51:48.219Z,1749149508.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:48.221Z,1749149508.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:48.224Z,1749149508.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 11.233847 m,
      bearing: 33.149464 deg,
      approach rate: -0.698259 m/s,
      LOS rate: -0.319580 deg/s,
      cmd heading: 30.735155 deg,
      new cmd heading: 30.306586 deg.

2025-06-05T18:51:48.225Z,1749149508.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528950 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:48.293Z,1749149508.293 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.994416
2025-06-05T18:51:48.545Z,1749149508.545 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.246022
2025-06-05T18:51:48.581Z,1749149508.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:48.584Z,1749149508.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 10.985723 m,
      bearing: 33.053255 deg,
      approach rate: -0.688323 m/s,
      LOS rate: -0.272921 deg/s,
      cmd heading: 30.306588 deg,
      new cmd heading: 30.011446 deg.

2025-06-05T18:51:48.585Z,1749149508.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523799 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:48.800Z,1749149508.800 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.500878
2025-06-05T18:51:48.994Z,1749149508.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:49.017Z,1749149509.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 10.698259 m,
      bearing: 32.902121 deg,
      approach rate: -0.697319 m/s,
      LOS rate: -0.376467 deg/s,
      cmd heading: 30.011445 deg,
      new cmd heading: 29.545869 deg.

2025-06-05T18:51:49.018Z,1749149509.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515673 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:49.049Z,1749149509.049 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.750328
2025-06-05T18:51:49.301Z,1749149509.301 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.002196
2025-06-05T18:51:49.417Z,1749149509.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:49.419Z,1749149509.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 10.411806 m,
      bearing: 32.751736 deg,
      approach rate: -0.685023 m/s,
      LOS rate: -0.369523 deg/s,
      cmd heading: 29.545868 deg,
      new cmd heading: 29.082312 deg.

2025-06-05T18:51:49.426Z,1749149509.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507582 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:49.553Z,1749149509.553 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.254114
2025-06-05T18:51:49.784Z,1749149509.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:49.789Z,1749149509.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 10.149664 m,
      bearing: 32.615764 deg,
      approach rate: -0.707989 m/s,
      LOS rate: -0.376716 deg/s,
      cmd heading: 29.082314 deg,
      new cmd heading: 28.663869 deg.

2025-06-05T18:51:49.790Z,1749149509.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500279 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:49.809Z,1749149509.809 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.508968
2025-06-05T18:51:50.057Z,1749149510.057 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.758317
2025-06-05T18:51:50.248Z,1749149510.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:50.250Z,1749149510.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:50.257Z,1749149510.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 9.837538 m,
      bearing: 32.434841 deg,
      approach rate: -0.666976 m/s,
      LOS rate: -0.398876 deg/s,
      cmd heading: 28.663869 deg,
      new cmd heading: 28.103898 deg.

2025-06-05T18:51:50.258Z,1749149510.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490506 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:50.311Z,1749149510.311 [DAT](INFO): DAT read: Rx Time:18:51:48.7993

2025-06-05T18:51:50.312Z,1749149510.312 [DAT](INFO): Rx dataTimestamp_ set to:1749149510.311439
2025-06-05T18:51:50.312Z,1749149510.312 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.013790
2025-06-05T18:51:50.561Z,1749149510.561 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.262138
2025-06-05T18:51:50.609Z,1749149510.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.10 m.
2025-06-05T18:51:50.612Z,1749149510.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.101189 m,
      nav range: 9.586524 m,
      bearing: 32.290596 deg,
      approach rate: -0.699875 m/s,
      LOS rate: -0.412713 deg/s,
      cmd heading: 28.103898 deg,
      new cmd heading: 27.659842 deg.

2025-06-05T18:51:50.613Z,1749149510.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482755 target range: 12.101189 and range: 12.20 m.
2025-06-05T18:51:50.842Z,1749149510.842 [DAT](INFO): DAT read: 18:51:48.7993 LVL= 26656, 28849, 24642, 32755, AGC= 54, IDX= 401,-0.04,-3.064, 1.750, 3.013, 2.915, PHS= 0.392,-1.118, 0.094, RAW= 139.3,   9.2, CAL= 142.9,   2.1, ROT=   7.1,  -2.1

2025-06-05T18:51:50.846Z,1749149510.846 [DAT](INFO): got valid direction response:
 18:51:48.7993 LVL= 26656, 28849, 24642, 32755, AGC= 54, IDX= 401,-0.04,-3.064, 1.750, 3.013, 2.915, PHS= 0.392,-1.118, 0.094, RAW= 139.3,   9.2, CAL= 142.9,   2.1, ROT=   7.1,  -2.1

2025-06-05T18:51:50.851Z,1749149510.851 [DAT](INFO): DAT read: Bearing   7.1,  -2.1 (Local)

2025-06-05T18:51:50.852Z,1749149510.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,  -2.1 (Local)

2025-06-05T18:51:50.874Z,1749149510.874 [DAT](INFO): DAT read: Range 10 to 50 : 9.6 m  (Round-trip  12.9 ms) speed  0.6 m/s

2025-06-05T18:51:50.920Z,1749149510.920 [DAT](INFO): DAT read: user:2899>

2025-06-05T18:51:50.921Z,1749149510.921 [DAT](INFO): DAT read: Tx time:18:51:49.8822

2025-06-05T18:51:50.921Z,1749149510.921 [DAT](INFO): Ping request sent.
2025-06-05T18:51:50.921Z,1749149510.921 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:50.921Z,1749149510.921 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-05T18:51:50.922Z,1749149510.922 [DAT](INFO): direction in FSK: [0.991665,0.123518,0.036644]
2025-06-05T18:51:50.923Z,1749149510.923 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:50.923Z,1749149510.923 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:50.930Z,1749149510.930 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:50.931Z,1749149510.931 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:50.968Z,1749149510.968 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.046938
2025-06-05T18:51:51.065Z,1749149511.065 [DAT](INFO): DAT read: TxSync time:18:51:49.8814

2025-06-05T18:51:51.066Z,1749149511.066 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.144592
2025-06-05T18:51:51.136Z,1749149511.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 3.529676 s,
      deltaX: -2.599999 m,
      approachRate: -0.736611 m/s,
      rangeRepo size: 4

2025-06-05T18:51:51.138Z,1749149511.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.522285 m,
      bearing: 40.249898 deg,
      lat: 36.906233 deg,
      lon: -122.116176 deg,
      deltaT: 3.529676 s,
      deltaX: -2.578904 m,
      approachRate: -0.730635 m/s,
      posRepo size: 4

2025-06-05T18:51:51.139Z,1749149511.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-05T18:51:51.139Z,1749149511.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-06-05T18:51:51.144Z,1749149511.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-05T18:51:51.146Z,1749149511.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 9.264485 m,
      bearing: 32.053648 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.412713 deg/s,
      cmd heading: 27.659841 deg,
      new cmd heading: 27.012790 deg.

2025-06-05T18:51:51.147Z,1749149511.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471462 target range: 9.522285 and range: 9.60 m.
2025-06-05T18:51:51.317Z,1749149511.317 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.395870
2025-06-05T18:51:51.474Z,1749149511.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:51.494Z,1749149511.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 9.029213 m,
      bearing: 31.889585 deg,
      approach rate: -0.688346 m/s,
      LOS rate: -0.492513 deg/s,
      cmd heading: 27.012790 deg,
      new cmd heading: 26.507790 deg.

2025-06-05T18:51:51.494Z,1749149511.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462648 target range: 9.522285 and range: 9.60 m.
2025-06-05T18:51:51.570Z,1749149511.570 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.648630
2025-06-05T18:51:51.821Z,1749149511.821 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.899933
2025-06-05T18:51:51.989Z,1749149511.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:51.997Z,1749149511.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 8.715909 m,
      bearing: 31.580410 deg,
      approach rate: -0.607113 m/s,
      LOS rate: -0.620645 deg/s,
      cmd heading: 26.507790 deg,
      new cmd heading: 25.547019 deg.

2025-06-05T18:51:51.998Z,1749149511.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445880 target range: 9.522285 and range: 9.60 m.
2025-06-05T18:51:52.074Z,1749149512.074 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.152153
2025-06-05T18:51:52.327Z,1749149512.327 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.405836
2025-06-05T18:51:52.355Z,1749149512.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:52.359Z,1749149512.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:52.362Z,1749149512.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 8.484245 m,
      bearing: 31.336933 deg,
      approach rate: -0.629506 m/s,
      LOS rate: -0.679669 deg/s,
      cmd heading: 25.547018 deg,
      new cmd heading: 24.796688 deg.

2025-06-05T18:51:52.363Z,1749149512.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432784 target range: 9.522285 and range: 9.60 m.
2025-06-05T18:51:52.577Z,1749149512.577 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.655773
2025-06-05T18:51:52.714Z,1749149512.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:52.718Z,1749149512.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 8.268792 m,
      bearing: 31.112322 deg,
      approach rate: -0.605154 m/s,
      LOS rate: -0.647313 deg/s,
      cmd heading: 24.796688 deg,
      new cmd heading: 24.105332 deg.

2025-06-05T18:51:52.720Z,1749149512.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420717 target range: 9.522285 and range: 9.60 m.
2025-06-05T18:51:52.829Z,1749149512.829 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.907735
2025-06-05T18:51:53.081Z,1749149513.081 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.159738
2025-06-05T18:51:53.153Z,1749149513.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:53.155Z,1749149513.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 8.024479 m,
      bearing: 30.847509 deg,
      approach rate: -0.556067 m/s,
      LOS rate: -0.621076 deg/s,
      cmd heading: 24.105332 deg,
      new cmd heading: 23.286763 deg.

2025-06-05T18:51:53.161Z,1749149513.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406431 target range: 9.522285 and range: 9.60 m.
2025-06-05T18:51:53.335Z,1749149513.335 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.413688
2025-06-05T18:51:53.510Z,1749149513.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:53.528Z,1749149513.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 7.799924 m,
      bearing: 30.601576 deg,
      approach rate: -0.630203 m/s,
      LOS rate: -0.710068 deg/s,
      cmd heading: 23.286763 deg,
      new cmd heading: 22.527771 deg.

2025-06-05T18:51:53.529Z,1749149513.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393184 target range: 9.522285 and range: 9.60 m.
2025-06-05T18:51:53.586Z,1749149513.586 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.664843
2025-06-05T18:51:53.837Z,1749149513.837 [DAT](INFO): DAT read: Rx Time:18:51:52.2959

2025-06-05T18:51:53.837Z,1749149513.837 [DAT](INFO): Rx dataTimestamp_ set to:1749149513.837023
2025-06-05T18:51:53.838Z,1749149513.838 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.916870
2025-06-05T18:51:54.003Z,1749149514.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:54.006Z,1749149514.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 7.523028 m,
      bearing: 30.258953 deg,
      approach rate: -0.561093 m/s,
      LOS rate: -0.719831 deg/s,
      cmd heading: 22.527770 deg,
      new cmd heading: 21.462197 deg.

2025-06-05T18:51:54.006Z,1749149514.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374586 target range: 9.522285 and range: 9.60 m.
2025-06-05T18:51:54.090Z,1749149514.090 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.168986
2025-06-05T18:51:54.365Z,1749149514.365 [DAT](INFO): DAT read: 18:51:52.2960 LVL= 32752, 32753, 27586, 32755, AGC= 54, IDX= 416,-0.30, 2.293, 0.717, 1.936, 1.948, PHS= 0.433,-1.183,-0.015, RAW= 134.4,  10.6, CAL= 139.1,   4.6, ROT=  10.9,  -4.6

2025-06-05T18:51:54.366Z,1749149514.366 [DAT](INFO): got valid direction response:
 18:51:52.2960 LVL= 32752, 32753, 27586, 32755, AGC= 54, IDX= 416,-0.30, 2.293, 0.717, 1.936, 1.948, PHS= 0.433,-1.183,-0.015, RAW= 134.4,  10.6, CAL= 139.1,   4.6, ROT=  10.9,  -4.6

2025-06-05T18:51:54.367Z,1749149514.367 [DAT](INFO): DAT read: Bearing  10.9,  -4.6 (Local)

2025-06-05T18:51:54.367Z,1749149514.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.9,  -4.6 (Local)

2025-06-05T18:51:54.369Z,1749149514.369 [DAT](INFO): DAT read: Range 10 to 50 : 7.2 m  (Round-trip  9.6 ms) speed  0.4 m/s

2025-06-05T18:51:54.369Z,1749149514.369 [DAT](INFO): DAT read: user:2900>

2025-06-05T18:51:54.370Z,1749149514.370 [DAT](INFO): DAT read: Tx time:18:51:53.3823

2025-06-05T18:51:54.370Z,1749149514.370 [DAT](INFO): Ping request sent.
2025-06-05T18:51:54.370Z,1749149514.370 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:54.371Z,1749149514.371 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-05T18:51:54.376Z,1749149514.376 [DAT](INFO): direction in FSK: [0.978796,0.188486,0.080199]
2025-06-05T18:51:54.377Z,1749149514.377 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:54.377Z,1749149514.377 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:54.380Z,1749149514.380 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:54.380Z,1749149514.380 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:54.388Z,1749149514.388 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.012906
2025-06-05T18:51:54.405Z,1749149514.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 3.529240 s,
      deltaX: -2.400001 m,
      approachRate: -0.680033 m/s,
      rangeRepo size: 4

2025-06-05T18:51:54.465Z,1749149514.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.141702 m,
      bearing: 41.537358 deg,
      lat: 36.906233 deg,
      lon: -122.116176 deg,
      deltaT: 3.529240 s,
      deltaX: -2.380582 m,
      approachRate: -0.674531 m/s,
      posRepo size: 4

2025-06-05T18:51:54.466Z,1749149514.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.14 m. 9.52 m.
2025-06-05T18:51:54.484Z,1749149514.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 7.301628 m,
      bearing: 29.966029 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.412713 deg/s,
      cmd heading: 21.462198 deg,
      new cmd heading: 20.965293 deg.

2025-06-05T18:51:54.485Z,1749149514.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365913 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:54.594Z,1749149514.594 [DAT](INFO): DAT read: TxSync time:18:51:53.3815

2025-06-05T18:51:54.595Z,1749149514.595 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.224151
2025-06-05T18:51:54.823Z,1749149514.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:54.835Z,1749149514.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:54.847Z,1749149514.847 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.476688
2025-06-05T18:51:54.853Z,1749149514.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 7.066709 m,
      bearing: 29.700161 deg,
      approach rate: -0.545146 m/s,
      LOS rate: -0.637470 deg/s,
      cmd heading: 20.965293 deg,
      new cmd heading: 20.141234 deg.

2025-06-05T18:51:54.854Z,1749149514.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351531 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:55.097Z,1749149515.097 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.726210
2025-06-05T18:51:55.210Z,1749149515.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:55.212Z,1749149515.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 6.850662 m,
      bearing: 29.436682 deg,
      approach rate: -0.576825 m/s,
      LOS rate: -0.725646 deg/s,
      cmd heading: 20.141234 deg,
      new cmd heading: 19.325927 deg.

2025-06-05T18:51:55.213Z,1749149515.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337301 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:55.349Z,1749149515.349 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.978292
2025-06-05T18:51:55.583Z,1749149515.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:55.601Z,1749149515.601 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.230234
2025-06-05T18:51:55.609Z,1749149515.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 6.646163 m,
      bearing: 29.189395 deg,
      approach rate: -0.548197 m/s,
      LOS rate: -0.683293 deg/s,
      cmd heading: 19.325928 deg,
      new cmd heading: 18.561288 deg.

2025-06-05T18:51:55.610Z,1749149515.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323956 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:55.853Z,1749149515.853 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.482137
2025-06-05T18:51:56.024Z,1749149516.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:56.027Z,1749149516.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 6.402251 m,
      bearing: 28.982739 deg,
      approach rate: -0.553208 m/s,
      LOS rate: -0.486566 deg/s,
      cmd heading: 18.561288 deg,
      new cmd heading: 17.917728 deg.

2025-06-05T18:51:56.052Z,1749149516.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312723 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:56.106Z,1749149516.106 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.735083
2025-06-05T18:51:56.357Z,1749149516.357 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.986196
2025-06-05T18:51:56.461Z,1749149516.461 [CTD_Seabird](ERROR): Failed to parse device response: 63.39,9.55164,8015.41
2025-06-05T18:51:56.494Z,1749149516.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:56.497Z,1749149516.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 6.143159 m,
      bearing: 28.774487 deg,
      approach rate: -0.550091 m/s,
      LOS rate: -0.460796 deg/s,
      cmd heading: 17.917727 deg,
      new cmd heading: 17.266652 deg.

2025-06-05T18:51:56.498Z,1749149516.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.301360 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:56.610Z,1749149516.610 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.239091
2025-06-05T18:51:56.861Z,1749149516.861 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.490198
2025-06-05T18:51:56.965Z,1749149516.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:56.967Z,1749149516.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:56.974Z,1749149516.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 5.909779 m,
      bearing: 28.597467 deg,
      approach rate: -0.493771 m/s,
      LOS rate: -0.389318 deg/s,
      cmd heading: 17.266652 deg,
      new cmd heading: 16.714637 deg.

2025-06-05T18:51:56.980Z,1749149516.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.291725 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:57.113Z,1749149517.113 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.742209
2025-06-05T18:51:57.365Z,1749149517.365 [DAT](INFO): DAT read: Rx Time:18:51:55.7938

2025-06-05T18:51:57.365Z,1749149517.365 [DAT](INFO): Rx dataTimestamp_ set to:1749149517.364852
2025-06-05T18:51:57.366Z,1749149517.366 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.995243
2025-06-05T18:51:57.503Z,1749149517.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:57.506Z,1749149517.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 5.583920 m,
      bearing: 28.377017 deg,
      approach rate: -0.607910 m/s,
      LOS rate: -0.435260 deg/s,
      cmd heading: 16.714637 deg,
      new cmd heading: 16.014732 deg.

2025-06-05T18:51:57.507Z,1749149517.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279510 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:57.618Z,1749149517.618 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.247387
2025-06-05T18:51:57.845Z,1749149517.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:57.848Z,1749149517.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 5.395324 m,
      bearing: 28.260358 deg,
      approach rate: -0.551840 m/s,
      LOS rate: -0.353283 deg/s,
      cmd heading: 16.014733 deg,
      new cmd heading: 15.652526 deg.

2025-06-05T18:51:57.849Z,1749149517.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273188 target range: 9.522285 and range: 7.20 m.
2025-06-05T18:51:57.875Z,1749149517.875 [DAT](INFO): DAT read: 18:51:55.7938 LVL= 27776, 32753, 20530, 32755, AGC= 56, IDX= 423,-0.28, 1.303,-0.374, 1.495, 0.916, PHS= 0.475,-1.243, 0.577, RAW= 152.8,   2.2, CAL= 155.1,  -6.7, ROT= 354.9,   6.7

2025-06-05T18:51:57.877Z,1749149517.877 [DAT](INFO): got valid direction response:
 18:51:55.7938 LVL= 27776, 32753, 20530, 32755, AGC= 56, IDX= 423,-0.28, 1.303,-0.374, 1.495, 0.916, PHS= 0.475,-1.243, 0.577, RAW= 152.8,   2.2, CAL= 155.1,  -6.7, ROT= 354.9,   6.7

2025-06-05T18:51:57.878Z,1749149517.878 [DAT](INFO): DAT read: Bearing 354.9,   6.7 (Local)

2025-06-05T18:51:57.878Z,1749149517.878 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.9,   6.7 (Local)

2025-06-05T18:51:57.884Z,1749149517.884 [DAT](INFO): DAT read: Range 10 to 50 : 5.5 m  (Round-trip  7.4 ms) speed  0.4 m/s

2025-06-05T18:51:57.885Z,1749149517.885 [DAT](INFO): DAT read: user:2901>

2025-06-05T18:51:57.885Z,1749149517.885 [DAT](INFO): DAT read: Tx time:18:51:56.8823

2025-06-05T18:51:57.886Z,1749149517.886 [DAT](INFO): Ping request sent.
2025-06-05T18:51:57.886Z,1749149517.886 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:51:57.886Z,1749149517.886 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T18:51:57.887Z,1749149517.887 [DAT](INFO): direction in FSK: [0.989239,-0.088287,-0.116671]
2025-06-05T18:51:57.887Z,1749149517.887 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:57.887Z,1749149517.887 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:57.910Z,1749149517.910 [DAT](INFO): publishing transmit ping time
2025-06-05T18:51:57.911Z,1749149517.911 [DAT](INFO): publishing direction and range info
2025-06-05T18:51:57.928Z,1749149517.928 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.033087
2025-06-05T18:51:58.121Z,1749149518.121 [DAT](INFO): DAT read: TxSync time:18:51:56.8815

2025-06-05T18:51:58.122Z,1749149518.122 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.235953
2025-06-05T18:51:58.319Z,1749149518.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.500000 m,
      deltaT: 3.525205 s,
      deltaX: -1.700000 m,
      approachRate: -0.482241 m/s,
      rangeRepo size: 4

2025-06-05T18:51:58.325Z,1749149518.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.455470 m,
      bearing: 18.974781 deg,
      lat: 36.906235 deg,
      lon: -122.116176 deg,
      deltaT: 7.054445 s,
      deltaX: -4.066815 m,
      approachRate: -0.576490 m/s,
      posRepo size: 4

2025-06-05T18:51:58.326Z,1749149518.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.46 m. 9.52 m.
2025-06-05T18:51:58.333Z,1749149518.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 5.136010 m,
      bearing: 28.169965 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.412713 deg/s,
      cmd heading: 15.652526 deg,
      new cmd heading: 15.065935 deg.

2025-06-05T18:51:58.336Z,1749149518.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262950 target range: 9.522285 and range: 5.50 m.
2025-06-05T18:51:58.373Z,1749149518.373 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.487427
2025-06-05T18:51:58.626Z,1749149518.626 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.740109
2025-06-05T18:51:58.675Z,1749149518.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:58.678Z,1749149518.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 4.907116 m,
      bearing: 28.115701 deg,
      approach rate: -0.644619 m/s,
      LOS rate: -0.159948 deg/s,
      cmd heading: 15.065936 deg,
      new cmd heading: 14.895552 deg.

2025-06-05T18:51:58.679Z,1749149518.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259976 target range: 9.522285 and range: 5.50 m.
2025-06-05T18:51:58.877Z,1749149518.877 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.990889
2025-06-05T18:51:59.078Z,1749149519.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:51:59.081Z,1749149519.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:59.104Z,1749149519.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 4.659710 m,
      bearing: 28.117091 deg,
      approach rate: -0.607087 m/s,
      LOS rate: 0.003590 deg/s,
      cmd heading: 14.895551 deg,
      new cmd heading: 14.899941 deg.

2025-06-05T18:51:59.105Z,1749149519.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.260053 target range: 9.522285 and range: 5.50 m.
2025-06-05T18:51:59.129Z,1749149519.129 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.243564
2025-06-05T18:51:59.381Z,1749149519.381 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.494966
2025-06-05T18:51:59.481Z,1749149519.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:59.484Z,1749149519.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 4.417364 m,
      bearing: 28.184146 deg,
      approach rate: -0.605541 m/s,
      LOS rate: 0.176740 deg/s,
      cmd heading: 14.899942 deg,
      new cmd heading: 15.112143 deg.

2025-06-05T18:51:59.485Z,1749149519.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.263757 target range: 9.522285 and range: 5.50 m.
2025-06-05T18:51:59.545Z,1749149519.545 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:51:59.633Z,1749149519.633 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.746910
2025-06-05T18:51:59.866Z,1749149519.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:51:59.869Z,1749149519.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 4.180725 m,
      bearing: 28.294610 deg,
      approach rate: -0.616075 m/s,
      LOS rate: 0.303863 deg/s,
      cmd heading: 15.112142 deg,
      new cmd heading: 15.462285 deg.

2025-06-05T18:51:59.869Z,1749149519.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269868 target range: 9.522285 and range: 5.50 m.
2025-06-05T18:51:59.885Z,1749149519.885 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.999007
2025-06-05T18:52:00.137Z,1749149520.137 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.250931
2025-06-05T18:52:00.289Z,1749149520.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:00.291Z,1749149520.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 3.908674 m,
      bearing: 28.451572 deg,
      approach rate: -0.643166 m/s,
      LOS rate: 0.396907 deg/s,
      cmd heading: 15.462285 deg,
      new cmd heading: 15.965933 deg.

2025-06-05T18:52:00.312Z,1749149520.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.278658 target range: 9.522285 and range: 5.50 m.
2025-06-05T18:52:00.390Z,1749149520.390 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.504557
2025-06-05T18:52:00.548Z,1749149520.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:52:00.642Z,1749149520.642 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.755663
2025-06-05T18:52:00.667Z,1749149520.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:00.670Z,1749149520.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 3.668143 m,
      bearing: 28.654202 deg,
      approach rate: -0.635576 m/s,
      LOS rate: 0.570536 deg/s,
      cmd heading: 15.965933 deg,
      new cmd heading: 16.613654 deg.

2025-06-05T18:52:00.671Z,1749149520.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289963 target range: 9.522285 and range: 5.50 m.
2025-06-05T18:52:00.893Z,1749149520.893 [DAT](INFO): DAT read: Rx Time:18:51:59.2913

2025-06-05T18:52:00.894Z,1749149520.894 [DAT](INFO): Rx dataTimestamp_ set to:1749149520.893493
2025-06-05T18:52:00.894Z,1749149520.894 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.008643
2025-06-05T18:52:01.093Z,1749149521.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:01.096Z,1749149521.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:01.099Z,1749149521.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 3.385497 m,
      bearing: 29.004947 deg,
      approach rate: -0.659649 m/s,
      LOS rate: 0.886917 deg/s,
      cmd heading: 16.613655 deg,
      new cmd heading: 17.753580 deg.

2025-06-05T18:52:01.100Z,1749149521.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.309858 target range: 9.522285 and range: 5.50 m.
2025-06-05T18:52:01.145Z,1749149521.145 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.259106
2025-06-05T18:52:01.405Z,1749149521.405 [DAT](INFO): DAT read: 18:51:59.2913 LVL=  9344, 20129, 16098, 25395, AGC= 46, IDX= 414, 0.27, 2.993, 1.591, 2.290, 2.800, PHS= 0.281,-1.162,-0.514, RAW= 116.7,  21.5, CAL= 122.3,  18.9, ROT=  27.7, -18.9

2025-06-05T18:52:01.406Z,1749149521.406 [DAT](INFO): got valid direction response:
 18:51:59.2913 LVL=  9344, 20129, 16098, 25395, AGC= 46, IDX= 414, 0.27, 2.993, 1.591, 2.290, 2.800, PHS= 0.281,-1.162,-0.514, RAW= 116.7,  21.5, CAL= 122.3,  18.9, ROT=  27.7, -18.9

2025-06-05T18:52:01.407Z,1749149521.407 [DAT](INFO): DAT read: Bearing  27.7, -18.9 (Local)

2025-06-05T18:52:01.407Z,1749149521.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.7, -18.9 (Local)

2025-06-05T18:52:01.408Z,1749149521.408 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m  (Round-trip  4.8 ms) speed  0.5 m/s

2025-06-05T18:52:01.409Z,1749149521.409 [DAT](INFO): DAT read: user:2902>

2025-06-05T18:52:01.410Z,1749149521.410 [DAT](INFO): DAT read: Tx time:18:52:00.3823

2025-06-05T18:52:01.410Z,1749149521.410 [DAT](INFO): Ping request sent.
2025-06-05T18:52:01.410Z,1749149521.410 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:01.410Z,1749149521.410 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-05T18:52:01.412Z,1749149521.412 [DAT](INFO): direction in FSK: [0.837658,0.439780,0.323917]
2025-06-05T18:52:01.412Z,1749149521.412 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:01.412Z,1749149521.412 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:01.484Z,1749149521.484 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:01.485Z,1749149521.485 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:01.500Z,1749149521.500 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.089902
2025-06-05T18:52:01.597Z,1749149521.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 3.529272 s,
      deltaX: -1.900000 m,
      approachRate: -0.538355 m/s,
      rangeRepo size: 4

2025-06-05T18:52:01.599Z,1749149521.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.570852 m,
      bearing: 44.536937 deg,
      lat: 36.906231 deg,
      lon: -122.116167 deg,
      deltaT: 10.583717 s,
      deltaX: -5.951433 m,
      approachRate: -0.562320 m/s,
      posRepo size: 4

2025-06-05T18:52:01.604Z,1749149521.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.57 m. 9.52 m.
2025-06-05T18:52:01.606Z,1749149521.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 3.098954 m,
      bearing: 29.479383 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.412713 deg/s,
      cmd heading: 17.753579 deg,
      new cmd heading: 17.148771 deg.

2025-06-05T18:52:01.609Z,1749149521.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299303 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:01.649Z,1749149521.649 [DAT](INFO): DAT read: TxSync time:18:52:00.3815

2025-06-05T18:52:01.650Z,1749149521.650 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.239434
2025-06-05T18:52:01.899Z,1749149521.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:01.901Z,1749149521.901 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.490503
2025-06-05T18:52:01.906Z,1749149521.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 2.863121 m,
      bearing: 29.981802 deg,
      approach rate: -0.749467 m/s,
      LOS rate: 1.728164 deg/s,
      cmd heading: 17.148771 deg,
      new cmd heading: 18.779719 deg.

2025-06-05T18:52:01.920Z,1749149521.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327768 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:02.153Z,1749149522.153 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.742881
2025-06-05T18:52:02.325Z,1749149522.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:02.332Z,1749149522.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 2.575991 m,
      bearing: 30.705730 deg,
      approach rate: -0.672882 m/s,
      LOS rate: 1.885558 deg/s,
      cmd heading: 18.779720 deg,
      new cmd heading: 21.192086 deg.

2025-06-05T18:52:02.333Z,1749149522.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.369872 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:02.406Z,1749149522.406 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.995416
2025-06-05T18:52:02.657Z,1749149522.657 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.246310
2025-06-05T18:52:02.740Z,1749149522.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:02.749Z,1749149522.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 2.309154 m,
      bearing: 31.586684 deg,
      approach rate: -0.650704 m/s,
      LOS rate: 2.396430 deg/s,
      cmd heading: 21.192086 deg,
      new cmd heading: 24.137636 deg.

2025-06-05T18:52:02.750Z,1749149522.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421281 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:02.909Z,1749149522.909 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.498786
2025-06-05T18:52:03.136Z,1749149523.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:03.139Z,1749149523.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:03.143Z,1749149523.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 2.039194 m,
      bearing: 32.634537 deg,
      approach rate: -0.669677 m/s,
      LOS rate: 2.943309 deg/s,
      cmd heading: 24.137636 deg,
      new cmd heading: 27.692588 deg.

2025-06-05T18:52:03.144Z,1749149523.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483327 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:03.161Z,1749149523.161 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.750543
2025-06-05T18:52:03.413Z,1749149523.413 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.002516
2025-06-05T18:52:03.514Z,1749149523.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:03.521Z,1749149523.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 1.797185 m,
      bearing: 33.888294 deg,
      approach rate: -0.644071 m/s,
      LOS rate: 3.785713 deg/s,
      cmd heading: 27.692587 deg,
      new cmd heading: 31.952145 deg.

2025-06-05T18:52:03.522Z,1749149523.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557670 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:03.665Z,1749149523.665 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.254782
2025-06-05T18:52:03.897Z,1749149523.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:03.899Z,1749149523.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 1.531552 m,
      bearing: 35.720819 deg,
      approach rate: -0.695054 m/s,
      LOS rate: 5.625647 deg/s,
      cmd heading: 31.952144 deg,
      new cmd heading: 38.375081 deg.

2025-06-05T18:52:03.900Z,1749149523.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669771 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:03.919Z,1749149523.919 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.509088
2025-06-05T18:52:04.169Z,1749149524.169 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.758330
2025-06-05T18:52:04.367Z,1749149524.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:04.370Z,1749149524.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.522285 m,
      nav range: 1.229875 m,
      bearing: 38.705362 deg,
      approach rate: -0.640798 m/s,
      LOS rate: 7.890988 deg/s,
      cmd heading: 38.375080 deg,
      new cmd heading: 49.382459 deg.

2025-06-05T18:52:04.371Z,1749149524.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861887 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:04.421Z,1749149524.421 [DAT](INFO): DAT read: Rx Time:18:52:02.7889

2025-06-05T18:52:04.421Z,1749149524.421 [DAT](INFO): Rx dataTimestamp_ set to:1749149524.420879
2025-06-05T18:52:04.422Z,1749149524.422 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.011818
2025-06-05T18:52:04.673Z,1749149524.673 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.262514
2025-06-05T18:52:04.799Z,1749149524.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-05T18:52:04.801Z,1749149524.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.709277 deg/s. Setting heading cmd to target acoustic bearing of 40.249898 deg.
2025-06-05T18:52:04.801Z,1749149524.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702493 target range: 9.522285 and range: 3.60 m.
2025-06-05T18:52:04.947Z,1749149524.947 [DAT](INFO): DAT read: 18:52:02.7889 LVL= 16320, 22209, 17650, 21187, AGC= 47, IDX= 421, 0.11, 2.591,-3.049,-1.794,-1.994, PHS=-1.610,-1.009, 0.197, RAW= 229.1,  28.2, CAL= 239.8,  37.4, ROT= 270.2, -37.4

2025-06-05T18:52:04.949Z,1749149524.949 [DAT](INFO): got valid direction response:
 18:52:02.7889 LVL= 16320, 22209, 17650, 21187, AGC= 47, IDX= 421, 0.11, 2.591,-3.049,-1.794,-1.994, PHS=-1.610,-1.009, 0.197, RAW= 229.1,  28.2, CAL= 239.8,  37.4, ROT= 270.2, -37.4

2025-06-05T18:52:04.950Z,1749149524.950 [DAT](INFO): DAT read: Bearing 270.2, -37.4 (Local)

2025-06-05T18:52:04.950Z,1749149524.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.2, -37.4 (Local)

2025-06-05T18:52:04.951Z,1749149524.951 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.4 m/s

2025-06-05T18:52:04.952Z,1749149524.952 [DAT](INFO): DAT read: user:2903>

2025-06-05T18:52:04.953Z,1749149524.953 [DAT](INFO): DAT read: Tx time:18:52:03.8823

2025-06-05T18:52:04.953Z,1749149524.953 [DAT](INFO): Ping request sent.
2025-06-05T18:52:04.953Z,1749149524.953 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:04.954Z,1749149524.954 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-05T18:52:04.955Z,1749149524.955 [DAT](INFO): direction in FSK: [0.002773,-0.794410,0.607376]
2025-06-05T18:52:04.956Z,1749149524.956 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:04.957Z,1749149524.957 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:04.998Z,1749149524.998 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:04.998Z,1749149524.998 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:05.005Z,1749149525.005 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.051944
2025-06-05T18:52:05.177Z,1749149525.177 [DAT](INFO): DAT read: TxSync time:18:52:03.8815

2025-06-05T18:52:05.178Z,1749149525.178 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.224611
2025-06-05T18:52:05.211Z,1749149525.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 3.528309 s,
      deltaX: -1.800000 m,
      approachRate: -0.510159 m/s,
      rangeRepo size: 4

2025-06-05T18:52:05.217Z,1749149525.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.785426 m,
      bearing: 291.660367 deg,
      lat: 36.906231 deg,
      lon: -122.116167 deg,
      deltaT: 14.112026 s,
      deltaX: -7.736858 m,
      approachRate: -0.548246 m/s,
      posRepo size: 4

2025-06-05T18:52:05.218Z,1749149525.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 1.80 m.
2025-06-05T18:52:05.218Z,1749149525.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-05T18:52:05.430Z,1749149525.430 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.476571
2025-06-05T18:52:05.550Z,1749149525.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:05.681Z,1749149525.681 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.727590
2025-06-05T18:52:05.918Z,1749149525.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m.
2025-06-05T18:52:05.919Z,1749149525.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.80 m.
2025-06-05T18:52:05.919Z,1749149525.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-05T18:52:05.933Z,1749149525.933 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.979614
2025-06-05T18:52:06.185Z,1749149526.185 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.231268
2025-06-05T18:52:06.385Z,1749149526.385 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T18:52:06.385Z,1749149526.385 [DockingStepper](INFO): Standby mode.
2025-06-05T18:52:06.437Z,1749149526.437 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.483820
2025-06-05T18:52:06.452Z,1749149526.452 [DockingStepper](INFO): Commanding positive:54685
2025-06-05T18:52:06.689Z,1749149526.689 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.735929
2025-06-05T18:52:06.965Z,1749149526.965 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.011845
2025-06-05T18:52:07.198Z,1749149527.198 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.244641
2025-06-05T18:52:07.450Z,1749149527.450 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.496209
2025-06-05T18:52:07.579Z,1749149527.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:07.703Z,1749149527.703 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.749620
2025-06-05T18:52:07.956Z,1749149527.956 [DAT](INFO): DAT read: Rx Time:18:52:06.2878

2025-06-05T18:52:07.956Z,1749149527.956 [DAT](INFO): Rx dataTimestamp_ set to:1749149527.955759
2025-06-05T18:52:07.957Z,1749149527.957 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.003279
2025-06-05T18:52:08.205Z,1749149528.205 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.251262
2025-06-05T18:52:08.480Z,1749149528.480 [DAT](INFO): DAT read: 18:52:06.2878 LVL= 19936, 28449, 16610, 24739, AGC= 42, IDX= 427, 0.02, 0.950, 2.224, 1.746,-2.912, PHS=-2.333,-1.099,-1.628, RAW= 295.3,  59.1, CAL= 302.0,  59.9, ROT= 208.0, -59.9

2025-06-05T18:52:08.481Z,1749149528.481 [DAT](INFO): got valid direction response:
 18:52:06.2878 LVL= 19936, 28449, 16610, 24739, AGC= 42, IDX= 427, 0.02, 0.950, 2.224, 1.746,-2.912, PHS=-2.333,-1.099,-1.628, RAW= 295.3,  59.1, CAL= 302.0,  59.9, ROT= 208.0, -59.9

2025-06-05T18:52:08.482Z,1749149528.482 [DAT](INFO): DAT read: Bearing 208.0, -59.9 (Local)

2025-06-05T18:52:08.483Z,1749149528.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.0, -59.9 (Local)

2025-06-05T18:52:08.489Z,1749149528.489 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.3 ms) speed -0.1 m/s

2025-06-05T18:52:08.491Z,1749149528.491 [DAT](INFO): DAT read: user:2904>

2025-06-05T18:52:08.496Z,1749149528.496 [DAT](INFO): DAT read: Tx time:18:52:07.3824

2025-06-05T18:52:08.497Z,1749149528.497 [DAT](INFO): Ping request sent.
2025-06-05T18:52:08.497Z,1749149528.497 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:08.497Z,1749149528.497 [DAT](INFO): DAT read: TxSync time:18:52:07.3816

2025-06-05T18:52:08.498Z,1749149528.498 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-05T18:52:08.499Z,1749149528.499 [DAT](INFO): direction in FSK: [-0.442808,-0.235445,0.865151]
2025-06-05T18:52:08.499Z,1749149528.499 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:08.504Z,1749149528.504 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:08.529Z,1749149528.529 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:08.529Z,1749149528.529 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:08.545Z,1749149528.545 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.048414
2025-06-05T18:52:08.709Z,1749149528.709 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.212438
2025-06-05T18:52:08.785Z,1749149528.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 3.530651 s,
      deltaX: -0.900000 m,
      approachRate: -0.254910 m/s,
      rangeRepo size: 4

2025-06-05T18:52:08.792Z,1749149528.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.892712 m,
      bearing: 254.553056 deg,
      lat: 36.906233 deg,
      lon: -122.116182 deg,
      deltaT: 3.530651 s,
      deltaX: -0.892714 m,
      approachRate: -0.252847 m/s,
      posRepo size: 4

2025-06-05T18:52:08.961Z,1749149528.961 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.463752
2025-06-05T18:52:09.213Z,1749149529.213 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.716131
2025-06-05T18:52:09.465Z,1749149529.465 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.967807
2025-06-05T18:52:09.582Z,1749149529.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:09.717Z,1749149529.717 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.220460
2025-06-05T18:52:09.969Z,1749149529.969 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.471779
2025-06-05T18:52:10.221Z,1749149530.221 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.723966
2025-06-05T18:52:10.474Z,1749149530.474 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.976608
2025-06-05T18:52:10.726Z,1749149530.726 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.228897
2025-06-05T18:52:10.977Z,1749149530.977 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.480431
2025-06-05T18:52:11.229Z,1749149531.229 [DAT](INFO): DAT read: Rx Time:18:52:09.7883

2025-06-05T18:52:11.229Z,1749149531.229 [DAT](INFO): Rx dataTimestamp_ set to:1749149531.228906
2025-06-05T18:52:11.230Z,1749149531.230 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.732828
2025-06-05T18:52:11.481Z,1749149531.481 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.984504
2025-06-05T18:52:11.627Z,1749149531.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:11.734Z,1749149531.734 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:52:11.735Z,1749149531.735 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-06-05T18:52:11.736Z,1749149531.736 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.239087
2025-06-05T18:52:11.984Z,1749149531.984 [DAT](INFO): DAT read: user:2905>

2025-06-05T18:52:11.985Z,1749149531.985 [DAT](INFO): DAT read: Tx time:18:52:10.8824

2025-06-05T18:52:11.985Z,1749149531.985 [DAT](INFO): Ping request sent.
2025-06-05T18:52:11.986Z,1749149531.986 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:11.986Z,1749149531.986 [DAT](INFO): DAT read: TxSync time:18:52:10.8816

2025-06-05T18:52:11.987Z,1749149531.987 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:11.987Z,1749149531.987 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.001522
2025-06-05T18:52:12.063Z,1749149532.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.300000 m,
      deltaT: 3.276486 s,
      deltaX: 0.400000 m,
      approachRate: 0.122082 m/s,
      rangeRepo size: 4

2025-06-05T18:52:12.244Z,1749149532.244 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.258435
2025-06-05T18:52:12.497Z,1749149532.497 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.511018
2025-06-05T18:52:12.673Z,1749149532.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.30 m. Lat: 36.906233 Lon: -122.116182 Cable present.
2025-06-05T18:52:12.673Z,1749149532.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-05T18:52:12.673Z,1749149532.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-05T18:52:12.675Z,1749149532.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-05T18:52:12.749Z,1749149532.749 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.763880
2025-06-05T18:52:12.985Z,1749149532.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-05T18:52:12.985Z,1749149532.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-05T18:52:12.985Z,1749149532.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-05T18:52:13.002Z,1749149533.002 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.016769
2025-06-05T18:52:13.253Z,1749149533.253 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.267091
2025-06-05T18:52:13.420Z,1749149533.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-05T18:52:13.421Z,1749149533.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-05T18:52:13.422Z,1749149533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T18:52:13.506Z,1749149533.506 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.520353
2025-06-05T18:52:13.757Z,1749149533.757 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.770987
2025-06-05T18:52:13.808Z,1749149533.808 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-05T18:52:13.808Z,1749149533.808 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-05T18:52:13.808Z,1749149533.808 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-05T18:52:13.808Z,1749149533.808 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-05T18:52:13.808Z,1749149533.808 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-05T18:52:13.808Z,1749149533.808 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-05T18:52:13.809Z,1749149533.809 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-06-05T18:52:13.809Z,1749149533.809 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-05T18:52:13.810Z,1749149533.810 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-05T18:52:13.810Z,1749149533.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:13.811Z,1749149533.811 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-05T18:52:13.811Z,1749149533.811 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-05T18:52:13.812Z,1749149533.812 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-05T18:52:13.812Z,1749149533.812 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-05T18:52:13.812Z,1749149533.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-05T18:52:13.812Z,1749149533.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-05T18:52:13.812Z,1749149533.812 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-05T18:52:13.812Z,1749149533.812 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-05T18:52:14.010Z,1749149534.010 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.024741
2025-06-05T18:52:14.244Z,1749149534.244 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-05T18:52:14.245Z,1749149534.245 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-05T18:52:14.265Z,1749149534.265 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.279332
2025-06-05T18:52:14.517Z,1749149534.517 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.531176
2025-06-05T18:52:14.656Z,1749149534.656 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-05T18:52:14.657Z,1749149534.657 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-05T18:52:14.657Z,1749149534.657 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-05T18:52:14.769Z,1749149534.769 [DAT](INFO): DAT read: Rx Time:18:52:13.2883

2025-06-05T18:52:14.769Z,1749149534.769 [DAT](INFO): Rx dataTimestamp_ set to:1749149534.768873
2025-06-05T18:52:14.770Z,1749149534.770 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.784102
2025-06-05T18:52:15.021Z,1749149535.021 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.035074
2025-06-05T18:52:15.284Z,1749149535.284 [DAT](INFO): DAT read: 18:52:13.2883 LVL= 20048, 24417, 23314, 17507, AGC= 44, IDX= 444, 0.12,-2.631, 2.239, 1.501, 3.080, PHS= 0.660,-0.794,-1.581, RAW=  69.7,  17.1, CAL=  69.3,  25.1, ROT=  80.7, -25.1

2025-06-05T18:52:15.285Z,1749149535.285 [DAT](INFO): got valid direction response:
 18:52:13.2883 LVL= 20048, 24417, 23314, 17507, AGC= 44, IDX= 444, 0.12,-2.631, 2.239, 1.501, 3.080, PHS= 0.660,-0.794,-1.581, RAW=  69.7,  17.1, CAL=  69.3,  25.1, ROT=  80.7, -25.1

2025-06-05T18:52:15.286Z,1749149535.286 [DAT](INFO): DAT read: Bearing  80.7, -25.1 (Local)

2025-06-05T18:52:15.286Z,1749149535.286 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.7, -25.1 (Local)

2025-06-05T18:52:15.287Z,1749149535.287 [DAT](INFO): #Rx 20: Read direction message, but no range.
2025-06-05T18:52:15.288Z,1749149535.288 [DAT](INFO): direction in FSK: [0.146343,0.893666,0.424199]
2025-06-05T18:52:15.292Z,1749149535.292 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.305510
2025-06-05T18:52:15.526Z,1749149535.526 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:52:15.526Z,1749149535.526 [DAT](INFO): DAT read: user:2906>

2025-06-05T18:52:15.527Z,1749149535.527 [DAT](INFO): DAT read: Tx time:18:52:14.3824

2025-06-05T18:52:15.528Z,1749149535.528 [DAT](INFO): Ping request sent.
2025-06-05T18:52:15.528Z,1749149535.528 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:15.528Z,1749149535.528 [DAT](INFO): DAT read: TxSync time:18:52:14.3816

2025-06-05T18:52:15.529Z,1749149535.529 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-06-05T18:52:15.529Z,1749149535.529 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:15.530Z,1749149535.530 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:15.530Z,1749149535.530 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.002619
2025-06-05T18:52:15.777Z,1749149535.777 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.248894
2025-06-05T18:52:15.813Z,1749149535.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:16.029Z,1749149536.029 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.500779
2025-06-05T18:52:16.281Z,1749149536.281 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.752991
2025-06-05T18:52:16.533Z,1749149536.533 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.004846
2025-06-05T18:52:16.785Z,1749149536.785 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.257620
2025-06-05T18:52:17.037Z,1749149537.037 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.509047
2025-06-05T18:52:17.289Z,1749149537.289 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.760766
2025-06-05T18:52:17.455Z,1749149537.455 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-05T18:52:17.455Z,1749149537.455 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-05T18:52:17.455Z,1749149537.455 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T18:52:17.455Z,1749149537.455 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-05T18:52:17.542Z,1749149537.542 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.013621
2025-06-05T18:52:17.796Z,1749149537.796 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.268261
2025-06-05T18:52:17.828Z,1749149537.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:17.829Z,1749149537.829 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-06-05T18:52:17.829Z,1749149537.829 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-05T18:52:17.831Z,1749149537.831 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-05T18:52:17.831Z,1749149537.831 [lineCaptureHoming:LineCapture] Stopped
2025-06-05T18:52:17.831Z,1749149537.831 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-05T18:52:17.831Z,1749149537.831 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-05T18:52:17.831Z,1749149537.831 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-05T18:52:17.832Z,1749149537.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T18:52:17.832Z,1749149537.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T18:52:17.832Z,1749149537.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T18:52:17.832Z,1749149537.832 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-05T18:52:17.833Z,1749149537.833 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T18:52:18.049Z,1749149538.049 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.521696
2025-06-05T18:52:18.297Z,1749149538.297 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-05T18:52:18.301Z,1749149538.301 [DAT](INFO): DAT read: Rx Time:18:52:16.7881

2025-06-05T18:52:18.301Z,1749149538.301 [DAT](INFO): Rx dataTimestamp_ set to:1749149538.300915
2025-06-05T18:52:18.302Z,1749149538.302 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.773976
2025-06-05T18:52:18.302Z,1749149538.302 [lineCaptureHoming:Lap:B] Stopped
2025-06-05T18:52:18.302Z,1749149538.302 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-05T18:52:18.302Z,1749149538.302 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-05T18:52:18.553Z,1749149538.553 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.024840
2025-06-05T18:52:18.691Z,1749149538.691 [lineCaptureHoming:Lap:C] Stopped
2025-06-05T18:52:18.691Z,1749149538.691 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-05T18:52:18.812Z,1749149538.812 [DAT](INFO): DAT read: 18:52:16.7881 LVL= 16240, 17953, 14530, 16371, AGC= 42, IDX= 442,-0.13,-1.519,-2.758, 2.644,-2.051, PHS= 0.620,-0.661,-1.591, RAW=  65.2,  16.7, CAL=  63.7,  24.5, ROT=  86.3, -24.5

2025-06-05T18:52:18.813Z,1749149538.813 [DAT](INFO): got valid direction response:
 18:52:16.7881 LVL= 16240, 17953, 14530, 16371, AGC= 42, IDX= 442,-0.13,-1.519,-2.758, 2.644,-2.051, PHS= 0.620,-0.661,-1.591, RAW=  65.2,  16.7, CAL=  63.7,  24.5, ROT=  86.3, -24.5

2025-06-05T18:52:18.814Z,1749149538.814 [DAT](INFO): DAT read: Bearing  86.3, -24.5 (Local)

2025-06-05T18:52:18.814Z,1749149538.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.3, -24.5 (Local)

2025-06-05T18:52:18.815Z,1749149538.815 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-06-05T18:52:18.816Z,1749149538.816 [DAT](INFO): DAT read: user:2907>

2025-06-05T18:52:18.817Z,1749149538.817 [DAT](INFO): DAT read: Tx time:18:52:17.8825

2025-06-05T18:52:18.817Z,1749149538.817 [DAT](INFO): Ping request sent.
2025-06-05T18:52:18.817Z,1749149538.817 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:18.817Z,1749149538.817 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-05T18:52:18.818Z,1749149538.818 [DAT](INFO): direction in FSK: [0.058722,0.908065,0.414693]
2025-06-05T18:52:18.819Z,1749149538.819 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:18.819Z,1749149538.819 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:18.838Z,1749149538.838 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:18.838Z,1749149538.838 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:18.846Z,1749149538.846 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.028634
2025-06-05T18:52:19.043Z,1749149539.043 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-06-05T18:52:19.043Z,1749149539.043 [lineCaptureHoming:Lap:D] Stopped
2025-06-05T18:52:19.043Z,1749149539.043 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-05T18:52:19.044Z,1749149539.044 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-05T18:52:19.057Z,1749149539.057 [DAT](INFO): DAT read: TxSync time:18:52:17.8817

2025-06-05T18:52:19.059Z,1749149539.059 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.241481
2025-06-05T18:52:19.310Z,1749149539.310 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.492677
2025-06-05T18:52:19.468Z,1749149539.468 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-05T18:52:19.468Z,1749149539.468 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-05T18:52:19.468Z,1749149539.468 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-05T18:52:19.468Z,1749149539.468 [lineCaptureHoming:restartDHCP:A](IMPORTANT): Restarting DHCP...
2025-06-05T18:52:19.468Z,1749149539.468 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-05T18:52:19.469Z,1749149539.469 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-05T18:52:19.561Z,1749149539.561 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.743567
2025-06-05T18:52:19.813Z,1749149539.813 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.995489
2025-06-05T18:52:19.863Z,1749149539.863 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-05T18:52:19.864Z,1749149539.864 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-05T18:52:19.865Z,1749149539.865 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-05T18:52:19.865Z,1749149539.865 [lineCaptureHoming:restartDHCP] Stopped
2025-06-05T18:52:19.865Z,1749149539.865 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-05T18:52:19.865Z,1749149539.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:52:19.915Z,1749149539.915 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-05T18:52:20.066Z,1749149540.066 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.248356
2025-06-05T18:52:20.320Z,1749149540.320 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.502019
2025-06-05T18:52:20.373Z,1749149540.373 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-06-05UTC185220_sh
  
2025-06-05T18:52:20.407Z,1749149540.407 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-05T18:52:20.407Z,1749149540.407 [lineCaptureHoming:Lap:E] Stopped
2025-06-05T18:52:20.412Z,1749149540.412 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-05T18:52:20.412Z,1749149540.412 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-05T18:52:20.413Z,1749149540.413 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-05T18:52:20.413Z,1749149540.413 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-05T18:52:20.569Z,1749149540.569 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.752047
2025-06-05T18:52:20.814Z,1749149540.814 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  8.000000 min 
2025-06-05T18:52:20.814Z,1749149540.814 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-05T18:52:20.814Z,1749149540.814 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-05T18:52:20.821Z,1749149540.821 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.003771
2025-06-05T18:52:21.073Z,1749149541.073 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.255408
2025-06-05T18:52:21.132Z,1749149541.132 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-05T18:52:21.132Z,1749149541.132 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-05T18:52:21.326Z,1749149541.326 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.508410
2025-06-05T18:52:21.556Z,1749149541.556 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-05T18:52:21.556Z,1749149541.556 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-05T18:52:21.556Z,1749149541.556 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-05T18:52:21.556Z,1749149541.556 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-05T18:52:21.577Z,1749149541.577 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.759940
2025-06-05T18:52:21.830Z,1749149541.830 [DAT](INFO): DAT read: Rx Time:18:52:20.2883

2025-06-05T18:52:21.831Z,1749149541.831 [DAT](INFO): Rx dataTimestamp_ set to:1749149541.830363
2025-06-05T18:52:21.834Z,1749149541.834 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.016243
2025-06-05T18:52:21.928Z,1749149541.928 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-06-05T18:52:21.929Z,1749149541.929 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-06-05T18:52:22.081Z,1749149542.081 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.263608
2025-06-05T18:52:22.351Z,1749149542.351 [DAT](INFO): DAT read: 18:52:20.2883 LVL= 18592, 22193, 19634, 16867, AGC= 43, IDX= 443, 0.22,-3.067, 1.672, 0.991, 2.574, PHS= 0.731,-0.855,-1.586, RAW=  72.0,  16.4, CAL=  72.5,  24.4, ROT=  77.5, -24.4

2025-06-05T18:52:22.353Z,1749149542.353 [DAT](INFO): got valid direction response:
 18:52:20.2883 LVL= 18592, 22193, 19634, 16867, AGC= 43, IDX= 443, 0.22,-3.067, 1.672, 0.991, 2.574, PHS= 0.731,-0.855,-1.586, RAW=  72.0,  16.4, CAL=  72.5,  24.4, ROT=  77.5, -24.4

2025-06-05T18:52:22.354Z,1749149542.354 [DAT](INFO): DAT read: Bearing  77.5, -24.4 (Local)

2025-06-05T18:52:22.354Z,1749149542.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.5, -24.4 (Local)

2025-06-05T18:52:22.356Z,1749149542.356 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:52:22.357Z,1749149542.357 [DAT](INFO): DAT read: user:2908>

2025-06-05T18:52:22.358Z,1749149542.358 [DAT](INFO): DAT read: Tx time:18:52:21.3825

2025-06-05T18:52:22.358Z,1749149542.358 [DAT](INFO): Ping request sent.
2025-06-05T18:52:22.359Z,1749149542.359 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:22.359Z,1749149542.359 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-05T18:52:22.388Z,1749149542.388 [DAT](INFO): direction in FSK: [0.197108,0.889097,0.413104]
2025-06-05T18:52:22.389Z,1749149542.389 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:22.389Z,1749149542.389 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:22.414Z,1749149542.414 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:22.414Z,1749149542.414 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:22.453Z,1749149542.453 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.094617
2025-06-05T18:52:22.585Z,1749149542.585 [DAT](INFO): DAT read: TxSync time:18:52:21.3817

2025-06-05T18:52:22.586Z,1749149542.586 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.226991
2025-06-05T18:52:22.586Z,1749149542.586 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:52:22.837Z,1749149542.837 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.478705
2025-06-05T18:52:22.838Z,1749149542.838 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:52:23.089Z,1749149543.089 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.730027
2025-06-05T18:52:23.089Z,1749149543.089 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:52:23.344Z,1749149543.344 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.984829
2025-06-05T18:52:23.593Z,1749149543.593 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.234774
2025-06-05T18:52:23.845Z,1749149543.845 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.486440
2025-06-05T18:52:24.098Z,1749149544.098 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.739136
2025-06-05T18:52:24.353Z,1749149544.353 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.994108
2025-06-05T18:52:24.426Z,1749149544.426 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768V
2025-06-05T18:52:24.601Z,1749149544.601 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.242026
2025-06-05T18:52:24.856Z,1749149544.856 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.497121
2025-06-05T18:52:25.105Z,1749149545.105 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.746082
2025-06-05T18:52:25.360Z,1749149545.360 [DAT](INFO): DAT read: Rx Time:18:52:23.7882

2025-06-05T18:52:25.362Z,1749149545.362 [DAT](INFO): Rx dataTimestamp_ set to:1749149545.360741
2025-06-05T18:52:25.364Z,1749149545.364 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.004565
2025-06-05T18:52:25.609Z,1749149545.609 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.250688
2025-06-05T18:52:25.877Z,1749149545.877 [DAT](INFO): DAT read: 18:52:23.7882 LVL= 24304, 25489, 26018, 17907, AGC= 46, IDX= 443, 0.11,-0.914,-2.259,-2.995,-1.378, PHS= 0.552,-0.834,-1.620, RAW=  69.1,  19.4, CAL=  68.1,  27.5, ROT=  81.9, -27.5

2025-06-05T18:52:25.879Z,1749149545.879 [DAT](INFO): got valid direction response:
 18:52:23.7882 LVL= 24304, 25489, 26018, 17907, AGC= 46, IDX= 443, 0.11,-0.914,-2.259,-2.995,-1.378, PHS= 0.552,-0.834,-1.620, RAW=  69.1,  19.4, CAL=  68.1,  27.5, ROT=  81.9, -27.5

2025-06-05T18:52:25.880Z,1749149545.880 [DAT](INFO): DAT read: Bearing  81.9, -27.5 (Local)

2025-06-05T18:52:25.880Z,1749149545.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.9, -27.5 (Local)

2025-06-05T18:52:25.881Z,1749149545.881 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-05T18:52:25.882Z,1749149545.882 [DAT](INFO): DAT read: user:2909>

2025-06-05T18:52:25.883Z,1749149545.883 [DAT](INFO): DAT read: Tx time:18:52:24.8825

2025-06-05T18:52:25.883Z,1749149545.883 [DAT](INFO): Ping request sent.
2025-06-05T18:52:25.883Z,1749149545.883 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:25.884Z,1749149545.884 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-05T18:52:25.886Z,1749149545.886 [DAT](INFO): direction in FSK: [0.124981,0.878162,0.461749]
2025-06-05T18:52:25.887Z,1749149545.887 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:25.888Z,1749149545.888 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:25.895Z,1749149545.895 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:25.896Z,1749149545.896 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:25.899Z,1749149545.899 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.015816
2025-06-05T18:52:26.114Z,1749149546.114 [DAT](INFO): DAT read: TxSync time:18:52:24.8817

2025-06-05T18:52:26.115Z,1749149546.115 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.231552
2025-06-05T18:52:26.367Z,1749149546.367 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.483774
2025-06-05T18:52:26.617Z,1749149546.617 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.733658
2025-06-05T18:52:26.870Z,1749149546.870 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.986721
2025-06-05T18:52:27.121Z,1749149547.121 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.237315
2025-06-05T18:52:27.376Z,1749149547.376 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.492593
2025-06-05T18:52:27.626Z,1749149547.626 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.742394
2025-06-05T18:52:27.877Z,1749149547.877 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.993325
2025-06-05T18:52:28.129Z,1749149548.129 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.245469
2025-06-05T18:52:28.383Z,1749149548.383 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.499375
2025-06-05T18:52:28.633Z,1749149548.633 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.749391
2025-06-05T18:52:28.886Z,1749149548.886 [DAT](INFO): DAT read: Rx Time:18:52:27.2882

2025-06-05T18:52:28.886Z,1749149548.886 [DAT](INFO): Rx dataTimestamp_ set to:1749149548.886093
2025-06-05T18:52:28.887Z,1749149548.887 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.004069
2025-06-05T18:52:29.137Z,1749149549.137 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.253489
2025-06-05T18:52:29.411Z,1749149549.411 [DAT](INFO): DAT read: 18:52:27.2882 LVL= 20000, 25825, 26098, 17267, AGC= 44, IDX= 442,-0.17, 0.946,-0.258,-1.026, 0.525, PHS= 0.509,-0.736,-1.554, RAW=  66.8,  19.3, CAL=  65.4,  27.2, ROT=  84.6, -27.2

2025-06-05T18:52:29.415Z,1749149549.415 [DAT](INFO): got valid direction response:
 18:52:27.2882 LVL= 20000, 25825, 26098, 17267, AGC= 44, IDX= 442,-0.17, 0.946,-0.258,-1.026, 0.525, PHS= 0.509,-0.736,-1.554, RAW=  66.8,  19.3, CAL=  65.4,  27.2, ROT=  84.6, -27.2

2025-06-05T18:52:29.429Z,1749149549.429 [DAT](INFO): DAT read: Bearing  84.6, -27.2 (Local)

2025-06-05T18:52:29.430Z,1749149549.430 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.6, -27.2 (Local)

2025-06-05T18:52:29.436Z,1749149549.436 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-06-05T18:52:29.439Z,1749149549.439 [DAT](INFO): DAT read: user:2910>

2025-06-05T18:52:29.445Z,1749149549.445 [DAT](INFO): DAT read: Tx time:18:52:28.3826

2025-06-05T18:52:29.445Z,1749149549.445 [DAT](INFO): Ping request sent.
2025-06-05T18:52:29.445Z,1749149549.445 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:29.446Z,1749149549.446 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-05T18:52:29.447Z,1749149549.447 [DAT](INFO): direction in FSK: [0.083701,0.885469,0.457098]
2025-06-05T18:52:29.447Z,1749149549.447 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:29.447Z,1749149549.447 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:29.455Z,1749149549.455 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:29.455Z,1749149549.455 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:29.472Z,1749149549.472 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.014009
2025-06-05T18:52:29.645Z,1749149549.645 [DAT](INFO): DAT read: TxSync time:18:52:28.3818

2025-06-05T18:52:29.646Z,1749149549.646 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.200490
2025-06-05T18:52:29.897Z,1749149549.897 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.451428
2025-06-05T18:52:30.152Z,1749149550.152 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.706286
2025-06-05T18:52:30.420Z,1749149550.420 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.961933
2025-06-05T18:52:30.657Z,1749149550.657 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.211115
2025-06-05T18:52:30.672Z,1749149550.672 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T18:52:30.910Z,1749149550.910 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.464240
2025-06-05T18:52:31.161Z,1749149551.161 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.715216
2025-06-05T18:52:31.417Z,1749149551.417 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.970664
2025-06-05T18:52:31.665Z,1749149551.665 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.219249
2025-06-05T18:52:31.676Z,1749149551.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:52:31.918Z,1749149551.918 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.471719
2025-06-05T18:52:32.169Z,1749149552.169 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.723235
2025-06-05T18:52:32.421Z,1749149552.421 [DAT](INFO): DAT read: Rx Time:18:52:30.7883

2025-06-05T18:52:32.421Z,1749149552.421 [DAT](INFO): Rx dataTimestamp_ set to:1749149552.420995
2025-06-05T18:52:32.422Z,1749149552.422 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.976422
2025-06-05T18:52:32.673Z,1749149552.673 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.227182
2025-06-05T18:52:32.930Z,1749149552.930 [DAT](INFO): DAT read: 18:52:30.7883 LVL= 18880, 26161, 23858, 17171, AGC= 43, IDX= 442, 0.36, 3.134, 1.822, 1.026, 2.608, PHS= 0.614,-0.739,-1.585, RAW=  67.6,  17.5, CAL=  66.6,  25.4, ROT=  83.4, -25.4

2025-06-05T18:52:32.931Z,1749149552.931 [DAT](INFO): got valid direction response:
 18:52:30.7883 LVL= 18880, 26161, 23858, 17171, AGC= 43, IDX= 442, 0.36, 3.134, 1.822, 1.026, 2.608, PHS= 0.614,-0.739,-1.585, RAW=  67.6,  17.5, CAL=  66.6,  25.4, ROT=  83.4, -25.4

2025-06-05T18:52:32.932Z,1749149552.932 [DAT](INFO): DAT read: Bearing  83.4, -25.4 (Local)

2025-06-05T18:52:32.933Z,1749149552.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.4, -25.4 (Local)

2025-06-05T18:52:32.951Z,1749149552.951 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-05T18:52:32.952Z,1749149552.952 [DAT](INFO): DAT read: user:2911>

2025-06-05T18:52:32.953Z,1749149552.953 [DAT](INFO): DAT read: Tx time:18:52:31.8826

2025-06-05T18:52:32.953Z,1749149552.953 [DAT](INFO): Ping request sent.
2025-06-05T18:52:32.953Z,1749149552.953 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:32.954Z,1749149552.954 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T18:52:32.955Z,1749149552.955 [DAT](INFO): direction in FSK: [0.103827,0.897349,0.428935]
2025-06-05T18:52:32.955Z,1749149552.955 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:32.955Z,1749149552.955 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:32.958Z,1749149552.958 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:32.959Z,1749149552.959 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:32.998Z,1749149552.998 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.044301
2025-06-05T18:52:33.177Z,1749149553.177 [DAT](INFO): DAT read: TxSync time:18:52:31.8818

2025-06-05T18:52:33.178Z,1749149553.178 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.224149
2025-06-05T18:52:33.429Z,1749149553.429 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.475141
2025-06-05T18:52:33.681Z,1749149553.681 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.727302
2025-06-05T18:52:33.933Z,1749149553.933 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.979691
2025-06-05T18:52:34.185Z,1749149554.185 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.231151
2025-06-05T18:52:34.437Z,1749149554.437 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.483389
2025-06-05T18:52:34.689Z,1749149554.689 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.735795
2025-06-05T18:52:34.941Z,1749149554.941 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.987744
2025-06-05T18:52:35.193Z,1749149555.193 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.239918
2025-06-05T18:52:35.447Z,1749149555.447 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.493326
2025-06-05T18:52:35.697Z,1749149555.697 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.743593
2025-06-05T18:52:35.949Z,1749149555.949 [DAT](INFO): DAT read: Rx Time:18:52:34.2884

2025-06-05T18:52:35.949Z,1749149555.949 [DAT](INFO): Rx dataTimestamp_ set to:1749149555.948860
2025-06-05T18:52:35.950Z,1749149555.950 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.996265
2025-06-05T18:52:36.201Z,1749149556.201 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.247141
2025-06-05T18:52:36.460Z,1749149556.460 [DAT](INFO): DAT read: 18:52:34.2884 LVL= 14992, 19665, 15138, 13587, AGC= 41, IDX= 443,-0.01, 2.621, 1.369, 0.498, 2.058, PHS= 0.651,-0.642,-1.563, RAW=  65.5,  15.9, CAL=  64.2,  23.7, ROT=  85.8, -23.7

2025-06-05T18:52:36.463Z,1749149556.463 [DAT](INFO): got valid direction response:
 18:52:34.2884 LVL= 14992, 19665, 15138, 13587, AGC= 41, IDX= 443,-0.01, 2.621, 1.369, 0.498, 2.058, PHS= 0.651,-0.642,-1.563, RAW=  65.5,  15.9, CAL=  64.2,  23.7, ROT=  85.8, -23.7

2025-06-05T18:52:36.466Z,1749149556.466 [DAT](INFO): DAT read: Bearing  85.8, -23.7 (Local)

2025-06-05T18:52:36.466Z,1749149556.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.8, -23.7 (Local)

2025-06-05T18:52:36.468Z,1749149556.468 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:52:36.469Z,1749149556.469 [DAT](INFO): DAT read: user:2912>

2025-06-05T18:52:36.469Z,1749149556.469 [DAT](INFO): DAT read: Tx time:18:52:35.3826

2025-06-05T18:52:36.470Z,1749149556.470 [DAT](INFO): Ping request sent.
2025-06-05T18:52:36.470Z,1749149556.470 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:36.470Z,1749149556.470 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-05T18:52:36.471Z,1749149556.471 [DAT](INFO): direction in FSK: [0.067061,0.913204,0.401948]
2025-06-05T18:52:36.489Z,1749149556.489 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:36.489Z,1749149556.489 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:36.558Z,1749149556.558 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:36.559Z,1749149556.559 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:36.580Z,1749149556.580 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.110202
2025-06-05T18:52:36.706Z,1749149556.706 [DAT](INFO): DAT read: TxSync time:18:52:35.3818

2025-06-05T18:52:36.707Z,1749149556.707 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.237371
2025-06-05T18:52:36.957Z,1749149556.957 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.487041
2025-06-05T18:52:37.210Z,1749149557.210 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.739886
2025-06-05T18:52:37.461Z,1749149557.461 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.991383
2025-06-05T18:52:37.713Z,1749149557.713 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.243656
2025-06-05T18:52:37.965Z,1749149557.965 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.495230
2025-06-05T18:52:38.217Z,1749149558.217 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.747060
2025-06-05T18:52:38.469Z,1749149558.469 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.998893
2025-06-05T18:52:38.721Z,1749149558.721 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.250990
2025-06-05T18:52:38.973Z,1749149558.973 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.503089
2025-06-05T18:52:39.226Z,1749149559.226 [DAT](INFO): DAT read: Rx Time:18:52:37.7884

2025-06-05T18:52:39.226Z,1749149559.226 [DAT](INFO): Rx dataTimestamp_ set to:1749149559.226169
2025-06-05T18:52:39.227Z,1749149559.227 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.757332
2025-06-05T18:52:39.477Z,1749149559.477 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.007499
2025-06-05T18:52:39.741Z,1749149559.741 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.261739
2025-06-05T18:52:40.001Z,1749149560.001 [DAT](INFO): DAT read: 18:52:37.7884 LVL= 18928, 20545, 17106, 14643, AGC= 43, IDX= 443, 0.44,-1.424,-2.784, 2.726,-1.974, PHS= 0.637,-0.763,-1.587, RAW=  68.5,  17.3, CAL=  67.7,  25.2, ROT=  82.3, -25.2

2025-06-05T18:52:40.002Z,1749149560.002 [DAT](INFO): got valid direction response:
 18:52:37.7884 LVL= 18928, 20545, 17106, 14643, AGC= 43, IDX= 443, 0.44,-1.424,-2.784, 2.726,-1.974, PHS= 0.637,-0.763,-1.587, RAW=  68.5,  17.3, CAL=  67.7,  25.2, ROT=  82.3, -25.2

2025-06-05T18:52:40.003Z,1749149560.003 [DAT](INFO): DAT read: Bearing  82.3, -25.2 (Local)

2025-06-05T18:52:40.004Z,1749149560.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.3, -25.2 (Local)

2025-06-05T18:52:40.005Z,1749149560.005 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:52:40.006Z,1749149560.006 [DAT](INFO): DAT read: user:2913>

2025-06-05T18:52:40.007Z,1749149560.007 [DAT](INFO): DAT read: Tx time:18:52:38.8826

2025-06-05T18:52:40.007Z,1749149560.007 [DAT](INFO): Ping request sent.
2025-06-05T18:52:40.007Z,1749149560.007 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:40.032Z,1749149560.032 [DAT](INFO): DAT read: TxSync time:18:52:38.8818

2025-06-05T18:52:40.033Z,1749149560.033 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-05T18:52:40.034Z,1749149560.034 [DAT](INFO): direction in FSK: [0.121234,0.896668,0.425779]
2025-06-05T18:52:40.034Z,1749149560.034 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:40.034Z,1749149560.034 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:40.045Z,1749149560.045 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:40.046Z,1749149560.046 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:40.061Z,1749149560.061 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.054173
2025-06-05T18:52:40.233Z,1749149560.233 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.226207
2025-06-05T18:52:40.485Z,1749149560.485 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.477675
2025-06-05T18:52:40.737Z,1749149560.737 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.729558
2025-06-05T18:52:40.991Z,1749149560.991 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.983232
2025-06-05T18:52:41.241Z,1749149561.241 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.234079
2025-06-05T18:52:41.493Z,1749149561.493 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.486248
2025-06-05T18:52:41.745Z,1749149561.745 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.737958
2025-06-05T18:52:41.997Z,1749149561.997 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.989623
2025-06-05T18:52:42.249Z,1749149562.249 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.242135
2025-06-05T18:52:42.501Z,1749149562.501 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.493590
2025-06-05T18:52:42.753Z,1749149562.753 [DAT](INFO): DAT read: Rx Time:18:52:41.2885

2025-06-05T18:52:42.753Z,1749149562.753 [DAT](INFO): Rx dataTimestamp_ set to:1749149562.752920
2025-06-05T18:52:42.754Z,1749149562.754 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.746793
2025-06-05T18:52:43.005Z,1749149563.005 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.997994
2025-06-05T18:52:43.260Z,1749149563.260 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.252796
2025-06-05T18:52:43.515Z,1749149563.515 [DAT](INFO): DAT read: 18:52:41.2885 LVL= 16336, 19537, 15186, 13731, AGC= 42, IDX= 443, 0.21, 2.292, 1.035, 0.169, 1.767, PHS= 0.613,-0.685,-1.601, RAW=  65.7,  17.1, CAL=  64.3,  24.9, ROT=  85.7, -24.9

2025-06-05T18:52:43.516Z,1749149563.516 [DAT](INFO): got valid direction response:
 18:52:41.2885 LVL= 16336, 19537, 15186, 13731, AGC= 42, IDX= 443, 0.21, 2.292, 1.035, 0.169, 1.767, PHS= 0.613,-0.685,-1.601, RAW=  65.7,  17.1, CAL=  64.3,  24.9, ROT=  85.7, -24.9

2025-06-05T18:52:43.517Z,1749149563.517 [DAT](INFO): DAT read: Bearing  85.7, -24.9 (Local)

2025-06-05T18:52:43.518Z,1749149563.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.7, -24.9 (Local)

2025-06-05T18:52:43.519Z,1749149563.519 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:52:43.520Z,1749149563.520 [DAT](INFO): DAT read: user:2914>

2025-06-05T18:52:43.521Z,1749149563.521 [DAT](INFO): DAT read: Tx time:18:52:42.3827

2025-06-05T18:52:43.521Z,1749149563.521 [DAT](INFO): Ping request sent.
2025-06-05T18:52:43.521Z,1749149563.521 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:43.522Z,1749149563.522 [DAT](INFO): DAT read: TxSync time:18:52:42.3819

2025-06-05T18:52:43.523Z,1749149563.523 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-05T18:52:43.524Z,1749149563.524 [DAT](INFO): direction in FSK: [0.068009,0.904491,0.421036]
2025-06-05T18:52:43.525Z,1749149563.525 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:43.525Z,1749149563.525 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:43.553Z,1749149563.553 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:43.554Z,1749149563.554 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:43.558Z,1749149563.558 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.035583
2025-06-05T18:52:43.761Z,1749149563.761 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.239212
2025-06-05T18:52:44.013Z,1749149564.013 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.491369
2025-06-05T18:52:44.265Z,1749149564.265 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.743124
2025-06-05T18:52:44.517Z,1749149564.517 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.995052
2025-06-05T18:52:44.769Z,1749149564.769 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.247280
2025-06-05T18:52:45.021Z,1749149565.021 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.499238
2025-06-05T18:52:45.273Z,1749149565.273 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.751065
2025-06-05T18:52:45.526Z,1749149565.526 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.003897
2025-06-05T18:52:45.777Z,1749149565.777 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.255794
2025-06-05T18:52:46.029Z,1749149566.029 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.507048
2025-06-05T18:52:46.282Z,1749149566.282 [DAT](INFO): DAT read: Rx Time:18:52:44.7885

2025-06-05T18:52:46.282Z,1749149566.282 [DAT](INFO): Rx dataTimestamp_ set to:1749149566.281752
2025-06-05T18:52:46.283Z,1749149566.283 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.761393
2025-06-05T18:52:46.533Z,1749149566.533 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.011125
2025-06-05T18:52:46.790Z,1749149566.790 [DAT](INFO): DAT read: 18:52:44.7885 LVL= 19376, 24353, 20130, 15891, AGC= 43, IDX= 443,-0.08,-0.194,-1.401,-2.250,-0.649, PHS= 0.543,-0.705,-1.604, RAW=  65.4,  18.5, CAL=  63.7,  26.3, ROT=  86.3, -26.3

2025-06-05T18:52:46.792Z,1749149566.792 [DAT](INFO): got valid direction response:
 18:52:44.7885 LVL= 19376, 24353, 20130, 15891, AGC= 43, IDX= 443,-0.08,-0.194,-1.401,-2.250,-0.649, PHS= 0.543,-0.705,-1.604, RAW=  65.4,  18.5, CAL=  63.7,  26.3, ROT=  86.3, -26.3

2025-06-05T18:52:46.793Z,1749149566.793 [DAT](INFO): DAT read: Bearing  86.3, -26.3 (Local)

2025-06-05T18:52:46.793Z,1749149566.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.3, -26.3 (Local)

2025-06-05T18:52:46.795Z,1749149566.795 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:52:46.796Z,1749149566.796 [DAT](INFO): DAT read: user:2915>

2025-06-05T18:52:46.797Z,1749149566.797 [DAT](INFO): DAT read: Tx time:18:52:45.8827

2025-06-05T18:52:46.798Z,1749149566.798 [DAT](INFO): Ping request sent.
2025-06-05T18:52:46.798Z,1749149566.798 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:46.798Z,1749149566.798 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-05T18:52:46.799Z,1749149566.799 [DAT](INFO): direction in FSK: [0.057852,0.894618,0.443071]
2025-06-05T18:52:46.799Z,1749149566.799 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:46.800Z,1749149566.800 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:46.803Z,1749149566.803 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:46.803Z,1749149566.803 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:46.811Z,1749149566.811 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.013622
2025-06-05T18:52:47.037Z,1749149567.037 [DAT](INFO): DAT read: TxSync time:18:52:45.8819

2025-06-05T18:52:47.038Z,1749149567.038 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.240152
2025-06-05T18:52:47.289Z,1749149567.289 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.491069
2025-06-05T18:52:47.541Z,1749149567.541 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.743296
2025-06-05T18:52:47.794Z,1749149567.794 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.995952
2025-06-05T18:52:48.045Z,1749149568.045 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.246981
2025-06-05T18:52:48.297Z,1749149568.297 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.499329
2025-06-05T18:52:48.549Z,1749149568.549 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.751143
2025-06-05T18:52:48.801Z,1749149568.801 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.003572
2025-06-05T18:52:49.053Z,1749149569.053 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.255241
2025-06-05T18:52:49.305Z,1749149569.305 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.506928
2025-06-05T18:52:49.557Z,1749149569.557 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.758955
2025-06-05T18:52:49.809Z,1749149569.809 [DAT](INFO): DAT read: Rx Time:18:52:48.2885

2025-06-05T18:52:49.810Z,1749149569.810 [DAT](INFO): Rx dataTimestamp_ set to:1749149569.809474
2025-06-05T18:52:49.810Z,1749149569.810 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.012639
2025-06-05T18:52:50.061Z,1749149570.061 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.263234
2025-06-05T18:52:50.318Z,1749149570.318 [DAT](INFO): DAT read: 18:52:48.2885 LVL= 16992, 20641, 17298, 15939, AGC= 42, IDX= 443, 0.41, 2.055, 0.730,-0.090, 1.486, PHS= 0.658,-0.709,-1.578, RAW= 16.4, CAL=  66.3,  24.3, ROT=  83.7, -24.3

2025-06-05T18:52:50.319Z,1749149570.319 [DAT](INFO): unknown deviceResponse_: 18:52:48.2885 LVL= 16992, 20641, 17298, 15939, AGC= 42, IDX= 443, 0.41, 2.055, 0.730,-0.090, 1.486, PHS= 0.658,-0.709,-1.578, RAW= 16.4, CAL=  66.3,  24.3, ROT=  83.7, -24.3

2025-06-05T18:52:50.320Z,1749149570.320 [DAT](INFO): DAT read: Bearing  83.7, -24.3 (Local)

2025-06-05T18:52:50.321Z,1749149570.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.7, -24.3 (Local)

2025-06-05T18:52:50.322Z,1749149570.322 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:52:50.323Z,1749149570.323 [DAT](INFO): DAT read: user:2916>

2025-06-05T18:52:50.323Z,1749149570.323 [DAT](INFO): DAT read: Tx time:18:52:49.3827

2025-06-05T18:52:50.324Z,1749149570.324 [DAT](INFO): Ping request sent.
2025-06-05T18:52:50.324Z,1749149570.324 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:50.325Z,1749149570.325 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-06-05T18:52:50.325Z,1749149570.325 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:50.326Z,1749149570.326 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:50.327Z,1749149570.327 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.003214
2025-06-05T18:52:50.565Z,1749149570.565 [DAT](INFO): DAT read: TxSync time:18:52:49.3819

2025-06-05T18:52:50.565Z,1749149570.565 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.241674
2025-06-05T18:52:50.817Z,1749149570.817 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.493079
2025-06-05T18:52:51.069Z,1749149571.069 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.745065
2025-06-05T18:52:51.321Z,1749149571.321 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.996831
2025-06-05T18:52:51.573Z,1749149571.573 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.248881
2025-06-05T18:52:51.826Z,1749149571.826 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.501740
2025-06-05T18:52:52.077Z,1749149572.077 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.753489
2025-06-05T18:52:52.329Z,1749149572.329 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.004939
2025-06-05T18:52:52.581Z,1749149572.581 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.257126
2025-06-05T18:52:52.833Z,1749149572.833 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.508842
2025-06-05T18:52:53.085Z,1749149573.085 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.761184
2025-06-05T18:52:53.337Z,1749149573.337 [DAT](INFO): DAT read: Rx Time:18:52:51.7886

2025-06-05T18:52:53.337Z,1749149573.337 [DAT](INFO): Rx dataTimestamp_ set to:1749149573.336859
2025-06-05T18:52:53.338Z,1749149573.338 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.013966
2025-06-05T18:52:53.589Z,1749149573.589 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.264877
2025-06-05T18:52:53.848Z,1749149573.848 [DAT](INFO): DAT read: 18:52:51.7886 LVL= 17136, 19345, 14898, 13555, AGC= 42, IDX= 443, 0.12, 0.274,-0.999,-1.859,-0.267, PHS= 0.629,-0.685,-1.594, RAW=  66.0,  16.8, CAL=  64.7,  24.6, ROT=  85.3, -24.6

2025-06-05T18:52:53.849Z,1749149573.849 [DAT](INFO): got valid direction response:
 18:52:51.7886 LVL= 17136, 19345, 14898, 13555, AGC= 42, IDX= 443, 0.12, 0.274,-0.999,-1.859,-0.267, PHS= 0.629,-0.685,-1.594, RAW=  66.0,  16.8, CAL=  64.7,  24.6, ROT=  85.3, -24.6

2025-06-05T18:52:53.849Z,1749149573.849 [DAT](INFO): DAT read: Bearing  85.3, -24.6 (Local)

2025-06-05T18:52:53.850Z,1749149573.850 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.3, -24.6 (Local)

2025-06-05T18:52:53.851Z,1749149573.851 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:52:53.852Z,1749149573.852 [DAT](INFO): DAT read: user:2917>

2025-06-05T18:52:53.853Z,1749149573.853 [DAT](INFO): DAT read: Tx time:18:52:52.8828

2025-06-05T18:52:53.853Z,1749149573.853 [DAT](INFO): Ping request sent.
2025-06-05T18:52:53.853Z,1749149573.853 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:53.853Z,1749149573.853 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-05T18:52:53.854Z,1749149573.854 [DAT](INFO): direction in FSK: [0.074501,0.906179,0.416281]
2025-06-05T18:52:53.855Z,1749149573.855 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:53.855Z,1749149573.855 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:53.869Z,1749149573.869 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:53.869Z,1749149573.869 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:53.894Z,1749149573.894 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.040908
2025-06-05T18:52:54.094Z,1749149574.094 [DAT](INFO): DAT read: TxSync time:18:52:52.8820

2025-06-05T18:52:54.095Z,1749149574.095 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.241778
2025-06-05T18:52:54.345Z,1749149574.345 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.492383
2025-06-05T18:52:54.597Z,1749149574.597 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.743627
2025-06-05T18:52:54.849Z,1749149574.849 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.995674
2025-06-05T18:52:55.101Z,1749149575.101 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.247852
2025-06-05T18:52:55.354Z,1749149575.354 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.500814
2025-06-05T18:52:55.605Z,1749149575.605 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.751698
2025-06-05T18:52:55.856Z,1749149575.856 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.003420
2025-06-05T18:52:56.110Z,1749149576.110 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.256696
2025-06-05T18:52:56.363Z,1749149576.363 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.509136
2025-06-05T18:52:56.613Z,1749149576.613 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.759472
2025-06-05T18:52:56.865Z,1749149576.865 [DAT](INFO): DAT read: Rx Time:18:52:55.2887

2025-06-05T18:52:56.865Z,1749149576.865 [DAT](INFO): Rx dataTimestamp_ set to:1749149576.864871
2025-06-05T18:52:56.866Z,1749149576.866 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.012660
2025-06-05T18:52:57.117Z,1749149577.117 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.263690
2025-06-05T18:52:57.381Z,1749149577.381 [DAT](INFO): DAT read: 18:52:55.2887 LVL= 19568, 26481, 22482, 15859, AGC= 43, IDX= 443, 0.44,-2.580, 2.191, 1.519, 3.120, PHS= 0.672,-0.882,-1.603, RAW=  71.9,  17.7, CAL=  72.0,  25.7, ROT=  78.0, -25.7

2025-06-05T18:52:57.383Z,1749149577.383 [DAT](INFO): got valid direction response:
 18:52:55.2887 LVL= 19568, 26481, 22482, 15859, AGC= 43, IDX= 443, 0.44,-2.580, 2.191, 1.519, 3.120, PHS= 0.672,-0.882,-1.603, RAW=  71.9,  17.7, CAL=  72.0,  25.7, ROT=  78.0, -25.7

2025-06-05T18:52:57.386Z,1749149577.386 [DAT](INFO): DAT read: Bearing  78.0, -25.7 (Local)

2025-06-05T18:52:57.386Z,1749149577.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.0, -25.7 (Local)

2025-06-05T18:52:57.390Z,1749149577.390 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:52:57.391Z,1749149577.391 [DAT](INFO): DAT read: user:2918>

2025-06-05T18:52:57.393Z,1749149577.393 [DAT](INFO): DAT read: Tx time:18:52:56.3828

2025-06-05T18:52:57.394Z,1749149577.394 [DAT](INFO): Ping request sent.
2025-06-05T18:52:57.394Z,1749149577.394 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:52:57.395Z,1749149577.395 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-05T18:52:57.396Z,1749149577.396 [DAT](INFO): direction in FSK: [0.187344,0.881386,0.433659]
2025-06-05T18:52:57.396Z,1749149577.396 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:57.396Z,1749149577.396 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:57.399Z,1749149577.399 [DAT](INFO): publishing transmit ping time
2025-06-05T18:52:57.400Z,1749149577.400 [DAT](INFO): publishing direction and range info
2025-06-05T18:52:57.403Z,1749149577.403 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.009070
2025-06-05T18:52:57.621Z,1749149577.621 [DAT](INFO): DAT read: TxSync time:18:52:56.3820

2025-06-05T18:52:57.622Z,1749149577.622 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.227805
2025-06-05T18:52:57.873Z,1749149577.873 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.479005
2025-06-05T18:52:58.126Z,1749149578.126 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.731829
2025-06-05T18:52:58.377Z,1749149578.377 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.983124
2025-06-05T18:52:58.629Z,1749149578.629 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.234974
2025-06-05T18:52:58.883Z,1749149578.883 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.489021
2025-06-05T18:52:59.133Z,1749149579.133 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.739050
2025-06-05T18:52:59.385Z,1749149579.385 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.990992
2025-06-05T18:52:59.637Z,1749149579.637 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.242854
2025-06-05T18:52:59.891Z,1749149579.891 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.496630
2025-06-05T18:53:00.141Z,1749149580.141 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.747243
2025-06-05T18:53:00.393Z,1749149580.393 [DAT](INFO): DAT read: Rx Time:18:52:58.7886

2025-06-05T18:53:00.394Z,1749149580.394 [DAT](INFO): Rx dataTimestamp_ set to:1749149580.393627
2025-06-05T18:53:00.394Z,1749149580.394 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.000732
2025-06-05T18:53:00.645Z,1749149580.645 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.251285
2025-06-05T18:53:00.921Z,1749149580.921 [DAT](INFO): DAT read: 18:52:58.7886 LVL= 15088, 25457, 21330, 17619, AGC= 41, IDX= 443, 0.18, 1.322,-0.120,-0.837, 0.747, PHS= 0.663,-0.819,-1.587, RAW=  70.4,  17.3, CAL=  70.1,  25.3, ROT=  79.9, -25.3

2025-06-05T18:53:00.922Z,1749149580.922 [DAT](INFO): got valid direction response:
 18:52:58.7886 LVL= 15088, 25457, 21330, 17619, AGC= 41, IDX= 443, 0.18, 1.322,-0.120,-0.837, 0.747, PHS= 0.663,-0.819,-1.587, RAW=  70.4,  17.3, CAL=  70.1,  25.3, ROT=  79.9, -25.3

2025-06-05T18:53:00.923Z,1749149580.923 [DAT](INFO): DAT read: Bearing  79.9, -25.3 (Local)

2025-06-05T18:53:00.928Z,1749149580.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.9, -25.3 (Local)

2025-06-05T18:53:00.929Z,1749149580.929 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:53:00.930Z,1749149580.930 [DAT](INFO): DAT read: user:2919>

2025-06-05T18:53:00.931Z,1749149580.931 [DAT](INFO): DAT read: Tx time:18:52:59.8828

2025-06-05T18:53:00.931Z,1749149580.931 [DAT](INFO): Ping request sent.
2025-06-05T18:53:00.931Z,1749149580.931 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:00.936Z,1749149580.936 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-05T18:53:00.937Z,1749149580.937 [DAT](INFO): direction in FSK: [0.158546,0.890072,0.427358]
2025-06-05T18:53:00.937Z,1749149580.937 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:00.937Z,1749149580.937 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:00.945Z,1749149580.945 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:00.945Z,1749149580.945 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:00.953Z,1749149580.953 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.022037
2025-06-05T18:53:01.149Z,1749149581.149 [DAT](INFO): DAT read: TxSync time:18:52:59.8820

2025-06-05T18:53:01.149Z,1749149581.149 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.218307
2025-06-05T18:53:01.401Z,1749149581.401 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.469859
2025-06-05T18:53:01.653Z,1749149581.653 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.721526
2025-06-05T18:53:01.907Z,1749149581.907 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.975307
2025-06-05T18:53:02.157Z,1749149582.157 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.225695
2025-06-05T18:53:02.411Z,1749149582.411 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.479750
2025-06-05T18:53:02.661Z,1749149582.661 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.729514
2025-06-05T18:53:02.916Z,1749149582.916 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.984975
2025-06-05T18:53:03.165Z,1749149583.165 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.233613
2025-06-05T18:53:03.417Z,1749149583.417 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.485806
2025-06-05T18:53:03.669Z,1749149583.669 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.738158
2025-06-05T18:53:03.924Z,1749149583.924 [DAT](INFO): DAT read: Rx Time:18:53:02.2886

2025-06-05T18:53:03.926Z,1749149583.926 [DAT](INFO): Rx dataTimestamp_ set to:1749149583.924779
2025-06-05T18:53:03.935Z,1749149583.935 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.996000
2025-06-05T18:53:04.178Z,1749149584.178 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.244180
2025-06-05T18:53:04.434Z,1749149584.434 [DAT](INFO): DAT read: 18:53:02.2886 LVL= 19680, 24113, 19858, 15955, AGC= 43, IDX= 443, 0.07, 2.916, 1.700, 0.856, 2.447, PHS= 0.557,-0.701,-1.594, RAW=  65.6,  18.2, CAL=  64.0,  26.0, ROT=  86.0, -26.0

2025-06-05T18:53:04.435Z,1749149584.435 [DAT](INFO): got valid direction response:
 18:53:02.2886 LVL= 19680, 24113, 19858, 15955, AGC= 43, IDX= 443, 0.07, 2.916, 1.700, 0.856, 2.447, PHS= 0.557,-0.701,-1.594, RAW=  65.6,  18.2, CAL=  64.0,  26.0, ROT=  86.0, -26.0

2025-06-05T18:53:04.436Z,1749149584.436 [DAT](INFO): DAT read: Bearing  86.0, -26.0 (Local)

2025-06-05T18:53:04.436Z,1749149584.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.0, -26.0 (Local)

2025-06-05T18:53:04.438Z,1749149584.438 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:53:04.438Z,1749149584.438 [DAT](INFO): DAT read: user:2920>

2025-06-05T18:53:04.439Z,1749149584.439 [DAT](INFO): DAT read: Tx time:18:53:03.3828

2025-06-05T18:53:04.439Z,1749149584.439 [DAT](INFO): Ping request sent.
2025-06-05T18:53:04.440Z,1749149584.440 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:04.440Z,1749149584.440 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-05T18:53:04.441Z,1749149584.441 [DAT](INFO): direction in FSK: [0.062697,0.896605,0.438371]
2025-06-05T18:53:04.441Z,1749149584.441 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:04.441Z,1749149584.441 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:04.454Z,1749149584.454 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:04.455Z,1749149584.455 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:04.474Z,1749149584.474 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.035068
2025-06-05T18:53:04.678Z,1749149584.678 [DAT](INFO): DAT read: TxSync time:18:53:03.3820

2025-06-05T18:53:04.680Z,1749149584.680 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.239824
2025-06-05T18:53:04.931Z,1749149584.931 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.491450
2025-06-05T18:53:05.181Z,1749149585.181 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.741495
2025-06-05T18:53:05.433Z,1749149585.433 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.993241
2025-06-05T18:53:05.685Z,1749149585.685 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.245957
2025-06-05T18:53:05.940Z,1749149585.940 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.499586
2025-06-05T18:53:06.189Z,1749149586.189 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.749256
2025-06-05T18:53:06.442Z,1749149586.442 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.002588
2025-06-05T18:53:06.694Z,1749149586.694 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.254432
2025-06-05T18:53:06.948Z,1749149586.948 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.508018
2025-06-05T18:53:07.197Z,1749149587.197 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.757621
2025-06-05T18:53:07.449Z,1749149587.449 [DAT](INFO): DAT read: Rx Time:18:53:05.7886

2025-06-05T18:53:07.449Z,1749149587.449 [DAT](INFO): Rx dataTimestamp_ set to:1749149587.448856
2025-06-05T18:53:07.450Z,1749149587.450 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.010296
2025-06-05T18:53:07.701Z,1749149587.701 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.261737
2025-06-05T18:53:07.995Z,1749149587.995 [DAT](INFO): DAT read: 18:53:05.7886 LVL= 19008, 22193, 17682, 16995, AGC= 43, IDX= 443,-0.15,-0.123,-1.224,-2.127,-0.550, PHS= 0.515,-0.626,-1.580, RAW=  63.0,  18.2, CAL=  60.8,  25.9, ROT=  89.2, -25.9

2025-06-05T18:53:08.003Z,1749149588.003 [DAT](INFO): got valid direction response:
 18:53:05.7886 LVL= 19008, 22193, 17682, 16995, AGC= 43, IDX= 443,-0.15,-0.123,-1.224,-2.127,-0.550, PHS= 0.515,-0.626,-1.580, RAW=  63.0,  18.2, CAL=  60.8,  25.9, ROT=  89.2, -25.9

2025-06-05T18:53:08.013Z,1749149588.013 [DAT](INFO): DAT read: Bearing  89.2, -25.9 (Local)

2025-06-05T18:53:08.013Z,1749149588.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.2, -25.9 (Local)

2025-06-05T18:53:08.015Z,1749149588.015 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-05T18:53:08.020Z,1749149588.020 [DAT](INFO): DAT read: user:2921>

2025-06-05T18:53:08.020Z,1749149588.020 [DAT](INFO): DAT read: Tx time:18:53:06.8829

2025-06-05T18:53:08.021Z,1749149588.021 [DAT](INFO): Ping request sent.
2025-06-05T18:53:08.021Z,1749149588.021 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:08.021Z,1749149588.021 [DAT](INFO): DAT read: TxSync time:18:53:06.8821

2025-06-05T18:53:08.022Z,1749149588.022 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-05T18:53:08.023Z,1749149588.023 [DAT](INFO): direction in FSK: [0.012560,0.899470,0.436802]
2025-06-05T18:53:08.023Z,1749149588.023 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:08.052Z,1749149588.052 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:08.069Z,1749149588.069 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:08.069Z,1749149588.069 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:08.082Z,1749149588.082 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.061289
2025-06-05T18:53:08.205Z,1749149588.205 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.184144
2025-06-05T18:53:08.457Z,1749149588.457 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.435915
2025-06-05T18:53:08.710Z,1749149588.710 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.689399
2025-06-05T18:53:08.961Z,1749149588.961 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.940520
2025-06-05T18:53:09.213Z,1749149589.213 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.191842
2025-06-05T18:53:09.466Z,1749149589.466 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.445218
2025-06-05T18:53:09.719Z,1749149589.719 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.697656
2025-06-05T18:53:09.969Z,1749149589.969 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.947863
2025-06-05T18:53:10.221Z,1749149590.221 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.199672
2025-06-05T18:53:10.473Z,1749149590.473 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.451848
2025-06-05T18:53:10.726Z,1749149590.726 [DAT](INFO): DAT read: Rx Time:18:53:09.2887

2025-06-05T18:53:10.726Z,1749149590.726 [DAT](INFO): Rx dataTimestamp_ set to:1749149590.725887
2025-06-05T18:53:10.727Z,1749149590.727 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.706043
2025-06-05T18:53:10.977Z,1749149590.977 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.956486
2025-06-05T18:53:11.232Z,1749149591.232 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.210182
2025-06-05T18:53:11.487Z,1749149591.487 [DAT](INFO): DAT read: 18:53:09.2887 LVL= 21200, 29937, 21250, 15155, AGC= 43, IDX= 443, 0.06,-1.000,-2.398,-3.140,-1.606, PHS= 0.693,-0.745,-1.538, RAW=  69.5,  16.0, CAL=  69.1,  24.0, ROT=  80.9, -24.0

2025-06-05T18:53:11.488Z,1749149591.488 [DAT](INFO): got valid direction response:
 18:53:09.2887 LVL= 21200, 29937, 21250, 15155, AGC= 43, IDX= 443, 0.06,-1.000,-2.398,-3.140,-1.606, PHS= 0.693,-0.745,-1.538, RAW=  69.5,  16.0, CAL=  69.1,  24.0, ROT=  80.9, -24.0

2025-06-05T18:53:11.489Z,1749149591.489 [DAT](INFO): DAT read: Bearing  80.9, -24.0 (Local)

2025-06-05T18:53:11.489Z,1749149591.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.9, -24.0 (Local)

2025-06-05T18:53:11.491Z,1749149591.491 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:53:11.492Z,1749149591.492 [DAT](INFO): DAT read: user:2922>

2025-06-05T18:53:11.494Z,1749149591.494 [DAT](INFO): DAT read: Tx time:18:53:10.3829

2025-06-05T18:53:11.495Z,1749149591.495 [DAT](INFO): Ping request sent.
2025-06-05T18:53:11.495Z,1749149591.495 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:11.496Z,1749149591.496 [DAT](INFO): DAT read: TxSync time:18:53:10.3821

2025-06-05T18:53:11.498Z,1749149591.498 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-05T18:53:11.500Z,1749149591.500 [DAT](INFO): direction in FSK: [0.144485,0.902047,0.406737]
2025-06-05T18:53:11.501Z,1749149591.501 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:11.501Z,1749149591.501 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:11.506Z,1749149591.506 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:11.506Z,1749149591.506 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:11.511Z,1749149591.511 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.015732
2025-06-05T18:53:11.733Z,1749149591.733 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.238029
2025-06-05T18:53:11.987Z,1749149591.987 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.492524
2025-06-05T18:53:12.237Z,1749149592.237 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.742481
2025-06-05T18:53:12.493Z,1749149592.493 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.997941
2025-06-05T18:53:12.745Z,1749149592.745 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.250043
2025-06-05T18:53:12.997Z,1749149592.997 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.502069
2025-06-05T18:53:13.249Z,1749149593.249 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.753909
2025-06-05T18:53:13.501Z,1749149593.501 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.006068
2025-06-05T18:53:13.753Z,1749149593.753 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.258150
2025-06-05T18:53:14.005Z,1749149594.005 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.510138
2025-06-05T18:53:14.257Z,1749149594.257 [DAT](INFO): DAT read: Rx Time:18:53:12.7888

2025-06-05T18:53:14.258Z,1749149594.258 [DAT](INFO): Rx dataTimestamp_ set to:1749149594.257136
2025-06-05T18:53:14.259Z,1749149594.259 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.764465
2025-06-05T18:53:14.509Z,1749149594.509 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.014093
2025-06-05T18:53:14.767Z,1749149594.767 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:53:14.768Z,1749149594.768 [DAT](INFO): DAT read: user:2923>

2025-06-05T18:53:14.769Z,1749149594.769 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-06-05T18:53:14.770Z,1749149594.770 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.274905
2025-06-05T18:53:15.017Z,1749149595.017 [DAT](INFO): DAT read: Tx time:18:53:13.8829

2025-06-05T18:53:15.018Z,1749149595.018 [DAT](INFO): Ping request sent.
2025-06-05T18:53:15.018Z,1749149595.018 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:15.018Z,1749149595.018 [DAT](INFO): DAT read: TxSync time:18:53:13.8821

2025-06-05T18:53:15.019Z,1749149595.019 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:15.019Z,1749149595.019 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.001549
2025-06-05T18:53:15.269Z,1749149595.269 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.250816
2025-06-05T18:53:15.524Z,1749149595.524 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.505985
2025-06-05T18:53:15.777Z,1749149595.777 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.758924
2025-06-05T18:53:16.029Z,1749149596.029 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.011003
2025-06-05T18:53:16.282Z,1749149596.282 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.263780
2025-06-05T18:53:16.533Z,1749149596.533 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.514853
2025-06-05T18:53:16.785Z,1749149596.785 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.766835
2025-06-05T18:53:17.037Z,1749149597.037 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.018765
2025-06-05T18:53:17.289Z,1749149597.289 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.270812
2025-06-05T18:53:17.541Z,1749149597.541 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.522851
2025-06-05T18:53:17.793Z,1749149597.793 [DAT](INFO): DAT read: Rx Time:18:53:16.2887

2025-06-05T18:53:17.794Z,1749149597.794 [DAT](INFO): Rx dataTimestamp_ set to:1749149597.793507
2025-06-05T18:53:17.794Z,1749149597.794 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.776500
2025-06-05T18:53:18.045Z,1749149598.045 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.026745
2025-06-05T18:53:18.303Z,1749149598.303 [DAT](INFO): DAT read: 18:53:16.2888 LVL= 18352, 20833, 17186, 16115, AGC= 43, IDX= 444,-0.33,-0.128,-1.291,-2.169,-0.567, PHS= 0.527,-0.676,-1.604, RAW=  64.3,  18.5, CAL=  62.4,  26.3, ROT=  87.6, -26.3

2025-06-05T18:53:18.304Z,1749149598.304 [DAT](INFO): got valid direction response:
 18:53:16.2888 LVL= 18352, 20833, 17186, 16115, AGC= 43, IDX= 444,-0.33,-0.128,-1.291,-2.169,-0.567, PHS= 0.527,-0.676,-1.604, RAW=  64.3,  18.5, CAL=  62.4,  26.3, ROT=  87.6, -26.3

2025-06-05T18:53:18.305Z,1749149598.305 [DAT](INFO): DAT read: Bearing  87.6, -26.3 (Local)

2025-06-05T18:53:18.305Z,1749149598.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.6, -26.3 (Local)

2025-06-05T18:53:18.306Z,1749149598.306 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:53:18.307Z,1749149598.307 [DAT](INFO): DAT read: user:2924>

2025-06-05T18:53:18.310Z,1749149598.310 [DAT](INFO): DAT read: Tx time:18:53:17.3830

2025-06-05T18:53:18.310Z,1749149598.310 [DAT](INFO): Ping request sent.
2025-06-05T18:53:18.310Z,1749149598.310 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:18.310Z,1749149598.310 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-05T18:53:18.311Z,1749149598.311 [DAT](INFO): direction in FSK: [0.037541,0.895700,0.443071]
2025-06-05T18:53:18.312Z,1749149598.312 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:18.312Z,1749149598.312 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:18.315Z,1749149598.315 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:18.315Z,1749149598.315 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:18.335Z,1749149598.335 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.024577
2025-06-05T18:53:18.549Z,1749149598.549 [DAT](INFO): DAT read: TxSync time:18:53:17.3822

2025-06-05T18:53:18.550Z,1749149598.550 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.239504
2025-06-05T18:53:18.801Z,1749149598.801 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.490507
2025-06-05T18:53:19.054Z,1749149599.054 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.744291
2025-06-05T18:53:19.305Z,1749149599.305 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.994540
2025-06-05T18:53:19.557Z,1749149599.557 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.246587
2025-06-05T18:53:19.810Z,1749149599.810 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.499500
2025-06-05T18:53:20.061Z,1749149600.061 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.750605
2025-06-05T18:53:20.313Z,1749149600.313 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.002982
2025-06-05T18:53:20.565Z,1749149600.565 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.254692
2025-06-05T18:53:20.817Z,1749149600.817 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.506589
2025-06-05T18:53:21.069Z,1749149601.069 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.758714
2025-06-05T18:53:21.321Z,1749149601.321 [DAT](INFO): DAT read: Rx Time:18:53:19.7888

2025-06-05T18:53:21.321Z,1749149601.321 [DAT](INFO): Rx dataTimestamp_ set to:1749149601.320808
2025-06-05T18:53:21.322Z,1749149601.322 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.011609
2025-06-05T18:53:21.574Z,1749149601.574 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.263703
2025-06-05T18:53:21.831Z,1749149601.831 [DAT](INFO): DAT read: 18:53:19.7888 LVL= 21808, 24401, 21074, 17091, AGC= 44, IDX= 443, 0.20,-0.005,-1.283,-2.070,-0.452, PHS= 0.535,-0.783,-1.621, RAW=  67.3,  19.3, CAL=  66.0,  27.3, ROT=  84.0, -27.3

2025-06-05T18:53:21.833Z,1749149601.833 [DAT](INFO): got valid direction response:
 18:53:19.7888 LVL= 21808, 24401, 21074, 17091, AGC= 44, IDX= 443, 0.20,-0.005,-1.283,-2.070,-0.452, PHS= 0.535,-0.783,-1.621, RAW=  67.3,  19.3, CAL=  66.0,  27.3, ROT=  84.0, -27.3

2025-06-05T18:53:21.834Z,1749149601.834 [DAT](INFO): DAT read: Bearing  84.0, -27.3 (Local)

2025-06-05T18:53:21.834Z,1749149601.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.0, -27.3 (Local)

2025-06-05T18:53:21.835Z,1749149601.835 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:53:21.852Z,1749149601.852 [DAT](INFO): DAT read: user:2925>

2025-06-05T18:53:21.853Z,1749149601.853 [DAT](INFO): DAT read: Tx time:18:53:20.8830

2025-06-05T18:53:21.853Z,1749149601.853 [DAT](INFO): Ping request sent.
2025-06-05T18:53:21.853Z,1749149601.853 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:21.854Z,1749149601.854 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-05T18:53:21.855Z,1749149601.855 [DAT](INFO): direction in FSK: [0.092886,0.883749,0.458650]
2025-06-05T18:53:21.855Z,1749149601.855 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:21.855Z,1749149601.855 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:21.869Z,1749149601.869 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:21.870Z,1749149601.870 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:21.897Z,1749149601.897 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.043737
2025-06-05T18:53:22.077Z,1749149602.077 [DAT](INFO): DAT read: TxSync time:18:53:20.8822

2025-06-05T18:53:22.078Z,1749149602.078 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.224716
2025-06-05T18:53:22.330Z,1749149602.330 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.475685
2025-06-05T18:53:22.581Z,1749149602.581 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.727273
2025-06-05T18:53:22.842Z,1749149602.842 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.988324
2025-06-05T18:53:23.093Z,1749149603.093 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.239986
2025-06-05T18:53:23.346Z,1749149603.346 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.492282
2025-06-05T18:53:23.597Z,1749149603.597 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.743371
2025-06-05T18:53:23.850Z,1749149603.850 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.996047
2025-06-05T18:53:24.101Z,1749149604.101 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.247205
2025-06-05T18:53:24.353Z,1749149604.353 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.499608
2025-06-05T18:53:24.605Z,1749149604.605 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.751933
2025-06-05T18:53:24.857Z,1749149604.857 [DAT](INFO): DAT read: Rx Time:18:53:23.2889

2025-06-05T18:53:24.859Z,1749149604.859 [DAT](INFO): Rx dataTimestamp_ set to:1749149604.857713
2025-06-05T18:53:24.859Z,1749149604.859 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.005782
2025-06-05T18:53:25.110Z,1749149605.110 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.256267
2025-06-05T18:53:25.366Z,1749149605.366 [DAT](INFO): DAT read: 18:53:23.2889 LVL= 19216, 28577, 19010, 14227, AGC= 42, IDX= 444,-0.40, 2.506, 1.039, 0.357, 1.956, PHS= 0.638,-0.870,-1.601, RAW=  71.3,  18.1, CAL=  71.2,  26.2, ROT=  78.8, -26.2

2025-06-05T18:53:25.367Z,1749149605.367 [DAT](INFO): got valid direction response:
 18:53:23.2889 LVL= 19216, 28577, 19010, 14227, AGC= 42, IDX= 444,-0.40, 2.506, 1.039, 0.357, 1.956, PHS= 0.638,-0.870,-1.601, RAW=  71.3,  18.1, CAL=  71.2,  26.2, ROT=  78.8, -26.2

2025-06-05T18:53:25.369Z,1749149605.369 [DAT](INFO): DAT read: Bearing  78.8, -26.2 (Local)

2025-06-05T18:53:25.369Z,1749149605.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.8, -26.2 (Local)

2025-06-05T18:53:25.371Z,1749149605.371 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:53:25.372Z,1749149605.372 [DAT](INFO): DAT read: user:2926>

2025-06-05T18:53:25.373Z,1749149605.373 [DAT](INFO): DAT read: Tx time:18:53:24.3830

2025-06-05T18:53:25.373Z,1749149605.373 [DAT](INFO): Ping request sent.
2025-06-05T18:53:25.373Z,1749149605.373 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:25.373Z,1749149605.373 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-05T18:53:25.375Z,1749149605.375 [DAT](INFO): direction in FSK: [0.174278,0.880170,0.441506]
2025-06-05T18:53:25.375Z,1749149605.375 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:25.376Z,1749149605.376 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:25.379Z,1749149605.379 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:25.379Z,1749149605.379 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:25.386Z,1749149605.386 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.013307
2025-06-05T18:53:25.613Z,1749149605.613 [DAT](INFO): DAT read: TxSync time:18:53:24.3822

2025-06-05T18:53:25.614Z,1749149605.614 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.240478
2025-06-05T18:53:25.865Z,1749149605.865 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.491639
2025-06-05T18:53:26.117Z,1749149606.117 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.743652
2025-06-05T18:53:26.369Z,1749149606.369 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.995828
2025-06-05T18:53:26.621Z,1749149606.621 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.247577
2025-06-05T18:53:26.873Z,1749149606.873 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.499544
2025-06-05T18:53:27.126Z,1749149607.126 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.753454
2025-06-05T18:53:27.377Z,1749149607.377 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.003821
2025-06-05T18:53:27.629Z,1749149607.629 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.255652
2025-06-05T18:53:27.883Z,1749149607.883 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.509286
2025-06-05T18:53:28.134Z,1749149608.134 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.760859
2025-06-05T18:53:28.385Z,1749149608.385 [DAT](INFO): DAT read: Rx Time:18:53:26.7889

2025-06-05T18:53:28.385Z,1749149608.385 [DAT](INFO): Rx dataTimestamp_ set to:1749149608.384935
2025-06-05T18:53:28.386Z,1749149608.386 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.012737
2025-06-05T18:53:28.637Z,1749149608.637 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.263825
2025-06-05T18:53:28.901Z,1749149608.901 [DAT](INFO): DAT read: 18:53:26.7889 LVL= 18144, 26161, 19922, 14275, AGC= 42, IDX= 443, 0.21, 2.256, 0.805, 0.105, 1.685, PHS= 0.660,-0.832,-1.582, RAW=  70.8,  17.4, CAL=  70.6,  25.5, ROT=  79.4, -25.5

2025-06-05T18:53:28.908Z,1749149608.908 [DAT](INFO): got valid direction response:
 18:53:26.7889 LVL= 18144, 26161, 19922, 14275, AGC= 42, IDX= 443, 0.21, 2.256, 0.805, 0.105, 1.685, PHS= 0.660,-0.832,-1.582, RAW=  70.8,  17.4, CAL=  70.6,  25.5, ROT=  79.4, -25.5

2025-06-05T18:53:28.909Z,1749149608.909 [DAT](INFO): DAT read: Bearing  79.4, -25.5 (Local)

2025-06-05T18:53:28.910Z,1749149608.910 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.4, -25.5 (Local)

2025-06-05T18:53:28.911Z,1749149608.911 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:53:28.920Z,1749149608.920 [DAT](INFO): DAT read: user:2927>

2025-06-05T18:53:28.921Z,1749149608.921 [DAT](INFO): DAT read: Tx time:18:53:27.8830

2025-06-05T18:53:28.921Z,1749149608.921 [DAT](INFO): Ping request sent.
2025-06-05T18:53:28.921Z,1749149608.921 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:28.921Z,1749149608.921 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-05T18:53:28.922Z,1749149608.922 [DAT](INFO): direction in FSK: [0.166032,0.887183,0.430511]
2025-06-05T18:53:28.923Z,1749149608.923 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:28.923Z,1749149608.923 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:28.934Z,1749149608.934 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:28.934Z,1749149608.934 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:28.952Z,1749149608.952 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.030926
2025-06-05T18:53:29.147Z,1749149609.147 [DAT](INFO): DAT read: TxSync time:18:53:27.8822

2025-06-05T18:53:29.148Z,1749149609.148 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.226366
2025-06-05T18:53:29.402Z,1749149609.402 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.480596
2025-06-05T18:53:29.653Z,1749149609.653 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.731600
2025-06-05T18:53:29.907Z,1749149609.907 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.984902
2025-06-05T18:53:30.157Z,1749149610.157 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.235875
2025-06-05T18:53:30.409Z,1749149610.409 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.488112
2025-06-05T18:53:30.661Z,1749149610.661 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.739627
2025-06-05T18:53:30.913Z,1749149610.913 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.991981
2025-06-05T18:53:31.165Z,1749149611.165 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.243587
2025-06-05T18:53:31.417Z,1749149611.417 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.495837
2025-06-05T18:53:31.669Z,1749149611.669 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.747456
2025-06-05T18:53:31.921Z,1749149611.921 [DAT](INFO): DAT read: Rx Time:18:53:30.2889

2025-06-05T18:53:31.921Z,1749149611.921 [DAT](INFO): Rx dataTimestamp_ set to:1749149611.920922
2025-06-05T18:53:31.922Z,1749149611.922 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.000678
2025-06-05T18:53:32.173Z,1749149612.173 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.251568
2025-06-05T18:53:32.432Z,1749149612.432 [DAT](INFO): DAT read: 18:53:30.2889 LVL= 17136, 20593, 16562, 15411, AGC= 42, IDX= 443, 0.13,-2.275, 2.751, 1.902,-2.820, PHS= 0.634,-0.665,-1.564, RAW=  66.0,  16.4, CAL=  64.7,  24.2, ROT=  85.3, -24.2

2025-06-05T18:53:32.433Z,1749149612.433 [DAT](INFO): got valid direction response:
 18:53:30.2889 LVL= 17136, 20593, 16562, 15411, AGC= 42, IDX= 443, 0.13,-2.275, 2.751, 1.902,-2.820, PHS= 0.634,-0.665,-1.564, RAW=  66.0,  16.4, CAL=  64.7,  24.2, ROT=  85.3, -24.2

2025-06-05T18:53:32.434Z,1749149612.434 [DAT](INFO): DAT read: Bearing  85.3, -24.2 (Local)

2025-06-05T18:53:32.434Z,1749149612.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.3, -24.2 (Local)

2025-06-05T18:53:32.436Z,1749149612.436 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:53:32.436Z,1749149612.436 [DAT](INFO): DAT read: user:2928>

2025-06-05T18:53:32.437Z,1749149612.437 [DAT](INFO): DAT read: Tx time:18:53:31.3831

2025-06-05T18:53:32.437Z,1749149612.437 [DAT](INFO): Ping request sent.
2025-06-05T18:53:32.437Z,1749149612.437 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:32.438Z,1749149612.438 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-05T18:53:32.439Z,1749149612.439 [DAT](INFO): direction in FSK: [0.074738,0.909053,0.409923]
2025-06-05T18:53:32.439Z,1749149612.439 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:32.439Z,1749149612.439 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:32.468Z,1749149612.468 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:32.469Z,1749149612.469 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:32.480Z,1749149612.480 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.042799
2025-06-05T18:53:32.677Z,1749149612.677 [DAT](INFO): DAT read: TxSync time:18:53:31.3823

2025-06-05T18:53:32.678Z,1749149612.678 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.240712
2025-06-05T18:53:32.929Z,1749149612.929 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.491309
2025-06-05T18:53:33.181Z,1749149613.181 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.743265
2025-06-05T18:53:33.442Z,1749149613.442 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.004704
2025-06-05T18:53:33.693Z,1749149613.693 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.255956
2025-06-05T18:53:33.945Z,1749149613.945 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.507352
2025-06-05T18:53:34.197Z,1749149614.197 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.759583
2025-06-05T18:53:34.449Z,1749149614.449 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.011256
2025-06-05T18:53:34.702Z,1749149614.702 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.264391
2025-06-05T18:53:34.955Z,1749149614.955 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.516902
2025-06-05T18:53:35.206Z,1749149615.206 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.768240
2025-06-05T18:53:35.457Z,1749149615.457 [DAT](INFO): DAT read: Rx Time:18:53:33.7890

2025-06-05T18:53:35.458Z,1749149615.458 [DAT](INFO): Rx dataTimestamp_ set to:1749149615.456926
2025-06-05T18:53:35.459Z,1749149615.459 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.021205
2025-06-05T18:53:35.710Z,1749149615.710 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.272541
2025-06-05T18:53:35.967Z,1749149615.967 [DAT](INFO): DAT read: 18:53:33.7890 LVL= 19408, 22369, 19762, 16195, AGC= 43, IDX= 444,-0.28,-2.512, 2.449, 1.676,-3.024, PHS= 0.600,-0.763,-1.587, RAW=  68.1,  17.9, CAL=  67.1,  25.9, ROT=  82.9, -25.9

2025-06-05T18:53:35.969Z,1749149615.969 [DAT](INFO): got valid direction response:
 18:53:33.7890 LVL= 19408, 22369, 19762, 16195, AGC= 43, IDX= 444,-0.28,-2.512, 2.449, 1.676,-3.024, PHS= 0.600,-0.763,-1.587, RAW=  68.1,  17.9, CAL=  67.1,  25.9, ROT=  82.9, -25.9

2025-06-05T18:53:35.971Z,1749149615.971 [DAT](INFO): DAT read: Bearing  82.9, -25.9 (Local)

2025-06-05T18:53:35.972Z,1749149615.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.9, -25.9 (Local)

2025-06-05T18:53:35.974Z,1749149615.974 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:53:35.975Z,1749149615.975 [DAT](INFO): DAT read: user:2929>

2025-06-05T18:53:35.977Z,1749149615.977 [DAT](INFO): DAT read: Tx time:18:53:34.8831

2025-06-05T18:53:35.977Z,1749149615.977 [DAT](INFO): Ping request sent.
2025-06-05T18:53:35.977Z,1749149615.977 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:35.978Z,1749149615.978 [DAT](INFO): DAT read: TxSync time:18:53:34.8823

2025-06-05T18:53:35.978Z,1749149615.978 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-05T18:53:35.979Z,1749149615.979 [DAT](INFO): direction in FSK: [0.111187,0.892660,0.436802]
2025-06-05T18:53:35.979Z,1749149615.979 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:35.980Z,1749149615.980 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:35.983Z,1749149615.983 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:35.983Z,1749149615.983 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:35.986Z,1749149615.986 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.009247
2025-06-05T18:53:36.213Z,1749149616.213 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.235895
2025-06-05T18:53:36.465Z,1749149616.465 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.487636
2025-06-05T18:53:36.717Z,1749149616.717 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.740311
2025-06-05T18:53:36.969Z,1749149616.969 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.991623
2025-06-05T18:53:37.221Z,1749149617.221 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.243615
2025-06-05T18:53:37.472Z,1749149617.472 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.495440
2025-06-05T18:53:37.728Z,1749149617.728 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.750765
2025-06-05T18:53:37.979Z,1749149617.979 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.001820
2025-06-05T18:53:38.229Z,1749149618.229 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.251652
2025-06-05T18:53:38.483Z,1749149618.483 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.505744
2025-06-05T18:53:38.734Z,1749149618.734 [DAT](INFO): DAT read: Rx Time:18:53:37.2889

2025-06-05T18:53:38.734Z,1749149618.734 [DAT](INFO): Rx dataTimestamp_ set to:1749149618.733772
2025-06-05T18:53:38.735Z,1749149618.735 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.757906
2025-06-05T18:53:38.985Z,1749149618.985 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.007585
2025-06-05T18:53:39.240Z,1749149619.240 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.262043
2025-06-05T18:53:39.498Z,1749149619.498 [DAT](INFO): DAT read: 18:53:37.2889 LVL= 15984, 23585, 15634, 13939, AGC= 42, IDX= 443, 0.19,-1.555,-2.899, 2.594,-2.142, PHS= 0.674,-0.711,-1.551, RAW=  68.0,  16.1, CAL=  67.3,  24.0, ROT=  82.7, -24.0

2025-06-05T18:53:39.499Z,1749149619.499 [DAT](INFO): got valid direction response:
 18:53:37.2889 LVL= 15984, 23585, 15634, 13939, AGC= 42, IDX= 443, 0.19,-1.555,-2.899, 2.594,-2.142, PHS= 0.674,-0.711,-1.551, RAW=  68.0,  16.1, CAL=  67.3,  24.0, ROT=  82.7, -24.0

2025-06-05T18:53:39.516Z,1749149619.516 [DAT](INFO): DAT read: Bearing  82.7, -24.0 (Local)

2025-06-05T18:53:39.516Z,1749149619.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.7, -24.0 (Local)

2025-06-05T18:53:39.518Z,1749149619.518 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:53:39.519Z,1749149619.519 [DAT](INFO): DAT read: user:2930>

2025-06-05T18:53:39.529Z,1749149619.529 [DAT](INFO): DAT read: Tx time:18:53:38.3831

2025-06-05T18:53:39.530Z,1749149619.530 [DAT](INFO): Ping request sent.
2025-06-05T18:53:39.530Z,1749149619.530 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:39.530Z,1749149619.530 [DAT](INFO): DAT read: TxSync time:18:53:38.3823

2025-06-05T18:53:39.531Z,1749149619.531 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-05T18:53:39.540Z,1749149619.540 [DAT](INFO): direction in FSK: [0.116079,0.906141,0.406737]
2025-06-05T18:53:39.541Z,1749149619.541 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:39.541Z,1749149619.541 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:39.570Z,1749149619.570 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:39.570Z,1749149619.570 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:39.582Z,1749149619.582 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.051740
2025-06-05T18:53:39.741Z,1749149619.741 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.211043
2025-06-05T18:53:39.993Z,1749149619.993 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.462833
2025-06-05T18:53:40.245Z,1749149620.245 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.714833
2025-06-05T18:53:40.497Z,1749149620.497 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.966976
2025-06-05T18:53:40.750Z,1749149620.750 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.220189
2025-06-05T18:53:41.001Z,1749149621.001 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.470770
2025-06-05T18:53:41.254Z,1749149621.254 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.723952
2025-06-05T18:53:41.507Z,1749149621.507 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.976896
2025-06-05T18:53:41.757Z,1749149621.757 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.226798
2025-06-05T18:53:42.010Z,1749149622.010 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.479511
2025-06-05T18:53:42.261Z,1749149622.261 [DAT](INFO): DAT read: Rx Time:18:53:40.7891

2025-06-05T18:53:42.261Z,1749149622.261 [DAT](INFO): Rx dataTimestamp_ set to:1749149622.261108
2025-06-05T18:53:42.262Z,1749149622.262 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.732086
2025-06-05T18:53:42.515Z,1749149622.515 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.984858
2025-06-05T18:53:42.769Z,1749149622.769 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.238602
2025-06-05T18:53:43.028Z,1749149623.028 [DAT](INFO): DAT read: 18:53:40.7891 LVL= 18688, 28145, 22690, 15427, AGC= 42, IDX= 444,-0.18,-2.491, 2.448, 1.711,-2.958, PHS= 0.555,-0.831,-1.618, RAW=  69.0,  19.4, CAL=  68.1,  27.4, ROT=  81.9, -27.4

2025-06-05T18:53:43.030Z,1749149623.030 [DAT](INFO): got valid direction response:
 18:53:40.7891 LVL= 18688, 28145, 22690, 15427, AGC= 42, IDX= 444,-0.18,-2.491, 2.448, 1.711,-2.958, PHS= 0.555,-0.831,-1.618, RAW=  69.0,  19.4, CAL=  68.1,  27.4, ROT=  81.9, -27.4

2025-06-05T18:53:43.031Z,1749149623.031 [DAT](INFO): DAT read: Bearing  81.9, -27.4 (Local)

2025-06-05T18:53:43.032Z,1749149623.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.9, -27.4 (Local)

2025-06-05T18:53:43.033Z,1749149623.033 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:53:43.034Z,1749149623.034 [DAT](INFO): DAT read: user:2931>

2025-06-05T18:53:43.035Z,1749149623.035 [DAT](INFO): DAT read: Tx time:18:53:41.8832

2025-06-05T18:53:43.035Z,1749149623.035 [DAT](INFO): Ping request sent.
2025-06-05T18:53:43.035Z,1749149623.035 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:53:43.037Z,1749149623.037 [DAT](INFO): DAT read: TxSync time:18:53:41.8824

2025-06-05T18:53:43.037Z,1749149623.037 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-05T18:53:43.038Z,1749149623.038 [DAT](INFO): direction in FSK: [0.125094,0.878958,0.460200]
2025-06-05T18:53:43.038Z,1749149623.038 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:43.039Z,1749149623.039 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:43.042Z,1749149623.042 [DAT](INFO): publishing transmit ping time
2025-06-05T18:53:43.042Z,1749149623.042 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:43.045Z,1749149623.045 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.010145
2025-06-05T18:53:43.269Z,1749149623.269 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.233571
2025-06-05T18:53:43.525Z,1749149623.525 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.489255
2025-06-05T18:53:43.773Z,1749149623.773 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.737427
2025-06-05T18:53:44.042Z,1749149624.042 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.006185
2025-06-05T18:53:44.277Z,1749149624.277 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.241778
2025-06-05T18:53:44.532Z,1749149624.532 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.496164
2025-06-05T18:53:44.793Z,1749149624.793 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.758342
2025-06-05T18:53:44.980Z,1749149624.980 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:53:45.047Z,1749149625.047 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.011241
2025-06-05T18:53:45.301Z,1749149625.301 [DAT](INFO): DAT read: Rx Time:18:53:44.0141 

2025-06-05T18:53:45.303Z,1749149625.303 [DAT](INFO): Rx dataTimestamp_ set to:1749149625.301640
2025-06-05T18:53:45.307Z,1749149625.307 [DAT](INFO): DAT read: Bearing  79.8, -24.5 (Local)

2025-06-05T18:53:45.310Z,1749149625.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.8, -24.5 (Local)

2025-06-05T18:53:45.328Z,1749149625.328 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:53:45.349Z,1749149625.349 [DAT](INFO): DAT read: 18:53:44.0141 LVL= 15392, 25969, 11682, 11859, AGC= 43, IDX= 187, 0.26,-1.665,-3.092, 2.478,-2.263, PHS= 0.686,-0.782,-1.545, RAW=  70.3,  16.5, CAL=  70.2,  24.5, ROT=  79.8, -24.5

2025-06-05T18:53:45.350Z,1749149625.350 [DAT](INFO): got valid direction response:
 18:53:44.0141 LVL= 15392, 25969, 11682, 11859, AGC= 43, IDX= 187, 0.26,-1.665,-3.092, 2.478,-2.263, PHS= 0.686,-0.782,-1.545, RAW=  70.3,  16.5, CAL=  70.2,  24.5, ROT=  79.8, -24.5

2025-06-05T18:53:45.350Z,1749149625.350 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-05T18:53:45.351Z,1749149625.351 [DAT](INFO): direction in FSK: [0.161140,0.895580,0.414693]
2025-06-05T18:53:45.351Z,1749149625.351 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:45.364Z,1749149625.364 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.329092
2025-06-05T18:53:45.552Z,1749149625.552 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.516008
2025-06-05T18:53:45.805Z,1749149625.805 [DAT](INFO): DAT read: Rx Time:18:53:44.5140 

2025-06-05T18:53:45.806Z,1749149625.806 [DAT](INFO): Rx dataTimestamp_ set to:1749149625.805368
2025-06-05T18:53:45.810Z,1749149625.810 [DAT](INFO): DAT read: Bearing  79.5, -25.2 (Local)

2025-06-05T18:53:45.813Z,1749149625.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.5, -25.2 (Local)

2025-06-05T18:53:45.817Z,1749149625.817 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:53:45.818Z,1749149625.818 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-06-05T18:53:45.818Z,1749149625.818 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.783226
2025-06-05T18:53:46.057Z,1749149626.057 [DAT](INFO): DAT read: 18:53:44.5140 LVL= 16800, 24273, 20242, 16947, AGC= 42, IDX= 506, 0.36,-2.826, 2.003, 1.295, 2.874, PHS= 0.671,-0.824,-1.582, RAW=  70.7,  17.2, CAL=  70.5,  25.2, ROT=  79.5, -25.2

2025-06-05T18:53:46.059Z,1749149626.059 [DAT](INFO): got valid direction response:
 18:53:44.5140 LVL= 16800, 24273, 20242, 16947, AGC= 42, IDX= 506, 0.36,-2.826, 2.003, 1.295, 2.874, PHS= 0.671,-0.824,-1.582, RAW=  70.7,  17.2, CAL=  70.5,  25.2, ROT=  79.5, -25.2

2025-06-05T18:53:46.059Z,1749149626.059 [DAT](INFO): #Rx 49: Read direction message, but no range.
2025-06-05T18:53:46.066Z,1749149626.066 [DAT](INFO): direction in FSK: [0.164892,0.889676,0.425779]
2025-06-05T18:53:46.076Z,1749149626.076 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.036371
2025-06-05T18:53:46.309Z,1749149626.309 [DAT](INFO): DAT read: Rx Time:18:53:45.0139 

2025-06-05T18:53:46.311Z,1749149626.311 [DAT](INFO): Rx dataTimestamp_ set to:1749149626.309676
2025-06-05T18:53:46.315Z,1749149626.315 [DAT](INFO): DAT read: Bearing  81.6, -24.7 (Local)

2025-06-05T18:53:46.316Z,1749149626.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.6, -24.7 (Local)

2025-06-05T18:53:46.318Z,1749149626.318 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:46.318Z,1749149626.318 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-06-05T18:53:46.319Z,1749149626.319 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.284150
2025-06-05T18:53:46.571Z,1749149626.571 [DAT](INFO): DAT read: 18:53:45.0139 LVL= 16160, 22641, 19954, 17395, AGC= 42, IDX= 505, 0.48, 1.585, 0.189,-0.579, 1.002, PHS= 0.671,-0.766,-1.584, RAW=  69.0,  16.7, CAL=  68.4,  24.7, ROT=  81.6, -24.7

2025-06-05T18:53:46.581Z,1749149626.581 [DAT](INFO): got valid direction response:
 18:53:45.0139 LVL= 16160, 22641, 19954, 17395, AGC= 42, IDX= 505, 0.48, 1.585, 0.189,-0.579, 1.002, PHS= 0.671,-0.766,-1.584, RAW=  69.0,  16.7, CAL=  68.4,  24.7, ROT=  81.6, -24.7

2025-06-05T18:53:46.581Z,1749149626.581 [DAT](INFO): #Rx 51: Read direction message, but no range.
2025-06-05T18:53:46.582Z,1749149626.582 [DAT](INFO): direction in FSK: [0.132718,0.898762,0.417867]
2025-06-05T18:53:46.590Z,1749149626.590 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.554457
2025-06-05T18:53:46.813Z,1749149626.813 [DAT](INFO): DAT read: Rx Time:18:53:45.5140 

2025-06-05T18:53:46.815Z,1749149626.815 [DAT](INFO): Rx dataTimestamp_ set to:1749149626.814227
2025-06-05T18:53:46.817Z,1749149626.817 [DAT](INFO): DAT read: Bearing  84.7, -24.6 (Local)

2025-06-05T18:53:46.817Z,1749149626.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.7, -24.6 (Local)

2025-06-05T18:53:46.819Z,1749149626.819 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:53:46.824Z,1749149626.824 [DAT](INFO): DAT read: 18:53:45.5140 LVL= 15952, 21697, 17138, 16195, AGC= 42, IDX= 507,-0.34, 0.611,-0.678,-1.522, 0.066, PHS= 0.634,-0.697,-1.590, RAW=  66.5,  16.8, CAL=  65.3,  24.6, ROT=  84.7, -24.6

2025-06-05T18:53:46.826Z,1749149626.826 [DAT](INFO): got valid direction response:
 18:53:45.5140 LVL= 15952, 21697, 17138, 16195, AGC= 42, IDX= 507,-0.34, 0.611,-0.678,-1.522, 0.066, PHS= 0.634,-0.697,-1.590, RAW=  66.5,  16.8, CAL=  65.3,  24.6, ROT=  84.7, -24.6

2025-06-05T18:53:46.826Z,1749149626.826 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-05T18:53:46.827Z,1749149626.827 [DAT](INFO): direction in FSK: [0.083987,0.905349,0.416281]
2025-06-05T18:53:46.836Z,1749149626.836 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:46.839Z,1749149626.839 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.803910
2025-06-05T18:53:47.061Z,1749149627.061 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=4.025997
2025-06-05T18:53:47.316Z,1749149627.316 [DAT](INFO): DAT read: Rx Time:18:53:46.0139 

2025-06-05T18:53:47.317Z,1749149627.317 [DAT](INFO): Rx dataTimestamp_ set to:1749149627.316662
2025-06-05T18:53:47.319Z,1749149627.319 [DAT](INFO): DAT read: Bearing  85.3, -22.6 (Local)

2025-06-05T18:53:47.319Z,1749149627.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.3, -22.6 (Local)

2025-06-05T18:53:47.322Z,1749149627.322 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:47.330Z,1749149627.330 [DAT](INFO): DAT read: 18:53:46.0139 LVL= 14304, 17489, 14274, 14451, AGC= 41, IDX= 506,-0.22,-1.118,-2.421, 2.976,-1.744, PHS= 0.714,-0.630,-1.566, RAW=  65.9,  14.8, CAL=  64.7,  22.6, ROT=  85.3, -22.6

2025-06-05T18:53:47.331Z,1749149627.331 [DAT](INFO): got valid direction response:
 18:53:46.0139 LVL= 14304, 17489, 14274, 14451, AGC= 41, IDX= 506,-0.22,-1.118,-2.421, 2.976,-1.744, PHS= 0.714,-0.630,-1.566, RAW=  65.9,  14.8, CAL=  64.7,  22.6, ROT=  85.3, -22.6

2025-06-05T18:53:47.334Z,1749149627.334 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-05T18:53:47.338Z,1749149627.338 [DAT](INFO): direction in FSK: [0.075646,0.920106,0.384295]
2025-06-05T18:53:47.338Z,1749149627.338 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:47.346Z,1749149627.346 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=4.310657
2025-06-05T18:53:47.567Z,1749149627.567 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=4.531759
2025-06-05T18:53:47.817Z,1749149627.817 [DAT](INFO): DAT read: Rx Time:18:53:46.5139 

2025-06-05T18:53:47.818Z,1749149627.818 [DAT](INFO): Rx dataTimestamp_ set to:1749149627.817627
2025-06-05T18:53:47.819Z,1749149627.819 [DAT](INFO): DAT read: Bearing  86.3, -22.5 (Local)

2025-06-05T18:53:47.820Z,1749149627.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.3, -22.5 (Local)

2025-06-05T18:53:47.822Z,1749149627.822 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:47.827Z,1749149627.827 [DAT](INFO): DAT read: 18:53:46.5139 LVL= 14256, 16929, 13874, 14323, AGC= 41, IDX= 506,-0.12,-1.850,-3.127, 2.242,-2.469, PHS= 0.707,-0.611,-1.576, RAW=  65.1,  14.8, CAL=  63.7,  22.5, ROT=  86.3, -22.5

2025-06-05T18:53:47.828Z,1749149627.828 [DAT](INFO): got valid direction response:
 18:53:46.5139 LVL= 14256, 16929, 13874, 14323, AGC= 41, IDX= 506,-0.12,-1.850,-3.127, 2.242,-2.469, PHS= 0.707,-0.611,-1.576, RAW=  65.1,  14.8, CAL=  63.7,  22.5, ROT=  86.3, -22.5

2025-06-05T18:53:47.829Z,1749149627.829 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-05T18:53:47.830Z,1749149627.830 [DAT](INFO): direction in FSK: [0.059620,0.921954,0.382683]
2025-06-05T18:53:47.830Z,1749149627.830 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:47.838Z,1749149627.838 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=4.802667
2025-06-05T18:53:48.069Z,1749149628.069 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=5.033618
2025-06-05T18:53:48.321Z,1749149628.321 [DAT](INFO): DAT read: Rx Time:18:53:47.0138 

2025-06-05T18:53:48.322Z,1749149628.322 [DAT](INFO): Rx dataTimestamp_ set to:1749149628.321414
2025-06-05T18:53:48.323Z,1749149628.323 [DAT](INFO): DAT read: Bearing  86.0, -23.2 (Local)

2025-06-05T18:53:48.323Z,1749149628.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.0, -23.2 (Local)

2025-06-05T18:53:48.326Z,1749149628.326 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:53:48.331Z,1749149628.331 [DAT](INFO): DAT read: 18:53:47.0138 LVL= 16368, 19665, 15794, 14739, AGC= 42, IDX= 505,-0.05,-3.117, 1.887, 0.987, 2.570, PHS= 0.684,-0.636,-1.586, RAW=  65.4,  15.4, CAL=  64.0,  23.2, ROT=  86.0, -23.2

2025-06-05T18:53:48.332Z,1749149628.332 [DAT](INFO): got valid direction response:
 18:53:47.0138 LVL= 16368, 19665, 15794, 14739, AGC= 42, IDX= 505,-0.05,-3.117, 1.887, 0.987, 2.570, PHS= 0.684,-0.636,-1.586, RAW=  65.4,  15.4, CAL=  64.0,  23.2, ROT=  86.0, -23.2

2025-06-05T18:53:48.332Z,1749149628.332 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-05T18:53:48.333Z,1749149628.333 [DAT](INFO): direction in FSK: [0.064116,0.916896,0.393942]
2025-06-05T18:53:48.334Z,1749149628.334 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:48.337Z,1749149628.337 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=5.302017
2025-06-05T18:53:48.577Z,1749149628.577 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=5.539912
2025-06-05T18:53:48.826Z,1749149628.826 [DAT](INFO): DAT read: Rx Time:18:53:47.5139 

2025-06-05T18:53:48.827Z,1749149628.827 [DAT](INFO): Rx dataTimestamp_ set to:1749149628.826310
2025-06-05T18:53:48.832Z,1749149628.832 [DAT](INFO): DAT read: Bearing  85.7, -24.4 (Local)

2025-06-05T18:53:48.832Z,1749149628.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.7, -24.4 (Local)

2025-06-05T18:53:48.834Z,1749149628.834 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:48.839Z,1749149628.839 [DAT](INFO): DAT read: 18:53:47.5139 LVL= 16368, 20417, 16418, 14899, AGC= 42, IDX= 506, 0.02,-1.392,-2.645, 2.776,-1.933, PHS= 0.629,-0.665,-1.578, RAW=  65.7,  16.6, CAL=  64.3,  24.4, ROT=  85.7, -24.4

2025-06-05T18:53:48.844Z,1749149628.844 [DAT](INFO): got valid direction response:
 18:53:47.5139 LVL= 16368, 20417, 16418, 14899, AGC= 42, IDX= 506, 0.02,-1.392,-2.645, 2.776,-1.933, PHS= 0.629,-0.665,-1.578, RAW=  65.7,  16.6, CAL=  64.3,  24.4, ROT=  85.7, -24.4

2025-06-05T18:53:48.845Z,1749149628.845 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-05T18:53:48.846Z,1749149628.846 [DAT](INFO): direction in FSK: [0.068282,0.908120,0.413104]
2025-06-05T18:53:48.846Z,1749149628.846 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:48.858Z,1749149628.858 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=5.822247
2025-06-05T18:53:49.077Z,1749149629.077 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=6.041562
2025-06-05T18:53:49.330Z,1749149629.330 [DAT](INFO): DAT read: Rx Time:18:53:48.0138 

2025-06-05T18:53:49.330Z,1749149629.330 [DAT](INFO): Rx dataTimestamp_ set to:1749149629.329782
2025-06-05T18:53:49.331Z,1749149629.331 [DAT](INFO): DAT read: Bearing  85.1, -24.9 (Local)

2025-06-05T18:53:49.332Z,1749149629.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.1, -24.9 (Local)

2025-06-05T18:53:49.334Z,1749149629.334 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:53:49.338Z,1749149629.338 [DAT](INFO): DAT read: 18:53:48.0138 LVL= 17088, 23313, 18802, 16579, AGC= 42, IDX= 505, 0.11,-2.649, 2.358, 1.509, 3.104, PHS= 0.618,-0.699,-1.598, RAW=  66.2,  17.1, CAL=  64.9,  24.9, ROT=  85.1, -24.9

2025-06-05T18:53:49.339Z,1749149629.339 [DAT](INFO): got valid direction response:
 18:53:48.0138 LVL= 17088, 23313, 18802, 16579, AGC= 42, IDX= 505, 0.11,-2.649, 2.358, 1.509, 3.104, PHS= 0.618,-0.699,-1.598, RAW=  66.2,  17.1, CAL=  64.9,  24.9, ROT=  85.1, -24.9

2025-06-05T18:53:49.340Z,1749149629.340 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-05T18:53:49.341Z,1749149629.341 [DAT](INFO): direction in FSK: [0.077477,0.903729,0.421036]
2025-06-05T18:53:49.342Z,1749149629.342 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:49.349Z,1749149629.349 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=6.314049
2025-06-05T18:53:49.584Z,1749149629.584 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=6.548038
2025-06-05T18:53:49.833Z,1749149629.833 [DAT](INFO): DAT read: Rx Time:18:53:48.5139 

2025-06-05T18:53:49.834Z,1749149629.834 [DAT](INFO): Rx dataTimestamp_ set to:1749149629.833428
2025-06-05T18:53:49.835Z,1749149629.835 [DAT](INFO): DAT read: Bearing  86.1, -27.0 (Local)

2025-06-05T18:53:49.835Z,1749149629.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.1, -27.0 (Local)

2025-06-05T18:53:49.837Z,1749149629.837 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:49.843Z,1749149629.843 [DAT](INFO): DAT read: 18:53:48.5139 LVL= 18112, 21425, 17826, 15971, AGC= 43, IDX= 506, 0.14,-1.619,-2.800, 2.665,-2.040, PHS= 0.509,-0.713,-1.581, RAW=  65.6,  19.1, CAL=  63.9,  27.0, ROT=  86.1, -27.0

2025-06-05T18:53:49.844Z,1749149629.844 [DAT](INFO): got valid direction response:
 18:53:48.5139 LVL= 18112, 21425, 17826, 15971, AGC= 43, IDX= 506, 0.14,-1.619,-2.800, 2.665,-2.040, PHS= 0.509,-0.713,-1.581, RAW=  65.6,  19.1, CAL=  63.9,  27.0, ROT=  86.1, -27.0

2025-06-05T18:53:49.845Z,1749149629.845 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-05T18:53:49.846Z,1749149629.846 [DAT](INFO): direction in FSK: [0.060602,0.888943,0.453991]
2025-06-05T18:53:49.846Z,1749149629.846 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:49.850Z,1749149629.850 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=6.815028
2025-06-05T18:53:50.085Z,1749149630.085 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=7.049570
2025-06-05T18:53:50.337Z,1749149630.337 [DAT](INFO): DAT read: Rx Time:18:53:49.0139 

2025-06-05T18:53:50.338Z,1749149630.338 [DAT](INFO): Rx dataTimestamp_ set to:1749149630.337483
2025-06-05T18:53:50.339Z,1749149630.339 [DAT](INFO): DAT read: Bearing  85.5, -26.3 (Local)

2025-06-05T18:53:50.339Z,1749149630.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.5, -26.3 (Local)

2025-06-05T18:53:50.342Z,1749149630.342 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:50.347Z,1749149630.347 [DAT](INFO): DAT read: 18:53:49.0139 LVL= 19280, 24353, 20210, 15987, AGC= 43, IDX= 505, 0.20,-2.941, 2.114, 1.284, 2.878, PHS= 0.552,-0.718,-1.597, RAW=  66.0,  18.4, CAL=  64.5,  26.3, ROT=  85.5, -26.3

2025-06-05T18:53:50.349Z,1749149630.349 [DAT](INFO): got valid direction response:
 18:53:49.0139 LVL= 19280, 24353, 20210, 15987, AGC= 43, IDX= 505, 0.20,-2.941, 2.114, 1.284, 2.878, PHS= 0.552,-0.718,-1.597, RAW=  66.0,  18.4, CAL=  64.5,  26.3, ROT=  85.5, -26.3

2025-06-05T18:53:50.349Z,1749149630.349 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-05T18:53:50.350Z,1749149630.350 [DAT](INFO): direction in FSK: [0.070338,0.893723,0.443071]
2025-06-05T18:53:50.351Z,1749149630.351 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:50.359Z,1749149630.359 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=7.323698
2025-06-05T18:53:50.592Z,1749149630.592 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=7.555831
2025-06-05T18:53:50.842Z,1749149630.842 [DAT](INFO): DAT read: Rx Time:18:53:49.5140 

2025-06-05T18:53:50.843Z,1749149630.843 [DAT](INFO): Rx dataTimestamp_ set to:1749149630.842249
2025-06-05T18:53:50.844Z,1749149630.844 [DAT](INFO): DAT read: Bearing  84.8, -26.4 (Local)

2025-06-05T18:53:50.844Z,1749149630.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.8, -26.4 (Local)

2025-06-05T18:53:50.846Z,1749149630.846 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:53:50.855Z,1749149630.855 [DAT](INFO): DAT read: 18:53:49.5140 LVL= 18976, 22417, 18322, 16275, AGC= 43, IDX= 506, 0.20,-1.325,-2.546, 2.947,-1.781, PHS= 0.544,-0.718,-1.558, RAW=  66.6,  18.5, CAL=  65.2,  26.4, ROT=  84.8, -26.4

2025-06-05T18:53:50.856Z,1749149630.856 [DAT](INFO): got valid direction response:
 18:53:49.5140 LVL= 18976, 22417, 18322, 16275, AGC= 43, IDX= 506, 0.20,-1.325,-2.546, 2.947,-1.781, PHS= 0.544,-0.718,-1.558, RAW=  66.6,  18.5, CAL=  65.2,  26.4, ROT=  84.8, -26.4

2025-06-05T18:53:50.856Z,1749149630.856 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-06-05T18:53:50.857Z,1749149630.857 [DAT](INFO): direction in FSK: [0.081181,0.892025,0.444635]
2025-06-05T18:53:50.858Z,1749149630.858 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:50.876Z,1749149630.876 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=7.840649
2025-06-05T18:53:51.094Z,1749149631.094 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=8.058542
2025-06-05T18:53:51.345Z,1749149631.345 [DAT](INFO): DAT read: Rx Time:18:53:50.0139 

2025-06-05T18:53:51.346Z,1749149631.346 [DAT](INFO): Rx dataTimestamp_ set to:1749149631.345485
2025-06-05T18:53:51.347Z,1749149631.347 [DAT](INFO): DAT read: Bearing  83.1, -27.0 (Local)

2025-06-05T18:53:51.347Z,1749149631.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.1, -27.0 (Local)

2025-06-05T18:53:51.349Z,1749149631.349 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:51.354Z,1749149631.354 [DAT](INFO): DAT read: 18:53:50.0139 LVL= 21744, 23697, 20178, 15427, AGC= 44, IDX= 505, 0.21,-1.818,-3.119, 2.398,-2.282, PHS= 0.551,-0.790,-1.606, RAW=  68.0,  19.1, CAL=  66.9,  27.0, ROT=  83.1, -27.0

2025-06-05T18:53:51.355Z,1749149631.355 [DAT](INFO): got valid direction response:
 18:53:50.0139 LVL= 21744, 23697, 20178, 15427, AGC= 44, IDX= 505, 0.21,-1.818,-3.119, 2.398,-2.282, PHS= 0.551,-0.790,-1.606, RAW=  68.0,  19.1, CAL=  66.9,  27.0, ROT=  83.1, -27.0

2025-06-05T18:53:51.355Z,1749149631.355 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-05T18:53:51.356Z,1749149631.356 [DAT](INFO): direction in FSK: [0.107043,0.884553,0.453991]
2025-06-05T18:53:51.357Z,1749149631.357 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:51.370Z,1749149631.370 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=8.334442
2025-06-05T18:53:51.597Z,1749149631.597 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=8.561535
2025-06-05T18:53:51.850Z,1749149631.850 [DAT](INFO): DAT read: Rx Time:18:53:50.5139 

2025-06-05T18:53:51.851Z,1749149631.851 [DAT](INFO): Rx dataTimestamp_ set to:1749149631.850674
2025-06-05T18:53:51.853Z,1749149631.853 [DAT](INFO): DAT read: Bearing  83.5, -25.9 (Local)

2025-06-05T18:53:51.854Z,1749149631.854 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.5, -25.9 (Local)

2025-06-05T18:53:51.857Z,1749149631.857 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:51.863Z,1749149631.863 [DAT](INFO): DAT read: 18:53:50.5139 LVL= 19648, 23825, 19890, 15603, AGC= 43, IDX= 505, 0.25,-1.804,-3.093, 2.410,-2.303, PHS= 0.587,-0.743,-1.573, RAW=  67.6,  17.9, CAL=  66.5,  25.9, ROT=  83.5, -25.9

2025-06-05T18:53:51.864Z,1749149631.864 [DAT](INFO): got valid direction response:
 18:53:50.5139 LVL= 19648, 23825, 19890, 15603, AGC= 43, IDX= 505, 0.25,-1.804,-3.093, 2.410,-2.303, PHS= 0.587,-0.743,-1.573, RAW=  67.6,  17.9, CAL=  66.5,  25.9, ROT=  83.5, -25.9

2025-06-05T18:53:51.864Z,1749149631.864 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-05T18:53:51.865Z,1749149631.865 [DAT](INFO): direction in FSK: [0.101833,0.893775,0.436802]
2025-06-05T18:53:51.865Z,1749149631.865 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:51.875Z,1749149631.875 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=8.839481
2025-06-05T18:53:52.101Z,1749149632.101 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=9.065555
2025-06-05T18:53:52.110Z,1749149632.110 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-06-05T18:53:52.111Z,1749149632.111 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-06-05T18:53:52.126Z,1749149632.126 [DockingStepper](INFO): Changing to mode: 4
2025-06-05T18:53:52.126Z,1749149632.126 [DockingStepper](INFO): Slide mode.
2025-06-05T18:53:52.192Z,1749149632.192 [DockingStepper](INFO): Commanding negative:34792
2025-06-05T18:53:52.354Z,1749149632.354 [DAT](INFO): DAT read: Rx Time:18:53:51.0138 

2025-06-05T18:53:52.355Z,1749149632.355 [DAT](INFO): Rx dataTimestamp_ set to:1749149632.354666
2025-06-05T18:53:52.356Z,1749149632.356 [DAT](INFO): DAT read: Bearing  80.9, -25.2 (Local)

2025-06-05T18:53:52.357Z,1749149632.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.9, -25.2 (Local)

2025-06-05T18:53:52.360Z,1749149632.360 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:53:52.364Z,1749149632.364 [DAT](INFO): DAT read: 18:53:51.0138 LVL= 19392, 23025, 19410, 15635, AGC= 43, IDX= 504, 0.24,-1.466,-2.877, 2.665,-2.036, PHS= 0.658,-0.794,-1.585, RAW=  69.7,  17.2, CAL=  69.1,  25.2, ROT=  80.9, -25.2

2025-06-05T18:53:52.365Z,1749149632.365 [DAT](INFO): got valid direction response:
 18:53:51.0138 LVL= 19392, 23025, 19410, 15635, AGC= 43, IDX= 504, 0.24,-1.466,-2.877, 2.665,-2.036, PHS= 0.658,-0.794,-1.585, RAW=  69.7,  17.2, CAL=  69.1,  25.2, ROT=  80.9, -25.2

2025-06-05T18:53:52.365Z,1749149632.365 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-05T18:53:52.366Z,1749149632.366 [DAT](INFO): direction in FSK: [0.143106,0.893439,0.425779]
2025-06-05T18:53:52.367Z,1749149632.367 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:52.378Z,1749149632.378 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=9.342655
2025-06-05T18:53:52.378Z,1749149632.378 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:53:52.607Z,1749149632.607 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=9.571569
2025-06-05T18:53:52.609Z,1749149632.609 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:53:52.857Z,1749149632.857 [DAT](INFO): DAT read: Rx Time:18:53:51.5139 

2025-06-05T18:53:52.858Z,1749149632.858 [DAT](INFO): Rx dataTimestamp_ set to:1749149632.857679
2025-06-05T18:53:52.861Z,1749149632.861 [DAT](INFO): DAT read: Bearing  79.6, -24.2 (Local)

2025-06-05T18:53:52.861Z,1749149632.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.6, -24.2 (Local)

2025-06-05T18:53:52.863Z,1749149632.863 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:52.872Z,1749149632.872 [DAT](INFO): DAT read: 18:53:51.5139 LVL= 17072, 23793, 19394, 14371, AGC= 42, IDX= 505, 0.29,-0.244,-1.683,-2.394,-0.855, PHS= 0.699,-0.782,-1.542, RAW=  70.5,  16.2, CAL=  70.4,  24.2, ROT=  79.6, -24.2

2025-06-05T18:53:52.873Z,1749149632.873 [DAT](INFO): got valid direction response:
 18:53:51.5139 LVL= 17072, 23793, 19394, 14371, AGC= 42, IDX= 505, 0.29,-0.244,-1.683,-2.394,-0.855, PHS= 0.699,-0.782,-1.542, RAW=  70.5,  16.2, CAL=  70.4,  24.2, ROT=  79.6, -24.2

2025-06-05T18:53:52.873Z,1749149632.873 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-05T18:53:52.874Z,1749149632.874 [DAT](INFO): direction in FSK: [0.164655,0.897135,0.409923]
2025-06-05T18:53:52.875Z,1749149632.875 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:52.888Z,1749149632.888 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=9.853315
2025-06-05T18:53:52.889Z,1749149632.889 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:53:53.110Z,1749149633.110 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=10.074890
2025-06-05T18:53:53.361Z,1749149633.361 [DAT](INFO): DAT read: Rx Time:18:53:52.0139 

2025-06-05T18:53:53.361Z,1749149633.361 [DAT](INFO): Rx dataTimestamp_ set to:1749149633.361099
2025-06-05T18:53:53.362Z,1749149633.362 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:53.363Z,1749149633.363 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-06-05T18:53:53.364Z,1749149633.364 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=10.328983
2025-06-05T18:53:53.616Z,1749149633.616 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=10.580022
2025-06-05T18:53:53.865Z,1749149633.865 [DAT](INFO): DAT read: Rx Time:18:53:52.5139 

2025-06-05T18:53:53.865Z,1749149633.865 [DAT](INFO): Rx dataTimestamp_ set to:1749149633.865010
2025-06-05T18:53:53.866Z,1749149633.866 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:53.867Z,1749149633.867 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-06-05T18:53:53.868Z,1749149633.868 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=10.832876
2025-06-05T18:53:54.117Z,1749149634.117 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=11.081659
2025-06-05T18:53:54.369Z,1749149634.369 [DAT](INFO): DAT read: Rx Time:18:53:53.0138 

2025-06-05T18:53:54.369Z,1749149634.369 [DAT](INFO): Rx dataTimestamp_ set to:1749149634.368934
2025-06-05T18:53:54.370Z,1749149634.370 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:53:54.371Z,1749149634.371 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-06-05T18:53:54.372Z,1749149634.372 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=11.336796
2025-06-05T18:53:54.621Z,1749149634.621 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=11.585611
2025-06-05T18:53:54.873Z,1749149634.873 [DAT](INFO): DAT read: Rx Time:18:53:53.5139 

2025-06-05T18:53:54.873Z,1749149634.873 [DAT](INFO): Rx dataTimestamp_ set to:1749149634.872926
2025-06-05T18:53:54.875Z,1749149634.875 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:54.876Z,1749149634.876 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-06-05T18:53:54.877Z,1749149634.877 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=11.841786
2025-06-05T18:53:55.126Z,1749149635.126 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=12.090784
2025-06-05T18:53:55.377Z,1749149635.377 [DAT](INFO): DAT read: Rx Time:18:53:54.0139 

2025-06-05T18:53:55.377Z,1749149635.377 [DAT](INFO): Rx dataTimestamp_ set to:1749149635.377025
2025-06-05T18:53:55.378Z,1749149635.378 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:55.379Z,1749149635.379 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-06-05T18:53:55.380Z,1749149635.380 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=12.344881
2025-06-05T18:53:55.629Z,1749149635.629 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=12.593561
2025-06-05T18:53:55.885Z,1749149635.885 [DAT](INFO): DAT read: Rx Time:18:53:54.5139 

2025-06-05T18:53:55.885Z,1749149635.885 [DAT](INFO): Rx dataTimestamp_ set to:1749149635.884866
2025-06-05T18:53:55.886Z,1749149635.886 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:55.887Z,1749149635.887 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-06-05T18:53:55.892Z,1749149635.892 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=12.855982
2025-06-05T18:53:56.133Z,1749149636.133 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=13.097462
2025-06-05T18:53:56.385Z,1749149636.385 [DAT](INFO): DAT read: Rx Time:18:53:55.0138 

2025-06-05T18:53:56.385Z,1749149636.385 [DAT](INFO): Rx dataTimestamp_ set to:1749149636.384986
2025-06-05T18:53:56.386Z,1749149636.386 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:53:56.387Z,1749149636.387 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-06-05T18:53:56.388Z,1749149636.388 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=13.352857
2025-06-05T18:53:56.638Z,1749149636.638 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=13.602431
2025-06-05T18:53:56.889Z,1749149636.889 [DAT](INFO): DAT read: Rx Time:18:53:55.5139 

2025-06-05T18:53:56.889Z,1749149636.889 [DAT](INFO): Rx dataTimestamp_ set to:1749149636.888890
2025-06-05T18:53:56.890Z,1749149636.890 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:56.892Z,1749149636.892 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-06-05T18:53:56.894Z,1749149636.894 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=13.858389
2025-06-05T18:53:57.149Z,1749149637.149 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=14.114132
2025-06-05T18:53:57.401Z,1749149637.401 [DAT](INFO): DAT read: Rx Time:18:53:56.0139 

2025-06-05T18:53:57.402Z,1749149637.402 [DAT](INFO): Rx dataTimestamp_ set to:1749149637.401264
2025-06-05T18:53:57.403Z,1749149637.403 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:57.403Z,1749149637.403 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-06-05T18:53:57.404Z,1749149637.404 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=14.369134
2025-06-05T18:53:57.654Z,1749149637.654 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=14.618629
2025-06-05T18:53:57.905Z,1749149637.905 [DAT](INFO): DAT read: Rx Time:18:53:56.5140 

2025-06-05T18:53:57.906Z,1749149637.906 [DAT](INFO): Rx dataTimestamp_ set to:1749149637.905815
2025-06-05T18:53:57.908Z,1749149637.908 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:53:57.910Z,1749149637.910 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-06-05T18:53:57.911Z,1749149637.911 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=14.875356
2025-06-05T18:53:58.157Z,1749149638.157 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=15.121567
2025-06-05T18:53:58.410Z,1749149638.410 [DAT](INFO): DAT read: Rx Time:18:53:57.0139 

2025-06-05T18:53:58.410Z,1749149638.410 [DAT](INFO): Rx dataTimestamp_ set to:1749149638.410109
2025-06-05T18:53:58.412Z,1749149638.412 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:58.412Z,1749149638.412 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-06-05T18:53:58.413Z,1749149638.413 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=15.377967
2025-06-05T18:53:58.661Z,1749149638.661 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=15.625969
2025-06-05T18:53:58.913Z,1749149638.913 [DAT](INFO): DAT read: Rx Time:18:53:57.5140 

2025-06-05T18:53:58.914Z,1749149638.914 [DAT](INFO): Rx dataTimestamp_ set to:1749149638.913423
2025-06-05T18:53:58.915Z,1749149638.915 [DAT](INFO): DAT read: Bearing 265.8, -59.0 (Local)

2025-06-05T18:53:58.915Z,1749149638.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.8, -59.0 (Local)

2025-06-05T18:53:58.917Z,1749149638.917 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:53:58.922Z,1749149638.922 [DAT](INFO): DAT read: 18:53:57.5140 LVL= 17600, 19009, 13922, 24979, AGC= 41, IDX= 508, 0.25,-0.698,-0.069, 0.668, 1.423, PHS=-2.033,-1.445,-0.758, RAW= 237.4,  53.6, CAL= 244.2,  59.0, ROT= 265.8, -59.0

2025-06-05T18:53:58.923Z,1749149638.923 [DAT](INFO): got valid direction response:
 18:53:57.5140 LVL= 17600, 19009, 13922, 24979, AGC= 41, IDX= 508, 0.25,-0.698,-0.069, 0.668, 1.423, PHS=-2.033,-1.445,-0.758, RAW= 237.4,  53.6, CAL= 244.2,  59.0, ROT= 265.8, -59.0

2025-06-05T18:53:58.923Z,1749149638.923 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-05T18:53:58.925Z,1749149638.925 [DAT](INFO): direction in FSK: [-0.037721,-0.513655,0.857167]
2025-06-05T18:53:58.926Z,1749149638.926 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:58.947Z,1749149638.947 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=15.911910
2025-06-05T18:53:59.166Z,1749149639.166 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=16.130610
2025-06-05T18:53:59.418Z,1749149639.418 [DAT](INFO): DAT read: Rx Time:18:53:58.0139 

2025-06-05T18:53:59.419Z,1749149639.419 [DAT](INFO): Rx dataTimestamp_ set to:1749149639.418306
2025-06-05T18:53:59.420Z,1749149639.420 [DAT](INFO): DAT read: Bearing 242.6, -56.3 (Local)

2025-06-05T18:53:59.420Z,1749149639.420 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.6, -56.3 (Local)

2025-06-05T18:53:59.422Z,1749149639.422 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:59.428Z,1749149639.428 [DAT](INFO): DAT read: 18:53:58.0139 LVL= 17568, 19921, 14834, 22931, AGC= 41, IDX= 507, 0.31,-1.295,-0.255, 0.070, 0.946, PHS=-2.153,-1.153,-0.878, RAW= 258.2,  51.9, CAL= 267.4,  56.3, ROT= 242.6, -56.3

2025-06-05T18:53:59.429Z,1749149639.429 [DAT](INFO): got valid direction response:
 18:53:58.0139 LVL= 17568, 19921, 14834, 22931, AGC= 41, IDX= 507, 0.31,-1.295,-0.255, 0.070, 0.946, PHS=-2.153,-1.153,-0.878, RAW= 258.2,  51.9, CAL= 267.4,  56.3, ROT= 242.6, -56.3

2025-06-05T18:53:59.430Z,1749149639.430 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-05T18:53:59.431Z,1749149639.431 [DAT](INFO): direction in FSK: [-0.255339,-0.492599,0.831954]
2025-06-05T18:53:59.431Z,1749149639.431 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:59.440Z,1749149639.440 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=16.405294
2025-06-05T18:53:59.669Z,1749149639.669 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=16.633530
2025-06-05T18:53:59.923Z,1749149639.923 [DAT](INFO): DAT read: Rx Time:18:53:58.5139 

2025-06-05T18:53:59.925Z,1749149639.925 [DAT](INFO): Rx dataTimestamp_ set to:1749149639.923565
2025-06-05T18:53:59.927Z,1749149639.927 [DAT](INFO): DAT read: Bearing 225.9, -46.9 (Local)

2025-06-05T18:53:59.928Z,1749149639.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.9, -46.9 (Local)

2025-06-05T18:53:59.931Z,1749149639.931 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:53:59.936Z,1749149639.936 [DAT](INFO): DAT read: 18:53:58.5139 LVL= 16112, 20033, 15346, 21123, AGC= 41, IDX= 507, 0.38,-2.463,-0.815,-0.834, 0.080, PHS=-2.455,-0.849,-0.917, RAW= 272.2,  43.5, CAL= 284.1,  46.9, ROT= 225.9, -46.9

2025-06-05T18:53:59.937Z,1749149639.937 [DAT](INFO): got valid direction response:
 18:53:58.5139 LVL= 16112, 20033, 15346, 21123, AGC= 41, IDX= 507, 0.38,-2.463,-0.815,-0.834, 0.080, PHS=-2.455,-0.849,-0.917, RAW= 272.2,  43.5, CAL= 284.1,  46.9, ROT= 225.9, -46.9

2025-06-05T18:53:59.937Z,1749149639.937 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-05T18:53:59.938Z,1749149639.938 [DAT](INFO): direction in FSK: [-0.475499,-0.490677,0.730162]
2025-06-05T18:53:59.939Z,1749149639.939 [DAT](INFO): publishing direction and range info
2025-06-05T18:53:59.943Z,1749149639.943 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=16.907869
2025-06-05T18:54:00.173Z,1749149640.173 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=17.137615
2025-06-05T18:54:00.426Z,1749149640.426 [DAT](INFO): DAT read: Rx Time:18:53:59.0138 

2025-06-05T18:54:00.427Z,1749149640.427 [DAT](INFO): Rx dataTimestamp_ set to:1749149640.426298
2025-06-05T18:54:00.428Z,1749149640.428 [DAT](INFO): DAT read: Bearing 222.0, -46.0 (Local)

2025-06-05T18:54:00.428Z,1749149640.428 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.0, -46.0 (Local)

2025-06-05T18:54:00.430Z,1749149640.430 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:00.435Z,1749149640.435 [DAT](INFO): DAT read: 18:53:59.0138 LVL= 14784, 20433, 15314, 19235, AGC= 41, IDX= 506, 0.40, 3.101,-1.449,-1.595,-0.623, PHS=-2.470,-0.778,-0.975, RAW= 276.1,  43.0, CAL= 288.0,  46.0, ROT= 222.0, -46.0

2025-06-05T18:54:00.436Z,1749149640.436 [DAT](INFO): got valid direction response:
 18:53:59.0138 LVL= 14784, 20433, 15314, 19235, AGC= 41, IDX= 506, 0.40, 3.101,-1.449,-1.595,-0.623, PHS=-2.470,-0.778,-0.975, RAW= 276.1,  43.0, CAL= 288.0,  46.0, ROT= 222.0, -46.0

2025-06-05T18:54:00.436Z,1749149640.436 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-05T18:54:00.437Z,1749149640.437 [DAT](INFO): direction in FSK: [-0.516232,-0.464817,0.719340]
2025-06-05T18:54:00.437Z,1749149640.437 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:00.442Z,1749149640.442 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=17.406458
2025-06-05T18:54:00.678Z,1749149640.678 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=17.642855
2025-06-05T18:54:00.929Z,1749149640.929 [DAT](INFO): DAT read: Rx Time:18:53:59.5139 

2025-06-05T18:54:00.929Z,1749149640.929 [DAT](INFO): Rx dataTimestamp_ set to:1749149640.929053
2025-06-05T18:54:00.930Z,1749149640.930 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:00.931Z,1749149640.931 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-06-05T18:54:00.932Z,1749149640.932 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=17.896954
2025-06-05T18:54:01.182Z,1749149641.182 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=18.146465
2025-06-05T18:54:01.436Z,1749149641.436 [DAT](INFO): DAT read: Rx Time:18:54:00.0138 

2025-06-05T18:54:01.437Z,1749149641.437 [DAT](INFO): Rx dataTimestamp_ set to:1749149641.436943
2025-06-05T18:54:01.441Z,1749149641.441 [DAT](INFO): DAT read: Bearing 218.8, -45.9 (Local)

2025-06-05T18:54:01.441Z,1749149641.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.8, -45.9 (Local)

2025-06-05T18:54:01.445Z,1749149641.445 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:01.462Z,1749149641.462 [DAT](INFO): DAT read: 18:54:00.0138 LVL= 11360, 21729, 15138, 18227, AGC= 41, IDX= 506, 0.45,-2.704,-0.897,-1.163,-0.092, PHS=-2.523,-0.757,-1.073, RAW= 279.7,  43.3, CAL= 291.2,  45.9, ROT= 218.8, -45.9

2025-06-05T18:54:01.463Z,1749149641.463 [DAT](INFO): got valid direction response:
 18:54:00.0138 LVL= 11360, 21729, 15138, 18227, AGC= 41, IDX= 506, 0.45,-2.704,-0.897,-1.163,-0.092, PHS=-2.523,-0.757,-1.073, RAW= 279.7,  43.3, CAL= 291.2,  45.9, ROT= 218.8, -45.9

2025-06-05T18:54:01.463Z,1749149641.463 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-05T18:54:01.473Z,1749149641.473 [DAT](INFO): direction in FSK: [-0.542351,-0.436062,0.718126]
2025-06-05T18:54:01.474Z,1749149641.474 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:01.485Z,1749149641.485 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=18.449991
2025-06-05T18:54:01.685Z,1749149641.685 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=18.650240
2025-06-05T18:54:01.937Z,1749149641.937 [DAT](INFO): DAT read: Rx Time:18:54:00.5139 

2025-06-05T18:54:01.938Z,1749149641.938 [DAT](INFO): Rx dataTimestamp_ set to:1749149641.937424
2025-06-05T18:54:01.939Z,1749149641.939 [DAT](INFO): DAT read: Bearing 217.5, -47.2 (Local)

2025-06-05T18:54:01.939Z,1749149641.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.5, -47.2 (Local)

2025-06-05T18:54:01.944Z,1749149641.944 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:01.954Z,1749149641.954 [DAT](INFO): DAT read: 18:54:00.5139 LVL= 12576, 21649, 13778, 16595, AGC= 41, IDX= 508,-0.42,-2.948,-1.202,-1.508,-0.383, PHS=-2.477,-0.773,-1.128, RAW= 281.4,  44.8, CAL= 292.5,  47.2, ROT= 217.5, -47.2

2025-06-05T18:54:01.955Z,1749149641.955 [DAT](INFO): got valid direction response:
 18:54:00.5139 LVL= 12576, 21649, 13778, 16595, AGC= 41, IDX= 508,-0.42,-2.948,-1.202,-1.508,-0.383, PHS=-2.477,-0.773,-1.128, RAW= 281.4,  44.8, CAL= 292.5,  47.2, ROT= 217.5, -47.2

2025-06-05T18:54:01.962Z,1749149641.962 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-05T18:54:01.970Z,1749149641.970 [DAT](INFO): direction in FSK: [-0.539037,-0.413618,0.733730]
2025-06-05T18:54:01.970Z,1749149641.970 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:01.979Z,1749149641.979 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=18.943171
2025-06-05T18:54:02.189Z,1749149642.189 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=19.153555
2025-06-05T18:54:02.443Z,1749149642.443 [DAT](INFO): DAT read: Rx Time:18:54:01.0138 

2025-06-05T18:54:02.444Z,1749149642.444 [DAT](INFO): Rx dataTimestamp_ set to:1749149642.443856
2025-06-05T18:54:02.447Z,1749149642.447 [DAT](INFO): DAT read: Bearing 219.3, -52.5 (Local)

2025-06-05T18:54:02.448Z,1749149642.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.3, -52.5 (Local)

2025-06-05T18:54:02.452Z,1749149642.452 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:02.461Z,1749149642.461 [DAT](INFO): DAT read: 18:54:01.0138 LVL= 12912, 20673, 13794, 17011, AGC= 41, IDX= 507,-0.35, 2.250,-2.594,-2.821,-1.653, PHS=-2.292,-0.893,-1.171, RAW= 280.8,  50.2, CAL= 290.7,  52.5, ROT= 219.3, -52.5

2025-06-05T18:54:02.462Z,1749149642.462 [DAT](INFO): got valid direction response:
 18:54:01.0138 LVL= 12912, 20673, 13794, 17011, AGC= 41, IDX= 507,-0.35, 2.250,-2.594,-2.821,-1.653, PHS=-2.292,-0.893,-1.171, RAW= 280.8,  50.2, CAL= 290.7,  52.5, ROT= 219.3, -52.5

2025-06-05T18:54:02.462Z,1749149642.462 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-05T18:54:02.464Z,1749149642.464 [DAT](INFO): direction in FSK: [-0.471084,-0.385578,0.793353]
2025-06-05T18:54:02.464Z,1749149642.464 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:02.467Z,1749149642.467 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=19.432039
2025-06-05T18:54:02.699Z,1749149642.699 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=19.663437
2025-06-05T18:54:02.950Z,1749149642.950 [DAT](INFO): DAT read: Rx Time:18:54:01.5141 

2025-06-05T18:54:02.950Z,1749149642.950 [DAT](INFO): Rx dataTimestamp_ set to:1749149642.950021
2025-06-05T18:54:02.952Z,1749149642.952 [DAT](INFO): DAT read: Bearing 217.5, -51.4 (Local)

2025-06-05T18:54:02.952Z,1749149642.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.5, -51.4 (Local)

2025-06-05T18:54:02.954Z,1749149642.954 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:02.960Z,1749149642.960 [DAT](INFO): DAT read: 18:54:01.5141 LVL= 12272, 23969, 13890, 16531, AGC= 41, IDX= 508,-0.37,-2.247,-0.814,-1.080, 0.048, PHS=-2.208,-0.815,-1.132, RAW= 282.5,  49.3, CAL= 292.5,  51.4, ROT= 217.5, -51.4

2025-06-05T18:54:02.961Z,1749149642.961 [DAT](INFO): got valid direction response:
 18:54:01.5141 LVL= 12272, 23969, 13890, 16531, AGC= 41, IDX= 508,-0.37,-2.247,-0.814,-1.080, 0.048, PHS=-2.208,-0.815,-1.132, RAW= 282.5,  49.3, CAL= 292.5,  51.4, ROT= 217.5, -51.4

2025-06-05T18:54:02.961Z,1749149642.961 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-05T18:54:02.962Z,1749149642.962 [DAT](INFO): direction in FSK: [-0.494957,-0.379794,0.781520]
2025-06-05T18:54:02.962Z,1749149642.962 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:02.966Z,1749149642.966 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=19.931107
2025-06-05T18:54:03.202Z,1749149643.202 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=20.166162
2025-06-05T18:54:03.455Z,1749149643.455 [DAT](INFO): DAT read: Rx Time:18:54:02.0140 

2025-06-05T18:54:03.456Z,1749149643.456 [DAT](INFO): Rx dataTimestamp_ set to:1749149643.455040
2025-06-05T18:54:03.458Z,1749149643.458 [DAT](INFO): DAT read: Bearing 216.5, -54.5 (Local)

2025-06-05T18:54:03.459Z,1749149643.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.5, -54.5 (Local)

2025-06-05T18:54:03.463Z,1749149643.463 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:03.471Z,1749149643.471 [DAT](INFO): DAT read: 18:54:02.0140 LVL= 11248, 24129, 14546, 15475, AGC= 40, IDX= 507,-0.45,-1.108, 0.030,-0.204, 0.838, PHS=-1.858,-0.761,-1.044, RAW= 284.4,  52.7, CAL= 293.5,  54.5, ROT= 216.5, -54.5

2025-06-05T18:54:03.474Z,1749149643.474 [DAT](INFO): got valid direction response:
 18:54:02.0140 LVL= 11248, 24129, 14546, 15475, AGC= 40, IDX= 507,-0.45,-1.108, 0.030,-0.204, 0.838, PHS=-1.858,-0.761,-1.044, RAW= 284.4,  52.7, CAL= 293.5,  54.5, ROT= 216.5, -54.5

2025-06-05T18:54:03.474Z,1749149643.474 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-05T18:54:03.488Z,1749149643.488 [DAT](INFO): direction in FSK: [-0.466802,-0.345415,0.814116]
2025-06-05T18:54:03.489Z,1749149643.489 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:03.507Z,1749149643.507 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=20.471720
2025-06-05T18:54:03.705Z,1749149643.705 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=20.670067
2025-06-05T18:54:03.960Z,1749149643.960 [DAT](INFO): DAT read: Rx Time:18:54:02.5140 

2025-06-05T18:54:03.961Z,1749149643.961 [DAT](INFO): Rx dataTimestamp_ set to:1749149643.960292
2025-06-05T18:54:03.962Z,1749149643.962 [DAT](INFO): DAT read: Bearing 213.6, -52.0 (Local)

2025-06-05T18:54:03.962Z,1749149643.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.6, -52.0 (Local)

2025-06-05T18:54:03.964Z,1749149643.964 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:03.970Z,1749149643.970 [DAT](INFO): DAT read: 18:54:02.5140 LVL= 10848, 24753, 13410, 14483, AGC= 40, IDX= 507,-0.49,-0.459, 0.649, 0.378, 1.313, PHS=-1.684,-0.617,-0.938, RAW= 287.0,  50.4, CAL= 296.4,  52.0, ROT= 213.6, -52.0

2025-06-05T18:54:03.972Z,1749149643.972 [DAT](INFO): got valid direction response:
 18:54:02.5140 LVL= 10848, 24753, 13410, 14483, AGC= 40, IDX= 507,-0.49,-0.459, 0.649, 0.378, 1.313, PHS=-1.684,-0.617,-0.938, RAW= 287.0,  50.4, CAL= 296.4,  52.0, ROT= 213.6, -52.0

2025-06-05T18:54:03.973Z,1749149643.973 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-05T18:54:03.974Z,1749149643.974 [DAT](INFO): direction in FSK: [-0.512798,-0.340702,0.788011]
2025-06-05T18:54:03.975Z,1749149643.975 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:03.000Z,1749149644.000 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=20.956167
2025-06-05T18:54:04.210Z,1749149644.210 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=21.174559
2025-06-05T18:54:04.461Z,1749149644.461 [DAT](INFO): DAT read: Rx Time:18:54:03.0139 

2025-06-05T18:54:04.461Z,1749149644.461 [DAT](INFO): Rx dataTimestamp_ set to:1749149644.461198
2025-06-05T18:54:04.463Z,1749149644.463 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:04.463Z,1749149644.463 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-06-05T18:54:04.464Z,1749149644.464 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=21.429085
2025-06-05T18:54:04.715Z,1749149644.715 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=21.679296
2025-06-05T18:54:04.965Z,1749149644.965 [DAT](INFO): DAT read: Rx Time:18:54:03.5140 

2025-06-05T18:54:04.965Z,1749149644.965 [DAT](INFO): Rx dataTimestamp_ set to:1749149644.965002
2025-06-05T18:54:04.966Z,1749149644.966 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:04.967Z,1749149644.967 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-06-05T18:54:04.968Z,1749149644.968 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=21.932871
2025-06-05T18:54:05.222Z,1749149645.222 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=22.186035
2025-06-05T18:54:05.469Z,1749149645.469 [DAT](INFO): DAT read: Rx Time:18:54:04.0139 

2025-06-05T18:54:05.470Z,1749149645.470 [DAT](INFO): Rx dataTimestamp_ set to:1749149645.469421
2025-06-05T18:54:05.471Z,1749149645.471 [DAT](INFO): DAT read: Bearing 213.7, -50.8 (Local)

2025-06-05T18:54:05.471Z,1749149645.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.7, -50.8 (Local)

2025-06-05T18:54:05.474Z,1749149645.474 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:05.506Z,1749149645.506 [DAT](INFO): DAT read: 18:54:04.0139 LVL=  9648, 25969, 14834, 17251, AGC= 40, IDX= 506,-0.30,-1.544,-0.464,-0.719, 0.143, PHS=-1.599,-0.560,-0.865, RAW= 286.6,  49.1, CAL= 296.3,  50.8, ROT= 213.7, -50.8

2025-06-05T18:54:05.512Z,1749149645.512 [DAT](INFO): got valid direction response:
 18:54:04.0139 LVL=  9648, 25969, 14834, 17251, AGC= 40, IDX= 506,-0.30,-1.544,-0.464,-0.719, 0.143, PHS=-1.599,-0.560,-0.865, RAW= 286.6,  49.1, CAL= 296.3,  50.8, ROT= 213.7, -50.8

2025-06-05T18:54:05.513Z,1749149645.513 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-05T18:54:05.514Z,1749149645.514 [DAT](INFO): direction in FSK: [-0.525819,-0.350678,0.774944]
2025-06-05T18:54:05.514Z,1749149645.514 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:05.520Z,1749149645.520 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=22.484678
2025-06-05T18:54:05.725Z,1749149645.725 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=22.689508
2025-06-05T18:54:05.978Z,1749149645.978 [DAT](INFO): DAT read: Rx Time:18:54:04.5141 

2025-06-05T18:54:05.978Z,1749149645.978 [DAT](INFO): Rx dataTimestamp_ set to:1749149645.977793
2025-06-05T18:54:05.979Z,1749149645.979 [DAT](INFO): DAT read: Bearing 214.7, -51.4 (Local)

2025-06-05T18:54:05.980Z,1749149645.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.7, -51.4 (Local)

2025-06-05T18:54:05.982Z,1749149645.982 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:05.986Z,1749149645.986 [DAT](INFO): DAT read: 18:54:04.5141 LVL= 10144, 25649, 14466, 17283, AGC= 40, IDX= 507,-0.19,-1.069, 0.029,-0.214, 0.672, PHS=-1.653,-0.596,-0.889, RAW= 285.6,  49.6, CAL= 295.3,  51.4, ROT= 214.7, -51.4

2025-06-05T18:54:05.987Z,1749149645.987 [DAT](INFO): got valid direction response:
 18:54:04.5141 LVL= 10144, 25649, 14466, 17283, AGC= 40, IDX= 507,-0.19,-1.069, 0.029,-0.214, 0.672, PHS=-1.653,-0.596,-0.889, RAW= 285.6,  49.6, CAL= 295.3,  51.4, ROT= 214.7, -51.4

2025-06-05T18:54:05.988Z,1749149645.988 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-05T18:54:05.989Z,1749149645.989 [DAT](INFO): direction in FSK: [-0.512919,-0.355162,0.781520]
2025-06-05T18:54:05.989Z,1749149645.989 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:05.999Z,1749149645.999 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=22.963688
2025-06-05T18:54:06.229Z,1749149646.229 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=23.193714
2025-06-05T18:54:06.481Z,1749149646.481 [DAT](INFO): DAT read: Rx Time:18:54:05.0140 

2025-06-05T18:54:06.482Z,1749149646.482 [DAT](INFO): Rx dataTimestamp_ set to:1749149646.481319
2025-06-05T18:54:06.483Z,1749149646.483 [DAT](INFO): DAT read: Bearing 214.6, -52.9 (Local)

2025-06-05T18:54:06.483Z,1749149646.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.6, -52.9 (Local)

2025-06-05T18:54:06.485Z,1749149646.485 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:06.490Z,1749149646.490 [DAT](INFO): DAT read: 18:54:05.0140 LVL= 10608, 20465, 11186, 15427, AGC= 40, IDX= 506,-0.04,-3.009,-1.933,-2.179,-1.247, PHS=-1.674,-0.639,-0.935, RAW= 286.1,  51.2, CAL= 295.4,  52.9, ROT= 214.6, -52.9

2025-06-05T18:54:06.491Z,1749149646.491 [DAT](INFO): got valid direction response:
 18:54:05.0140 LVL= 10608, 20465, 11186, 15427, AGC= 40, IDX= 506,-0.04,-3.009,-1.933,-2.179,-1.247, PHS=-1.674,-0.639,-0.935, RAW= 286.1,  51.2, CAL= 295.4,  52.9, ROT= 214.6, -52.9

2025-06-05T18:54:06.491Z,1749149646.491 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-05T18:54:06.492Z,1749149646.492 [DAT](INFO): direction in FSK: [-0.496522,-0.342528,0.797584]
2025-06-05T18:54:06.492Z,1749149646.492 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:06.496Z,1749149646.496 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=23.460627
2025-06-05T18:54:06.733Z,1749149646.733 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=23.697701
2025-06-05T18:54:06.985Z,1749149646.985 [DAT](INFO): DAT read: Rx Time:18:54:05.5141 

2025-06-05T18:54:06.986Z,1749149646.986 [DAT](INFO): Rx dataTimestamp_ set to:1749149646.985397
2025-06-05T18:54:06.987Z,1749149646.987 [DAT](INFO): DAT read: Bearing 222.9, -60.1 (Local)

2025-06-05T18:54:06.987Z,1749149646.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9, -60.1 (Local)

2025-06-05T18:54:06.989Z,1749149646.989 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:06.995Z,1749149646.995 [DAT](INFO): DAT read: 18:54:05.5141 LVL= 11088, 27473, 15682, 21043, AGC= 39, IDX= 507,-0.04,-0.999,-0.149,-0.234, 0.717, PHS=-1.628,-0.819,-0.954, RAW= 279.0,  58.0, CAL= 287.1,  60.1, ROT= 222.9, -60.1

2025-06-05T18:54:06.996Z,1749149646.996 [DAT](INFO): got valid direction response:
 18:54:05.5141 LVL= 11088, 27473, 15682, 21043, AGC= 39, IDX= 507,-0.04,-0.999,-0.149,-0.234, 0.717, PHS=-1.628,-0.819,-0.954, RAW= 279.0,  58.0, CAL= 287.1,  60.1, ROT= 222.9, -60.1

2025-06-05T18:54:06.997Z,1749149646.997 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-05T18:54:06.998Z,1749149646.998 [DAT](INFO): direction in FSK: [-0.365164,-0.339331,0.866897]
2025-06-05T18:54:06.998Z,1749149646.998 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:07.001Z,1749149647.001 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=23.966082
2025-06-05T18:54:07.237Z,1749149647.237 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=24.201733
2025-06-05T18:54:07.490Z,1749149647.490 [DAT](INFO): DAT read: Rx Time:18:54:06.0141 

2025-06-05T18:54:07.491Z,1749149647.491 [DAT](INFO): Rx dataTimestamp_ set to:1749149647.490465
2025-06-05T18:54:07.493Z,1749149647.493 [DAT](INFO): DAT read: Bearing 227.7, -63.7 (Local)

2025-06-05T18:54:07.493Z,1749149647.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.7, -63.7 (Local)

2025-06-05T18:54:07.496Z,1749149647.496 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:07.502Z,1749149647.502 [DAT](INFO): DAT read: 18:54:06.0141 LVL= 14608, 25713, 17122, 22563, AGC= 40, IDX= 506, 0.04,-1.477,-0.740,-0.756, 0.208, PHS=-1.597,-0.901,-0.967, RAW= 274.9,  61.5, CAL= 282.3,  63.7, ROT= 227.7, -63.7

2025-06-05T18:54:07.503Z,1749149647.503 [DAT](INFO): got valid direction response:
 18:54:06.0141 LVL= 14608, 25713, 17122, 22563, AGC= 40, IDX= 506, 0.04,-1.477,-0.740,-0.756, 0.208, PHS=-1.597,-0.901,-0.967, RAW= 274.9,  61.5, CAL= 282.3,  63.7, ROT= 227.7, -63.7

2025-06-05T18:54:07.525Z,1749149647.525 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-05T18:54:07.533Z,1749149647.533 [DAT](INFO): direction in FSK: [-0.298192,-0.327709,0.896486]
2025-06-05T18:54:07.533Z,1749149647.533 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:07.553Z,1749149647.553 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=24.517914
2025-06-05T18:54:07.741Z,1749149647.741 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=24.705519
2025-06-05T18:54:07.995Z,1749149647.995 [DAT](INFO): DAT read: Rx Time:18:54:06.5141 

2025-06-05T18:54:07.995Z,1749149647.995 [DAT](INFO): Rx dataTimestamp_ set to:1749149647.995080
2025-06-05T18:54:07.997Z,1749149647.997 [DAT](INFO): DAT read: Bearing 237.2, -67.4 (Local)

2025-06-05T18:54:07.997Z,1749149647.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.2, -67.4 (Local)

2025-06-05T18:54:07.999Z,1749149647.999 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:08.003Z,1749149648.003 [DAT](INFO): DAT read: 18:54:06.5141 LVL= 14608, 25425, 20466, 26099, AGC= 40, IDX= 506, 0.04,-0.832,-0.221,-0.129, 0.835, PHS=-1.580,-1.009,-0.967, RAW= 266.5,  64.8, CAL= 272.8,  67.4, ROT= 237.2, -67.4

2025-06-05T18:54:08.005Z,1749149648.005 [DAT](INFO): got valid direction response:
 18:54:06.5141 LVL= 14608, 25425, 20466, 26099, AGC= 40, IDX= 506, 0.04,-0.832,-0.221,-0.129, 0.835, PHS=-1.580,-1.009,-0.967, RAW= 266.5,  64.8, CAL= 272.8,  67.4, ROT= 237.2, -67.4

2025-06-05T18:54:08.006Z,1749149648.006 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-05T18:54:08.007Z,1749149648.007 [DAT](INFO): direction in FSK: [-0.208176,-0.323026,0.923210]
2025-06-05T18:54:08.014Z,1749149648.014 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:08.080Z,1749149648.080 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=25.044779
2025-06-05T18:54:08.245Z,1749149648.245 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=25.209469
2025-06-05T18:54:08.497Z,1749149648.497 [DAT](INFO): DAT read: Rx Time:18:54:07.0138 

2025-06-05T18:54:08.498Z,1749149648.498 [DAT](INFO): Rx dataTimestamp_ set to:1749149648.497492
2025-06-05T18:54:08.499Z,1749149648.499 [DAT](INFO): DAT read: Bearing 239.9, -65.7 (Local)

2025-06-05T18:54:08.499Z,1749149648.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.9, -65.7 (Local)

2025-06-05T18:54:08.502Z,1749149648.502 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:08.518Z,1749149648.518 [DAT](INFO): DAT read: 18:54:07.0138 LVL= 18416, 25681, 23410, 29667, AGC= 41, IDX= 505, 0.09,-1.808,-1.163,-1.026,-0.102, PHS=-1.618,-1.014,-0.928, RAW= 263.4,  62.6, CAL= 270.1,  65.7, ROT= 239.9, -65.7

2025-06-05T18:54:08.519Z,1749149648.519 [DAT](INFO): got valid direction response:
 18:54:07.0138 LVL= 18416, 25681, 23410, 29667, AGC= 41, IDX= 505, 0.09,-1.808,-1.163,-1.026,-0.102, PHS=-1.618,-1.014,-0.928, RAW= 263.4,  62.6, CAL= 270.1,  65.7, ROT= 239.9, -65.7

2025-06-05T18:54:08.519Z,1749149648.519 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-05T18:54:08.521Z,1749149648.521 [DAT](INFO): direction in FSK: [-0.206379,-0.356022,0.911403]
2025-06-05T18:54:08.521Z,1749149648.521 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:08.527Z,1749149648.527 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=25.491562
2025-06-05T18:54:08.749Z,1749149648.749 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=25.713949
2025-06-05T18:54:09.001Z,1749149649.001 [DAT](INFO): DAT read: Rx Time:18:54:07.5141 

2025-06-05T18:54:09.002Z,1749149649.002 [DAT](INFO): Rx dataTimestamp_ set to:1749149649.001623
2025-06-05T18:54:09.003Z,1749149649.003 [DAT](INFO): DAT read: Bearing 259.1, -69.8 (Local)

2025-06-05T18:54:09.004Z,1749149649.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.1, -69.8 (Local)

2025-06-05T18:54:09.006Z,1749149649.006 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:09.038Z,1749149649.038 [DAT](INFO): DAT read: 18:54:07.5141 LVL= 19440, 23073, 21842, 26467, AGC= 43, IDX= 506, 0.18,-0.567,-0.164, 0.133, 1.014, PHS=-1.493,-1.131,-0.884, RAW= 246.2,  66.8, CAL= 250.9,  69.8, ROT= 259.1, -69.8

2025-06-05T18:54:09.039Z,1749149649.039 [DAT](INFO): got valid direction response:
 18:54:07.5141 LVL= 19440, 23073, 21842, 26467, AGC= 43, IDX= 506, 0.18,-0.567,-0.164, 0.133, 1.014, PHS=-1.493,-1.131,-0.884, RAW= 246.2,  66.8, CAL= 250.9,  69.8, ROT= 259.1, -69.8

2025-06-05T18:54:09.039Z,1749149649.039 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-05T18:54:09.053Z,1749149649.053 [DAT](INFO): direction in FSK: [-0.065294,-0.339068,0.938493]
2025-06-05T18:54:09.053Z,1749149649.053 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:09.062Z,1749149649.062 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=26.026363
2025-06-05T18:54:09.253Z,1749149649.253 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=26.217642
2025-06-05T18:54:09.505Z,1749149649.505 [DAT](INFO): DAT read: Rx Time:18:54:08.0141 

2025-06-05T18:54:09.505Z,1749149649.505 [DAT](INFO): Rx dataTimestamp_ set to:1749149649.505057
2025-06-05T18:54:09.506Z,1749149649.506 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:09.507Z,1749149649.507 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-06-05T18:54:09.508Z,1749149649.508 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=26.472918
2025-06-05T18:54:09.764Z,1749149649.764 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=26.728340
2025-06-05T18:54:10.014Z,1749149650.014 [DAT](INFO): DAT read: Rx Time:18:54:08.5142 

2025-06-05T18:54:10.015Z,1749149650.015 [DAT](INFO): Rx dataTimestamp_ set to:1749149650.014578
2025-06-05T18:54:10.030Z,1749149650.030 [DAT](INFO): DAT read: Bearing 190.5,  -4.0 (Local)

2025-06-05T18:54:10.031Z,1749149650.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.5,  -4.0 (Local)

2025-06-05T18:54:10.035Z,1749149650.035 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T18:54:10.057Z,1749149650.057 [DAT](INFO): DAT read: 18:54:08.5142 LVL= 14960, 17841, 23010, 25891, AGC= 43, IDX= 506, 0.23,-0.140, 1.951, 0.443, 0.882, PHS=-0.934, 1.117,-0.441, RAW= 316.7,   2.8, CAL= 319.5,   4.0, ROT= 190.5,  -4.0

2025-06-05T18:54:10.065Z,1749149650.065 [DAT](INFO): got valid direction response:
 18:54:08.5142 LVL= 14960, 17841, 23010, 25891, AGC= 43, IDX= 506, 0.23,-0.140, 1.951, 0.443, 0.882, PHS=-0.934, 1.117,-0.441, RAW= 316.7,   2.8, CAL= 319.5,   4.0, ROT= 190.5,  -4.0

2025-06-05T18:54:10.066Z,1749149650.066 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-05T18:54:10.067Z,1749149650.067 [DAT](INFO): direction in FSK: [-0.980860,-0.181792,0.069756]
2025-06-05T18:54:10.076Z,1749149650.076 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:10.085Z,1749149650.085 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=27.049501
2025-06-05T18:54:10.269Z,1749149650.269 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=27.231726
2025-06-05T18:54:10.517Z,1749149650.517 [DAT](INFO): DAT read: Rx Time:18:54:09.0137 

2025-06-05T18:54:10.518Z,1749149650.518 [DAT](INFO): Rx dataTimestamp_ set to:1749149650.517488
2025-06-05T18:54:10.519Z,1749149650.519 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T18:54:10.520Z,1749149650.520 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-06-05T18:54:10.521Z,1749149650.521 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=27.485367
2025-06-05T18:54:10.773Z,1749149650.773 [DAT](INFO): DAT read: Rx Time:18:54:09.5138 

2025-06-05T18:54:10.774Z,1749149650.774 [DAT](INFO): Rx dataTimestamp_ set to:1749149650.773159
2025-06-05T18:54:10.777Z,1749149650.777 [DAT](INFO): DAT read: Bearing  71.5, -67.5 (Local)

2025-06-05T18:54:10.778Z,1749149650.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.5, -67.5 (Local)

2025-06-05T18:54:10.782Z,1749149650.782 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=27.744385
2025-06-05T18:54:11.022Z,1749149651.022 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:11.026Z,1749149651.026 [DAT](INFO): DAT read: 18:54:09.5138 LVL= 24896, 21569, 22082, 25331, AGC= 43, IDX= 512,-0.15,-1.916,-2.518,-2.628,-0.904, PHS=-0.923,-1.567,-1.727, RAW=  79.1,67.5

2025-06-05T18:54:11.027Z,1749149651.027 [DAT](INFO): unknown deviceResponse_: 18:54:09.5138 LVL= 24896, 21569, 22082, 25331, AGC= 43, IDX= 512,-0.15,-1.916,-2.518,-2.628,-0.904, PHS=-0.923,-1.567,-1.727, RAW=  79.1,67.5

2025-06-05T18:54:11.028Z,1749149651.028 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-05T18:54:11.029Z,1749149651.029 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=27.993771
2025-06-05T18:54:11.277Z,1749149651.277 [DAT](INFO): DAT read: Rx Time:18:54:10.0140 

2025-06-05T18:54:11.279Z,1749149651.279 [DAT](INFO): Rx dataTimestamp_ set to:1749149651.277645
2025-06-05T18:54:11.281Z,1749149651.281 [DAT](INFO): DAT read: Bearing 186.2, -27.2 (Local)

2025-06-05T18:54:11.282Z,1749149651.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.2, -27.2 (Local)

2025-06-05T18:54:11.285Z,1749149651.285 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=28.249334
2025-06-05T18:54:11.416Z,1749149651.416 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:54:11.526Z,1749149651.526 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:11.534Z,1749149651.534 [DAT](INFO): DAT read: 18:54:10.0140 LVL= 19200, 19281, 12914, 22307, AGC= 42, IDX= 511,-0.11,-2.317,-0.630,-1.926,-0.966, PHS=-1.263, 0.382,-0.963, RAW= 320.2,  23.3, CAL= 323.8,  27.2, ROT= 186.2, -27.2

2025-06-05T18:54:11.535Z,1749149651.535 [DAT](INFO): got valid direction response:
 18:54:10.0140 LVL= 19200, 19281, 12914, 22307, AGC= 42, IDX= 511,-0.11,-2.317,-0.630,-1.926,-0.966, PHS=-1.263, 0.382,-0.963, RAW= 320.2,  23.3, CAL= 323.8,  27.2, ROT= 186.2, -27.2

2025-06-05T18:54:11.535Z,1749149651.535 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-05T18:54:11.536Z,1749149651.536 [DAT](INFO): direction in FSK: [-0.884214,-0.096056,0.457098]
2025-06-05T18:54:11.537Z,1749149651.537 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:11.540Z,1749149651.540 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=28.504852
2025-06-05T18:54:11.777Z,1749149651.777 [DAT](INFO): DAT read: Rx Time:18:54:10.5140 

2025-06-05T18:54:11.778Z,1749149651.778 [DAT](INFO): Rx dataTimestamp_ set to:1749149651.777455
2025-06-05T18:54:11.778Z,1749149651.778 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=28.743168
2025-06-05T18:54:12.030Z,1749149652.030 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:12.031Z,1749149652.031 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-06-05T18:54:12.039Z,1749149652.039 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=29.003693
2025-06-05T18:54:12.282Z,1749149652.282 [DAT](INFO): DAT read: Rx Time:18:54:11.0139 

2025-06-05T18:54:12.282Z,1749149652.282 [DAT](INFO): Rx dataTimestamp_ set to:1749149652.281949
2025-06-05T18:54:12.283Z,1749149652.283 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:12.284Z,1749149652.284 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-06-05T18:54:12.285Z,1749149652.285 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=29.249821
2025-06-05T18:54:12.533Z,1749149652.533 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=29.497396
2025-06-05T18:54:12.786Z,1749149652.786 [DAT](INFO): DAT read: Rx Time:18:54:11.5140 

2025-06-05T18:54:12.787Z,1749149652.787 [DAT](INFO): Rx dataTimestamp_ set to:1749149652.786491
2025-06-05T18:54:12.788Z,1749149652.788 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:12.789Z,1749149652.789 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-06-05T18:54:12.789Z,1749149652.789 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=29.754347
2025-06-05T18:54:13.037Z,1749149653.037 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=30.001410
2025-06-05T18:54:13.290Z,1749149653.290 [DAT](INFO): DAT read: Rx Time:18:54:12.0139 

2025-06-05T18:54:13.290Z,1749149653.290 [DAT](INFO): Rx dataTimestamp_ set to:1749149653.289790
2025-06-05T18:54:13.292Z,1749149653.292 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:13.293Z,1749149653.293 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-06-05T18:54:13.294Z,1749149653.294 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=30.258829
2025-06-05T18:54:13.541Z,1749149653.541 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=30.505568
2025-06-05T18:54:13.794Z,1749149653.794 [DAT](INFO): DAT read: Rx Time:18:54:12.5140 

2025-06-05T18:54:13.794Z,1749149653.794 [DAT](INFO): Rx dataTimestamp_ set to:1749149653.793822
2025-06-05T18:54:13.795Z,1749149653.795 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:13.796Z,1749149653.796 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-06-05T18:54:13.797Z,1749149653.797 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=30.761677
2025-06-05T18:54:14.045Z,1749149654.045 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=31.009918
2025-06-05T18:54:14.297Z,1749149654.297 [DAT](INFO): DAT read: Rx Time:18:54:13.0139 

2025-06-05T18:54:14.297Z,1749149654.297 [DAT](INFO): Rx dataTimestamp_ set to:1749149654.297120
2025-06-05T18:54:14.299Z,1749149654.299 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:14.299Z,1749149654.299 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-06-05T18:54:14.300Z,1749149654.300 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=31.265003
2025-06-05T18:54:14.549Z,1749149654.549 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=31.513647
2025-06-05T18:54:14.801Z,1749149654.801 [DAT](INFO): DAT read: Rx Time:18:54:13.5140 

2025-06-05T18:54:14.802Z,1749149654.802 [DAT](INFO): Rx dataTimestamp_ set to:1749149654.801490
2025-06-05T18:54:14.804Z,1749149654.804 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:14.805Z,1749149654.805 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-06-05T18:54:14.806Z,1749149654.806 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=31.771206
2025-06-05T18:54:15.053Z,1749149655.053 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=32.017971
2025-06-05T18:54:15.305Z,1749149655.305 [DAT](INFO): DAT read: Rx Time:18:54:14.0141 

2025-06-05T18:54:15.305Z,1749149655.305 [DAT](INFO): Rx dataTimestamp_ set to:1749149655.305133
2025-06-05T18:54:15.307Z,1749149655.307 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:15.307Z,1749149655.307 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-06-05T18:54:15.309Z,1749149655.309 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=32.274014
2025-06-05T18:54:15.557Z,1749149655.557 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=32.521355
2025-06-05T18:54:15.813Z,1749149655.813 [DAT](INFO): DAT read: Rx Time:18:54:14.5141 

2025-06-05T18:54:15.815Z,1749149655.815 [DAT](INFO): Rx dataTimestamp_ set to:1749149655.813810
2025-06-05T18:54:15.818Z,1749149655.818 [DAT](INFO): DAT read: Bearing 184.7,  -5.4 (Local)

2025-06-05T18:54:15.818Z,1749149655.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.7,  -5.4 (Local)

2025-06-05T18:54:15.820Z,1749149655.820 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:15.821Z,1749149655.821 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-06-05T18:54:15.822Z,1749149655.822 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=32.786396
2025-06-05T18:54:16.064Z,1749149656.064 [DAT](INFO): DAT read: 18:54:14.5141 LVL= 23312, 32753, 15858, 26467, AGC= 46, IDX= 507, 0.04,-0.657, 1.015,-0.342, 0.145, PHS=-0.714, 0.917,-0.491, RAW= 322.8,   3.8, CAL= 325.3,   5.4, ROT= 184.7,  -5.4

2025-06-05T18:54:16.065Z,1749149656.065 [DAT](INFO): got valid direction response:
 18:54:14.5141 LVL= 23312, 32753, 15858, 26467, AGC= 46, IDX= 507, 0.04,-0.657, 1.015,-0.342, 0.145, PHS=-0.714, 0.917,-0.491, RAW= 322.8,   3.8, CAL= 325.3,   5.4, ROT= 184.7,  -5.4

2025-06-05T18:54:16.066Z,1749149656.066 [DAT](INFO): #Rx 111: Read direction message, but no range.
2025-06-05T18:54:16.067Z,1749149656.067 [DAT](INFO): direction in FSK: [-0.992214,-0.081575,0.094108]
2025-06-05T18:54:16.073Z,1749149656.073 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=33.037743
2025-06-05T18:54:16.329Z,1749149656.329 [DAT](INFO): DAT read: Rx Time:18:54:15.0141 

2025-06-05T18:54:16.329Z,1749149656.329 [DAT](INFO): Rx dataTimestamp_ set to:1749149656.329198
2025-06-05T18:54:16.331Z,1749149656.331 [DAT](INFO): DAT read: Bearing 193.7,   6.8 (Local)

2025-06-05T18:54:16.331Z,1749149656.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.7,   6.8 (Local)

2025-06-05T18:54:16.333Z,1749149656.333 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:16.333Z,1749149656.333 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-06-05T18:54:16.334Z,1749149656.334 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=33.298992
2025-06-05T18:54:16.586Z,1749149656.586 [DAT](INFO): DAT read: 18:54:15.0141 LVL= 15264, 30449, 14690, 19875, AGC= 43, IDX= 506,-0.05,-1.434, 0.001,-0.916,-0.840, PHS=-0.507, 0.887,-0.080, RAW= 312.6,  -4.9, CAL= 316.3,  -6.8, ROT= 193.7,   6.8

2025-06-05T18:54:16.587Z,1749149656.587 [DAT](INFO): got valid direction response:
 18:54:15.0141 LVL= 15264, 30449, 14690, 19875, AGC= 43, IDX= 506,-0.05,-1.434, 0.001,-0.916,-0.840, PHS=-0.507, 0.887,-0.080, RAW= 312.6,  -4.9, CAL= 316.3,  -6.8, ROT= 193.7,   6.8

2025-06-05T18:54:16.587Z,1749149656.587 [DAT](INFO): #Rx 113: Read direction message, but no range.
2025-06-05T18:54:16.589Z,1749149656.589 [DAT](INFO): direction in FSK: [-0.964715,-0.235172,-0.118404]
2025-06-05T18:54:16.598Z,1749149656.598 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=33.563282
2025-06-05T18:54:16.835Z,1749149656.835 [DAT](INFO): DAT read: Rx Time:18:54:15.5136 

2025-06-05T18:54:16.836Z,1749149656.836 [DAT](INFO): Rx dataTimestamp_ set to:1749149656.835055
2025-06-05T18:54:16.838Z,1749149656.838 [DAT](INFO): DAT read: Bearing 235.0,   3.7 (Local)

2025-06-05T18:54:16.839Z,1749149656.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.0,   3.7 (Local)

2025-06-05T18:54:16.843Z,1749149656.843 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:16.853Z,1749149656.853 [DAT](INFO): DAT read: 18:54:15.5136 LVL= 22368, 30145, 19202, 19315, AGC= 43, IDX= 507,-0.37,-3.113,-1.336,-1.372,-1.941, PHS=-1.084, 0.652, 0.566, RAW= 272.5,  -1.6, CAL= 275.0,  -3.7, ROT= 235.0,   3.7

2025-06-05T18:54:16.854Z,1749149656.854 [DAT](INFO): got valid direction response:
 18:54:15.5136 LVL= 22368, 30145, 19202, 19315, AGC= 43, IDX= 507,-0.37,-3.113,-1.336,-1.372,-1.941, PHS=-1.084, 0.652, 0.566, RAW= 272.5,  -1.6, CAL= 275.0,  -3.7, ROT= 235.0,   3.7

2025-06-05T18:54:16.854Z,1749149656.854 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-05T18:54:16.855Z,1749149656.855 [DAT](INFO): direction in FSK: [-0.572381,-0.817445,-0.064532]
2025-06-05T18:54:16.861Z,1749149656.861 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:16.868Z,1749149656.868 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=33.833096
2025-06-05T18:54:17.085Z,1749149657.085 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=34.049473
2025-06-05T18:54:17.338Z,1749149657.338 [DAT](INFO): DAT read: Rx Time:18:54:16.0135 

2025-06-05T18:54:17.339Z,1749149657.339 [DAT](INFO): Rx dataTimestamp_ set to:1749149657.338269
2025-06-05T18:54:17.340Z,1749149657.340 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:17.340Z,1749149657.340 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-06-05T18:54:17.342Z,1749149657.342 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=34.306431
2025-06-05T18:54:17.592Z,1749149657.592 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=34.556133
2025-06-05T18:54:17.841Z,1749149657.841 [DAT](INFO): DAT read: Rx Time:18:54:16.5140 

2025-06-05T18:54:17.842Z,1749149657.842 [DAT](INFO): Rx dataTimestamp_ set to:1749149657.841601
2025-06-05T18:54:17.843Z,1749149657.843 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:17.844Z,1749149657.844 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-06-05T18:54:17.845Z,1749149657.845 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=34.809811
2025-06-05T18:54:18.093Z,1749149658.093 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=35.057800
2025-06-05T18:54:18.345Z,1749149658.345 [DAT](INFO): DAT read: Rx Time:18:54:17.0139 

2025-06-05T18:54:18.345Z,1749149658.345 [DAT](INFO): Rx dataTimestamp_ set to:1749149658.345071
2025-06-05T18:54:18.346Z,1749149658.346 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:18.347Z,1749149658.347 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-06-05T18:54:18.348Z,1749149658.348 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=35.312950
2025-06-05T18:54:18.598Z,1749149658.598 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=35.562740
2025-06-05T18:54:18.850Z,1749149658.850 [DAT](INFO): DAT read: Rx Time:18:54:17.5140 

2025-06-05T18:54:18.850Z,1749149658.850 [DAT](INFO): Rx dataTimestamp_ set to:1749149658.849998
2025-06-05T18:54:18.852Z,1749149658.852 [DAT](INFO): DAT read: Bearing  94.2, -24.7 (Local)

2025-06-05T18:54:18.852Z,1749149658.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.2, -24.7 (Local)

2025-06-05T18:54:18.854Z,1749149658.854 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:18.860Z,1749149658.860 [DAT](INFO): DAT read: 18:54:17.5140 LVL= 13392, 16881, 12978, 15795, AGC= 40, IDX= 502, 0.43,-1.477,-2.519, 2.633,-1.931, PHS= 0.542,-0.541,-1.722, RAW=  58.6,  17.2, CAL=  55.8,  24.7, ROT=  94.2, -24.7

2025-06-05T18:54:18.862Z,1749149658.862 [DAT](INFO): got valid direction response:
 18:54:17.5140 LVL= 13392, 16881, 12978, 15795, AGC= 40, IDX= 502, 0.43,-1.477,-2.519, 2.633,-1.931, PHS= 0.542,-0.541,-1.722, RAW=  58.6,  17.2, CAL=  55.8,  24.7, ROT=  94.2, -24.7

2025-06-05T18:54:18.862Z,1749149658.862 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-05T18:54:18.872Z,1749149658.872 [DAT](INFO): direction in FSK: [-0.066537,0.906068,0.417867]
2025-06-05T18:54:18.872Z,1749149658.872 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:18.883Z,1749149658.883 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=35.847378
2025-06-05T18:54:19.101Z,1749149659.101 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=36.065956
2025-06-05T18:54:19.353Z,1749149659.353 [DAT](INFO): DAT read: Rx Time:18:54:18.0139 

2025-06-05T18:54:19.353Z,1749149659.353 [DAT](INFO): Rx dataTimestamp_ set to:1749149659.352904
2025-06-05T18:54:19.354Z,1749149659.354 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:19.355Z,1749149659.355 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-06-05T18:54:19.356Z,1749149659.356 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=36.320782
2025-06-05T18:54:19.605Z,1749149659.605 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=36.569557
2025-06-05T18:54:19.857Z,1749149659.857 [DAT](INFO): DAT read: Rx Time:18:54:18.5140 

2025-06-05T18:54:19.857Z,1749149659.857 [DAT](INFO): Rx dataTimestamp_ set to:1749149659.856979
2025-06-05T18:54:19.859Z,1749149659.859 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:19.860Z,1749149659.860 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-06-05T18:54:20.010Z,1749149660.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:54:20.109Z,1749149660.109 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:54:20.110Z,1749149660.110 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:54:20.110Z,1749149660.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:20.361Z,1749149660.361 [DAT](INFO): DAT read: Rx Time:18:54:19.0139 

2025-06-05T18:54:20.361Z,1749149660.361 [DAT](INFO): Rx dataTimestamp_ set to:1749149660.361075
2025-06-05T18:54:20.362Z,1749149660.362 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:20.363Z,1749149660.363 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:20.368Z,1749149660.368 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:20.368Z,1749149660.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:20.612Z,1749149660.612 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:20.613Z,1749149660.613 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:20.613Z,1749149660.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:20.865Z,1749149660.865 [DAT](INFO): DAT read: Rx Time:18:54:19.5140 

2025-06-05T18:54:20.865Z,1749149660.865 [DAT](INFO): Rx dataTimestamp_ set to:1749149660.865033
2025-06-05T18:54:20.866Z,1749149660.866 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:20.867Z,1749149660.867 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:20.868Z,1749149660.868 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:20.868Z,1749149660.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:21.119Z,1749149661.119 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:21.120Z,1749149661.120 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:21.121Z,1749149661.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:21.369Z,1749149661.369 [DAT](INFO): DAT read: Rx Time:18:54:20.0135 

2025-06-05T18:54:21.369Z,1749149661.369 [DAT](INFO): Rx dataTimestamp_ set to:1749149661.368951
2025-06-05T18:54:21.370Z,1749149661.370 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:21.371Z,1749149661.371 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:21.372Z,1749149661.372 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:21.372Z,1749149661.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:21.620Z,1749149661.620 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:21.621Z,1749149661.621 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:21.621Z,1749149661.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:21.873Z,1749149661.873 [DAT](INFO): DAT read: Rx Time:18:54:20.5138 

2025-06-05T18:54:21.874Z,1749149661.874 [DAT](INFO): Rx dataTimestamp_ set to:1749149661.873362
2025-06-05T18:54:21.876Z,1749149661.876 [DAT](INFO): DAT read: Bearing 268.5, -29.6 (Local)

2025-06-05T18:54:21.877Z,1749149661.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.5, -29.6 (Local)

2025-06-05T18:54:21.879Z,1749149661.879 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:21.883Z,1749149661.883 [DAT](INFO): DAT read: 18:54:20.5138 LVL= 16240, 22769, 10322, 20307, AGC= 40, IDX= 504,-0.14, 0.279, 0.856, 1.894, 1.590, PHS=-1.223,-0.688, 0.300, RAW= 230.3,  23.0, CAL= 241.5,  29.6, ROT= 268.5, -29.6

2025-06-05T18:54:21.884Z,1749149661.884 [DAT](INFO): got valid direction response:
 18:54:20.5138 LVL= 16240, 22769, 10322, 20307, AGC= 40, IDX= 504,-0.14, 0.279, 0.856, 1.894, 1.590, PHS=-1.223,-0.688, 0.300, RAW= 230.3,  23.0, CAL= 241.5,  29.6, ROT= 268.5, -29.6

2025-06-05T18:54:21.885Z,1749149661.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:21.886Z,1749149661.886 [DAT](INFO): direction in FSK: [-0.022761,-0.869197,0.493942]
2025-06-05T18:54:21.886Z,1749149661.886 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:21.890Z,1749149661.890 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:21.891Z,1749149661.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:22.129Z,1749149662.129 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:22.130Z,1749149662.130 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:22.130Z,1749149662.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:22.378Z,1749149662.378 [DAT](INFO): DAT read: Rx Time:18:54:21.0137 

2025-06-05T18:54:22.378Z,1749149662.378 [DAT](INFO): Rx dataTimestamp_ set to:1749149662.377818
2025-06-05T18:54:22.380Z,1749149662.380 [DAT](INFO): DAT read: Bearing 220.4, -41.2 (Local)

2025-06-05T18:54:22.380Z,1749149662.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.4, -41.2 (Local)

2025-06-05T18:54:22.382Z,1749149662.382 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T18:54:22.389Z,1749149662.389 [DAT](INFO): DAT read: 18:54:21.0137 LVL= 22832, 24113, 15314, 22867, AGC= 42, IDX= 502, 0.38,-1.865,-0.529,-0.641,-0.064, PHS=-1.712,-0.418,-0.579, RAW= 276.6,  38.1, CAL= 289.6,  41.2, ROT= 220.4, -41.2

2025-06-05T18:54:22.390Z,1749149662.390 [DAT](INFO): got valid direction response:
 18:54:21.0137 LVL= 22832, 24113, 15314, 22867, AGC= 42, IDX= 502, 0.38,-1.865,-0.529,-0.641,-0.064, PHS=-1.712,-0.418,-0.579, RAW= 276.6,  38.1, CAL= 289.6,  41.2, ROT= 220.4, -41.2

2025-06-05T18:54:22.391Z,1749149662.391 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:22.393Z,1749149662.393 [DAT](INFO): direction in FSK: [-0.572993,-0.487655,0.658689]
2025-06-05T18:54:22.393Z,1749149662.393 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:22.397Z,1749149662.397 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:22.397Z,1749149662.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:22.628Z,1749149662.628 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:22.629Z,1749149662.629 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:22.629Z,1749149662.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:22.881Z,1749149662.881 [DAT](INFO): DAT read: Rx Time:18:54:21.5136 

2025-06-05T18:54:22.881Z,1749149662.881 [DAT](INFO): Rx dataTimestamp_ set to:1749149662.881127
2025-06-05T18:54:22.883Z,1749149662.883 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:22.883Z,1749149662.883 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:22.884Z,1749149662.884 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:22.884Z,1749149662.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:23.134Z,1749149663.134 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:23.135Z,1749149663.135 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:23.138Z,1749149663.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:23.386Z,1749149663.386 [DAT](INFO): DAT read: Rx Time:18:54:22.0136 

2025-06-05T18:54:23.387Z,1749149663.387 [DAT](INFO): Rx dataTimestamp_ set to:1749149663.386467
2025-06-05T18:54:23.388Z,1749149663.388 [DAT](INFO): DAT read: Bearing 173.7,  -2.0 (Local)

2025-06-05T18:54:23.388Z,1749149663.388 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.7,  -2.0 (Local)

2025-06-05T18:54:23.390Z,1749149663.390 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:23.396Z,1749149663.396 [DAT](INFO): DAT read: 18:54:22.0136 LVL= 19312, 26193, 18418, 32755, AGC= 43, IDX= 504,-0.02,-2.219,-0.187,-2.330,-1.476, PHS=-0.654, 1.336,-0.857, RAW= 334.8,   1.7, CAL= 336.3,   2.0, ROT= 173.7,  -2.0

2025-06-05T18:54:23.397Z,1749149663.397 [DAT](INFO): got valid direction response:
 18:54:22.0136 LVL= 19312, 26193, 18418, 32755, AGC= 43, IDX= 504,-0.02,-2.219,-0.187,-2.330,-1.476, PHS=-0.654, 1.336,-0.857, RAW= 334.8,   1.7, CAL= 336.3,   2.0, ROT= 173.7,  -2.0

2025-06-05T18:54:23.397Z,1749149663.397 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:23.398Z,1749149663.398 [DAT](INFO): direction in FSK: [-0.993355,0.109667,0.034899]
2025-06-05T18:54:23.399Z,1749149663.399 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:23.402Z,1749149663.402 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:23.402Z,1749149663.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:23.636Z,1749149663.636 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:23.637Z,1749149663.637 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:23.637Z,1749149663.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:23.889Z,1749149663.889 [DAT](INFO): DAT read: Rx Time:18:54:22.5136 

2025-06-05T18:54:23.889Z,1749149663.889 [DAT](INFO): Rx dataTimestamp_ set to:1749149663.888929
2025-06-05T18:54:23.890Z,1749149663.890 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:23.892Z,1749149663.892 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:23.893Z,1749149663.893 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:23.893Z,1749149663.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:24.143Z,1749149664.143 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:24.144Z,1749149664.144 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:24.145Z,1749149664.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:24.393Z,1749149664.393 [DAT](INFO): DAT read: Rx Time:18:54:23.0137 

2025-06-05T18:54:24.394Z,1749149664.394 [DAT](INFO): Rx dataTimestamp_ set to:1749149664.393616
2025-06-05T18:54:24.395Z,1749149664.395 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T18:54:24.396Z,1749149664.396 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:24.396Z,1749149664.396 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:24.397Z,1749149664.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:24.644Z,1749149664.644 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:24.645Z,1749149664.645 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:24.645Z,1749149664.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:24.898Z,1749149664.898 [DAT](INFO): DAT read: Rx Time:18:54:23.5139 

2025-06-05T18:54:24.899Z,1749149664.899 [DAT](INFO): Rx dataTimestamp_ set to:1749149664.898228
2025-06-05T18:54:24.900Z,1749149664.900 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:24.901Z,1749149664.901 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:24.902Z,1749149664.902 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:24.903Z,1749149664.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:25.154Z,1749149665.154 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:25.155Z,1749149665.155 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:25.156Z,1749149665.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:25.405Z,1749149665.405 [DAT](INFO): DAT read: Rx Time:18:54:24.0138 

2025-06-05T18:54:25.405Z,1749149665.405 [DAT](INFO): Rx dataTimestamp_ set to:1749149665.405033
2025-06-05T18:54:25.406Z,1749149665.406 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:25.407Z,1749149665.407 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:25.408Z,1749149665.408 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:25.409Z,1749149665.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:25.656Z,1749149665.656 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:25.657Z,1749149665.657 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:25.657Z,1749149665.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:25.910Z,1749149665.910 [DAT](INFO): DAT read: Rx Time:18:54:24.5139 

2025-06-05T18:54:25.910Z,1749149665.910 [DAT](INFO): Rx dataTimestamp_ set to:1749149665.910194
2025-06-05T18:54:25.912Z,1749149665.912 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:25.912Z,1749149665.912 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:25.913Z,1749149665.913 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:25.913Z,1749149665.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:26.163Z,1749149666.163 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:26.164Z,1749149666.164 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:26.165Z,1749149666.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:26.413Z,1749149666.413 [DAT](INFO): DAT read: Rx Time:18:54:25.0138 

2025-06-05T18:54:26.413Z,1749149666.413 [DAT](INFO): Rx dataTimestamp_ set to:1749149666.412879
2025-06-05T18:54:26.414Z,1749149666.414 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:26.415Z,1749149666.415 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:26.418Z,1749149666.418 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:26.418Z,1749149666.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:26.664Z,1749149666.664 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:26.665Z,1749149666.665 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:26.665Z,1749149666.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:26.918Z,1749149666.918 [DAT](INFO): DAT read: Rx Time:18:54:25.5138 

2025-06-05T18:54:26.919Z,1749149666.919 [DAT](INFO): Rx dataTimestamp_ set to:1749149666.918168
2025-06-05T18:54:26.920Z,1749149666.920 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:26.921Z,1749149666.921 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:26.922Z,1749149666.922 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:26.923Z,1749149666.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:27.171Z,1749149667.171 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:27.172Z,1749149667.172 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:27.173Z,1749149667.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:27.422Z,1749149667.422 [DAT](INFO): DAT read: Rx Time:18:54:26.0137 

2025-06-05T18:54:27.422Z,1749149667.422 [DAT](INFO): Rx dataTimestamp_ set to:1749149667.421727
2025-06-05T18:54:27.425Z,1749149667.425 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T18:54:27.426Z,1749149667.426 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:27.427Z,1749149667.427 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:27.427Z,1749149667.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:27.672Z,1749149667.672 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:27.673Z,1749149667.673 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:27.673Z,1749149667.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:27.926Z,1749149667.926 [DAT](INFO): DAT read: Rx Time:18:54:26.5138 

2025-06-05T18:54:27.926Z,1749149667.926 [DAT](INFO): Rx dataTimestamp_ set to:1749149667.926149
2025-06-05T18:54:27.928Z,1749149667.928 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:27.928Z,1749149667.928 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:27.929Z,1749149667.929 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:27.929Z,1749149667.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:28.178Z,1749149668.178 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:28.179Z,1749149668.179 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:28.180Z,1749149668.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:28.429Z,1749149668.429 [DAT](INFO): DAT read: Rx Time:18:54:27.0137 

2025-06-05T18:54:28.429Z,1749149668.429 [DAT](INFO): Rx dataTimestamp_ set to:1749149668.429033
2025-06-05T18:54:28.430Z,1749149668.430 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T18:54:28.431Z,1749149668.431 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:28.432Z,1749149668.432 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:28.432Z,1749149668.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:28.680Z,1749149668.680 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:28.680Z,1749149668.680 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:28.681Z,1749149668.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:28.933Z,1749149668.933 [DAT](INFO): DAT read: Rx Time:18:54:27.5138 

2025-06-05T18:54:28.934Z,1749149668.934 [DAT](INFO): Rx dataTimestamp_ set to:1749149668.933978
2025-06-05T18:54:28.936Z,1749149668.936 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:28.937Z,1749149668.937 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:28.938Z,1749149668.938 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:28.938Z,1749149668.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:29.186Z,1749149669.186 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:29.187Z,1749149669.187 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:29.187Z,1749149669.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:29.438Z,1749149669.438 [DAT](INFO): DAT read: Rx Time:18:54:28.0135 

2025-06-05T18:54:29.439Z,1749149669.439 [DAT](INFO): Rx dataTimestamp_ set to:1749149669.438384
2025-06-05T18:54:29.440Z,1749149669.440 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:29.441Z,1749149669.441 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:29.442Z,1749149669.442 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:29.443Z,1749149669.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:29.689Z,1749149669.689 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:29.689Z,1749149669.689 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:29.690Z,1749149669.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:29.942Z,1749149669.942 [DAT](INFO): DAT read: Rx Time:18:54:28.5136 

2025-06-05T18:54:29.943Z,1749149669.943 [DAT](INFO): Rx dataTimestamp_ set to:1749149669.942227
2025-06-05T18:54:29.944Z,1749149669.944 [DAT](INFO): DAT read: Bearing  79.2, -25.8 (Local)

2025-06-05T18:54:29.944Z,1749149669.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.2, -25.8 (Local)

2025-06-05T18:54:29.946Z,1749149669.946 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:29.951Z,1749149669.951 [DAT](INFO): DAT read: 18:54:28.5136 LVL= 15968, 25761, 15762, 23075, AGC= 42, IDX= 501,-0.02,-0.739,-2.312,-3.062,-1.353, PHS= 0.702,-0.913,-1.712, RAW=  71.0,  17.7, CAL=  70.8,  25.8, ROT=  79.2, -25.8

2025-06-05T18:54:29.952Z,1749149669.952 [DAT](INFO): got valid direction response:
 18:54:28.5136 LVL= 15968, 25761, 15762, 23075, AGC= 42, IDX= 501,-0.02,-0.739,-2.312,-3.062,-1.353, PHS= 0.702,-0.913,-1.712, RAW=  71.0,  17.7, CAL=  70.8,  25.8, ROT=  79.2, -25.8

2025-06-05T18:54:29.952Z,1749149669.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:29.953Z,1749149669.953 [DAT](INFO): direction in FSK: [0.168703,0.884372,0.435231]
2025-06-05T18:54:29.953Z,1749149669.953 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:29.956Z,1749149669.956 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:29.957Z,1749149669.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:30.195Z,1749149670.195 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:30.195Z,1749149670.195 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:30.196Z,1749149670.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:30.445Z,1749149670.445 [DAT](INFO): DAT read: Rx Time:18:54:29.0136 

2025-06-05T18:54:30.446Z,1749149670.446 [DAT](INFO): Rx dataTimestamp_ set to:1749149670.445429
2025-06-05T18:54:30.447Z,1749149670.447 [DAT](INFO): DAT read: Bearing 166.8, -49.3 (Local)

2025-06-05T18:54:30.447Z,1749149670.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.8, -49.3 (Local)

2025-06-05T18:54:30.449Z,1749149670.449 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:30.454Z,1749149670.454 [DAT](INFO): DAT read: 18:54:29.0136 LVL= 14832, 24337, 15666, 25763, AGC= 41, IDX= 506, 0.18,-2.676,-1.975,-2.836,-1.570, PHS=-1.018,-0.358,-1.269, RAW= 345.5,  48.9, CAL= 343.2,  49.3, ROT= 166.8, -49.3

2025-06-05T18:54:30.455Z,1749149670.455 [DAT](INFO): got valid direction response:
 18:54:29.0136 LVL= 14832, 24337, 15666, 25763, AGC= 41, IDX= 506, 0.18,-2.676,-1.975,-2.836,-1.570, PHS=-1.018,-0.358,-1.269, RAW= 345.5,  48.9, CAL= 343.2,  49.3, ROT= 166.8, -49.3

2025-06-05T18:54:30.455Z,1749149670.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:30.459Z,1749149670.459 [DAT](INFO): direction in FSK: [-0.634869,0.148907,0.758134]
2025-06-05T18:54:30.460Z,1749149670.460 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:30.463Z,1749149670.463 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:30.463Z,1749149670.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:30.698Z,1749149670.698 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:30.698Z,1749149670.698 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:30.699Z,1749149670.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:30.951Z,1749149670.951 [DAT](INFO): DAT read: Rx Time:18:54:29.5136 

2025-06-05T18:54:30.952Z,1749149670.952 [DAT](INFO): Rx dataTimestamp_ set to:1749149670.951271
2025-06-05T18:54:30.953Z,1749149670.953 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:30.953Z,1749149670.953 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:30.954Z,1749149670.954 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:30.954Z,1749149670.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:31.201Z,1749149671.201 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:31.201Z,1749149671.201 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:31.201Z,1749149671.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:31.454Z,1749149671.454 [DAT](INFO): DAT read: Rx Time:18:54:30.0141 

2025-06-05T18:54:31.455Z,1749149671.455 [DAT](INFO): Rx dataTimestamp_ set to:1749149671.454244
2025-06-05T18:54:31.456Z,1749149671.456 [DAT](INFO): DAT read: Bearing   7.7, -50.8 (Local)

2025-06-05T18:54:31.456Z,1749149671.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.7, -50.8 (Local)

2025-06-05T18:54:31.459Z,1749149671.459 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:31.467Z,1749149671.467 [DAT](INFO): DAT read: 18:54:30.0141 LVL= 22320, 17185, 17762, 24883, AGC= 42, IDX= 499, 0.39, 0.164,-1.306,-0.255, 0.730, PHS=-0.479,-1.990,-0.989, RAW= 130.6,  42.5, CAL= 142.3,  50.8, ROT=   7.7, -50.8

2025-06-05T18:54:31.470Z,1749149671.470 [DAT](INFO): got valid direction response:
 18:54:30.0141 LVL= 22320, 17185, 17762, 24883, AGC= 42, IDX= 499, 0.39, 0.164,-1.306,-0.255, 0.730, PHS=-0.479,-1.990,-0.989, RAW= 130.6,  42.5, CAL= 142.3,  50.8, ROT=   7.7, -50.8

2025-06-05T18:54:31.470Z,1749149671.470 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:31.472Z,1749149671.472 [DAT](INFO): direction in FSK: [0.626330,0.084683,0.774944]
2025-06-05T18:54:31.473Z,1749149671.473 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:31.502Z,1749149671.502 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:31.502Z,1749149671.502 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:31.705Z,1749149671.705 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:31.705Z,1749149671.705 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:31.706Z,1749149671.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:31.958Z,1749149671.958 [DAT](INFO): DAT read: Rx Time:18:54:30.5142 

2025-06-05T18:54:31.960Z,1749149671.960 [DAT](INFO): Rx dataTimestamp_ set to:1749149671.958834
2025-06-05T18:54:31.962Z,1749149671.962 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-05T18:54:31.962Z,1749149671.962 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:31.963Z,1749149671.963 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:31.964Z,1749149671.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:32.209Z,1749149672.209 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:32.210Z,1749149672.210 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:32.211Z,1749149672.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:32.461Z,1749149672.461 [DAT](INFO): DAT read: Rx Time:18:54:31.0140 

2025-06-05T18:54:32.461Z,1749149672.461 [DAT](INFO): Rx dataTimestamp_ set to:1749149672.461047
2025-06-05T18:54:32.462Z,1749149672.462 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:32.463Z,1749149672.463 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:32.464Z,1749149672.464 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:32.464Z,1749149672.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:32.713Z,1749149672.713 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:32.713Z,1749149672.713 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:32.714Z,1749149672.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:32.967Z,1749149672.967 [DAT](INFO): DAT read: Rx Time:18:54:31.5141 

2025-06-05T18:54:32.968Z,1749149672.968 [DAT](INFO): Rx dataTimestamp_ set to:1749149672.967852
2025-06-05T18:54:32.971Z,1749149672.971 [DAT](INFO): DAT read: Bearing   3.8, -61.8 (Local)

2025-06-05T18:54:32.972Z,1749149672.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8, -61.8 (Local)

2025-06-05T18:54:32.981Z,1749149672.981 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-05T18:54:32.998Z,1749149672.998 [DAT](INFO): DAT read: 18:54:31.5141 LVL= 22080, 32753, 12882, 26995, AGC= 44, IDX= 504, 0.22,-1.099,-1.999,-1.216,-0.194, PHS=-0.817,-1.758,-1.026, RAW= 137.8,  56.1, CAL= 146.2,  61.8, ROT=   3.8, -61.8

2025-06-05T18:54:32.999Z,1749149672.999 [DAT](INFO): got valid direction response:
 18:54:31.5141 LVL= 22080, 32753, 12882, 26995, AGC= 44, IDX= 504, 0.22,-1.099,-1.999,-1.216,-0.194, PHS=-0.817,-1.758,-1.026, RAW= 137.8,  56.1, CAL= 146.2,  61.8, ROT=   3.8, -61.8

2025-06-05T18:54:32.999Z,1749149672.999 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:33.005Z,1749149673.005 [DAT](INFO): direction in FSK: [0.471512,0.031318,0.881303]
2025-06-05T18:54:33.006Z,1749149673.006 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:33.018Z,1749149673.018 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:33.018Z,1749149673.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:33.216Z,1749149673.216 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:33.217Z,1749149673.217 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:33.217Z,1749149673.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:33.470Z,1749149673.470 [DAT](INFO): DAT read: Rx Time:18:54:32.0140 

2025-06-05T18:54:33.470Z,1749149673.470 [DAT](INFO): Rx dataTimestamp_ set to:1749149673.469823
2025-06-05T18:54:33.472Z,1749149673.472 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:33.473Z,1749149673.473 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:33.474Z,1749149673.474 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:33.474Z,1749149673.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:33.722Z,1749149673.722 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:33.722Z,1749149673.722 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:33.723Z,1749149673.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:33.975Z,1749149673.975 [DAT](INFO): DAT read: Rx Time:18:54:32.5140 

2025-06-05T18:54:33.977Z,1749149673.977 [DAT](INFO): Rx dataTimestamp_ set to:1749149673.975045
2025-06-05T18:54:33.980Z,1749149673.980 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-06-05T18:54:33.981Z,1749149673.981 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:33.983Z,1749149673.983 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:33.983Z,1749149673.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:34.227Z,1749149674.227 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:34.227Z,1749149674.227 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:34.228Z,1749149674.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:34.477Z,1749149674.477 [DAT](INFO): DAT read: Rx Time:18:54:33.0139 

2025-06-05T18:54:34.478Z,1749149674.478 [DAT](INFO): Rx dataTimestamp_ set to:1749149674.477676
2025-06-05T18:54:34.479Z,1749149674.479 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:34.480Z,1749149674.480 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:34.480Z,1749149674.480 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:34.481Z,1749149674.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:34.728Z,1749149674.728 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:34.728Z,1749149674.728 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:34.729Z,1749149674.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:34.981Z,1749149674.981 [DAT](INFO): DAT read: Rx Time:18:54:33.5139 

2025-06-05T18:54:34.981Z,1749149674.981 [DAT](INFO): Rx dataTimestamp_ set to:1749149674.981077
2025-06-05T18:54:34.982Z,1749149674.982 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:34.983Z,1749149674.983 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:34.984Z,1749149674.984 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:34.985Z,1749149674.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:35.232Z,1749149675.232 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:35.232Z,1749149675.232 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:35.233Z,1749149675.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:35.486Z,1749149675.486 [DAT](INFO): DAT read: Rx Time:18:54:34.0138 

2025-06-05T18:54:35.486Z,1749149675.486 [DAT](INFO): Rx dataTimestamp_ set to:1749149675.486178
2025-06-05T18:54:35.488Z,1749149675.488 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:35.488Z,1749149675.488 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:35.489Z,1749149675.489 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:35.489Z,1749149675.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:35.736Z,1749149675.736 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:35.737Z,1749149675.737 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:35.737Z,1749149675.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:35.990Z,1749149675.990 [DAT](INFO): DAT read: Rx Time:18:54:34.5139 

2025-06-05T18:54:35.991Z,1749149675.991 [DAT](INFO): Rx dataTimestamp_ set to:1749149675.990583
2025-06-05T18:54:35.994Z,1749149675.994 [DAT](INFO): DAT read: Bearing 315.4,  -1.9 (Local)

2025-06-05T18:54:35.994Z,1749149675.994 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.4,  -1.9 (Local)

2025-06-05T18:54:35.997Z,1749149675.997 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-06-05T18:54:36.006Z,1749149676.006 [DAT](INFO): DAT read: 18:54:34.5139 LVL= 15264, 24753, 10018, 10995, AGC= 37, IDX= 502,-0.16, 0.147,-0.508, 2.021, 0.957, PHS=-0.721,-1.418, 1.062, RAW= 194.2,   9.8, CAL= 194.6,   1.9, ROT= 315.4,  -1.9

2025-06-05T18:54:36.010Z,1749149676.010 [DAT](INFO): got valid direction response:
 18:54:34.5139 LVL= 15264, 24753, 10018, 10995, AGC= 37, IDX= 502,-0.16, 0.147,-0.508, 2.021, 0.957, PHS=-0.721,-1.418, 1.062, RAW= 194.2,   9.8, CAL= 194.6,   1.9, ROT= 315.4,  -1.9

2025-06-05T18:54:36.010Z,1749149676.010 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:36.015Z,1749149676.015 [DAT](INFO): direction in FSK: [0.711635,-0.701767,0.033155]
2025-06-05T18:54:36.015Z,1749149676.015 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:36.042Z,1749149676.042 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:36.043Z,1749149676.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:36.241Z,1749149676.241 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:36.241Z,1749149676.241 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:36.242Z,1749149676.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:36.494Z,1749149676.494 [DAT](INFO): DAT read: Rx Time:18:54:35.0135 

2025-06-05T18:54:36.495Z,1749149676.495 [DAT](INFO): Rx dataTimestamp_ set to:1749149676.494378
2025-06-05T18:54:36.496Z,1749149676.496 [DAT](INFO): DAT read: Bearing  87.9, -46.1 (Local)

2025-06-05T18:54:36.496Z,1749149676.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.9, -46.1 (Local)

2025-06-05T18:54:36.498Z,1749149676.498 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:36.503Z,1749149676.503 [DAT](INFO): DAT read: 18:54:35.0135 LVL= 10304, 29409,  7458, 10643, AGC= 36, IDX= 501,-0.43, 0.551,-0.410,-1.124, 0.893, PHS=-0.254,-1.256,-2.020, RAW=  64.4,  39.1, CAL=  62.1,  46.1, ROT=  87.9, -46.1

2025-06-05T18:54:36.504Z,1749149676.504 [DAT](INFO): got valid direction response:
 18:54:35.0135 LVL= 10304, 29409,  7458, 10643, AGC= 36, IDX= 501,-0.43, 0.551,-0.410,-1.124, 0.893, PHS=-0.254,-1.256,-2.020, RAW=  64.4,  39.1, CAL=  62.1,  46.1, ROT=  87.9, -46.1

2025-06-05T18:54:36.504Z,1749149676.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:36.505Z,1749149676.505 [DAT](INFO): direction in FSK: [0.025409,0.692936,0.720551]
2025-06-05T18:54:36.505Z,1749149676.505 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:36.510Z,1749149676.510 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:36.511Z,1749149676.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:36.745Z,1749149676.745 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:36.745Z,1749149676.745 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:36.745Z,1749149676.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:36.997Z,1749149676.997 [DAT](INFO): DAT read: Rx Time:18:54:35.5136 

2025-06-05T18:54:36.998Z,1749149676.998 [DAT](INFO): Rx dataTimestamp_ set to:1749149676.997522
2025-06-05T18:54:36.999Z,1749149676.999 [DAT](INFO): DAT read: Bearing  55.4, -53.7 (Local)

2025-06-05T18:54:36.999Z,1749149676.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.4, -53.7 (Local)

2025-06-05T18:54:37.001Z,1749149677.001 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:37.006Z,1749149677.006 [DAT](INFO): DAT read: 18:54:35.5136 LVL= 15056, 32049, 10898, 17523, AGC= 37, IDX= 500, 0.04,-1.230,-2.287,-2.148,-0.784, PHS=-0.359,-1.456,-1.367, RAW=  94.2,  46.8, CAL=  94.6,  53.7, ROT=  55.4, -53.7

2025-06-05T18:54:37.007Z,1749149677.007 [DAT](INFO): got valid direction response:
 18:54:35.5136 LVL= 15056, 32049, 10898, 17523, AGC= 37, IDX= 500, 0.04,-1.230,-2.287,-2.148,-0.784, PHS=-0.359,-1.456,-1.367, RAW=  94.2,  46.8, CAL=  94.6,  53.7, ROT=  55.4, -53.7

2025-06-05T18:54:37.007Z,1749149677.007 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:37.008Z,1749149677.008 [DAT](INFO): direction in FSK: [0.336171,0.487308,0.805928]
2025-06-05T18:54:37.008Z,1749149677.008 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:37.012Z,1749149677.012 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:37.012Z,1749149677.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:37.248Z,1749149677.248 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:37.249Z,1749149677.249 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:37.249Z,1749149677.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:37.502Z,1749149677.502 [DAT](INFO): DAT read: Rx Time:18:54:36.0135 

2025-06-05T18:54:37.503Z,1749149677.503 [DAT](INFO): Rx dataTimestamp_ set to:1749149677.502430
2025-06-05T18:54:37.505Z,1749149677.505 [DAT](INFO): DAT read: Bearing  15.1, -75.5 (Local)

2025-06-05T18:54:37.505Z,1749149677.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.1, -75.5 (Local)

2025-06-05T18:54:37.510Z,1749149677.510 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:37.514Z,1749149677.514 [DAT](INFO): DAT read: 18:54:36.0135 LVL= 14160, 32753, 13810, 18771, AGC= 37, IDX= 498, 0.19,-1.012,-1.461,-1.083, 0.129, PHS=-1.053,-1.544,-1.216, RAW= 131.0,  72.2, CAL= 134.9,  75.5, ROT=  15.1, -75.5

2025-06-05T18:54:37.515Z,1749149677.515 [DAT](INFO): got valid direction response:
 18:54:36.0135 LVL= 14160, 32753, 13810, 18771, AGC= 37, IDX= 498, 0.19,-1.012,-1.461,-1.083, 0.129, PHS=-1.053,-1.544,-1.216, RAW= 131.0,  72.2, CAL= 134.9,  75.5, ROT=  15.1, -75.5

2025-06-05T18:54:37.524Z,1749149677.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:37.526Z,1749149677.526 [DAT](INFO): direction in FSK: [0.241735,0.065225,0.968148]
2025-06-05T18:54:37.526Z,1749149677.526 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:37.534Z,1749149677.534 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:37.534Z,1749149677.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:37.752Z,1749149677.752 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:37.752Z,1749149677.752 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:37.753Z,1749149677.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:38.007Z,1749149678.007 [DAT](INFO): DAT read: Rx Time:18:54:36.5136 

2025-06-05T18:54:38.007Z,1749149678.007 [DAT](INFO): Rx dataTimestamp_ set to:1749149678.006926
2025-06-05T18:54:38.009Z,1749149678.009 [DAT](INFO): DAT read: Bearing 325.0, -74.7 (Local)

2025-06-05T18:54:38.010Z,1749149678.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.0, -74.7 (Local)

2025-06-05T18:54:38.012Z,1749149678.012 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:38.016Z,1749149678.016 [DAT](INFO): DAT read: 18:54:36.5136 LVL= 17264, 32753, 18706, 20595, AGC= 38, IDX= 499, 0.30,-2.812,-3.032,-2.386,-1.182, PHS=-1.543,-1.803,-1.208, RAW= 184.1,  72.2, CAL= 185.0,  74.7, ROT= 325.0, -74.7

2025-06-05T18:54:38.017Z,1749149678.017 [DAT](INFO): got valid direction response:
 18:54:36.5136 LVL= 17264, 32753, 18706, 20595, AGC= 38, IDX= 499, 0.30,-2.812,-3.032,-2.386,-1.182, PHS=-1.543,-1.803,-1.208, RAW= 184.1,  72.2, CAL= 185.0,  74.7, ROT= 325.0, -74.7

2025-06-05T18:54:38.018Z,1749149678.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:38.019Z,1749149678.019 [DAT](INFO): direction in FSK: [0.216152,-0.151351,0.964557]
2025-06-05T18:54:38.019Z,1749149678.019 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:38.022Z,1749149678.022 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:38.023Z,1749149678.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:38.259Z,1749149678.259 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:38.262Z,1749149678.262 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:38.263Z,1749149678.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:38.514Z,1749149678.514 [DAT](INFO): DAT read: Rx Time:18:54:37.0135 

2025-06-05T18:54:38.514Z,1749149678.514 [DAT](INFO): Rx dataTimestamp_ set to:1749149678.513733
2025-06-05T18:54:38.515Z,1749149678.515 [DAT](INFO): DAT read: Bearin 281.8, -54.7 (Local)

2025-06-05T18:54:38.516Z,1749149678.516 [DAT](INFO): Local bearing/azimuth received:
 Bearin 281.8, -54.7 (Local)

2025-06-05T18:54:38.518Z,1749149678.518 [DAT](INFO): DAT read: Range 10 to 50 :    0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:38.522Z,1749149678.522 [DAT](INFO): DAT read: 18:54:37.0135 LVL= 13200, 28241,  9826, 11347, AGC= 35, IDX= 498, 0.09,-2.830,-2.398,-1.204,-0.759, PHS=-1.984,-1.593,-0.449, RAW= 224.2,  45.8, CAL= 228.2,  54.7, ROT= 281.8, -54.7

2025-06-05T18:54:38.523Z,1749149678.523 [DAT](INFO): got valid direction response:
 18:54:37.0135 LVL= 13200, 28241,  9826, 11347, AGC= 35, IDX= 498, 0.09,-2.830,-2.398,-1.204,-0.759, PHS=-1.984,-1.593,-0.449, RAW= 224.2,  45.8, CAL= 228.2,  54.7, ROT= 281.8, -54.7

2025-06-05T18:54:38.524Z,1749149678.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:38.526Z,1749149678.526 [DAT](INFO): direction in FSK: [0.118170,-0.565646,0.816138]
2025-06-05T18:54:38.526Z,1749149678.526 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:38.546Z,1749149678.546 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:38.546Z,1749149678.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:38.762Z,1749149678.762 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:38.765Z,1749149678.765 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:38.766Z,1749149678.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:39.013Z,1749149679.013 [DAT](INFO): DAT read: Rx Time:18:54:37.5135 

2025-06-05T18:54:39.014Z,1749149679.014 [DAT](INFO): Rx dataTimestamp_ set to:1749149679.013254
2025-06-05T18:54:39.015Z,1749149679.015 [DAT](INFO): DAT read: Bearing 267.7, -26.5 Loca)

2025-06-05T18:54:39.015Z,1749149679.015 [DAT](INFO): unknown deviceResponse_: Bearing 267.7, -26.5 Loca)

2025-06-05T18:54:39.018Z,1749149679.018 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:39.024Z,1749149679.024 [DAT](INFO): DAT read: 18:54:37.5135 LVL= 10672, 25473,  8002, 12323, AGC= 34, IDX= 498,-0.00,-2.340,-1.695,-0.568,-0.960, PHS=-1.292,-0.688, 0.389, RAW= 230.8,  20.9, CAL= 242.3,  26.5, ROT= 267.7, -26.5

2025-06-05T18:54:39.025Z,1749149679.025 [DAT](INFO): got valid direction response:
 18:54:37.5135 LVL= 10672, 25473,  8002, 12323, AGC= 34, IDX= 498,-0.00,-2.340,-1.695,-0.568,-0.960, PHS=-1.292,-0.688, 0.389, RAW= 230.8,  20.9, CAL= 242.3,  26.5, ROT= 267.7, -26.5

2025-06-05T18:54:39.026Z,1749149679.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:39.027Z,1749149679.027 [DAT](INFO): direction in FSK: [-0.035915,-0.894213,0.446198]
2025-06-05T18:54:39.028Z,1749149679.028 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:39.033Z,1749149679.033 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:39.034Z,1749149679.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:39.266Z,1749149679.266 [DAT](INFO): DAT read: Rx Time:18:54:38.0134 

2025-06-05T18:54:39.267Z,1749149679.267 [DAT](INFO): Rx dataTimestamp_ set to:1749149679.266244
2025-06-05T18:54:39.267Z,1749149679.267 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:39.267Z,1749149679.267 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:39.267Z,1749149679.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:39.518Z,1749149679.518 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-06-05T18:54:39.518Z,1749149679.518 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:39.519Z,1749149679.519 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:39.519Z,1749149679.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:39.770Z,1749149679.770 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:39.771Z,1749149679.771 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:39.772Z,1749149679.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:40.021Z,1749149680.021 [DAT](INFO): DAT read: Rx Time:18:54:38.5136 

2025-06-05T18:54:40.022Z,1749149680.022 [DAT](INFO): Rx dataTimestamp_ set to:1749149680.021353
2025-06-05T18:54:40.023Z,1749149680.023 [DAT](INFO): DAT read: Bearing 340.5, -52.8 (Local)

2025-06-05T18:54:40.023Z,1749149680.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.5, -52.8 (Local)

2025-06-05T18:54:40.025Z,1749149680.025 [DAT](INFO): DAT read: Range 10 to 50 :     .  (rip time 0.4 ms) speed 0.0

2025-06-05T18:54:40.026Z,1749149680.026 [DAT](INFO): unknown deviceResponse_: Range 10 to 50 :     .  (rip time 0.4 ms) speed 0.0

2025-06-05T18:54:40.033Z,1749149680.033 [DAT](INFO): DAT read: 18:54:38.5136 LVL= 11200, 14881,  8738, 11187, AGC= 39, IDX=  10,-0.11, 2.106, 1.380, 2.489, 2.986, PHS=-0.792,-1.559,-0.501, RAW= 165.4,  46.8, CAL= 169.5,  52.8, ROT= 340.5, -52.8

2025-06-05T18:54:40.034Z,1749149680.034 [DAT](INFO): got valid direction response:
 18:54:38.5136 LVL= 11200, 14881,  8738, 11187, AGC= 39, IDX=  10,-0.11, 2.106, 1.380, 2.489, 2.986, PHS=-0.792,-1.559,-0.501, RAW= 165.4,  46.8, CAL= 169.5,  52.8, ROT= 340.5, -52.8

2025-06-05T18:54:40.035Z,1749149680.035 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:54:40.036Z,1749149680.036 [DAT](INFO): direction in FSK: [0.569920,-0.201819,0.796530]
2025-06-05T18:54:40.039Z,1749149680.039 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:40.039Z,1749149680.039 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:40.039Z,1749149680.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:40.277Z,1749149680.277 [DAT](INFO): DAT read: Rx Time:18:54:39.0137 

2025-06-05T18:54:40.279Z,1749149680.279 [DAT](INFO): Rx dataTimestamp_ set to:1749149680.277586
2025-06-05T18:54:40.282Z,1749149680.282 [DAT](INFO): DAT read: Bearing  45.5, -68.7 (Local)

2025-06-05T18:54:40.283Z,1749149680.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.5, -68.7 (Local)

2025-06-05T18:54:40.284Z,1749149680.284 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:40.285Z,1749149680.285 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:40.286Z,1749149680.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:40.528Z,1749149680.528 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T18:54:40.532Z,1749149680.532 [DAT](INFO): DAT read: 18:54:39.0137 LVL= 11728, 1975,202, 24947, AGC= 39, IDX= 497, 0.15,-0.025,-0.855,-0.597, 1.083, PHS=-1.020,-1.891,-1.683, RAW= 103.2,  64.1, CAL= 104.5,  68.7, ROT=  45.5, -68.7

2025-06-05T18:54:40.533Z,1749149680.533 [DAT](INFO): got valid direction response:
 18:54:39.0137 LVL= 11728, 1975,202, 24947, AGC= 39, IDX= 497, 0.15,-0.025,-0.855,-0.597, 1.083, PHS=-1.020,-1.891,-1.683, RAW= 103.2,  64.1, CAL= 104.5,  68.7, ROT=  45.5, -68.7

2025-06-05T18:54:40.534Z,1749149680.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:40.535Z,1749149680.535 [DAT](INFO): direction in FSK: [0.254606,0.259089,0.931691]
2025-06-05T18:54:40.535Z,1749149680.535 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:40.538Z,1749149680.538 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:40.538Z,1749149680.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:40.782Z,1749149680.782 [DAT](INFO): DAT read: Rx Time:18:54:39.5138 

2025-06-05T18:54:40.784Z,1749149680.784 [DAT](INFO): Rx dataTimestamp_ set to:1749149680.782656
2025-06-05T18:54:40.786Z,1749149680.786 [DAT](INFO): DAT read: Bearing  61.3, -56.2 (Local)

2025-06-05T18:54:40.789Z,1749149680.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.3, -56.2 (Local)

2025-06-05T18:54:40.820Z,1749149680.820 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:40.836Z,1749149680.836 [DAT](INFO): DAT read: 18:54:39.5138 LVL= 12448, 18865, 25842, 25907, AGC= 37, IDX= 498, 0.16, 2.478, 1.306, 1.332, 3.132, PHS=-0.566,-1.779,-1.803, RAW=  89.0,  50.1, CAL=  88.7,  56.2, ROT=  61.3, -56.2

2025-06-05T18:54:40.837Z,1749149680.837 [DAT](INFO): got valid direction response:
 18:54:39.5138 LVL= 12448, 18865, 25842, 25907, AGC= 37, IDX= 498, 0.16, 2.478, 1.306, 1.332, 3.132, PHS=-0.566,-1.779,-1.803, RAW=  89.0,  50.1, CAL=  88.7,  56.2, ROT=  61.3, -56.2

2025-06-05T18:54:40.838Z,1749149680.838 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:40.839Z,1749149680.839 [DAT](INFO): direction in FSK: [0.267146,0.487953,0.830984]
2025-06-05T18:54:40.839Z,1749149680.839 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:40.853Z,1749149680.853 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:40.854Z,1749149680.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:41.028Z,1749149681.028 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:41.029Z,1749149681.029 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:41.029Z,1749149681.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:41.285Z,1749149681.285 [DAT](INFO): DAT read: Rx Time:18:54:40.0137 

2025-06-05T18:54:41.286Z,1749149681.286 [DAT](INFO): Rx dataTimestamp_ set to:1749149681.285339
2025-06-05T18:54:41.289Z,1749149681.289 [DAT](INFO): DAT read: Bearing  61.9, -59.1 (Local)

2025-06-05T18:54:41.291Z,1749149681.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.9, -59.1 (Local)

2025-06-05T18:54:41.295Z,1749149681.295 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T18:54:41.297Z,1749149681.297 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:41.308Z,1749149681.308 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:41.310Z,1749149681.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:41.538Z,1749149681.538 [DAT](INFO): DAT read: 18:54:40.0137 LVL= 18720, 19169, 25202, 27747, AGC= 39, IDX= 497, 0.20, 1.373, 0.286, 0.300, 2.164, PHS=-0.703,-1.831,-1.867, RAW=  88.4,  53.6,CL= 8.1,  59.1, ROT=  61.9, -59.1

2025-06-05T18:54:41.540Z,1749149681.540 [DAT](INFO): unknown deviceResponse_: 18:54:40.0137 LVL= 18720, 19169, 25202, 27747, AGC= 39, IDX= 497, 0.20, 1.373, 0.286, 0.300, 2.164, PHS=-0.703,-1.831,-1.867, RAW=  88.4,  53.6,CL= 8.1,  59.1, ROT=  61.9, -59.1

2025-06-05T18:54:41.540Z,1749149681.540 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:41.540Z,1749149681.540 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:41.541Z,1749149681.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:41.788Z,1749149681.788 [DAT](INFO): DAT read: Rx Time:18:54:40.5138 

2025-06-05T18:54:41.790Z,1749149681.790 [DAT](INFO): Rx dataTimestamp_ set to:1749149681.789004
2025-06-05T18:54:41.794Z,1749149681.794 [DAT](INFO): DAT read: Bearing  62.7, -63.7 (Local)

2025-06-05T18:54:41.795Z,1749149681.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.7, -63.7 (Local)

2025-06-05T18:54:41.813Z,1749149681.813 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-06-05T18:54:41.817Z,1749149681.817 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:41.819Z,1749149681.819 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:41.819Z,1749149681.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:42.040Z,1749149682.040 [DAT](INFO): DAT read: 18:54:40.5138 LVL= 16784, 18625, 24114, 27347, AGC= 38, IDX= 498, 0.14,-2.600, 2.805, 2.810,-1.664, PHS=-0.848,-1.767,-1.812, RAW=  87.6,  59.0, CAL=  87.3,  63.7, ROT=  62.7, -63.7

2025-06-05T18:54:42.041Z,1749149682.041 [DAT](INFO): got valid direction response:
 18:54:40.5138 LVL= 16784, 18625, 24114, 27347, AGC= 38, IDX= 498, 0.14,-2.600, 2.805, 2.810,-1.664, PHS=-0.848,-1.767,-1.812, RAW=  87.6,  59.0, CAL=  87.3,  63.7, ROT=  62.7, -63.7

2025-06-05T18:54:42.042Z,1749149682.042 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:54:42.043Z,1749149682.043 [DAT](INFO): direction in FSK: [0.203214,0.393721,0.896486]
2025-06-05T18:54:42.049Z,1749149682.049 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:42.050Z,1749149682.050 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:42.050Z,1749149682.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:42.293Z,1749149682.293 [DAT](INFO): DAT read: Rx Time:18:54:41.0137 

2025-06-05T18:54:42.294Z,1749149682.294 [DAT](INFO): Rx dataTimestamp_ set to:1749149682.293235
2025-06-05T18:54:42.298Z,1749149682.298 [DAT](INFO): DAT read: Bearing 211.0, -87.8 (Local)

2025-06-05T18:54:42.300Z,1749149682.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.0, -87.8 (Local)

2025-06-05T18:54:42.305Z,1749149682.305 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-06-05T18:54:42.310Z,1749149682.310 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:42.321Z,1749149682.321 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:42.322Z,1749149682.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:42.546Z,1749149682.546 [DAT](INFO): DAT read: 18:54:41.0137 LVL= 15056, 16017, 18226, 23459, AGC= 37, IDX= 497, 0.13, 1.850, 1.980, 1.988,-2.476, PHS=-1.869,-1.780,-1.822, RAW= 298.5,  87.7, CAL= 299.0,  87.8, ROT= 211.0, -87.8

2025-06-05T18:54:42.547Z,1749149682.547 [DAT](INFO): got valid direction response:
 18:54:41.0137 LVL= 15056, 16017, 18226, 23459, AGC= 37, IDX= 497, 0.13, 1.850, 1.980, 1.988,-2.476, PHS=-1.869,-1.780,-1.822, RAW= 298.5,  87.7, CAL= 299.0,  87.8, ROT= 211.0, -87.8

2025-06-05T18:54:42.547Z,1749149682.547 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-05T18:54:42.548Z,1749149682.548 [DAT](INFO): direction in FSK: [-0.032905,-0.019771,0.999263]
2025-06-05T18:54:42.551Z,1749149682.551 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:42.551Z,1749149682.551 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:42.552Z,1749149682.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:42.797Z,1749149682.797 [DAT](INFO): DAT read: Rx Time:18:54:41.5136 

2025-06-05T18:54:42.798Z,1749149682.798 [DAT](INFO): Rx dataTimestamp_ set to:1749149682.797657
2025-06-05T18:54:42.802Z,1749149682.802 [DAT](INFO): DAT read: Bearing 221.6, -74.6 (Local)

2025-06-05T18:54:42.804Z,1749149682.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.6, -74.6 (Local)

2025-06-05T18:54:42.828Z,1749149682.828 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-06-05T18:54:42.832Z,1749149682.832 [DAT](INFO): DAT read: 18:54:41.5136 LVL= 17872, 19697, 17570, 21123, AGC= 37, IDX= 497, 0.20, 0.607, 1.333, 1.208, 3.060, PHS=-2.365,-1.680,-1.855, RAW= 284.2,  73.5, CAL= 288.4,  74.6, ROT= 221.6, -74.6

2025-06-05T18:54:42.833Z,1749149682.833 [DAT](INFO): got valid direction response:
 18:54:41.5136 LVL= 17872, 19697, 17570, 21123, AGC= 37, IDX= 497, 0.20, 0.607, 1.333, 1.208, 3.060, PHS=-2.365,-1.680,-1.855, RAW= 284.2,  73.5, CAL= 288.4,  74.6, ROT= 221.6, -74.6

2025-06-05T18:54:42.834Z,1749149682.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:54:42.835Z,1749149682.835 [DAT](INFO): direction in FSK: [-0.198582,-0.176310,0.964095]
2025-06-05T18:54:42.835Z,1749149682.835 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:42.846Z,1749149682.846 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:42.847Z,1749149682.847 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:43.046Z,1749149683.046 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:43.046Z,1749149683.046 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:43.047Z,1749149683.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:43.297Z,1749149683.297 [DAT](INFO): DAT read: Rx Time:18:54:42.0134 

2025-06-05T18:54:43.297Z,1749149683.297 [DAT](INFO): Rx dataTimestamp_ set to:1749149683.297038
2025-06-05T18:54:43.298Z,1749149683.298 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-06-05T18:54:43.299Z,1749149683.299 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:43.300Z,1749149683.300 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:43.300Z,1749149683.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:43.549Z,1749149683.549 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:43.549Z,1749149683.549 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:43.550Z,1749149683.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:43.801Z,1749149683.801 [DAT](INFO): DAT read: Rx Time:18:54:42.5135 

2025-06-05T18:54:43.801Z,1749149683.801 [DAT](INFO): Rx dataTimestamp_ set to:1749149683.800908
2025-06-05T18:54:43.802Z,1749149683.802 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:43.803Z,1749149683.803 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:43.804Z,1749149683.804 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:43.804Z,1749149683.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:44.053Z,1749149684.053 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:44.054Z,1749149684.054 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:44.054Z,1749149684.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:44.307Z,1749149684.307 [DAT](INFO): DAT read: Rx Time:18:54:43.0134 

2025-06-05T18:54:44.307Z,1749149684.307 [DAT](INFO): Rx dataTimestamp_ set to:1749149684.306905
2025-06-05T18:54:44.309Z,1749149684.309 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-06-05T18:54:44.310Z,1749149684.310 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:44.310Z,1749149684.310 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:44.311Z,1749149684.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:44.556Z,1749149684.556 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:44.556Z,1749149684.556 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:44.557Z,1749149684.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:44.677Z,1749149684.677 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +6.47,     ,   7,   7.37,  0.00
2025-06-05T18:54:44.810Z,1749149684.810 [DAT](INFO): DAT read: Rx Time:18:54:43.5135 

2025-06-05T18:54:44.810Z,1749149684.810 [DAT](INFO): Rx dataTimestamp_ set to:1749149684.809985
2025-06-05T18:54:44.811Z,1749149684.811 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-06-05T18:54:44.812Z,1749149684.812 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:44.813Z,1749149684.813 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:44.813Z,1749149684.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:45.061Z,1749149685.061 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:45.062Z,1749149685.062 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:45.063Z,1749149685.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:45.313Z,1749149685.313 [DAT](INFO): DAT read: user:2932>

2025-06-05T18:54:45.313Z,1749149685.313 [DAT](INFO): Reached modem response timeout
2025-06-05T18:54:45.313Z,1749149685.313 [DAT](DEBUG): Acoustic response timeout
2025-06-05T18:54:45.313Z,1749149685.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:54:45.565Z,1749149685.565 [DAT](INFO): DAT read: Tx time:18:54:44.4339

2025-06-05T18:54:45.565Z,1749149685.565 [DAT](INFO): Ping request sent.
2025-06-05T18:54:45.565Z,1749149685.565 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:54:45.566Z,1749149685.566 [DAT](INFO): DAT read: TxSync time:18:54:44.4332

2025-06-05T18:54:45.566Z,1749149685.566 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:45.567Z,1749149685.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001541
2025-06-05T18:54:45.817Z,1749149685.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251114
2025-06-05T18:54:46.069Z,1749149686.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503112
2025-06-05T18:54:46.321Z,1749149686.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755961
2025-06-05T18:54:46.573Z,1749149686.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007115
2025-06-05T18:54:46.826Z,1749149686.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260311
2025-06-05T18:54:47.077Z,1749149687.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511100
2025-06-05T18:54:47.329Z,1749149687.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763149
2025-06-05T18:54:47.581Z,1749149687.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015269
2025-06-05T18:54:47.833Z,1749149687.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267192
2025-06-05T18:54:48.084Z,1749149688.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518975
2025-06-05T18:54:48.337Z,1749149688.337 [DAT](INFO): DAT read: Rx Time:18:54:46.8399

2025-06-05T18:54:48.337Z,1749149688.337 [DAT](INFO): Rx dataTimestamp_ set to:1749149688.336761
2025-06-05T18:54:48.338Z,1749149688.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772494
2025-06-05T18:54:48.589Z,1749149688.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023170
2025-06-05T18:54:48.842Z,1749149688.842 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-05T18:54:48.843Z,1749149688.843 [DAT](INFO): DAT read: user:2933>

2025-06-05T18:54:48.844Z,1749149688.844 [DAT](INFO): DAT read: Tx time:18:54:47.9339

2025-06-05T18:54:48.844Z,1749149688.844 [DAT](INFO): Ping request sent.
2025-06-05T18:54:48.844Z,1749149688.844 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:54:48.845Z,1749149688.845 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-05T18:54:48.845Z,1749149688.845 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:48.845Z,1749149688.845 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:49.093Z,1749149689.093 [DAT](INFO): DAT read: TxSync time:18:54:47.9332

2025-06-05T18:54:49.568Z,1749149689.568 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060510560558,35.0, +10.4,   0.0,1491.6RA,  0.00,  79.12,  70.29,  82.18,  68.25
2025-06-05T18:54:51.869Z,1749149691.869 [DAT](INFO): DAT read: Rx Time:18:54:50.3396

2025-06-05T18:54:51.869Z,1749149691.869 [DAT](INFO): Rx dataTimestamp_ set to:1749149691.868765
2025-06-05T18:54:52.374Z,1749149692.374 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-06-05T18:54:52.375Z,1749149692.375 [DAT](INFO): DAT read: user:2934>

2025-06-05T18:54:52.376Z,1749149692.376 [DAT](INFO): DAT read: Tx time:18:54:51.4339

2025-06-05T18:54:52.377Z,1749149692.377 [DAT](INFO): Ping request sent.
2025-06-05T18:54:52.377Z,1749149692.377 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:54:52.377Z,1749149692.377 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-05T18:54:52.377Z,1749149692.377 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:52.378Z,1749149692.378 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:52.626Z,1749149692.626 [DAT](INFO): DAT read: TxSync time:18:54:51.4332

2025-06-05T18:54:55.397Z,1749149695.397 [DAT](INFO): DAT read: Rx Time:18:54:53.8402

2025-06-05T18:54:55.397Z,1749149695.397 [DAT](INFO): Rx dataTimestamp_ set to:1749149695.396917
2025-06-05T18:54:55.902Z,1749149695.902 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-05T18:54:55.902Z,1749149695.902 [DAT](INFO): DAT read: user:2935>

2025-06-05T18:54:55.903Z,1749149695.903 [DAT](INFO): DAT read: Tx time:18:54:54.9339

2025-06-05T18:54:55.904Z,1749149695.904 [DAT](INFO): Ping request sent.
2025-06-05T18:54:55.904Z,1749149695.904 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:54:55.904Z,1749149695.904 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-06-05T18:54:55.904Z,1749149695.904 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:55.905Z,1749149695.905 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:56.153Z,1749149696.153 [DAT](INFO): DAT read: TxSync time:18:54:54.9332

2025-06-05T18:54:58.926Z,1749149698.926 [DAT](INFO): DAT read: Rx Time:18:54:57.3396

2025-06-05T18:54:58.927Z,1749149698.927 [DAT](INFO): Rx dataTimestamp_ set to:1749149698.926311
2025-06-05T18:54:59.438Z,1749149699.438 [DAT](INFO): DAT read: 18:54:57.3396 LVL= 19952, 31601, 10866, 18755, AGC= 37, IDX= 427,-0.43,-0.895,-0.229,-0.909, 0.640, PHS=-1.447,-0.822,-1.553, RAW= 337.7,  63.2, CAL= 337.3,  63.1, ROT= 172.7, -63.1

2025-06-05T18:54:59.440Z,1749149699.440 [DAT](INFO): got valid direction response:
 18:54:57.3396 LVL= 19952, 31601, 10866, 18755, AGC= 37, IDX= 427,-0.43,-0.895,-0.229,-0.909, 0.640, PHS=-1.447,-0.822,-1.553, RAW= 337.7,  63.2, CAL= 337.3,  63.1, ROT= 172.7, -63.1

2025-06-05T18:54:59.440Z,1749149699.440 [DAT](INFO): DAT read: Bearing 172.7, -63.1 (Local)

2025-06-05T18:54:59.441Z,1749149699.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.7, -63.1 (Local)

2025-06-05T18:54:59.443Z,1749149699.443 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-06-05T18:54:59.444Z,1749149699.444 [DAT](INFO): DAT read: user:2936>

2025-06-05T18:54:59.445Z,1749149699.445 [DAT](INFO): DAT read: Tx time:18:54:58.4340

2025-06-05T18:54:59.445Z,1749149699.445 [DAT](INFO): Ping request sent.
2025-06-05T18:54:59.445Z,1749149699.445 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:54:59.445Z,1749149699.445 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T18:54:59.446Z,1749149699.446 [DAT](INFO): direction in FSK: [-0.448767,0.057488,0.891798]
2025-06-05T18:54:59.447Z,1749149699.447 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:59.447Z,1749149699.447 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:59.451Z,1749149699.451 [DAT](INFO): publishing transmit ping time
2025-06-05T18:54:59.451Z,1749149699.451 [DAT](INFO): publishing direction and range info
2025-06-05T18:54:59.685Z,1749149699.685 [DAT](INFO): DAT read: TxSync time:18:54:58.4333

2025-06-05T18:55:02.467Z,1749149702.467 [DAT](INFO): DAT read: Rx Time:18:55:00.8392

2025-06-05T18:55:02.468Z,1749149702.468 [DAT](INFO): Rx dataTimestamp_ set to:1749149702.467140
2025-06-05T18:55:02.978Z,1749149702.978 [DAT](INFO): DAT read: 18:55:00.8392 LVL= 14320, 13137,  8434, 16435, AGC= 35, IDX= 440,-0.13, 0.922, 0.997, 1.738, 2.264, PHS=-1.255,-1.221,-0.530, RAW= 212.4,  56.3, CAL= 210.7,  62.3, ROT= 299.3, -62.3

2025-06-05T18:55:02.980Z,1749149702.980 [DAT](INFO): got valid direction response:
 18:55:00.8392 LVL= 14320, 13137,  8434, 16435, AGC= 35, IDX= 440,-0.13, 0.922, 0.997, 1.738, 2.264, PHS=-1.255,-1.221,-0.530, RAW= 212.4,  56.3, CAL= 210.7,  62.3, ROT= 299.3, -62.3

2025-06-05T18:55:02.983Z,1749149702.983 [DAT](INFO): DAT read: Bearing 299.3, -62.3 (Local)

2025-06-05T18:55:02.988Z,1749149702.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.3, -62.3 (Local)

2025-06-05T18:55:02.990Z,1749149702.990 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:55:02.990Z,1749149702.990 [DAT](INFO): DAT read: user:2937>

2025-06-05T18:55:02.992Z,1749149702.992 [DAT](INFO): DAT read: Tx time:18:55:01.9340

2025-06-05T18:55:02.993Z,1749149702.993 [DAT](INFO): Ping request sent.
2025-06-05T18:55:02.993Z,1749149702.993 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:02.993Z,1749149702.993 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T18:55:02.994Z,1749149702.994 [DAT](INFO): direction in FSK: [0.227485,-0.405375,0.885394]
2025-06-05T18:55:02.994Z,1749149702.994 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:02.995Z,1749149702.995 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:03.022Z,1749149703.022 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:03.023Z,1749149703.023 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:03.221Z,1749149703.221 [DAT](INFO): DAT read: TxSync time:18:55:01.9333

2025-06-05T18:55:05.993Z,1749149705.993 [DAT](INFO): DAT read: Rx Time:18:55:04.3392

2025-06-05T18:55:05.994Z,1749149705.994 [DAT](INFO): Rx dataTimestamp_ set to:1749149705.993568
2025-06-05T18:55:06.516Z,1749149706.516 [DAT](INFO): DAT read: 18:55:04.3392 LVL= 16576, 24465, 13490, 14643, AGC= 36, IDX= 439, 0.39, 1.916, 1.916, 2.592,-2.851, PHS=-1.428,-1.470,-0.844, RAW= 206.6,  65.4, CAL= 205.6,  69.4, ROT= 304.4, -69.4

2025-06-05T18:55:06.517Z,1749149706.517 [DAT](INFO): got valid direction response:
 18:55:04.3392 LVL= 16576, 24465, 13490, 14643, AGC= 36, IDX= 439, 0.39, 1.916, 1.916, 2.592,-2.851, PHS=-1.428,-1.470,-0.844, RAW= 206.6,  65.4, CAL= 205.6,  69.4, ROT= 304.4, -69.4

2025-06-05T18:55:06.518Z,1749149706.518 [DAT](INFO): DAT read: Bearing 304.4, -69.4 (Local)

2025-06-05T18:55:06.518Z,1749149706.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.4, -69.4 (Local)

2025-06-05T18:55:06.520Z,1749149706.520 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:55:06.521Z,1749149706.521 [DAT](INFO): DAT read: user:2938>

2025-06-05T18:55:06.521Z,1749149706.521 [DAT](INFO): DAT read: Tx time:18:55:05.4340

2025-06-05T18:55:06.522Z,1749149706.522 [DAT](INFO): Ping request sent.
2025-06-05T18:55:06.522Z,1749149706.522 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:06.522Z,1749149706.522 [DAT](INFO): DAT read: TxSync time:18:55:05.4333

2025-06-05T18:55:06.523Z,1749149706.523 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T18:55:06.545Z,1749149706.545 [DAT](INFO): direction in FSK: [0.198779,-0.290309,0.936060]
2025-06-05T18:55:06.546Z,1749149706.546 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:06.546Z,1749149706.546 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:06.566Z,1749149706.566 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:06.566Z,1749149706.566 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:09.269Z,1749149709.269 [DAT](INFO): DAT read: Rx Time:18:55:07.8393

2025-06-05T18:55:09.269Z,1749149709.269 [DAT](INFO): Rx dataTimestamp_ set to:1749149709.268768
2025-06-05T18:55:10.034Z,1749149710.034 [DAT](INFO): DAT read: 18:55:07.8393 LVL= 15344, 30561, 11810, 16339, AGC= 36, IDX= 439, 0.37, 2.555, 2.809, 3.053,-1.885, PHS=-1.755,-1.542,-1.348, RAW= 241.5,  77.9, CAL= 243.8,  79.7, ROT= 266.2, -79.7

2025-06-05T18:55:10.035Z,1749149710.035 [DAT](INFO): got valid direction response:
 18:55:07.8393 LVL= 15344, 30561, 11810, 16339, AGC= 36, IDX= 439, 0.37, 2.555, 2.809, 3.053,-1.885, PHS=-1.755,-1.542,-1.348, RAW= 241.5,  77.9, CAL= 243.8,  79.7, ROT= 266.2, -79.7

2025-06-05T18:55:10.037Z,1749149710.037 [DAT](INFO): DAT read: Bearing 266.2, -79.7 (Local)

2025-06-05T18:55:10.037Z,1749149710.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.2, -79.7 (Local)

2025-06-05T18:55:10.038Z,1749149710.038 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-05T18:55:10.039Z,1749149710.039 [DAT](INFO): DAT read: user:2939>

2025-06-05T18:55:10.040Z,1749149710.040 [DAT](INFO): DAT read: Tx time:18:55:08.9340

2025-06-05T18:55:10.040Z,1749149710.040 [DAT](INFO): Ping request sent.
2025-06-05T18:55:10.041Z,1749149710.041 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:10.042Z,1749149710.042 [DAT](INFO): DAT read: TxSync time:18:55:08.9333

2025-06-05T18:55:10.043Z,1749149710.043 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T18:55:10.044Z,1749149710.044 [DAT](INFO): direction in FSK: [-0.011850,-0.178409,0.983885]
2025-06-05T18:55:10.045Z,1749149710.045 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:10.045Z,1749149710.045 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:10.057Z,1749149710.057 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:10.057Z,1749149710.057 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:12.798Z,1749149712.798 [DAT](INFO): DAT read: Rx Time:18:55:11.3395

2025-06-05T18:55:12.798Z,1749149712.798 [DAT](INFO): Rx dataTimestamp_ set to:1749149712.798050
2025-06-05T18:55:13.569Z,1749149713.569 [DAT](INFO): DAT read: 18:55:11.3395 LVL= 17968, 25697, 14130, 19699, AGC= 37, IDX= 440,-0.31, 2.689,-2.425,-3.035,-1.349, PHS=-2.156,-1.029,-1.688, RAW= 305.6,  60.3, CAL= 310.6,  60.4, ROT= 199.4, -60.4

2025-06-05T18:55:13.570Z,1749149713.570 [DAT](INFO): got valid direction response:
 18:55:11.3395 LVL= 17968, 25697, 14130, 19699, AGC= 37, IDX= 440,-0.31, 2.689,-2.425,-3.035,-1.349, PHS=-2.156,-1.029,-1.688, RAW= 305.6,  60.3, CAL= 310.6,  60.4, ROT= 199.4, -60.4

2025-06-05T18:55:13.571Z,1749149713.571 [DAT](INFO): DAT read: Bearing 199.4, -60.4 (Local)

2025-06-05T18:55:13.571Z,1749149713.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.4, -60.4 (Local)

2025-06-05T18:55:13.573Z,1749149713.573 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-05T18:55:13.574Z,1749149713.574 [DAT](INFO): DAT read: user:2940>

2025-06-05T18:55:13.574Z,1749149713.574 [DAT](INFO): DAT read: Tx time:18:55:12.4341

2025-06-05T18:55:13.575Z,1749149713.575 [DAT](INFO): Ping request sent.
2025-06-05T18:55:13.575Z,1749149713.575 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:13.576Z,1749149713.576 [DAT](INFO): DAT read: TxSync time:18:55:12.4333

2025-06-05T18:55:13.576Z,1749149713.576 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T18:55:13.577Z,1749149713.577 [DAT](INFO): direction in FSK: [-0.465897,-0.164068,0.869495]
2025-06-05T18:55:13.577Z,1749149713.577 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:13.578Z,1749149713.578 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:13.588Z,1749149713.588 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:13.588Z,1749149713.588 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:16.333Z,1749149716.333 [DAT](INFO): DAT read: Rx Time:18:55:14.8397

2025-06-05T18:55:16.333Z,1749149716.333 [DAT](INFO): Rx dataTimestamp_ set to:1749149716.332716
2025-06-05T18:55:16.837Z,1749149716.837 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-06-05T18:55:16.838Z,1749149716.838 [DAT](INFO): DAT read: user:2941>

2025-06-05T18:55:16.839Z,1749149716.839 [DAT](INFO): DAT read: Tx time:18:55:15.9341

2025-06-05T18:55:16.839Z,1749149716.839 [DAT](INFO): Ping request sent.
2025-06-05T18:55:16.839Z,1749149716.839 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:16.840Z,1749149716.840 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-06-05T18:55:16.840Z,1749149716.840 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:16.840Z,1749149716.840 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:17.090Z,1749149717.090 [DAT](INFO): DAT read: TxSync time:18:55:15.9333

2025-06-05T18:55:19.006Z,1749149719.006 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +6.73,       +85.38,       -1.59
2025-06-05T18:55:19.865Z,1749149719.865 [DAT](INFO): DAT read: Rx Time:18:55:18.3400

2025-06-05T18:55:19.866Z,1749149719.866 [DAT](INFO): Rx dataTimestamp_ set to:1749149719.865646
2025-06-05T18:55:20.370Z,1749149720.370 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:55:20.371Z,1749149720.371 [DAT](INFO): DAT read: user:2942>

2025-06-05T18:55:20.371Z,1749149720.371 [DAT](INFO): DAT read: Tx time:18:55:19.4341

2025-06-05T18:55:20.373Z,1749149720.373 [DAT](INFO): Ping request sent.
2025-06-05T18:55:20.373Z,1749149720.373 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:20.373Z,1749149720.373 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-06-05T18:55:20.373Z,1749149720.373 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:20.374Z,1749149720.374 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:20.621Z,1749149720.621 [DAT](INFO): DAT read: TxSync time:18:55:19.4333

2025-06-05T18:55:22.433Z,1749149722.433 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-06-05T18:55:22.434Z,1749149722.434 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-06-05T18:55:22.496Z,1749149722.496 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T18:55:22.497Z,1749149722.497 [DockingStepper](INFO): Standby mode.
2025-06-05T18:55:22.568Z,1749149722.568 [DockingStepper](INFO): Commanding positive:34490
2025-06-05T18:55:22.888Z,1749149722.888 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:55:23.141Z,1749149723.141 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:55:23.394Z,1749149723.394 [DAT](INFO): DAT read: Rx Time:18:55:21.8408

2025-06-05T18:55:23.394Z,1749149723.394 [DAT](INFO): Rx dataTimestamp_ set to:1749149723.393926
2025-06-05T18:55:23.395Z,1749149723.395 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:55:23.898Z,1749149723.898 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-05T18:55:23.899Z,1749149723.899 [DAT](INFO): DAT read: user:2943>

2025-06-05T18:55:23.901Z,1749149723.901 [DAT](INFO): DAT read: Tx time:18:55:22.9342

2025-06-05T18:55:23.903Z,1749149723.903 [DAT](INFO): Ping request sent.
2025-06-05T18:55:23.903Z,1749149723.903 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:23.905Z,1749149723.905 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-06-05T18:55:23.905Z,1749149723.905 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:23.906Z,1749149723.906 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:24.149Z,1749149724.149 [DAT](INFO): DAT read: TxSync time:18:55:22.9334

2025-06-05T18:55:26.933Z,1749149726.933 [DAT](INFO): DAT read: Rx Time:18:55:25.3393

2025-06-05T18:55:26.933Z,1749149726.933 [DAT](INFO): Rx dataTimestamp_ set to:1749149726.932781
2025-06-05T18:55:27.437Z,1749149727.437 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:55:27.438Z,1749149727.438 [DAT](INFO): DAT read: user:2944>

2025-06-05T18:55:27.439Z,1749149727.439 [DAT](INFO): DAT read: Tx time:18:55:26.4342

2025-06-05T18:55:27.439Z,1749149727.439 [DAT](INFO): Ping request sent.
2025-06-05T18:55:27.439Z,1749149727.439 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:27.440Z,1749149727.440 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-06-05T18:55:27.440Z,1749149727.440 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:27.440Z,1749149727.440 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:27.690Z,1749149727.690 [DAT](INFO): DAT read: TxSync time:18:55:26.4334

2025-06-05T18:55:30.462Z,1749149730.462 [DAT](INFO): DAT read: Rx Time:18:55:28.8394

2025-06-05T18:55:30.462Z,1749149730.462 [DAT](INFO): Rx dataTimestamp_ set to:1749149730.461748
2025-06-05T18:55:30.970Z,1749149730.970 [DAT](INFO): DAT read: 18:55:28.8394 LVL= 14800, 17489, 10866,  7875, AGC= 34, IDX= 446,-0.06,-0.144, 0.271, 0.950, 2.082, PHS=-2.138,-1.764,-1.135, RAW= 231.7,  63.8, CAL= 235.5,  68.5, ROT= 274.5, -68.5

2025-06-05T18:55:30.971Z,1749149730.971 [DAT](INFO): got valid direction response:
 18:55:28.8394 LVL= 14800, 17489, 10866,  7875, AGC= 34, IDX= 446,-0.06,-0.144, 0.271, 0.950, 2.082, PHS=-2.138,-1.764,-1.135, RAW= 231.7,  63.8, CAL= 235.5,  68.5, ROT= 274.5, -68.5

2025-06-05T18:55:30.973Z,1749149730.973 [DAT](INFO): DAT read: Bearing 274.5, -68.5 (Local)

2025-06-05T18:55:30.974Z,1749149730.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.5, -68.5 (Local)

2025-06-05T18:55:30.981Z,1749149730.981 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:55:30.982Z,1749149730.982 [DAT](INFO): DAT read: user:2945>

2025-06-05T18:55:30.996Z,1749149730.996 [DAT](INFO): DAT read: Tx time:18:55:29.9342

2025-06-05T18:55:30.996Z,1749149730.996 [DAT](INFO): Ping request sent.
2025-06-05T18:55:30.997Z,1749149730.997 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:30.997Z,1749149730.997 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-05T18:55:30.999Z,1749149730.999 [DAT](INFO): direction in FSK: [0.028755,-0.365371,0.930418]
2025-06-05T18:55:30.999Z,1749149730.999 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:31.024Z,1749149731.024 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:31.035Z,1749149731.035 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:31.035Z,1749149731.035 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:31.218Z,1749149731.218 [DAT](INFO): DAT read: TxSync time:18:55:29.9334

2025-06-05T18:55:33.991Z,1749149733.991 [DAT](INFO): DAT read: Rx Time:18:55:32.3394

2025-06-05T18:55:33.991Z,1749149733.991 [DAT](INFO): Rx dataTimestamp_ set to:1749149733.990760
2025-06-05T18:55:34.494Z,1749149734.494 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:55:34.495Z,1749149734.495 [DAT](INFO): DAT read: user:2946>

2025-06-05T18:55:34.496Z,1749149734.496 [DAT](INFO): DAT read: Tx time:18:55:33.4343

2025-06-05T18:55:34.496Z,1749149734.496 [DAT](INFO): Ping request sent.
2025-06-05T18:55:34.496Z,1749149734.496 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:34.497Z,1749149734.497 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-05T18:55:34.497Z,1749149734.497 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:34.497Z,1749149734.497 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:34.745Z,1749149734.745 [DAT](INFO): DAT read: TxSync time:18:55:33.4335

2025-06-05T18:55:37.517Z,1749149737.517 [DAT](INFO): DAT read: Rx Time:18:55:35.8395

2025-06-05T18:55:37.517Z,1749149737.517 [DAT](INFO): Rx dataTimestamp_ set to:1749149737.516778
2025-06-05T18:55:38.037Z,1749149738.037 [DAT](INFO): DAT read: 18:55:35.8395 LVL= 12416, 24865,  8402, 14067, AGC= 34, IDX= 439,-0.03, 2.332,-3.009, 2.113,-2.862, PHS=-1.002,-0.101,-1.312, RAW= 344.3,  38.1, CAL= 342.1,  38.8, ROT= 167.9, -38.8

2025-06-05T18:55:38.038Z,1749149738.038 [DAT](INFO): got valid direction response:
 18:55:35.8395 LVL= 12416, 24865,  8402, 14067, AGC= 34, IDX= 439,-0.03, 2.332,-3.009, 2.113,-2.862, PHS=-1.002,-0.101,-1.312, RAW= 344.3,  38.1, CAL= 342.1,  38.8, ROT= 167.9, -38.8

2025-06-05T18:55:38.039Z,1749149738.039 [DAT](INFO): DAT read: Bearing 167.9, -38.8 (Local)

2025-06-05T18:55:38.039Z,1749149738.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.9, -38.8 (Local)

2025-06-05T18:55:38.045Z,1749149738.045 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:55:38.046Z,1749149738.046 [DAT](INFO): DAT read: user:2947>

2025-06-05T18:55:38.046Z,1749149738.046 [DAT](INFO): DAT read: Tx time:18:55:36.9343

2025-06-05T18:55:38.047Z,1749149738.047 [DAT](INFO): Ping request sent.
2025-06-05T18:55:38.047Z,1749149738.047 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:38.047Z,1749149738.047 [DAT](INFO): DAT read: TxSync time:18:55:36.9335

2025-06-05T18:55:38.052Z,1749149738.052 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T18:55:38.055Z,1749149738.055 [DAT](INFO): direction in FSK: [-0.762024,0.163364,0.626604]
2025-06-05T18:55:38.060Z,1749149738.060 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:38.061Z,1749149738.061 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:38.094Z,1749149738.094 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:38.095Z,1749149738.095 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:40.794Z,1749149740.794 [DAT](INFO): DAT read: Rx Time:18:55:39.3395

2025-06-05T18:55:40.795Z,1749149740.795 [DAT](INFO): Rx dataTimestamp_ set to:1749149740.794317
2025-06-05T18:55:41.554Z,1749149741.554 [DAT](INFO): DAT read: 18:55:39.3395 LVL= 11024, 25905,  9458, 11683, AGC= 34, IDX= 438, 0.25,-1.470,-0.213,-1.665,-0.150, PHS=-1.232,-0.017,-1.518, RAW= 340.4,  35.3, CAL= 339.5,  36.4, ROT= 170.5, -36.4

2025-06-05T18:55:41.556Z,1749149741.556 [DAT](INFO): got valid direction response:
 18:55:39.3395 LVL= 11024, 25905,  9458, 11683, AGC= 34, IDX= 438, 0.25,-1.470,-0.213,-1.665,-0.150, PHS=-1.232,-0.017,-1.518, RAW= 340.4,  35.3, CAL= 339.5,  36.4, ROT= 170.5, -36.4

2025-06-05T18:55:41.557Z,1749149741.557 [DAT](INFO): DAT read: Bearing 170.5, -36.4 (Local)

2025-06-05T18:55:41.557Z,1749149741.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.5, -36.4 (Local)

2025-06-05T18:55:41.559Z,1749149741.559 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:55:41.560Z,1749149741.560 [DAT](INFO): DAT read: user:2948>

2025-06-05T18:55:41.561Z,1749149741.561 [DAT](INFO): DAT read: Tx time:18:55:40.4343

2025-06-05T18:55:41.561Z,1749149741.561 [DAT](INFO): Ping request sent.
2025-06-05T18:55:41.561Z,1749149741.561 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:41.562Z,1749149741.562 [DAT](INFO): DAT read: TxSync time:18:55:40.4335

2025-06-05T18:55:41.562Z,1749149741.562 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-05T18:55:41.568Z,1749149741.568 [DAT](INFO): direction in FSK: [-0.793855,0.132846,0.593419]
2025-06-05T18:55:41.568Z,1749149741.568 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:41.568Z,1749149741.568 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:41.571Z,1749149741.571 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:41.571Z,1749149741.571 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:44.328Z,1749149744.328 [DAT](INFO): DAT read: Rx Time:18:55:42.8395

2025-06-05T18:55:44.329Z,1749149744.329 [DAT](INFO): Rx dataTimestamp_ set to:1749149744.328408
2025-06-05T18:55:44.829Z,1749149744.829 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:55:44.830Z,1749149744.830 [DAT](INFO): DAT read: user:2949>

2025-06-05T18:55:44.831Z,1749149744.831 [DAT](INFO): DAT read: Tx time:18:55:43.9344

2025-06-05T18:55:44.831Z,1749149744.831 [DAT](INFO): Ping request sent.
2025-06-05T18:55:44.831Z,1749149744.831 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:44.832Z,1749149744.832 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-05T18:55:44.832Z,1749149744.832 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:44.832Z,1749149744.832 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:45.082Z,1749149745.082 [DAT](INFO): DAT read: TxSync time:18:55:43.9336

2025-06-05T18:55:47.854Z,1749149747.854 [DAT](INFO): DAT read: Rx Time:18:55:46.3396

2025-06-05T18:55:47.855Z,1749149747.855 [DAT](INFO): Rx dataTimestamp_ set to:1749149747.854076
2025-06-05T18:55:48.389Z,1749149748.389 [DAT](INFO): DAT read: 18:55:46.3396 LVL= 14880, 20065, 11282,  8579, AGC= 34, IDX= 446, 0.06,-3.082,-2.863,-2.298,-1.044, PHS=-1.950,-1.771,-1.256, RAW= 224.4,  70.5, CAL= 225.5,  74.4, ROT= 284.5, -74.4

2025-06-05T18:55:48.393Z,1749149748.393 [DAT](INFO): got valid direction response:
 18:55:46.3396 LVL= 14880, 20065, 11282,  8579, AGC= 34, IDX= 446, 0.06,-3.082,-2.863,-2.298,-1.044, PHS=-1.950,-1.771,-1.256, RAW= 224.4,  70.5, CAL= 225.5,  74.4, ROT= 284.5, -74.4

2025-06-05T18:55:48.396Z,1749149748.396 [DAT](INFO): DAT read: Bearing 284.5, -74.4 (Local)

2025-06-05T18:55:48.397Z,1749149748.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.5, -74.4 (Local)

2025-06-05T18:55:48.418Z,1749149748.418 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:55:48.420Z,1749149748.420 [DAT](INFO): DAT read: user:2950>

2025-06-05T18:55:48.421Z,1749149748.421 [DAT](INFO): DAT read: Tx time:18:55:47.4344

2025-06-05T18:55:48.421Z,1749149748.421 [DAT](INFO): Ping request sent.
2025-06-05T18:55:48.421Z,1749149748.421 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:48.422Z,1749149748.422 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-05T18:55:48.423Z,1749149748.423 [DAT](INFO): direction in FSK: [0.067332,-0.260354,0.963163]
2025-06-05T18:55:48.423Z,1749149748.423 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:48.423Z,1749149748.423 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:48.462Z,1749149748.462 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:48.462Z,1749149748.462 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:48.610Z,1749149748.610 [DAT](INFO): DAT read: TxSync time:18:55:47.4336

2025-06-05T18:55:51.385Z,1749149751.385 [DAT](INFO): DAT read: Rx Time:18:55:49.8395

2025-06-05T18:55:51.386Z,1749149751.386 [DAT](INFO): Rx dataTimestamp_ set to:1749149751.385135
2025-06-05T18:55:51.912Z,1749149751.912 [DAT](INFO): DAT read: 18:55:49.8395 LVL= 18032, 25697,  8930, 19667, AGC= 35, IDX= 439,-0.47,-1.937,-0.818,-1.889,-0.895, PHS=-0.954, 0.124,-0.997, RAW= 332.0,  30.4, CAL= 333.2,  32.5, ROT= 176.8, -32.5

2025-06-05T18:55:51.913Z,1749149751.913 [DAT](INFO): got valid direction response:
 18:55:49.8395 LVL= 18032, 25697,  8930, 19667, AGC= 35, IDX= 439,-0.47,-1.937,-0.818,-1.889,-0.895, PHS=-0.954, 0.124,-0.997, RAW= 332.0,  30.4, CAL= 333.2,  32.5, ROT= 176.8, -32.5

2025-06-05T18:55:51.914Z,1749149751.914 [DAT](INFO): DAT read: Bearing 176.8, -32.5 (Local)

2025-06-05T18:55:51.914Z,1749149751.914 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.8, -32.5 (Local)

2025-06-05T18:55:51.936Z,1749149751.936 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:55:51.937Z,1749149751.937 [DAT](INFO): DAT read: user:2951>

2025-06-05T18:55:51.937Z,1749149751.937 [DAT](INFO): DAT read: Tx time:18:55:50.9344

2025-06-05T18:55:51.938Z,1749149751.938 [DAT](INFO): Ping request sent.
2025-06-05T18:55:51.938Z,1749149751.938 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:51.938Z,1749149751.938 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-05T18:55:51.939Z,1749149751.939 [DAT](INFO): direction in FSK: [-0.842076,0.047079,0.537300]
2025-06-05T18:55:51.944Z,1749149751.944 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:51.945Z,1749149751.945 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:51.953Z,1749149751.953 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:51.954Z,1749149751.954 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:52.139Z,1749149752.139 [DAT](INFO): DAT read: TxSync time:18:55:50.9336

2025-06-05T18:55:54.914Z,1749149754.914 [DAT](INFO): DAT read: Rx Time:18:55:53.3397

2025-06-05T18:55:54.915Z,1749149754.915 [DAT](INFO): Rx dataTimestamp_ set to:1749149754.914383
2025-06-05T18:55:55.424Z,1749149755.424 [DAT](INFO): DAT read: 18:55:53.3397 LVL= 23104, 18657, 14530, 13651, AGC= 38, IDX= 445, 0.11,-2.281,-3.026, 3.030,-1.516, PHS=-0.677,-1.464,-1.740, RAW=  75.5,  55.2, CAL=  74.4,  60.2, ROT=  75.6, -60.2

2025-06-05T18:55:55.428Z,1749149755.428 [DAT](INFO): got valid direction response:
 18:55:53.3397 LVL= 23104, 18657, 14530, 13651, AGC= 38, IDX= 445, 0.11,-2.281,-3.026, 3.030,-1.516, PHS=-0.677,-1.464,-1.740, RAW=  75.5,  55.2, CAL=  74.4,  60.2, ROT=  75.6, -60.2

2025-06-05T18:55:55.428Z,1749149755.428 [DAT](INFO): DAT read: Bearing  75.6, -60.2 (Local)

2025-06-05T18:55:55.429Z,1749149755.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.6, -60.2 (Local)

2025-06-05T18:55:55.430Z,1749149755.430 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:55:55.431Z,1749149755.431 [DAT](INFO): DAT read: user:2952>

2025-06-05T18:55:55.432Z,1749149755.432 [DAT](INFO): DAT read: Tx time:18:55:54.4345

2025-06-05T18:55:55.433Z,1749149755.433 [DAT](INFO): Ping request sent.
2025-06-05T18:55:55.433Z,1749149755.433 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:55.433Z,1749149755.433 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-05T18:55:55.434Z,1749149755.434 [DAT](INFO): direction in FSK: [0.123592,0.481361,0.867765]
2025-06-05T18:55:55.434Z,1749149755.434 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:55.435Z,1749149755.435 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:55.438Z,1749149755.438 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:55.439Z,1749149755.439 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:55.669Z,1749149755.669 [DAT](INFO): DAT read: TxSync time:18:55:54.4337

2025-06-05T18:55:58.441Z,1749149758.441 [DAT](INFO): DAT read: Rx Time:18:55:56.8397

2025-06-05T18:55:58.443Z,1749149758.443 [DAT](INFO): Rx dataTimestamp_ set to:1749149758.441777
2025-06-05T18:55:58.950Z,1749149758.950 [DAT](INFO): DAT read: 18:55:56.8397 LVL= 18768, 19089, 14002, 11027, AGC= 36, IDX= 445, 0.11,-1.315,-2.192,-2.079,-0.223, PHS=-1.004,-1.922,-1.859, RAW=  93.5,  62.3, CAL=  93.7,  66.7, ROT=  56.3, -66.7

2025-06-05T18:55:58.951Z,1749149758.951 [DAT](INFO): got valid direction response:
 18:55:56.8397 LVL= 18768, 19089, 14002, 11027, AGC= 36, IDX= 445, 0.11,-1.315,-2.192,-2.079,-0.223, PHS=-1.004,-1.922,-1.859, RAW=  93.5,  62.3, CAL=  93.7,  66.7, ROT=  56.3, -66.7

2025-06-05T18:55:58.952Z,1749149758.952 [DAT](INFO): DAT read: Bearing  56.3, -66.7 (Local)

2025-06-05T18:55:58.953Z,1749149758.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.3, -66.7 (Local)

2025-06-05T18:55:58.954Z,1749149758.954 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:55:58.955Z,1749149758.955 [DAT](INFO): DAT read: user:2953>

2025-06-05T18:55:58.955Z,1749149758.955 [DAT](INFO): DAT read: Tx time:18:55:57.9345

2025-06-05T18:55:58.956Z,1749149758.956 [DAT](INFO): Ping request sent.
2025-06-05T18:55:58.956Z,1749149758.956 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:55:58.956Z,1749149758.956 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-05T18:55:58.957Z,1749149758.957 [DAT](INFO): direction in FSK: [0.219466,0.329076,0.918446]
2025-06-05T18:55:58.957Z,1749149758.957 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:58.958Z,1749149758.958 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:58.962Z,1749149758.962 [DAT](INFO): publishing transmit ping time
2025-06-05T18:55:58.962Z,1749149758.962 [DAT](INFO): publishing direction and range info
2025-06-05T18:55:59.197Z,1749149759.197 [DAT](INFO): DAT read: TxSync time:18:55:57.9337

2025-06-05T18:56:01.973Z,1749149761.973 [DAT](INFO): DAT read: Rx Time:18:56:00.3396

2025-06-05T18:56:01.973Z,1749149761.973 [DAT](INFO): Rx dataTimestamp_ set to:1749149761.972989
2025-06-05T18:56:02.483Z,1749149762.483 [DAT](INFO): DAT read: 18:56:00.3396 LVL= 13264, 23217, 10610,  9555, AGC= 34, IDX= 438,-0.05,-0.095, 1.514, 0.073, 1.427, PHS=-1.434, 0.134,-1.357, RAW= 327.5,  31.5, CAL= 329.7,  33.3, ROT= 180.3, -33.3

2025-06-05T18:56:02.495Z,1749149762.495 [DAT](INFO): got valid direction response:
 18:56:00.3396 LVL= 13264, 23217, 10610,  9555, AGC= 34, IDX= 438,-0.05,-0.095, 1.514, 0.073, 1.427, PHS=-1.434, 0.134,-1.357, RAW= 327.5,  31.5, CAL= 329.7,  33.3, ROT= 180.3, -33.3

2025-06-05T18:56:02.517Z,1749149762.517 [DAT](INFO): DAT read: Bearing 180.3, -33.3 (Local)

2025-06-05T18:56:02.518Z,1749149762.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.3, -33.3 (Local)

2025-06-05T18:56:02.519Z,1749149762.519 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:02.520Z,1749149762.520 [DAT](INFO): DAT read: user:2954>

2025-06-05T18:56:02.521Z,1749149762.521 [DAT](INFO): DAT read: Tx time:18:56:01.4345

2025-06-05T18:56:02.521Z,1749149762.521 [DAT](INFO): Ping request sent.
2025-06-05T18:56:02.521Z,1749149762.521 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:02.521Z,1749149762.521 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-05T18:56:02.522Z,1749149762.522 [DAT](INFO): direction in FSK: [-0.835796,-0.004376,0.549023]
2025-06-05T18:56:02.523Z,1749149762.523 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:02.523Z,1749149762.523 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:02.538Z,1749149762.538 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:02.538Z,1749149762.538 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:02.729Z,1749149762.729 [DAT](INFO): DAT read: TxSync time:18:56:01.4337

2025-06-05T18:56:05.513Z,1749149765.513 [DAT](INFO): DAT read: Rx Time:18:56:03.8396

2025-06-05T18:56:05.513Z,1749149765.513 [DAT](INFO): Rx dataTimestamp_ set to:1749149765.513064
2025-06-05T18:56:06.024Z,1749149766.024 [DAT](INFO): DAT read: 18:56:03.8396 LVL= 16464, 23313, 13202, 11187, AGC= 35, IDX= 438,-0.35,-2.231,-0.218,-1.811,-0.739, PHS=-1.404, 0.568,-1.075, RAW= 321.0,  20.3, CAL= 324.6,  24.9, ROT= 185.4, -24.9

2025-06-05T18:56:06.025Z,1749149766.025 [DAT](INFO): got valid direction response:
 18:56:03.8396 LVL= 16464, 23313, 13202, 11187, AGC= 35, IDX= 438,-0.35,-2.231,-0.218,-1.811,-0.739, PHS=-1.404, 0.568,-1.075, RAW= 321.0,  20.3, CAL= 324.6,  24.9, ROT= 185.4, -24.9

2025-06-05T18:56:06.027Z,1749149766.027 [DAT](INFO): DAT read: Bearing 185.4, -24.9 (Local)

2025-06-05T18:56:06.027Z,1749149766.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.4, -24.9 (Local)

2025-06-05T18:56:06.033Z,1749149766.033 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:06.034Z,1749149766.034 [DAT](INFO): DAT read: user:2955>

2025-06-05T18:56:06.035Z,1749149766.035 [DAT](INFO): DAT read: Tx time:18:56:04.9345

2025-06-05T18:56:06.035Z,1749149766.035 [DAT](INFO): Ping request sent.
2025-06-05T18:56:06.035Z,1749149766.035 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:06.036Z,1749149766.036 [DAT](INFO): DAT read: TxSync time:18:56:04.9337

2025-06-05T18:56:06.036Z,1749149766.036 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-05T18:56:06.037Z,1749149766.037 [DAT](INFO): direction in FSK: [-0.903019,-0.085360,0.421036]
2025-06-05T18:56:06.037Z,1749149766.037 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:06.045Z,1749149766.045 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:06.048Z,1749149766.048 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:06.048Z,1749149766.048 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:08.789Z,1749149768.789 [DAT](INFO): DAT read: Rx Time:18:56:07.3397

2025-06-05T18:56:08.789Z,1749149768.789 [DAT](INFO): Rx dataTimestamp_ set to:1749149768.788858
2025-06-05T18:56:09.559Z,1749149769.559 [DAT](INFO): DAT read: 18:56:07.3397 LVL= 17776, 20705, 12690, 11427, AGC= 36, IDX= 438, 0.12, 0.610, 2.370, 0.900, 2.024, PHS=-1.326, 0.393,-1.127, RAW= 323.9,  24.1, CAL= 327.1,  27.8, ROT= 182.9, -27.8

2025-06-05T18:56:09.561Z,1749149769.561 [DAT](INFO): got valid direction response:
 18:56:07.3397 LVL= 17776, 20705, 12690, 11427, AGC= 36, IDX= 438, 0.12, 0.610, 2.370, 0.900, 2.024, PHS=-1.326, 0.393,-1.127, RAW= 323.9,  24.1, CAL= 327.1,  27.8, ROT= 182.9, -27.8

2025-06-05T18:56:09.563Z,1749149769.563 [DAT](INFO): DAT read: Bearing 182.9, -27.8 (Local)

2025-06-05T18:56:09.565Z,1749149769.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.9, -27.8 (Local)

2025-06-05T18:56:09.585Z,1749149769.585 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:09.586Z,1749149769.586 [DAT](INFO): DAT read: user:2956>

2025-06-05T18:56:09.586Z,1749149769.586 [DAT](INFO): DAT read: Tx time:18:56:08.4346

2025-06-05T18:56:09.587Z,1749149769.587 [DAT](INFO): Ping request sent.
2025-06-05T18:56:09.587Z,1749149769.587 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:09.592Z,1749149769.592 [DAT](INFO): DAT read: TxSync time:18:56:08.4338

2025-06-05T18:56:09.592Z,1749149769.592 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-05T18:56:09.593Z,1749149769.593 [DAT](INFO): direction in FSK: [-0.883448,-0.044753,0.466387]
2025-06-05T18:56:09.593Z,1749149769.593 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:09.594Z,1749149769.594 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:09.601Z,1749149769.601 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:09.602Z,1749149769.602 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:12.317Z,1749149772.317 [DAT](INFO): DAT read: Rx Time:18:56:10.8397

2025-06-05T18:56:12.317Z,1749149772.317 [DAT](INFO): Rx dataTimestamp_ set to:1749149772.317060
2025-06-05T18:56:12.836Z,1749149772.836 [DAT](INFO): DAT read: 18:56:10.8397 LVL= 12656, 25265, 10114, 13155, AGC= 35, IDX= 438, 0.03, 2.923,-2.028, 2.854,-1.994, PHS=-1.278, 0.013,-1.438, RAW= 335.8,  34.7, CAL= 335.9,  35.9, ROT= 174.1, -35.9

2025-06-05T18:56:12.837Z,1749149772.837 [DAT](INFO): got valid direction response:
 18:56:10.8397 LVL= 12656, 25265, 10114, 13155, AGC= 35, IDX= 438, 0.03, 2.923,-2.028, 2.854,-1.994, PHS=-1.278, 0.013,-1.438, RAW= 335.8,  34.7, CAL= 335.9,  35.9, ROT= 174.1, -35.9

2025-06-05T18:56:12.838Z,1749149772.838 [DAT](INFO): DAT read: Bearing 174.1, -35.9 (Local)

2025-06-05T18:56:12.838Z,1749149772.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.1, -35.9 (Local)

2025-06-05T18:56:12.839Z,1749149772.839 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:12.869Z,1749149772.869 [DAT](INFO): DAT read: user:2957>

2025-06-05T18:56:12.870Z,1749149772.870 [DAT](INFO): DAT read: Tx time:18:56:11.9346

2025-06-05T18:56:12.870Z,1749149772.870 [DAT](INFO): Ping request sent.
2025-06-05T18:56:12.871Z,1749149772.871 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:12.871Z,1749149772.871 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-05T18:56:12.872Z,1749149772.872 [DAT](INFO): direction in FSK: [-0.805751,0.083266,0.586372]
2025-06-05T18:56:12.872Z,1749149772.872 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:12.872Z,1749149772.872 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:12.896Z,1749149772.896 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:12.896Z,1749149772.896 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:13.073Z,1749149773.073 [DAT](INFO): DAT read: TxSync time:18:56:11.9338

2025-06-05T18:56:15.845Z,1749149775.845 [DAT](INFO): DAT read: Rx Time:18:56:14.3398

2025-06-05T18:56:15.845Z,1749149775.845 [DAT](INFO): Rx dataTimestamp_ set to:1749149775.844854
2025-06-05T18:56:16.359Z,1749149776.359 [DAT](INFO): DAT read: 18:56:14.3398 LVL= 20352, 18769, 13890, 11619, AGC= 37, IDX= 446,-0.34, 2.042, 1.975, 2.065,-2.583, PHS=-1.570,-1.678,-1.638, RAW= 111.7,  86.9, CAL= 112.0,  87.5, ROT=  38.0, -87.5

2025-06-05T18:56:16.369Z,1749149776.369 [DAT](INFO): got valid direction response:
 18:56:14.3398 LVL= 20352, 18769, 13890, 11619, AGC= 37, IDX= 446,-0.34, 2.042, 1.975, 2.065,-2.583, PHS=-1.570,-1.678,-1.638, RAW= 111.7,  86.9, CAL= 112.0,  87.5, ROT=  38.0, -87.5

2025-06-05T18:56:16.370Z,1749149776.370 [DAT](INFO): DAT read: Bearing  38.0, -87.5 (Local)

2025-06-05T18:56:16.370Z,1749149776.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.0, -87.5 (Local)

2025-06-05T18:56:16.371Z,1749149776.371 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:56:16.372Z,1749149776.372 [DAT](INFO): DAT read: user:2958>

2025-06-05T18:56:16.373Z,1749149776.373 [DAT](INFO): DAT read: Tx time:18:56:15.4346

2025-06-05T18:56:16.373Z,1749149776.373 [DAT](INFO): Ping request sent.
2025-06-05T18:56:16.373Z,1749149776.373 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:16.374Z,1749149776.374 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T18:56:16.374Z,1749149776.374 [DAT](INFO): direction in FSK: [0.034373,0.026855,0.999048]
2025-06-05T18:56:16.376Z,1749149776.376 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:16.377Z,1749149776.377 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:16.380Z,1749149776.380 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:16.380Z,1749149776.380 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:16.605Z,1749149776.605 [DAT](INFO): DAT read: TxSync time:18:56:15.4338

2025-06-05T18:56:19.378Z,1749149779.378 [DAT](INFO): DAT read: Rx Time:18:56:17.8397

2025-06-05T18:56:19.378Z,1749149779.378 [DAT](INFO): Rx dataTimestamp_ set to:1749149779.377715
2025-06-05T18:56:19.886Z,1749149779.886 [DAT](INFO): DAT read: 18:56:17.8397 LVL= 21312, 17505, 14162, 12211, AGC= 37, IDX= 445,-0.22, 0.585,-0.095,-0.164, 1.610, PHS=-0.937,-1.658,-1.777, RAW=  82.5,  63.0, CAL=  81.9,  67.0, ROT=  68.1, -67.0

2025-06-05T18:56:19.887Z,1749149779.887 [DAT](INFO): got valid direction response:
 18:56:17.8397 LVL= 21312, 17505, 14162, 12211, AGC= 37, IDX= 445,-0.22, 0.585,-0.095,-0.164, 1.610, PHS=-0.937,-1.658,-1.777, RAW=  82.5,  63.0, CAL=  81.9,  67.0, ROT=  68.1, -67.0

2025-06-05T18:56:19.888Z,1749149779.888 [DAT](INFO): DAT read: Bearing  68.1, -67.0 (Local)

2025-06-05T18:56:19.889Z,1749149779.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.1, -67.0 (Local)

2025-06-05T18:56:19.890Z,1749149779.890 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:19.891Z,1749149779.891 [DAT](INFO): DAT read: user:2959>

2025-06-05T18:56:19.892Z,1749149779.892 [DAT](INFO): DAT read: Tx time:18:56:18.9346

2025-06-05T18:56:19.893Z,1749149779.893 [DAT](INFO): Ping request sent.
2025-06-05T18:56:19.893Z,1749149779.893 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:19.894Z,1749149779.894 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-05T18:56:19.895Z,1749149779.895 [DAT](INFO): direction in FSK: [0.145738,0.362534,0.920505]
2025-06-05T18:56:19.895Z,1749149779.895 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:19.895Z,1749149779.895 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:19.902Z,1749149779.902 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:19.903Z,1749149779.903 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:20.133Z,1749149780.133 [DAT](INFO): DAT read: TxSync time:18:56:18.9338

2025-06-05T18:56:20.273Z,1749149780.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:56:20.384Z,1749149780.384 [DAT](INFO): ****** received valid address query ******
2025-06-05T18:56:20.384Z,1749149780.384 [DAT](INFO): ****** received valid ping request ******
2025-06-05T18:56:20.385Z,1749149780.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-05T18:56:20.637Z,1749149780.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743670
2025-06-05T18:56:20.891Z,1749149780.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997572
2025-06-05T18:56:21.141Z,1749149781.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247785
2025-06-05T18:56:21.394Z,1749149781.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500648
2025-06-05T18:56:21.645Z,1749149781.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751789
2025-06-05T18:56:21.899Z,1749149781.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005844
2025-06-05T18:56:22.149Z,1749149782.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255509
2025-06-05T18:56:22.402Z,1749149782.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508643
2025-06-05T18:56:22.653Z,1749149782.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759529
2025-06-05T18:56:22.907Z,1749149782.907 [DAT](INFO): DAT read: Rx Time:18:56:21.3398

2025-06-05T18:56:22.909Z,1749149782.909 [DAT](INFO): Rx dataTimestamp_ set to:1749149782.907304
2025-06-05T18:56:22.911Z,1749149782.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017230
2025-06-05T18:56:23.157Z,1749149783.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263520
2025-06-05T18:56:23.415Z,1749149783.415 [DAT](INFO): DAT read: 18:56:21.3398 LVL= 13648, 25313, 11218, 13171, AGC= 36, IDX= 438,-0.10,-0.378, 1.185,-0.357, 1.023, PHS=-1.313, 0.209,-1.383, RAW= 332.2,  29.4, CAL= 333.6,  31.8, ROT= 176.4, -31.8

2025-06-05T18:56:23.417Z,1749149783.417 [DAT](INFO): got valid direction response:
 18:56:21.3398 LVL= 13648, 25313, 11218, 13171, AGC= 36, IDX= 438,-0.10,-0.378, 1.185,-0.357, 1.023, PHS=-1.313, 0.209,-1.383, RAW= 332.2,  29.4, CAL= 333.6,  31.8, ROT= 176.4, -31.8

2025-06-05T18:56:23.417Z,1749149783.417 [DAT](INFO): DAT read: Bearing 176.4, -31.8 (Local)

2025-06-05T18:56:23.418Z,1749149783.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.4, -31.8 (Local)

2025-06-05T18:56:23.419Z,1749149783.419 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:23.420Z,1749149783.420 [DAT](INFO): DAT read: user:2960>

2025-06-05T18:56:23.421Z,1749149783.421 [DAT](INFO): DAT read: Tx time:18:56:22.4347

2025-06-05T18:56:23.421Z,1749149783.421 [DAT](INFO): Ping request sent.
2025-06-05T18:56:23.421Z,1749149783.421 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:23.421Z,1749149783.421 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-05T18:56:23.422Z,1749149783.422 [DAT](INFO): direction in FSK: [-0.848216,0.053365,0.526956]
2025-06-05T18:56:23.422Z,1749149783.422 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:23.423Z,1749149783.423 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:23.427Z,1749149783.427 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:23.444Z,1749149783.444 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:23.665Z,1749149783.665 [DAT](INFO): DAT read: TxSync time:18:56:22.4339

2025-06-05T18:56:26.437Z,1749149786.437 [DAT](INFO): DAT read: Rx Time:18:56:24.8399

2025-06-05T18:56:26.437Z,1749149786.437 [DAT](INFO): Rx dataTimestamp_ set to:1749149786.436818
2025-06-05T18:56:26.961Z,1749149786.961 [DAT](INFO): DAT read: 18:56:24.8399 LVL= 14112, 24801, 11698, 11843, AGC= 36, IDX= 438, 0.30, 3.029,-1.789, 2.982,-1.881, PHS=-1.286, 0.139,-1.423, RAW= 334.6,  31.2, CAL= 335.3,  33.2, ROT= 174.7, -33.2

2025-06-05T18:56:26.965Z,1749149786.965 [DAT](INFO): got valid direction response:
 18:56:24.8399 LVL= 14112, 24801, 11698, 11843, AGC= 36, IDX= 438, 0.30, 3.029,-1.789, 2.982,-1.881, PHS=-1.286, 0.139,-1.423, RAW= 334.6,  31.2, CAL= 335.3,  33.2, ROT= 174.7, -33.2

2025-06-05T18:56:26.968Z,1749149786.968 [DAT](INFO): DAT read: Bearing 174.7, -33.2 (Local)

2025-06-05T18:56:26.969Z,1749149786.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.7, -33.2 (Local)

2025-06-05T18:56:26.973Z,1749149786.973 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:56:26.977Z,1749149786.977 [DAT](INFO): DAT read: user:2961>

2025-06-05T18:56:26.979Z,1749149786.979 [DAT](INFO): DAT read: Tx time:18:56:25.9347

2025-06-05T18:56:26.980Z,1749149786.980 [DAT](INFO): Ping request sent.
2025-06-05T18:56:26.980Z,1749149786.980 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:26.981Z,1749149786.981 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-05T18:56:26.985Z,1749149786.985 [DAT](INFO): direction in FSK: [-0.833187,0.077292,0.547563]
2025-06-05T18:56:26.986Z,1749149786.986 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:26.986Z,1749149786.986 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:27.032Z,1749149787.032 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:27.032Z,1749149787.032 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:27.193Z,1749149787.193 [DAT](INFO): DAT read: TxSync time:18:56:25.9339

2025-06-05T18:56:29.972Z,1749149789.972 [DAT](INFO): DAT read: Rx Time:18:56:28.3398

2025-06-05T18:56:29.974Z,1749149789.974 [DAT](INFO): Rx dataTimestamp_ set to:1749149789.972808
2025-06-05T18:56:30.481Z,1749149790.481 [DAT](INFO): DAT read: 18:56:28.3398 LVL= 17648, 20945, 12530, 11075, AGC= 36, IDX= 438,-0.07, 0.642, 2.559, 1.040, 2.095, PHS=-1.365, 0.510,-1.058, RAW= 321.2,  21.2, CAL= 324.7,  25.6, ROT= 185.3, -25.6

2025-06-05T18:56:30.482Z,1749149790.482 [DAT](INFO): got valid direction response:
 18:56:28.3398 LVL= 17648, 20945, 12530, 11075, AGC= 36, IDX= 438,-0.07, 0.642, 2.559, 1.040, 2.095, PHS=-1.365, 0.510,-1.058, RAW= 321.2,  21.2, CAL= 324.7,  25.6, ROT= 185.3, -25.6

2025-06-05T18:56:30.484Z,1749149790.484 [DAT](INFO): DAT read: Bearing 185.3, -25.6 (Local)

2025-06-05T18:56:30.485Z,1749149790.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.3, -25.6 (Local)

2025-06-05T18:56:30.487Z,1749149790.487 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:30.490Z,1749149790.490 [DAT](INFO): DAT read: user:2962>

2025-06-05T18:56:30.490Z,1749149790.490 [DAT](INFO): DAT read: Tx time:18:56:29.4347

2025-06-05T18:56:30.491Z,1749149790.491 [DAT](INFO): Ping request sent.
2025-06-05T18:56:30.491Z,1749149790.491 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:30.491Z,1749149790.491 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-05T18:56:30.493Z,1749149790.493 [DAT](INFO): direction in FSK: [-0.897977,-0.083303,0.432086]
2025-06-05T18:56:30.494Z,1749149790.494 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:30.494Z,1749149790.494 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:30.504Z,1749149790.504 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:30.504Z,1749149790.504 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:30.725Z,1749149790.725 [DAT](INFO): DAT read: TxSync time:18:56:29.4339

2025-06-05T18:56:33.497Z,1749149793.497 [DAT](INFO): DAT read: Rx Time:18:56:31.8399

2025-06-05T18:56:33.497Z,1749149793.497 [DAT](INFO): Rx dataTimestamp_ set to:1749149793.497143
2025-06-05T18:56:34.006Z,1749149794.006 [DAT](INFO): DAT read: 18:56:31.8399 LVL= 20064, 20465, 14354, 12467, AGC= 37, IDX= 438,-0.36,-1.987, 0.101,-1.469,-0.523, PHS=-1.377, 0.671,-0.949, RAW= 318.6,  17.4, CAL= 322.1,  22.8, ROT= 187.9, -22.8

2025-06-05T18:56:34.007Z,1749149794.007 [DAT](INFO): got valid direction response:
 18:56:31.8399 LVL= 20064, 20465, 14354, 12467, AGC= 37, IDX= 438,-0.36,-1.987, 0.101,-1.469,-0.523, PHS=-1.377, 0.671,-0.949, RAW= 318.6,  17.4, CAL= 322.1,  22.8, ROT= 187.9, -22.8

2025-06-05T18:56:34.009Z,1749149794.009 [DAT](INFO): DAT read: Bearing 187.9, -22.8 (Local)

2025-06-05T18:56:34.009Z,1749149794.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.9, -22.8 (Local)

2025-06-05T18:56:34.014Z,1749149794.014 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:34.025Z,1749149794.025 [DAT](INFO): DAT read: user:2963>

2025-06-05T18:56:34.045Z,1749149794.045 [DAT](INFO): DAT read: Tx time:18:56:32.9348

2025-06-05T18:56:34.046Z,1749149794.046 [DAT](INFO): Ping request sent.
2025-06-05T18:56:34.047Z,1749149794.047 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:34.055Z,1749149794.055 [DAT](INFO): DAT read: TxSync time:18:56:32.9340

2025-06-05T18:56:34.069Z,1749149794.069 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-05T18:56:34.080Z,1749149794.080 [DAT](INFO): direction in FSK: [-0.913114,-0.126705,0.387516]
2025-06-05T18:56:34.081Z,1749149794.081 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:34.081Z,1749149794.081 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:34.093Z,1749149794.093 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:34.093Z,1749149794.093 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:36.773Z,1749149796.773 [DAT](INFO): DAT read: Rx Time:18:56:35.3399

2025-06-05T18:56:36.773Z,1749149796.773 [DAT](INFO): Rx dataTimestamp_ set to:1749149796.772956
2025-06-05T18:56:37.535Z,1749149797.535 [DAT](INFO): DAT read: 18:56:35.3399 LVL= 14768, 24417, 12050, 12019, AGC= 36, IDX= 438, 0.18, 0.670, 2.208, 0.692, 2.086, PHS=-1.329, 0.168,-1.397, RAW= 332.2,  30.5, CAL= 333.5,  32.6, ROT= 176.5, -32.6

2025-06-05T18:56:37.536Z,1749149797.536 [DAT](INFO): got valid direction response:
 18:56:35.3399 LVL= 14768, 24417, 12050, 12019, AGC= 36, IDX= 438, 0.18, 0.670, 2.208, 0.692, 2.086, PHS=-1.329, 0.168,-1.397, RAW= 332.2,  30.5, CAL= 333.5,  32.6, ROT= 176.5, -32.6

2025-06-05T18:56:37.537Z,1749149797.537 [DAT](INFO): DAT read: Bearing 176.5, -32.6 (Local)

2025-06-05T18:56:37.537Z,1749149797.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5, -32.6 (Local)

2025-06-05T18:56:37.539Z,1749149797.539 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:37.540Z,1749149797.540 [DAT](INFO): DAT read: user:2964>

2025-06-05T18:56:37.541Z,1749149797.541 [DAT](INFO): DAT read: Tx time:18:56:36.4348

2025-06-05T18:56:37.541Z,1749149797.541 [DAT](INFO): Ping request sent.
2025-06-05T18:56:37.541Z,1749149797.541 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:37.542Z,1749149797.542 [DAT](INFO): DAT read: TxSync time:18:56:36.4340

2025-06-05T18:56:37.544Z,1749149797.544 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-05T18:56:37.545Z,1749149797.545 [DAT](INFO): direction in FSK: [-0.840881,0.051431,0.538771]
2025-06-05T18:56:37.545Z,1749149797.545 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:37.545Z,1749149797.545 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:37.553Z,1749149797.553 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:37.553Z,1749149797.553 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:40.301Z,1749149800.301 [DAT](INFO): DAT read: Rx Time:18:56:38.8399

2025-06-05T18:56:40.301Z,1749149800.301 [DAT](INFO): Rx dataTimestamp_ set to:1749149800.300780
2025-06-05T18:56:41.062Z,1749149801.062 [DAT](INFO): DAT read: 18:56:38.8399 LVL= 12928, 23793, 11122, 10323, AGC= 34, IDX= 438,-0.11,-2.537,-0.867,-2.439,-1.119, PHS=-1.330, 0.299,-1.322, RAW= 329.8,  27.1, CAL= 331.8,  30.0, ROT= 178.2, -30.0

2025-06-05T18:56:41.064Z,1749149801.064 [DAT](INFO): got valid direction response:
 18:56:38.8399 LVL= 12928, 23793, 11122, 10323, AGC= 34, IDX= 438,-0.11,-2.537,-0.867,-2.439,-1.119, PHS=-1.330, 0.299,-1.322, RAW= 329.8,  27.1, CAL= 331.8,  30.0, ROT= 178.2, -30.0

2025-06-05T18:56:41.065Z,1749149801.065 [DAT](INFO): DAT read: Bearing 178.2, -30.0 (Local)

2025-06-05T18:56:41.065Z,1749149801.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.2, -30.0 (Local)

2025-06-05T18:56:41.066Z,1749149801.066 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:41.067Z,1749149801.067 [DAT](INFO): DAT read: user:2965>

2025-06-05T18:56:41.068Z,1749149801.068 [DAT](INFO): DAT read: Tx time:18:56:39.9348

2025-06-05T18:56:41.068Z,1749149801.068 [DAT](INFO): Ping request sent.
2025-06-05T18:56:41.068Z,1749149801.068 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:41.069Z,1749149801.069 [DAT](INFO): DAT read: TxSync time:18:56:39.9340

2025-06-05T18:56:41.069Z,1749149801.069 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-05T18:56:41.070Z,1749149801.070 [DAT](INFO): direction in FSK: [-0.865598,0.027203,0.500000]
2025-06-05T18:56:41.071Z,1749149801.071 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:41.071Z,1749149801.071 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:41.074Z,1749149801.074 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:41.074Z,1749149801.074 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:43.829Z,1749149803.829 [DAT](INFO): DAT read: Rx Time:18:56:42.3400

2025-06-05T18:56:43.829Z,1749149803.829 [DAT](INFO): Rx dataTimestamp_ set to:1749149803.828920
2025-06-05T18:56:44.341Z,1749149804.341 [DAT](INFO): DAT read: 18:56:42.3401 LVL= 13808, 21745, 11058,  8675, AGC= 34, IDX= 438, 0.30, 1.146, 2.680, 1.283, 2.540, PHS=-1.307, 0.186,-1.260, RAW= 328.4,  29.8, CAL= 330.5,  32.0, ROT= 179.5, -32.0

2025-06-05T18:56:44.342Z,1749149804.342 [DAT](INFO): got valid direction response:
 18:56:42.3401 LVL= 13808, 21745, 11058,  8675, AGC= 34, IDX= 438, 0.30, 1.146, 2.680, 1.283, 2.540, PHS=-1.307, 0.186,-1.260, RAW= 328.4,  29.8, CAL= 330.5,  32.0, ROT= 179.5, -32.0

2025-06-05T18:56:44.344Z,1749149804.344 [DAT](INFO): DAT read: Bearing 179.5, -32.0 (Local)

2025-06-05T18:56:44.344Z,1749149804.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.5, -32.0 (Local)

2025-06-05T18:56:44.345Z,1749149804.345 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:56:44.346Z,1749149804.346 [DAT](INFO): DAT read: user:2966>

2025-06-05T18:56:44.347Z,1749149804.347 [DAT](INFO): DAT read: Tx time:18:56:43.4349

2025-06-05T18:56:44.347Z,1749149804.347 [DAT](INFO): Ping request sent.
2025-06-05T18:56:44.347Z,1749149804.347 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:44.348Z,1749149804.348 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-05T18:56:44.349Z,1749149804.349 [DAT](INFO): direction in FSK: [-0.848016,0.007401,0.529919]
2025-06-05T18:56:44.349Z,1749149804.349 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:44.349Z,1749149804.349 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:44.362Z,1749149804.362 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:44.362Z,1749149804.362 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:44.585Z,1749149804.585 [DAT](INFO): DAT read: TxSync time:18:56:43.4341

2025-06-05T18:56:47.365Z,1749149807.365 [DAT](INFO): DAT read: Rx Time:18:56:45.8400

2025-06-05T18:56:47.365Z,1749149807.365 [DAT](INFO): Rx dataTimestamp_ set to:1749149807.365084
2025-06-05T18:56:47.881Z,1749149807.881 [DAT](INFO): DAT read: 18:56:45.8400 LVL= 14240, 24401, 11746, 12259, AGC= 36, IDX= 438, 0.15,-2.314,-0.802,-2.313,-0.905, PHS=-1.321, 0.150,-1.411, RAW= 332.9,  31.0, CAL= 334.0,  33.0, ROT= 176.0, -33.0

2025-06-05T18:56:47.882Z,1749149807.882 [DAT](INFO): got valid direction response:
 18:56:45.8400 LVL= 14240, 24401, 11746, 12259, AGC= 36, IDX= 438, 0.15,-2.314,-0.802,-2.313,-0.905, PHS=-1.321, 0.150,-1.411, RAW= 332.9,  31.0, CAL= 334.0,  33.0, ROT= 176.0, -33.0

2025-06-05T18:56:47.884Z,1749149807.884 [DAT](INFO): DAT read: Bearing 176.0, -33.0 (Local)

2025-06-05T18:56:47.885Z,1749149807.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.0, -33.0 (Local)

2025-06-05T18:56:47.887Z,1749149807.887 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:47.895Z,1749149807.895 [DAT](INFO): DAT read: user:2967>

2025-06-05T18:56:47.896Z,1749149807.896 [DAT](INFO): DAT read: Tx time:18:56:46.9349

2025-06-05T18:56:47.897Z,1749149807.897 [DAT](INFO): Ping request sent.
2025-06-05T18:56:47.897Z,1749149807.897 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:47.897Z,1749149807.897 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-05T18:56:47.898Z,1749149807.898 [DAT](INFO): direction in FSK: [-0.836628,0.058503,0.544639]
2025-06-05T18:56:47.898Z,1749149807.898 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:47.899Z,1749149807.899 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:47.902Z,1749149807.902 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:47.902Z,1749149807.902 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:48.121Z,1749149808.121 [DAT](INFO): DAT read: TxSync time:18:56:46.9341

2025-06-05T18:56:50.910Z,1749149810.910 [DAT](INFO): DAT read: Rx Time:18:56:49.3400

2025-06-05T18:56:50.910Z,1749149810.910 [DAT](INFO): Rx dataTimestamp_ set to:1749149810.909885
2025-06-05T18:56:51.434Z,1749149811.434 [DAT](INFO): DAT read: 18:56:49.3400 LVL= 24208, 19985, 16802, 15907, AGC= 38, IDX= 438, 0.16,-2.864,-0.309,-1.966,-1.382, PHS=-1.394, 1.120,-0.587, RAW= 311.7,   7.8, CAL= 314.9,  11.9, ROT= 195.1, -11.9

2025-06-05T18:56:51.436Z,1749149811.436 [DAT](INFO): got valid direction response:
 18:56:49.3400 LVL= 24208, 19985, 16802, 15907, AGC= 38, IDX= 438, 0.16,-2.864,-0.309,-1.966,-1.382, PHS=-1.394, 1.120,-0.587, RAW= 311.7,   7.8, CAL= 314.9,  11.9, ROT= 195.1, -11.9

2025-06-05T18:56:51.436Z,1749149811.436 [DAT](INFO): DAT read: Bearing 195.1, -11.9 (Local)

2025-06-05T18:56:51.437Z,1749149811.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.1, -11.9 (Local)

2025-06-05T18:56:51.438Z,1749149811.438 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:56:51.439Z,1749149811.439 [DAT](INFO): DAT read: user:2968>

2025-06-05T18:56:51.447Z,1749149811.447 [DAT](INFO): DAT read: Tx time:18:56:50.4349

2025-06-05T18:56:51.447Z,1749149811.447 [DAT](INFO): Ping request sent.
2025-06-05T18:56:51.447Z,1749149811.447 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:51.447Z,1749149811.447 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-05T18:56:51.464Z,1749149811.464 [DAT](INFO): direction in FSK: [-0.944724,-0.254906,0.206204]
2025-06-05T18:56:51.464Z,1749149811.464 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:51.464Z,1749149811.464 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:51.467Z,1749149811.467 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:51.468Z,1749149811.468 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:51.665Z,1749149811.665 [DAT](INFO): DAT read: TxSync time:18:56:50.4341

2025-06-05T18:56:52.618Z,1749149812.618 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-06-05T18:56:52.618Z,1749149812.618 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-06-05T18:56:52.647Z,1749149812.647 [DockingStepper](INFO): Changing to mode: 4
2025-06-05T18:56:52.647Z,1749149812.647 [DockingStepper](INFO): Slide mode.
2025-06-05T18:56:52.673Z,1749149812.673 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:56:52.717Z,1749149812.717 [DockingStepper](INFO): Commanding negative:34404
2025-06-05T18:56:52.924Z,1749149812.924 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:56:53.176Z,1749149813.176 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:56:54.437Z,1749149814.437 [DAT](INFO): DAT read: Rx Time:18:56:52.8401

2025-06-05T18:56:54.437Z,1749149814.437 [DAT](INFO): Rx dataTimestamp_ set to:1749149814.436808
2025-06-05T18:56:54.942Z,1749149814.942 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:56:54.943Z,1749149814.943 [DAT](INFO): DAT read: user:2969>

2025-06-05T18:56:54.944Z,1749149814.944 [DAT](INFO): DAT read: Tx time:18:56:53.9349

2025-06-05T18:56:54.944Z,1749149814.944 [DAT](INFO): Ping request sent.
2025-06-05T18:56:54.944Z,1749149814.944 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:54.945Z,1749149814.945 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-06-05T18:56:54.945Z,1749149814.945 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:54.945Z,1749149814.945 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:55.194Z,1749149815.194 [DAT](INFO): DAT read: TxSync time:18:56:53.9341

2025-06-05T18:56:57.969Z,1749149817.969 [DAT](INFO): DAT read: Rx Time:18:56:56.3403

2025-06-05T18:56:57.969Z,1749149817.969 [DAT](INFO): Rx dataTimestamp_ set to:1749149817.968991
2025-06-05T18:56:58.480Z,1749149818.480 [DAT](INFO): DAT read: 18:56:56.3403 LVL= 27936, 23313, 12242, 19955, AGC= 39, IDX= 440, 0.37, 2.989,-2.200,-2.810,-1.584, PHS=-1.622,-0.569,-1.228, RAW= 308.3,  52.7, CAL= 314.0,  52.6, ROT= 196.0, -52.6

2025-06-05T18:56:58.481Z,1749149818.481 [DAT](INFO): got valid direction response:
 18:56:56.3403 LVL= 27936, 23313, 12242, 19955, AGC= 39, IDX= 440, 0.37, 2.989,-2.200,-2.810,-1.584, PHS=-1.622,-0.569,-1.228, RAW= 308.3,  52.7, CAL= 314.0,  52.6, ROT= 196.0, -52.6

2025-06-05T18:56:58.482Z,1749149818.482 [DAT](INFO): DAT read: Bearing 196.0, -52.6 (Local)

2025-06-05T18:56:58.482Z,1749149818.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.0, -52.6 (Local)

2025-06-05T18:56:58.484Z,1749149818.484 [DAT](INFO): DAT read: Range 10 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-06-05T18:56:58.485Z,1749149818.485 [DAT](INFO): DAT read: user:2970>

2025-06-05T18:56:58.486Z,1749149818.486 [DAT](INFO): DAT read: Tx time:18:56:57.4350

2025-06-05T18:56:58.486Z,1749149818.486 [DAT](INFO): Ping request sent.
2025-06-05T18:56:58.486Z,1749149818.486 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:56:58.487Z,1749149818.487 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-05T18:56:58.488Z,1749149818.488 [DAT](INFO): direction in FSK: [-0.583847,-0.167415,0.794415]
2025-06-05T18:56:58.488Z,1749149818.488 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:58.488Z,1749149818.488 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:58.491Z,1749149818.491 [DAT](INFO): publishing transmit ping time
2025-06-05T18:56:58.491Z,1749149818.491 [DAT](INFO): publishing direction and range info
2025-06-05T18:56:58.725Z,1749149818.725 [DAT](INFO): DAT read: TxSync time:18:56:57.4342

2025-06-05T18:57:01.500Z,1749149821.500 [DAT](INFO): DAT read: Rx Time:18:56:59.8402

2025-06-05T18:57:01.501Z,1749149821.501 [DAT](INFO): Rx dataTimestamp_ set to:1749149821.501071
2025-06-05T18:57:02.011Z,1749149822.011 [DAT](INFO): DAT read: 18:56:59.8402 LVL= 19440, 32753, 12530, 20851, AGC= 37, IDX= 438,-0.01,-1.380,-0.347,-0.889, 0.720, PHS=-2.012,-1.020,-1.612, RAW= 306.4,  62.2, CAL= 311.0,  62.3, ROT= 199.0, -62.3

2025-06-05T18:57:02.012Z,1749149822.012 [DAT](INFO): got valid direction response:
 18:56:59.8402 LVL= 19440, 32753, 12530, 20851, AGC= 37, IDX= 438,-0.01,-1.380,-0.347,-0.889, 0.720, PHS=-2.012,-1.020,-1.612, RAW= 306.4,  62.2, CAL= 311.0,  62.3, ROT= 199.0, -62.3

2025-06-05T18:57:02.014Z,1749149822.014 [DAT](INFO): DAT read: Bearing 199.0, -62.3 (Local)

2025-06-05T18:57:02.015Z,1749149822.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.0, -62.3 (Local)

2025-06-05T18:57:02.019Z,1749149822.019 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:02.020Z,1749149822.020 [DAT](INFO): DAT read: user:2971>

2025-06-05T18:57:02.021Z,1749149822.021 [DAT](INFO): DAT read: Tx time:18:57:00.9350

2025-06-05T18:57:02.021Z,1749149822.021 [DAT](INFO): Ping request sent.
2025-06-05T18:57:02.021Z,1749149822.021 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:02.022Z,1749149822.022 [DAT](INFO): DAT read: TxSync time:18:57:00.9342

2025-06-05T18:57:02.022Z,1749149822.022 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-05T18:57:02.023Z,1749149822.023 [DAT](INFO): direction in FSK: [-0.439517,-0.151338,0.885394]
2025-06-05T18:57:02.024Z,1749149822.024 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:02.024Z,1749149822.024 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:02.028Z,1749149822.028 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:02.028Z,1749149822.028 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:03.336Z,1749149823.336 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:57:04.774Z,1749149824.774 [DAT](INFO): DAT read: Rx Time:18:57:03.3406

2025-06-05T18:57:04.776Z,1749149824.776 [DAT](INFO): Rx dataTimestamp_ set to:1749149824.774454
2025-06-05T18:57:05.535Z,1749149825.535 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-06-05T18:57:05.539Z,1749149825.539 [DAT](INFO): DAT read: user:2972>

2025-06-05T18:57:05.542Z,1749149825.542 [DAT](INFO): DAT read: Tx time:18:57:04.4350

2025-06-05T18:57:05.543Z,1749149825.543 [DAT](INFO): Ping request sent.
2025-06-05T18:57:05.544Z,1749149825.544 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:05.546Z,1749149825.546 [DAT](INFO): DAT read: TxSync time:18:57:04.4342

2025-06-05T18:57:05.549Z,1749149825.549 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-06-05T18:57:05.549Z,1749149825.549 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:05.557Z,1749149825.557 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:08.301Z,1749149828.301 [DAT](INFO): DAT read: Rx Time:18:57:06.8407

2025-06-05T18:57:08.301Z,1749149828.301 [DAT](INFO): Rx dataTimestamp_ set to:1749149828.300821
2025-06-05T18:57:08.805Z,1749149828.805 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-06-05T18:57:08.806Z,1749149828.806 [DAT](INFO): DAT read: user:2973>

2025-06-05T18:57:08.806Z,1749149828.806 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-05T18:57:09.057Z,1749149829.057 [DAT](INFO): DAT read: Tx time:18:57:07.9351

2025-06-05T18:57:09.057Z,1749149829.057 [DAT](INFO): Ping request sent.
2025-06-05T18:57:09.057Z,1749149829.057 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:09.058Z,1749149829.058 [DAT](INFO): DAT read: TxSync time:18:57:07.9343

2025-06-05T18:57:09.058Z,1749149829.058 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:11.829Z,1749149831.829 [DAT](INFO): DAT read: Rx Time:18:57:10.3403

2025-06-05T18:57:11.829Z,1749149831.829 [DAT](INFO): Rx dataTimestamp_ set to:1749149831.828716
2025-06-05T18:57:12.341Z,1749149832.341 [DAT](INFO): DAT read: 18:57:10.3403 LVL= 23504, 29409, 13042, 17587, AGC= 36, IDX= 439, 0.17, 1.598, 2.478, 2.213, 3.077, PHS=-1.391,-0.552,-0.867, RAW= 291.8,  53.6, CAL= 300.1,  54.7, ROT= 209.9, -54.7

2025-06-05T18:57:12.343Z,1749149832.343 [DAT](INFO): got valid direction response:
 18:57:10.3403 LVL= 23504, 29409, 13042, 17587, AGC= 36, IDX= 439, 0.17, 1.598, 2.478, 2.213, 3.077, PHS=-1.391,-0.552,-0.867, RAW= 291.8,  53.6, CAL= 300.1,  54.7, ROT= 209.9, -54.7

2025-06-05T18:57:12.344Z,1749149832.344 [DAT](INFO): DAT read: Bearing 209.9, -54.7 (Local)

2025-06-05T18:57:12.344Z,1749149832.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.9, -54.7 (Local)

2025-06-05T18:57:12.346Z,1749149832.346 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:12.346Z,1749149832.346 [DAT](INFO): DAT read: user:2974>

2025-06-05T18:57:12.347Z,1749149832.347 [DAT](INFO): DAT read: Tx time:18:57:11.4351

2025-06-05T18:57:12.380Z,1749149832.380 [DAT](INFO): Ping request sent.
2025-06-05T18:57:12.380Z,1749149832.380 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:12.380Z,1749149832.380 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-05T18:57:12.381Z,1749149832.381 [DAT](INFO): direction in FSK: [-0.500943,-0.288055,0.816138]
2025-06-05T18:57:12.381Z,1749149832.381 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:12.382Z,1749149832.382 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:12.397Z,1749149832.397 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:12.397Z,1749149832.397 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:12.588Z,1749149832.588 [DAT](INFO): DAT read: TxSync time:18:57:11.4343

2025-06-05T18:57:15.357Z,1749149835.357 [DAT](INFO): DAT read: Rx Time:18:57:13.8403

2025-06-05T18:57:15.358Z,1749149835.358 [DAT](INFO): Rx dataTimestamp_ set to:1749149835.357510
2025-06-05T18:57:15.867Z,1749149835.867 [DAT](INFO): DAT read: 18:57:13.8403 LVL= 13952, 17873, 12098, 16819, AGC= 34, IDX= 439, 0.33, 1.034, 1.079, 1.659, 2.390, PHS=-1.268,-1.264,-0.734, RAW= 210.4,  65.3, CAL= 209.1,  69.6, ROT= 300.9, -69.6

2025-06-05T18:57:15.868Z,1749149835.868 [DAT](INFO): got valid direction response:
 18:57:13.8403 LVL= 13952, 17873, 12098, 16819, AGC= 34, IDX= 439, 0.33, 1.034, 1.079, 1.659, 2.390, PHS=-1.268,-1.264,-0.734, RAW= 210.4,  65.3, CAL= 209.1,  69.6, ROT= 300.9, -69.6

2025-06-05T18:57:15.869Z,1749149835.869 [DAT](INFO): DAT read: Bearing 300.9, -69.6 (Local)

2025-06-05T18:57:15.870Z,1749149835.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.9, -69.6 (Local)

2025-06-05T18:57:15.871Z,1749149835.871 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:15.872Z,1749149835.872 [DAT](INFO): DAT read: user:2975>

2025-06-05T18:57:15.873Z,1749149835.873 [DAT](INFO): DAT read: Tx time:18:57:14.9351

2025-06-05T18:57:15.873Z,1749149835.873 [DAT](INFO): Ping request sent.
2025-06-05T18:57:15.873Z,1749149835.873 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:15.873Z,1749149835.873 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-05T18:57:15.874Z,1749149835.874 [DAT](INFO): direction in FSK: [0.179006,-0.299098,0.937282]
2025-06-05T18:57:15.875Z,1749149835.875 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:15.875Z,1749149835.875 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:15.880Z,1749149835.880 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:15.880Z,1749149835.880 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:16.113Z,1749149836.113 [DAT](INFO): DAT read: TxSync time:18:57:14.9343

2025-06-05T18:57:18.894Z,1749149838.894 [DAT](INFO): DAT read: Rx Time:18:57:17.3403

2025-06-05T18:57:18.894Z,1749149838.894 [DAT](INFO): Rx dataTimestamp_ set to:1749149838.893729
2025-06-05T18:57:19.402Z,1749149839.402 [DAT](INFO): DAT read: 18:57:17.3403 LVL= 14064, 20449, 11634, 15763, AGC= 34, IDX= 440, 0.02, 0.487, 0.536, 1.094, 1.880, PHS=-1.305,-1.297,-0.789, RAW= 210.8,  66.9, CAL= 209.6,  70.9, ROT= 300.4, -70.9

2025-06-05T18:57:19.403Z,1749149839.403 [DAT](INFO): got valid direction response:
 18:57:17.3403 LVL= 14064, 20449, 11634, 15763, AGC= 34, IDX= 440, 0.02, 0.487, 0.536, 1.094, 1.880, PHS=-1.305,-1.297,-0.789, RAW= 210.8,  66.9, CAL= 209.6,  70.9, ROT= 300.4, -70.9

2025-06-05T18:57:19.404Z,1749149839.404 [DAT](INFO): DAT read: Bearing 300.4, -70.9 (Local)

2025-06-05T18:57:19.405Z,1749149839.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.4, -70.9 (Local)

2025-06-05T18:57:19.406Z,1749149839.406 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:19.407Z,1749149839.407 [DAT](INFO): DAT read: user:2976>

2025-06-05T18:57:19.408Z,1749149839.408 [DAT](INFO): DAT read: Tx time:18:57:18.4351

2025-06-05T18:57:19.408Z,1749149839.408 [DAT](INFO): Ping request sent.
2025-06-05T18:57:19.409Z,1749149839.409 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:19.409Z,1749149839.409 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-05T18:57:19.410Z,1749149839.410 [DAT](INFO): direction in FSK: [0.165583,-0.282230,0.944949]
2025-06-05T18:57:19.411Z,1749149839.411 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:19.411Z,1749149839.411 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:19.414Z,1749149839.414 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:19.414Z,1749149839.414 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:19.649Z,1749149839.649 [DAT](INFO): DAT read: TxSync time:18:57:18.4343

2025-06-05T18:57:22.429Z,1749149842.429 [DAT](INFO): DAT read: Rx Time:18:57:20.8404

2025-06-05T18:57:22.429Z,1749149842.429 [DAT](INFO): Rx dataTimestamp_ set to:1749149842.428776
2025-06-05T18:57:22.946Z,1749149842.946 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:22.947Z,1749149842.947 [DAT](INFO): DAT read: user:2977>

2025-06-05T18:57:22.947Z,1749149842.947 [DAT](INFO): DAT read: Tx time:18:57:21.9352

2025-06-05T18:57:22.948Z,1749149842.948 [DAT](INFO): Ping request sent.
2025-06-05T18:57:22.948Z,1749149842.948 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:22.948Z,1749149842.948 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-05T18:57:22.948Z,1749149842.948 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:22.949Z,1749149842.949 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:23.197Z,1749149843.197 [DAT](INFO): DAT read: TxSync time:18:57:21.9344

2025-06-05T18:57:25.973Z,1749149845.973 [DAT](INFO): DAT read: Rx Time:18:57:24.3404

2025-06-05T18:57:25.973Z,1749149845.973 [DAT](INFO): Rx dataTimestamp_ set to:1749149845.972905
2025-06-05T18:57:26.483Z,1749149846.483 [DAT](INFO): DAT read: 18:57:24.3404 LVL= 21696, 25025, 13938, 24435, AGC= 39, IDX= 441,-0.03,-0.179, 0.056, 1.564, 2.025, PHS=-2.115,-1.921,-0.464, RAW= 216.2,  45.5, CAL= 214.8,  53.9, ROT= 295.2, -53.9

2025-06-05T18:57:26.485Z,1749149846.485 [DAT](INFO): got valid direction response:
 18:57:24.3404 LVL= 21696, 25025, 13938, 24435, AGC= 39, IDX= 441,-0.03,-0.179, 0.056, 1.564, 2.025, PHS=-2.115,-1.921,-0.464, RAW= 216.2,  45.5, CAL= 214.8,  53.9, ROT= 295.2, -53.9

2025-06-05T18:57:26.486Z,1749149846.486 [DAT](INFO): DAT read: Bearing 295.2, -53.9 (Local)

2025-06-05T18:57:26.486Z,1749149846.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.2, -53.9 (Local)

2025-06-05T18:57:26.487Z,1749149846.487 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:26.488Z,1749149846.488 [DAT](INFO): DAT read: user:2978>

2025-06-05T18:57:26.489Z,1749149846.489 [DAT](INFO): DAT read: Tx time:18:57:25.4352

2025-06-05T18:57:26.489Z,1749149846.489 [DAT](INFO): Ping request sent.
2025-06-05T18:57:26.489Z,1749149846.489 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:26.489Z,1749149846.489 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-05T18:57:26.490Z,1749149846.490 [DAT](INFO): direction in FSK: [0.250868,-0.533121,0.807990]
2025-06-05T18:57:26.491Z,1749149846.491 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:26.491Z,1749149846.491 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:26.529Z,1749149846.529 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:26.530Z,1749149846.530 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:26.729Z,1749149846.729 [DAT](INFO): DAT read: TxSync time:18:57:25.4344

2025-06-05T18:57:29.501Z,1749149849.501 [DAT](INFO): DAT read: Rx Time:18:57:27.8411

2025-06-05T18:57:29.501Z,1749149849.501 [DAT](INFO): Rx dataTimestamp_ set to:1749149849.500844
2025-06-05T18:57:30.005Z,1749149850.005 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-06-05T18:57:30.006Z,1749149850.006 [DAT](INFO): DAT read: user:2979>

2025-06-05T18:57:30.007Z,1749149850.007 [DAT](INFO): DAT read: Tx time:18:57:28.9352

2025-06-05T18:57:30.007Z,1749149850.007 [DAT](INFO): Ping request sent.
2025-06-05T18:57:30.007Z,1749149850.007 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:30.008Z,1749149850.008 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-06-05T18:57:30.008Z,1749149850.008 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:30.009Z,1749149850.009 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:30.258Z,1749149850.258 [DAT](INFO): DAT read: TxSync time:18:57:28.9344

2025-06-05T18:57:32.781Z,1749149852.781 [DAT](INFO): DAT read: Rx Time:18:57:31.3416

2025-06-05T18:57:32.781Z,1749149852.781 [DAT](INFO): Rx dataTimestamp_ set to:1749149852.780956
2025-06-05T18:57:33.538Z,1749149853.538 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-05T18:57:33.538Z,1749149853.538 [DAT](INFO): DAT read: user:2980>

2025-06-05T18:57:33.539Z,1749149853.539 [DAT](INFO): DAT read: Tx time:18:57:32.4353

2025-06-05T18:57:33.540Z,1749149853.540 [DAT](INFO): Ping request sent.
2025-06-05T18:57:33.540Z,1749149853.540 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:33.540Z,1749149853.540 [DAT](INFO): DAT read: TxSync time:18:57:32.4345

2025-06-05T18:57:33.541Z,1749149853.541 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-06-05T18:57:33.541Z,1749149853.541 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:33.542Z,1749149853.542 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:36.310Z,1749149856.310 [DAT](INFO): DAT read: Rx Time:18:57:34.8405

2025-06-05T18:57:36.311Z,1749149856.311 [DAT](INFO): Rx dataTimestamp_ set to:1749149856.310236
2025-06-05T18:57:36.833Z,1749149856.833 [DAT](INFO): DAT read: 18:57:34.8405 LVL= 23648, 23105, 10738, 19235, AGC= 38, IDX= 423, 0.32,-1.893,-0.452,-1.257,-0.274, PHS=-1.531,-0.131,-0.987, RAW= 307.3,  37.5, CAL= 314.4,  38.1, ROT= 195.6, -38.1

2025-06-05T18:57:36.843Z,1749149856.843 [DAT](INFO): got valid direction response:
 18:57:34.8405 LVL= 23648, 23105, 10738, 19235, AGC= 38, IDX= 423, 0.32,-1.893,-0.452,-1.257,-0.274, PHS=-1.531,-0.131,-0.987, RAW= 307.3,  37.5, CAL= 314.4,  38.1, ROT= 195.6, -38.1

2025-06-05T18:57:36.857Z,1749149856.857 [DAT](INFO): DAT read: Bearing 195.6, -38.1 (Local)

2025-06-05T18:57:36.857Z,1749149856.857 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.6, -38.1 (Local)

2025-06-05T18:57:36.859Z,1749149856.859 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:36.861Z,1749149856.861 [DAT](INFO): DAT read: user:2981>

2025-06-05T18:57:36.862Z,1749149856.862 [DAT](INFO): DAT read: Tx time:18:57:35.9353

2025-06-05T18:57:36.862Z,1749149856.862 [DAT](INFO): Ping request sent.
2025-06-05T18:57:36.862Z,1749149856.862 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:36.863Z,1749149856.863 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-05T18:57:36.864Z,1749149856.864 [DAT](INFO): direction in FSK: [-0.757946,-0.211623,0.617036]
2025-06-05T18:57:36.865Z,1749149856.865 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:36.865Z,1749149856.865 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:36.868Z,1749149856.868 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:36.868Z,1749149856.868 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:37.065Z,1749149857.065 [DAT](INFO): DAT read: TxSync time:18:57:35.9345

2025-06-05T18:57:39.841Z,1749149859.841 [DAT](INFO): DAT read: Rx Time:18:57:38.3405

2025-06-05T18:57:39.841Z,1749149859.841 [DAT](INFO): Rx dataTimestamp_ set to:1749149859.840816
2025-06-05T18:57:40.351Z,1749149860.351 [DAT](INFO): DAT read: 18:57:38.3405 LVL= 20816, 31553, 10386, 18531, AGC= 36, IDX= 438, 0.24, 0.132, 0.773, 0.434, 1.782, PHS=-1.563,-0.962,-1.351, RAW= 309.7,  69.0, CAL= 313.0,  68.9, ROT= 197.0, -68.9

2025-06-05T18:57:40.352Z,1749149860.352 [DAT](INFO): got valid direction response:
 18:57:38.3405 LVL= 20816, 31553, 10386, 18531, AGC= 36, IDX= 438, 0.24, 0.132, 0.773, 0.434, 1.782, PHS=-1.563,-0.962,-1.351, RAW= 309.7,  69.0, CAL= 313.0,  68.9, ROT= 197.0, -68.9

2025-06-05T18:57:40.353Z,1749149860.353 [DAT](INFO): DAT read: Bearing 197.0, -68.9 (Local)

2025-06-05T18:57:40.353Z,1749149860.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.0, -68.9 (Local)

2025-06-05T18:57:40.355Z,1749149860.355 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:40.355Z,1749149860.355 [DAT](INFO): DAT read: user:2982>

2025-06-05T18:57:40.361Z,1749149860.361 [DAT](INFO): DAT read: Tx time:18:57:39.4353

2025-06-05T18:57:40.362Z,1749149860.362 [DAT](INFO): Ping request sent.
2025-06-05T18:57:40.362Z,1749149860.362 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:40.362Z,1749149860.362 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-05T18:57:40.363Z,1749149860.363 [DAT](INFO): direction in FSK: [-0.344267,-0.105253,0.932954]
2025-06-05T18:57:40.363Z,1749149860.363 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:40.364Z,1749149860.364 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:40.367Z,1749149860.367 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:40.367Z,1749149860.367 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:40.597Z,1749149860.597 [DAT](INFO): DAT read: TxSync time:18:57:39.4345

2025-06-05T18:57:43.377Z,1749149863.377 [DAT](INFO): DAT read: Rx Time:18:57:41.8407

2025-06-05T18:57:43.378Z,1749149863.378 [DAT](INFO): Rx dataTimestamp_ set to:1749149863.377568
2025-06-05T18:57:43.887Z,1749149863.887 [DAT](INFO): DAT read: 18:57:41.8407 LVL= 19680, 32753, 13954, 19827, AGC= 38, IDX= 440,-0.15, 0.714, 1.154, 1.122, 2.598, PHS=-1.796,-1.397,-1.478, RAW= 281.1,  77.5, CAL= 284.3,  78.4, ROT= 225.7, -78.4

2025-06-05T18:57:43.888Z,1749149863.888 [DAT](INFO): got valid direction response:
 18:57:41.8407 LVL= 19680, 32753, 13954, 19827, AGC= 38, IDX= 440,-0.15, 0.714, 1.154, 1.122, 2.598, PHS=-1.796,-1.397,-1.478, RAW= 281.1,  77.5, CAL= 284.3,  78.4, ROT= 225.7, -78.4

2025-06-05T18:57:43.889Z,1749149863.889 [DAT](INFO): DAT read: Bearing 225.7, -78.4 (Local)

2025-06-05T18:57:43.889Z,1749149863.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.7, -78.4 (Local)

2025-06-05T18:57:43.891Z,1749149863.891 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-06-05T18:57:43.893Z,1749149863.893 [DAT](INFO): DAT read: user:2983>

2025-06-05T18:57:43.894Z,1749149863.894 [DAT](INFO): DAT read: Tx time:18:57:42.9353

2025-06-05T18:57:43.894Z,1749149863.894 [DAT](INFO): Ping request sent.
2025-06-05T18:57:43.894Z,1749149863.894 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:43.895Z,1749149863.895 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-05T18:57:43.896Z,1749149863.896 [DAT](INFO): direction in FSK: [-0.140436,-0.143910,0.979575]
2025-06-05T18:57:43.896Z,1749149863.896 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:43.896Z,1749149863.896 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:43.904Z,1749149863.904 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:43.904Z,1749149863.904 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:44.134Z,1749149864.134 [DAT](INFO): DAT read: TxSync time:18:57:42.9345

2025-06-05T18:57:46.905Z,1749149866.905 [DAT](INFO): DAT read: Rx Time:18:57:45.3406

2025-06-05T18:57:46.905Z,1749149866.905 [DAT](INFO): Rx dataTimestamp_ set to:1749149866.905034
2025-06-05T18:57:47.416Z,1749149867.416 [DAT](INFO): DAT read: 18:57:45.3406 LVL= 22576, 20513, 16450, 17267, AGC= 38, IDX= 440,-0.18, 1.879, 2.263,-2.467,-3.042, PHS=-1.274,-0.932, 0.571, RAW= 220.0,  18.8, CAL= 230.5,  23.8, ROT= 279.5, -23.8

2025-06-05T18:57:47.417Z,1749149867.417 [DAT](INFO): got valid direction response:
 18:57:45.3406 LVL= 22576, 20513, 16450, 17267, AGC= 38, IDX= 440,-0.18, 1.879, 2.263,-2.467,-3.042, PHS=-1.274,-0.932, 0.571, RAW= 220.0,  18.8, CAL= 230.5,  23.8, ROT= 279.5, -23.8

2025-06-05T18:57:47.418Z,1749149867.418 [DAT](INFO): DAT read: Bearing 279.5, -23.8 (Local)

2025-06-05T18:57:47.418Z,1749149867.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.5, -23.8 (Local)

2025-06-05T18:57:47.420Z,1749149867.420 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:47.420Z,1749149867.420 [DAT](INFO): DAT read: user:2984>

2025-06-05T18:57:47.421Z,1749149867.421 [DAT](INFO): DAT read: Tx time:18:57:46.4354

2025-06-05T18:57:47.421Z,1749149867.421 [DAT](INFO): Ping request sent.
2025-06-05T18:57:47.421Z,1749149867.421 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:47.422Z,1749149867.422 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-05T18:57:47.423Z,1749149867.423 [DAT](INFO): direction in FSK: [0.151012,-0.902412,0.403545]
2025-06-05T18:57:47.423Z,1749149867.423 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:47.423Z,1749149867.423 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:47.428Z,1749149867.428 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:47.428Z,1749149867.428 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:47.662Z,1749149867.662 [DAT](INFO): DAT read: TxSync time:18:57:46.4346

2025-06-05T18:57:50.437Z,1749149870.437 [DAT](INFO): DAT read: Rx Time:18:57:48.8406

2025-06-05T18:57:50.438Z,1749149870.438 [DAT](INFO): Rx dataTimestamp_ set to:1749149870.437351
2025-06-05T18:57:50.951Z,1749149870.951 [DAT](INFO): DAT read: 18:57:48.8406 LVL= 26832, 32753, 14386, 25283, AGC= 40, IDX= 439,-0.09, 0.145, 1.038, 0.400, 1.873, PHS=-1.640,-0.787,-1.476, RAW= 319.5,  60.4, CAL= 322.4,  60.1, ROT= 187.6, -60.1

2025-06-05T18:57:50.957Z,1749149870.957 [DAT](INFO): got valid direction response:
 18:57:48.8406 LVL= 26832, 32753, 14386, 25283, AGC= 40, IDX= 439,-0.09, 0.145, 1.038, 0.400, 1.873, PHS=-1.640,-0.787,-1.476, RAW= 319.5,  60.4, CAL= 322.4,  60.1, ROT= 187.6, -60.1

2025-06-05T18:57:50.958Z,1749149870.958 [DAT](INFO): DAT read: Bearing 187.6, -60.1 (Local)

2025-06-05T18:57:50.958Z,1749149870.958 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.6, -60.1 (Local)

2025-06-05T18:57:50.961Z,1749149870.961 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:57:50.962Z,1749149870.962 [DAT](INFO): DAT read: user:2985>

2025-06-05T18:57:50.962Z,1749149870.962 [DAT](INFO): DAT read: Tx time:18:57:49.9354

2025-06-05T18:57:50.963Z,1749149870.963 [DAT](INFO): Ping request sent.
2025-06-05T18:57:50.963Z,1749149870.963 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:50.963Z,1749149870.963 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-05T18:57:50.977Z,1749149870.977 [DAT](INFO): direction in FSK: [-0.494109,-0.065928,0.866897]
2025-06-05T18:57:50.978Z,1749149870.978 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:50.978Z,1749149870.978 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:51.017Z,1749149871.017 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:51.017Z,1749149871.017 [DAT](INFO): publishing direction and range info
2025-06-05T18:57:51.197Z,1749149871.197 [DAT](INFO): DAT read: TxSync time:18:57:49.9346

2025-06-05T18:57:53.965Z,1749149873.965 [DAT](INFO): DAT read: Rx Time:18:57:52.3412

2025-06-05T18:57:53.965Z,1749149873.965 [DAT](INFO): Rx dataTimestamp_ set to:1749149873.965001
2025-06-05T18:57:54.469Z,1749149874.469 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-06-05T18:57:54.470Z,1749149874.470 [DAT](INFO): DAT read: user:2986>

2025-06-05T18:57:54.471Z,1749149874.471 [DAT](INFO): DAT read: Tx time:18:57:53.4354

2025-06-05T18:57:54.471Z,1749149874.471 [DAT](INFO): Ping request sent.
2025-06-05T18:57:54.471Z,1749149874.471 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:54.484Z,1749149874.484 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-06-05T18:57:54.484Z,1749149874.484 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:54.485Z,1749149874.485 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:54.721Z,1749149874.721 [DAT](INFO): DAT read: TxSync time:18:57:53.4346

2025-06-05T18:57:57.494Z,1749149877.494 [DAT](INFO): DAT read: Rx Time:18:57:55.8406

2025-06-05T18:57:57.495Z,1749149877.495 [DAT](INFO): Rx dataTimestamp_ set to:1749149877.494548
2025-06-05T18:57:57.997Z,1749149877.997 [DAT](INFO): DAT read: Range 10 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-06-05T18:57:57.998Z,1749149877.998 [DAT](INFO): DAT read: user:2987>

2025-06-05T18:57:57.999Z,1749149877.999 [DAT](INFO): DAT read: Tx time:18:57:56.9355

2025-06-05T18:57:57.999Z,1749149877.999 [DAT](INFO): Ping request sent.
2025-06-05T18:57:57.999Z,1749149877.999 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:57:57.000Z,1749149878.000 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-06-05T18:57:57.000Z,1749149878.000 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:58.000Z,1749149878.000 [DAT](INFO): publishing transmit ping time
2025-06-05T18:57:58.249Z,1749149878.249 [DAT](INFO): DAT read: TxSync time:18:57:56.9347

2025-06-05T18:58:00.769Z,1749149880.769 [DAT](INFO): DAT read: Rx Time:18:57:59.3407

2025-06-05T18:58:00.769Z,1749149880.769 [DAT](INFO): Rx dataTimestamp_ set to:1749149880.768822
2025-06-05T18:58:01.526Z,1749149881.526 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:58:01.528Z,1749149881.528 [DAT](INFO): DAT read: user:2988>

2025-06-05T18:58:01.528Z,1749149881.528 [DAT](INFO): DAT read: Tx time:18:58:00.4355

2025-06-05T18:58:01.529Z,1749149881.529 [DAT](INFO): Ping request sent.
2025-06-05T18:58:01.529Z,1749149881.529 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:01.529Z,1749149881.529 [DAT](INFO): DAT read: TxSync time:18:58:00.4347

2025-06-05T18:58:01.530Z,1749149881.530 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-06-05T18:58:01.530Z,1749149881.530 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:01.531Z,1749149881.531 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:03.338Z,1749149883.338 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:58:04.297Z,1749149884.297 [DAT](INFO): DAT read: Rx Time:18:58:02.8407

2025-06-05T18:58:04.297Z,1749149884.297 [DAT](INFO): Rx dataTimestamp_ set to:1749149884.297035
2025-06-05T18:58:05.059Z,1749149885.059 [DAT](INFO): DAT read: 18:58:02.8407 LVL= 16592, 28305,  9906, 15747, AGC= 35, IDX= 438, 0.34,-1.968,-0.981,-1.671,-0.050, PHS=-1.829,-0.884,-1.623, RAW= 318.0,  60.7, CAL= 321.2,  60.4, ROT= 188.8, -60.4

2025-06-05T18:58:05.062Z,1749149885.062 [DAT](INFO): got valid direction response:
 18:58:02.8407 LVL= 16592, 28305,  9906, 15747, AGC= 35, IDX= 438, 0.34,-1.968,-0.981,-1.671,-0.050, PHS=-1.829,-0.884,-1.623, RAW= 318.0,  60.7, CAL= 321.2,  60.4, ROT= 188.8, -60.4

2025-06-05T18:58:05.063Z,1749149885.063 [DAT](INFO): DAT read: Bearing 188.8, -60.4 (Local)

2025-06-05T18:58:05.063Z,1749149885.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.8, -60.4 (Local)

2025-06-05T18:58:05.065Z,1749149885.065 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:58:05.066Z,1749149885.066 [DAT](INFO): DAT read: user:2989>

2025-06-05T18:58:05.067Z,1749149885.067 [DAT](INFO): DAT read: Tx time:18:58:03.9355

2025-06-05T18:58:05.067Z,1749149885.067 [DAT](INFO): Ping request sent.
2025-06-05T18:58:05.067Z,1749149885.067 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:05.068Z,1749149885.068 [DAT](INFO): DAT read: TxSync time:18:58:03.9347

2025-06-05T18:58:05.069Z,1749149885.069 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-05T18:58:05.069Z,1749149885.069 [DAT](INFO): direction in FSK: [-0.488127,-0.075566,0.869495]
2025-06-05T18:58:05.070Z,1749149885.070 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:05.070Z,1749149885.070 [DAT](INFO): publishing direction and range info
2025-06-05T18:58:05.073Z,1749149885.073 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:05.073Z,1749149885.073 [DAT](INFO): publishing direction and range info
2025-06-05T18:58:07.826Z,1749149887.826 [DAT](INFO): DAT read: Rx Time:18:58:06.3408

2025-06-05T18:58:07.827Z,1749149887.827 [DAT](INFO): Rx dataTimestamp_ set to:1749149887.825927
2025-06-05T18:58:08.330Z,1749149888.330 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:58:08.330Z,1749149888.330 [DAT](INFO): DAT read: user:2990>

2025-06-05T18:58:08.331Z,1749149888.331 [DAT](INFO): DAT read: Tx time:18:58:07.4356

2025-06-05T18:58:08.331Z,1749149888.331 [DAT](INFO): Ping request sent.
2025-06-05T18:58:08.331Z,1749149888.331 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:08.332Z,1749149888.332 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-06-05T18:58:08.332Z,1749149888.332 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:08.332Z,1749149888.332 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:08.581Z,1749149888.581 [DAT](INFO): DAT read: TxSync time:18:58:07.4348

2025-06-05T18:58:11.362Z,1749149891.362 [DAT](INFO): DAT read: Rx Time:18:58:09.8408

2025-06-05T18:58:11.362Z,1749149891.362 [DAT](INFO): Rx dataTimestamp_ set to:1749149891.361773
2025-06-05T18:58:11.871Z,1749149891.871 [DAT](INFO): DAT read: 18:58:09.8408 LVL= 17376, 11169, 12274, 20403, AGC= 36, IDX= 440,-0.40,-0.568,-0.762, 0.505, 0.722, PHS=-1.201,-1.437,-0.219, RAW= 199.5,  42.1, CAL= 198.7,  49.2, ROT= 311.3, -49.2

2025-06-05T18:58:11.872Z,1749149891.872 [DAT](INFO): got valid direction response:
 18:58:09.8408 LVL= 17376, 11169, 12274, 20403, AGC= 36, IDX= 440,-0.40,-0.568,-0.762, 0.505, 0.722, PHS=-1.201,-1.437,-0.219, RAW= 199.5,  42.1, CAL= 198.7,  49.2, ROT= 311.3, -49.2

2025-06-05T18:58:11.873Z,1749149891.873 [DAT](INFO): DAT read: Bearing 311.3, -49.2 (Local)

2025-06-05T18:58:11.873Z,1749149891.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3, -49.2 (Local)

2025-06-05T18:58:11.874Z,1749149891.874 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-06-05T18:58:11.875Z,1749149891.875 [DAT](INFO): DAT read: user:2991>

2025-06-05T18:58:11.877Z,1749149891.877 [DAT](INFO): DAT read: Tx time:18:58:10.9346

2025-06-05T18:58:11.877Z,1749149891.877 [DAT](INFO): Ping request sent.
2025-06-05T18:58:11.878Z,1749149891.878 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:11.878Z,1749149891.878 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-05T18:58:11.879Z,1749149891.879 [DAT](INFO): direction in FSK: [0.431259,-0.490891,0.756995]
2025-06-05T18:58:11.879Z,1749149891.879 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:11.884Z,1749149891.884 [DAT](INFO): publishing direction and range info
2025-06-05T18:58:11.886Z,1749149891.886 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:11.887Z,1749149891.887 [DAT](INFO): publishing direction and range info
2025-06-05T18:58:14.385Z,1749149894.385 [DAT](INFO): DAT read: Rx Time:18:58:12.8204

2025-06-05T18:58:14.385Z,1749149894.385 [DAT](INFO): Rx dataTimestamp_ set to:1749149894.384825
2025-06-05T18:58:14.894Z,1749149894.894 [DAT](INFO): DAT read: 18:58:12.8204 LVL= 16656, 11121, 13634, 17747, AGC= 38, IDX= 247, 0.04, 0.470, 0.079, 2.344, 1.758, PHS=-1.200,-1.632, 0.584, RAW= 199.4,  21.3, CAL= 198.1,  26.6, ROT= 311.9, -26.6

2025-06-05T18:58:14.895Z,1749149894.895 [DAT](INFO): got valid direction response:
 18:58:12.8204 LVL= 16656, 11121, 13634, 17747, AGC= 38, IDX= 247, 0.04, 0.470, 0.079, 2.344, 1.758, PHS=-1.200,-1.632, 0.584, RAW= 199.4,  21.3, CAL= 198.1,  26.6, ROT= 311.9, -26.6

2025-06-05T18:58:14.896Z,1749149894.896 [DAT](INFO): DAT read: OK

2025-06-05T18:58:14.896Z,1749149894.896 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:14.897Z,1749149894.897 [DAT](INFO): DAT read: user:2992>

2025-06-05T18:58:14.897Z,1749149894.897 [DAT](INFO): DAT read: Tx time:18:58:13.9346

2025-06-05T18:58:14.897Z,1749149894.897 [DAT](INFO): Ping request sent.
2025-06-05T18:58:14.898Z,1749149894.898 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:14.898Z,1749149894.898 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-06-05T18:58:14.899Z,1749149894.899 [DAT](INFO): direction in FSK: [0.597145,-0.665529,0.447759]
2025-06-05T18:58:14.899Z,1749149894.899 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:14.912Z,1749149894.912 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:17.413Z,1749149897.413 [DAT](INFO): DAT read: Rx Time:18:58:15.8205

2025-06-05T18:58:17.413Z,1749149897.413 [DAT](INFO): Rx dataTimestamp_ set to:1749149897.412998
2025-06-05T18:58:17.921Z,1749149897.921 [DAT](INFO): DAT read: 18:58:15.8205 LVL= 25824, 21537, 12818, 18931, AGC= 38, IDX= 439, 0.27,-3.103,-2.589,-1.650,-1.824, PHS=-1.191,-0.718, 0.171, RAW= 230.0,  27.1, CAL= 240.9,  35.5, ROT= 269.1, -35.5

2025-06-05T18:58:17.922Z,1749149897.922 [DAT](INFO): got valid direction response:
 18:58:15.8205 LVL= 25824, 21537, 12818, 18931, AGC= 38, IDX= 439, 0.27,-3.103,-2.589,-1.650,-1.824, PHS=-1.191,-0.718, 0.171, RAW= 230.0,  27.1, CAL= 240.9,  35.5, ROT= 269.1, -35.5

2025-06-05T18:58:17.923Z,1749149897.923 [DAT](INFO): DAT read: OK

2025-06-05T18:58:17.924Z,1749149897.924 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:17.924Z,1749149897.924 [DAT](INFO): DAT read: user:2993>

2025-06-05T18:58:17.926Z,1749149897.926 [DAT](INFO): DAT read: Tx time:18:58:16.9346

2025-06-05T18:58:17.927Z,1749149897.927 [DAT](INFO): Ping request sent.
2025-06-05T18:58:17.927Z,1749149897.927 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:17.928Z,1749149897.928 [DAT](INFO): #Rx 34: Read direction message, but no range.
2025-06-05T18:58:17.930Z,1749149897.930 [DAT](INFO): direction in FSK: [-0.012788,-0.814015,0.580703]
2025-06-05T18:58:17.931Z,1749149897.931 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:17.944Z,1749149897.944 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:20.449Z,1749149900.449 [DAT](INFO): DAT read: Rx Time:18:58:18.8208

2025-06-05T18:58:20.450Z,1749149900.450 [DAT](INFO): Rx dataTimestamp_ set to:1749149900.449540
2025-06-05T18:58:20.794Z,1749149900.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-05T18:58:20.957Z,1749149900.957 [DAT](INFO): DAT read: 18:58:18.8208 LVL= 21808, 23729, 16354, 24707, AGC= 39, IDX= 439, 0.06,-1.712,-0.505,-0.772, 0.869, PHS=-2.492,-1.327,-1.643, RAW= 285.2,  61.6, CAL= 292.2,  63.1, ROT= 217.8, -63.1

2025-06-05T18:58:20.958Z,1749149900.958 [DAT](INFO): got valid direction response:
 18:58:18.8208 LVL= 21808, 23729, 16354, 24707, AGC= 39, IDX= 439, 0.06,-1.712,-0.505,-0.772, 0.869, PHS=-2.492,-1.327,-1.643, RAW= 285.2,  61.6, CAL= 292.2,  63.1, ROT= 217.8, -63.1

2025-06-05T18:58:20.958Z,1749149900.958 [DAT](INFO): DAT read: OK

2025-06-05T18:58:20.959Z,1749149900.959 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:20.960Z,1749149900.960 [DAT](INFO): DAT read: user:2994>

2025-06-05T18:58:20.961Z,1749149900.961 [DAT](INFO): DAT read: Tx time:18:58:19.9356

2025-06-05T18:58:20.961Z,1749149900.961 [DAT](INFO): Ping request sent.
2025-06-05T18:58:20.962Z,1749149900.962 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:20.962Z,1749149900.962 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-06-05T18:58:20.963Z,1749149900.963 [DAT](INFO): direction in FSK: [-0.357494,-0.277300,0.891798]
2025-06-05T18:58:20.963Z,1749149900.963 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:20.966Z,1749149900.966 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:21.206Z,1749149901.206 [DAT](INFO): DAT read: TxSync time:18:58:19.9348

2025-06-05T18:58:22.792Z,1749149902.792 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-06-05T18:58:22.793Z,1749149902.793 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-06-05T18:58:22.805Z,1749149902.805 [DockingStepper](INFO): Changing to mode: 1
2025-06-05T18:58:22.805Z,1749149902.805 [DockingStepper](INFO): Standby mode.
2025-06-05T18:58:22.868Z,1749149902.868 [DockingStepper](INFO): Commanding positive:34490
2025-06-05T18:58:23.221Z,1749149903.221 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:58:23.473Z,1749149903.473 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:58:23.724Z,1749149903.724 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-06-05T18:58:23.978Z,1749149903.978 [DAT](INFO): DAT read: Rx Time:18:58:22.3412

2025-06-05T18:58:23.978Z,1749149903.978 [DAT](INFO): Rx dataTimestamp_ set to:1749149903.978071
2025-06-05T18:58:24.482Z,1749149904.482 [DAT](INFO): DAT read: Range 10 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-06-05T18:58:24.482Z,1749149904.482 [DAT](INFO): DAT read: user:2995>

2025-06-05T18:58:24.483Z,1749149904.483 [DAT](INFO): DAT read: Tx time:18:58:23.4347

2025-06-05T18:58:24.483Z,1749149904.483 [DAT](INFO): Ping request sent.
2025-06-05T18:58:24.484Z,1749149904.484 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:24.484Z,1749149904.484 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-06-05T18:58:24.484Z,1749149904.484 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:24.485Z,1749149904.485 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:26.752Z,1749149906.752 [DAT](INFO): DAT read: Rx Time:18:58:25.3207

2025-06-05T18:58:26.753Z,1749149906.753 [DAT](INFO): Rx dataTimestamp_ set to:1749149906.752202
2025-06-05T18:58:27.509Z,1749149907.509 [DAT](INFO): DAT read: 18:58:25.3207 LVL= 19088, 16929, 15346, 15987, AGC= 38, IDX= 248, 0.18,-2.945,-1.137,-2.762,-1.544, PHS=-1.313, 0.454,-1.221, RAW= 327.3,  23.1, CAL= 330.1,  27.0, ROT= 179.9, -27.0

2025-06-05T18:58:27.511Z,1749149907.511 [DAT](INFO): got valid direction response:
 18:58:25.3207 LVL= 19088, 16929, 15346, 15987, AGC= 38, IDX= 248, 0.18,-2.945,-1.137,-2.762,-1.544, PHS=-1.313, 0.454,-1.221, RAW= 327.3,  23.1, CAL= 330.1,  27.0, ROT= 179.9, -27.0

2025-06-05T18:58:27.512Z,1749149907.512 [DAT](INFO): DAT read: OK

2025-06-05T18:58:27.512Z,1749149907.512 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:27.512Z,1749149907.512 [DAT](INFO): DAT read: user:2996>

2025-06-05T18:58:27.513Z,1749149907.513 [DAT](INFO): DAT read: Tx time:18:58:26.4347

2025-06-05T18:58:27.513Z,1749149907.513 [DAT](INFO): Ping request sent.
2025-06-05T18:58:27.513Z,1749149907.513 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:27.514Z,1749149907.514 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-06-05T18:58:27.515Z,1749149907.515 [DAT](INFO): direction in FSK: [-0.891005,0.001555,0.453991]
2025-06-05T18:58:27.515Z,1749149907.515 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:27.518Z,1749149907.518 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:27.753Z,1749149907.753 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-06-05T18:58:29.776Z,1749149909.776 [DAT](INFO): DAT read: Rx Time:18:58:28.3208

2025-06-05T18:58:29.778Z,1749149909.778 [DAT](INFO): Rx dataTimestamp_ set to:1749149909.776871
2025-06-05T18:58:30.277Z,1749149910.277 [DAT](INFO): DAT read: OK

2025-06-05T18:58:30.277Z,1749149910.277 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:30.277Z,1749149910.277 [DAT](INFO): DAT read: user:2997>

2025-06-05T18:58:30.529Z,1749149910.529 [DAT](INFO): DAT read: Tx time:18:58:29.4347

2025-06-05T18:58:30.530Z,1749149910.530 [DAT](INFO): Ping request sent.
2025-06-05T18:58:30.530Z,1749149910.530 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:30.530Z,1749149910.530 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:32.800Z,1749149912.800 [DAT](INFO): DAT read: Rx Time:18:58:31.3208

2025-06-05T18:58:32.801Z,1749149912.801 [DAT](INFO): Rx dataTimestamp_ set to:1749149912.800281
2025-06-05T18:58:33.305Z,1749149913.305 [DAT](INFO): DAT read: 18:58:31.3208 LVL= 17744, 21489, 13586, 14307, AGC= 36, IDX= 441, 0.30,-2.844,-1.005,-2.566,-1.407, PHS=-1.349, 0.449,-1.162, RAW= 324.6,  23.1, CAL= 327.7,  27.0, ROT= 182.3, -27.0

2025-06-05T18:58:33.306Z,1749149913.306 [DAT](INFO): got valid direction response:
 18:58:31.3208 LVL= 17744, 21489, 13586, 14307, AGC= 36, IDX= 441, 0.30,-2.844,-1.005,-2.566,-1.407, PHS=-1.349, 0.449,-1.162, RAW= 324.6,  23.1, CAL= 327.7,  27.0, ROT= 182.3, -27.0

2025-06-05T18:58:33.306Z,1749149913.306 [DAT](INFO): DAT read: OK

2025-06-05T18:58:33.306Z,1749149913.306 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:33.307Z,1749149913.307 [DAT](INFO): DAT read: user:2998>

2025-06-05T18:58:33.307Z,1749149913.307 [DAT](INFO): #Rx 38: Read direction message, but no range.
2025-06-05T18:58:33.309Z,1749149913.309 [DAT](INFO): direction in FSK: [-0.890289,-0.035758,0.453991]
2025-06-05T18:58:33.553Z,1749149913.553 [DAT](INFO): DAT read: Tx time:18:58:32.4347

2025-06-05T18:58:33.553Z,1749149913.553 [DAT](INFO): Ping request sent.
2025-06-05T18:58:33.553Z,1749149913.553 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:33.553Z,1749149913.553 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:35.833Z,1749149915.833 [DAT](INFO): DAT read: Rx Time:18:58:34.3209

2025-06-05T18:58:35.835Z,1749149915.835 [DAT](INFO): Rx dataTimestamp_ set to:1749149915.833594
2025-06-05T18:58:36.330Z,1749149916.330 [DAT](INFO): DAT read: 18:58:34.3209 LVL= 13712, 25841, 11010, 13075, AGC= 36, IDX= 442,-0.02, 2.309,-2.548, 2.225,-2.633, PHS=-1.254, 0.131,-1.429, RAW= 335.9,  31.4, CAL= 336.3,  33.3, ROT= 173.7, -33.3

2025-06-05T18:58:36.331Z,1749149916.331 [DAT](INFO): got valid direction response:
 18:58:34.3209 LVL= 13712, 25841, 11010, 13075, AGC= 36, IDX= 442,-0.02, 2.309,-2.548, 2.225,-2.633, PHS=-1.254, 0.131,-1.429, RAW= 335.9,  31.4, CAL= 336.3,  33.3, ROT= 173.7, -33.3

2025-06-05T18:58:36.332Z,1749149916.332 [DAT](INFO): DAT read: OK

2025-06-05T18:58:36.332Z,1749149916.332 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:36.333Z,1749149916.333 [DAT](INFO): DAT read: user:2999>

2025-06-05T18:58:36.333Z,1749149916.333 [DAT](INFO): DAT read: Tx time:18:58:35.4348

2025-06-05T18:58:36.334Z,1749149916.334 [DAT](INFO): Ping request sent.
2025-06-05T18:58:36.334Z,1749149916.334 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:36.334Z,1749149916.334 [DAT](INFO): #Rx 39: Read direction message, but no range.
2025-06-05T18:58:36.335Z,1749149916.335 [DAT](INFO): direction in FSK: [-0.830760,0.091717,0.549023]
2025-06-05T18:58:36.335Z,1749149916.335 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:36.338Z,1749149916.338 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:38.679Z,1749149918.679 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-06-05T18:58:38.845Z,1749149918.845 [DAT](INFO): DAT read: Rx Time:18:58:37.3210

2025-06-05T18:58:38.845Z,1749149918.845 [DAT](INFO): Rx dataTimestamp_ set to:1749149918.844956
2025-06-05T18:58:39.353Z,1749149919.353 [DAT](INFO): DAT read: 18:58:37.3210 LVL= 11632, 25073,  8242, 13587, AGC= 34, IDX= 443,-0.17,-0.602, 0.285,-0.950, 0.400, PHS=-0.914,-0.068,-1.353, RAW= 349.6,  36.1, CAL= 346.4,  37.5, ROT= 163.6, -37.5

2025-06-05T18:58:39.354Z,1749149919.354 [DAT](INFO): got valid direction response:
 18:58:37.3210 LVL= 11632, 25073,  8242, 13587, AGC= 34, IDX= 443,-0.17,-0.602, 0.285,-0.950, 0.400, PHS=-0.914,-0.068,-1.353, RAW= 349.6,  36.1, CAL= 346.4,  37.5, ROT= 163.6, -37.5

2025-06-05T18:58:39.354Z,1749149919.354 [DAT](INFO): DAT read: OK

2025-06-05T18:58:39.354Z,1749149919.354 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:39.355Z,1749149919.355 [DAT](INFO): DAT read: user:3000>

2025-06-05T18:58:39.356Z,1749149919.356 [DAT](INFO): DAT read: Tx time:18:58:38.4348

2025-06-05T18:58:39.356Z,1749149919.356 [DAT](INFO): Ping request sent.
2025-06-05T18:58:39.356Z,1749149919.356 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:58:39.356Z,1749149919.356 [DAT](INFO): #Rx 40: Read direction message, but no range.
2025-06-05T18:58:39.357Z,1749149919.357 [DAT](INFO): direction in FSK: [-0.761075,0.223996,0.608761]
2025-06-05T18:58:39.358Z,1749149919.358 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:39.363Z,1749149919.363 [DAT](INFO): publishing transmit ping time
2025-06-05T18:58:41.873Z,1749149921.873 [DAT](INFO): DAT read: Rx Time:18:58:40.3210

2025-06-05T18:58:41.873Z,1749149921.873 [DAT](INFO): Rx dataTimestamp_ set to:1749149921.872983
2025-06-05T18:58:42.381Z,1749149922.381 [DAT](INFO): DAT read: 18:58:40.3210 LVL= 12976, 24401, 11346, 10835, AGC= 34, IDX= 443,-0.00,-2.842,-1.240,-2.853,-1.511, PHS=-1.243, 0.318,-1.345, RAW= 333.1,  26.4, CAL= 334.5,  29.6, ROT= 175.5, -29.6

2025-06-05T18:58:42.382Z,1749149922.382 [DAT](INFO): got valid direction response:
 18:58:40.3210 LVL= 12976, 24401, 11346, 10835, AGC= 34, IDX= 443,-0.00,-2.842,-1.240,-2.853,-1.511, PHS=-1.243, 0.318,-1.345, RAW= 333.1,  26.4, CAL= 334.5,  29.6, ROT= 175.5, -29.6

2025-06-05T18:58:42.383Z,1749149922.383 [DAT](INFO): DAT read: OK

2025-06-05T18:58:42.383Z,1749149922.383 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:58:42.388Z,1749149922.388 [DAT](INFO): #Rx 41: Read direction message, but no range.
2025-06-05T18:58:42.389Z,1749149922.389 [DAT](INFO): direction in FSK: [-0.866815,0.068220,0.493942]
2025-06-05T18:58:49.796Z,1749149929.796 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-06-05T18:58:50.781Z,1749149930.781 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003298
2025-06-05T18:58:50.929Z,1749149930.929 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DOCKED.. Waiting for state timeout to act...
2025-06-05T18:58:50.930Z,1749149930.930 [lineCaptureHoming:J] Running Loop=1
2025-06-05T18:58:50.930Z,1749149930.930 [lineCaptureHoming:J] Running Loop=1
2025-06-05T18:58:50.932Z,1749149930.932 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T18:58:52.008Z,1749149932.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:59:00.299Z,1749149940.299 [DataOverHttps](INFO): Sending 213 bytes from file Logs/20250605T173625/Courier0021.lzma
2025-06-05T18:59:00.814Z,1749149940.814 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-06-05T18:59:01.299Z,1749149941.299 [DataOverHttps](INFO): Moved sent file to Logs/20250605T173625/Courier0021.lzma.bak
2025-06-05T18:59:01.299Z,1749149941.299 [DataOverHttps](INFO): SBD MOMSN=25108741
2025-06-05T18:59:03.007Z,1749149943.007 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:59:11.512Z,1749149951.512 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-06-05T18:59:12.877Z,1749149952.877 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:59:21.102Z,1749149961.102 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DOCKED at depth of 63.251259 without power and with comms
2025-06-05T18:59:21.436Z,1749149961.436 [DataOverHttps](INFO): Sending 194 bytes from file Logs/20250605T183148/Courier0000.lzma
2025-06-05T18:59:21.580Z,1749149961.580 [lineCaptureHoming:Lap] Stopped
2025-06-05T18:59:21.580Z,1749149961.580 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-05T18:59:21.580Z,1749149961.580 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-05T18:59:21.580Z,1749149961.580 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-05T18:59:21.580Z,1749149961.580 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-05T18:59:21.589Z,1749149961.589 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-06-05T18:59:21.589Z,1749149961.589 [MissionManager](INFO): lineCaptureHoming is completed.
2025-06-05T18:59:21.589Z,1749149961.589 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-05T18:59:21.589Z,1749149961.589 [lineCaptureHoming] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science:B] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science:C] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science:E] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science:F] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-05T18:59:21.590Z,1749149961.590 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T18:59:21.591Z,1749149961.591 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T18:59:21.591Z,1749149961.591 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T18:59:21.591Z,1749149961.591 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T18:59:21.591Z,1749149961.591 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T18:59:21.591Z,1749149961.591 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T18:59:21.591Z,1749149961.591 [lineCaptureHoming:J] Stopped
2025-06-05T18:59:21.591Z,1749149961.591 [lineCaptureHoming:TrackAC.] Stopped
2025-06-05T18:59:21.591Z,1749149961.591 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-05T18:59:21.646Z,1749149961.646 [WetLabsUBAT](INFO): Powering down
2025-06-05T18:59:21.727Z,1749149961.727 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-06-05T18:59:21.733Z,1749149961.733 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:59:21.796Z,1749149961.796 [WetLabsBB2FL](INFO): Powering down
2025-06-05T18:59:21.935Z,1749149961.935 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-05T18:59:21.935Z,1749149961.935 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-05T18:59:21.938Z,1749149961.938 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-05T18:59:21.985Z,1749149961.985 [DAT](INFO): DAT read: user:3001>

2025-06-05T18:59:21.986Z,1749149961.986 [DAT](INFO): DAT read: Tx time:18:59:20.9352

2025-06-05T18:59:21.987Z,1749149961.987 [DAT](INFO): Ping request sent.
2025-06-05T18:59:21.987Z,1749149961.987 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:59:21.987Z,1749149961.987 [DAT](INFO): publishing transmit ping time
2025-06-05T18:59:21.988Z,1749149961.988 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:59:22.236Z,1749149962.236 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-06-05T18:59:22.358Z,1749149962.358 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-06-05T18:59:22.450Z,1749149962.450 [DataOverHttps](INFO): Moved sent file to Logs/20250605T183148/Courier0000.lzma.bak
2025-06-05T18:59:22.451Z,1749149962.451 [DataOverHttps](INFO): SBD MOMSN=25108744
2025-06-05T18:59:23.452Z,1749149963.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-05T18:59:24.253Z,1749149964.253 [DAT](INFO): DAT read: Rx Time:18:59:22.8222

2025-06-05T18:59:24.253Z,1749149964.253 [DAT](INFO): Rx dataTimestamp_ set to:1749149964.252995
2025-06-05T18:59:25.013Z,1749149965.013 [DAT](INFO): DAT read: 18:59:22.8222 LVL= 15296, 24161, 12386, 11763, AGC= 35, IDX= 451, 0.06,-1.567, 0.031,-1.551,-0.201, PHS=-1.278, 0.279,-1.353, RAW= 332.4,  27.5, CAL= 333.8,  30.4, ROT= 176.2, -30.4

2025-06-05T18:59:25.014Z,1749149965.014 [DAT](INFO): got valid direction response:
 18:59:22.8222 LVL= 15296, 24161, 12386, 11763, AGC= 35, IDX= 451, 0.06,-1.567, 0.031,-1.551,-0.201, PHS=-1.278, 0.279,-1.353, RAW= 332.4,  27.5, CAL= 333.8,  30.4, ROT= 176.2, -30.4

2025-06-05T18:59:25.014Z,1749149965.014 [DAT](INFO): DAT read: OK

2025-06-05T18:59:25.014Z,1749149965.014 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:59:25.015Z,1749149965.015 [DAT](INFO): DAT read: user:3002>

2025-06-05T18:59:25.016Z,1749149965.016 [DAT](INFO): DAT read: Tx time:18:59:23.9352

2025-06-05T18:59:25.016Z,1749149965.016 [DAT](INFO): Ping request sent.
2025-06-05T18:59:25.016Z,1749149965.016 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:59:25.016Z,1749149965.016 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-06-05T18:59:25.017Z,1749149965.017 [DAT](INFO): direction in FSK: [-0.860617,0.057162,0.506034]
2025-06-05T18:59:25.018Z,1749149965.018 [DAT](INFO): publishing transmit ping time
2025-06-05T18:59:25.020Z,1749149965.020 [DAT](INFO): publishing transmit ping time
2025-06-05T18:59:27.278Z,1749149967.278 [DAT](INFO): DAT read: Rx Time:18:59:25.8224

2025-06-05T18:59:27.278Z,1749149967.278 [DAT](INFO): Rx dataTimestamp_ set to:1749149967.277917
2025-06-05T18:59:27.393Z,1749149967.393 [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>

2025-06-05T18:59:27.398Z,1749149967.398 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-05T18:59:27.401Z,1749149967.401 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-05T18:59:27.404Z,1749149967.404 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-05T18:59:27.406Z,1749149967.406 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-05T18:59:27.445Z,1749149967.445 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-05T18:59:27.447Z,1749149967.447 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-05T18:59:27.466Z,1749149967.466 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-05T18:59:27.484Z,1749149967.484 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-05T18:59:27.487Z,1749149967.487 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-05T18:59:27.495Z,1749149967.495 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-05T18:59:27.513Z,1749149967.513 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-05T18:59:27.515Z,1749149967.515 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-05T18:59:27.523Z,1749149967.523 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-05T18:59:27.523Z,1749149967.523 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T18:59:27.529Z,1749149967.529 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T18:59:27.530Z,1749149967.530 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T18:59:27.744Z,1749149967.744 [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>

2025-06-05T18:59:27.748Z,1749149967.748 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T18:59:27.750Z,1749149967.750 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T18:59:27.754Z,1749149967.754 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T18:59:27.758Z,1749149967.758 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T18:59:27.759Z,1749149967.759 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T18:59:27.766Z,1749149967.766 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T18:59:27.772Z,1749149967.772 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T18:59:27.780Z,1749149967.780 [DAT](INFO): DAT read: OK

2025-06-05T18:59:27.781Z,1749149967.781 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:59:27.781Z,1749149967.781 [DAT](INFO): DAT read: user:3003>

2025-06-05T18:59:27.785Z,1749149967.785 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T18:59:27.786Z,1749149967.786 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T18:59:27.787Z,1749149967.787 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T18:59:27.886Z,1749149967.886 [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>

2025-06-05T18:59:27.908Z,1749149967.908 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T18:59:27.910Z,1749149967.910 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T18:59:27.917Z,1749149967.917 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T18:59:27.917Z,1749149967.917 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T18:59:27.918Z,1749149967.918 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T18:59:28.034Z,1749149968.034 [DAT](INFO): DAT read: Tx time:18:59:26.9353

2025-06-05T18:59:28.034Z,1749149968.034 [DAT](INFO): Ping request sent.
2025-06-05T18:59:28.034Z,1749149968.034 [DAT](INFO): transmitted an acoustic signal
2025-06-05T18:59:28.035Z,1749149968.035 [DAT](INFO): publishing transmit ping time
2025-06-05T18:59:28.154Z,1749149968.154 [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>

2025-06-05T18:59:28.158Z,1749149968.158 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-05T18:59:28.161Z,1749149968.161 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T18:59:28.163Z,1749149968.163 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T18:59:28.165Z,1749149968.165 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T18:59:28.167Z,1749149968.167 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-05T18:59:28.175Z,1749149968.175 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T18:59:28.178Z,1749149968.178 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-05T18:59:28.180Z,1749149968.180 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-05T18:59:28.181Z,1749149968.181 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-05T18:59:28.186Z,1749149968.186 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-05T18:59:30.301Z,1749149970.301 [DAT](INFO): DAT read: Rx Time:18:59:28.8224

2025-06-05T18:59:30.301Z,1749149970.301 [DAT](INFO): Rx dataTimestamp_ set to:1749149970.300963
2025-06-05T18:59:30.809Z,1749149970.809 [DAT](INFO): DAT read: 18:59:28.8224 LVL= 19488, 22737, 14418, 14067, AGC= 37, IDX= 436, 0.22,-2.439,-0.618,-2.211,-1.015, PHS=-1.336, 0.444,-1.199, RAW= 326.0,  23.3, CAL= 329.0,  27.2, ROT= 181.0, -27.2

2025-06-05T18:59:30.810Z,1749149970.810 [DAT](INFO): got valid direction response:
 18:59:28.8224 LVL= 19488, 22737, 14418, 14067, AGC= 37, IDX= 436, 0.22,-2.439,-0.618,-2.211,-1.015, PHS=-1.336, 0.444,-1.199, RAW= 326.0,  23.3, CAL= 329.0,  27.2, ROT= 181.0, -27.2

2025-06-05T18:59:30.810Z,1749149970.810 [DAT](INFO): DAT read: OK

2025-06-05T18:59:30.811Z,1749149970.811 [DAT](INFO): unknown deviceResponse_: OK

2025-06-05T18:59:30.811Z,1749149970.811 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-06-05T18:59:30.812Z,1749149970.812 [DAT](INFO): direction in FSK: [-0.889281,-0.015522,0.457098]
2025-06-05T18:59:32.624Z,1749149972.624 [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>

2025-06-05T18:59:32.733Z,1749149972.733 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-05T18:59:32.735Z,1749149972.735 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-05T18:59:32.764Z,1749149972.764 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-05T18:59:32.766Z,1749149972.766 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-05T18:59:32.772Z,1749149972.772 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-05T18:59:32.774Z,1749149972.774 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-05T18:59:32.780Z,1749149972.780 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-05T18:59:32.782Z,1749149972.782 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-05T18:59:32.788Z,1749149972.788 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-05T18:59:32.790Z,1749149972.790 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-05T18:59:32.812Z,1749149972.812 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-05T18:59:32.817Z,1749149972.817 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-05T18:59:32.819Z,1749149972.819 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-05T18:59:32.826Z,1749149972.826 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-05T18:59:32.836Z,1749149972.836 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T18:59:32.838Z,1749149972.838 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T18:59:32.849Z,1749149972.849 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T18:59:32.857Z,1749149972.857 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T18:59:32.859Z,1749149972.859 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T18:59:32.862Z,1749149972.862 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T18:59:32.876Z,1749149972.876 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T18:59:32.886Z,1749149972.886 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T18:59:32.895Z,1749149972.895 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-05T18:59:32.903Z,1749149972.903 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-05T18:59:32.917Z,1749149972.917 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-05T18:59:32.936Z,1749149972.936 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-05T18:59:32.938Z,1749149972.938 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-05T18:59:32.950Z,1749149972.950 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-05T18:59:32.969Z,1749149972.969 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-05T18:59:32.971Z,1749149972.971 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-05T18:59:32.986Z,1749149972.986 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-05T18:59:32.992Z,1749149972.992 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-05T18:59:32.994Z,1749149972.994 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-05T18:59:32.999Z,1749149972.999 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-05T18:59:33.013Z,1749149973.013 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-05T18:59:33.020Z,1749149973.020 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-05T18:59:33.022Z,1749149973.022 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-05T18:59:33.032Z,1749149973.032 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-05T18:59:33.034Z,1749149973.034 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-05T18:59:33.039Z,1749149973.039 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-05T18:59:33.053Z,1749149973.053 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-05T18:59:33.055Z,1749149973.055 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-05T18:59:33.062Z,1749149973.062 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-05T18:59:33.064Z,1749149973.064 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-05T18:59:33.067Z,1749149973.067 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-05T18:59:33.109Z,1749149973.109 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-05T18:59:33.111Z,1749149973.111 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-05T18:59:33.122Z,1749149973.122 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-05T18:59:33.138Z,1749149973.138 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-05T18:59:33.141Z,1749149973.141 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-05T18:59:33.148Z,1749149973.148 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-05T18:59:33.156Z,1749149973.156 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-05T18:59:33.159Z,1749149973.159 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-05T18:59:33.176Z,1749149973.176 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-05T18:59:33.192Z,1749149973.192 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-05T18:59:33.195Z,1749149973.195 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-05T18:59:33.203Z,1749149973.203 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-05T18:59:33.218Z,1749149973.218 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-05T18:59:33.221Z,1749149973.221 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-05T18:59:33.242Z,1749149973.242 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-05T18:59:33.260Z,1749149973.260 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-05T18:59:33.262Z,1749149973.262 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-05T18:59:33.288Z,1749149973.288 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-05T18:59:33.290Z,1749149973.290 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-05T18:59:33.297Z,1749149973.297 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-05T18:59:33.299Z,1749149973.299 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-05T18:59:33.302Z,1749149973.302 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-05T18:59:33.308Z,1749149973.308 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-05T18:59:33.311Z,1749149973.311 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-05T18:59:33.326Z,1749149973.326 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-05T18:59:33.341Z,1749149973.341 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-05T18:59:33.343Z,1749149973.343 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-05T18:59:33.350Z,1749149973.350 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-05T18:59:33.353Z,1749149973.353 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-05T18:59:33.365Z,1749149973.365 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-05T18:59:33.367Z,1749149973.367 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-05T18:59:33.373Z,1749149973.373 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-05T18:59:33.380Z,1749149973.380 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-05T18:59:33.382Z,1749149973.382 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T18:59:33.397Z,1749149973.397 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T18:59:33.400Z,1749149973.400 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-05T18:59:33.402Z,1749149973.402 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-05T18:59:33.404Z,1749149973.404 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-05T18:59:33.407Z,1749149973.407 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T18:59:33.417Z,1749149973.417 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T18:59:33.424Z,1749149973.424 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-05T18:59:33.426Z,1749149973.426 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-05T18:59:33.433Z,1749149973.433 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-05T18:59:33.435Z,1749149973.435 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T18:59:33.445Z,1749149973.445 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T18:59:33.452Z,1749149973.452 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-05T18:59:33.454Z,1749149973.454 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-05T18:59:33.469Z,1749149973.469 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-05T18:59:33.471Z,1749149973.471 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T18:59:33.495Z,1749149973.495 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T18:59:33.513Z,1749149973.513 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-05T18:59:33.528Z,1749149973.528 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-05T18:59:33.530Z,1749149973.530 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-05T18:59:33.541Z,1749149973.541 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T18:59:33.543Z,1749149973.543 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T18:59:33.562Z,1749149973.562 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-05T18:59:33.569Z,1749149973.569 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-05T18:59:33.571Z,1749149973.571 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-05T18:59:33.588Z,1749149973.588 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T18:59:33.598Z,1749149973.598 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T18:59:33.614Z,1749149973.614 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-05T18:59:33.622Z,1749149973.622 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-05T18:59:33.630Z,1749149973.630 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T18:59:33.638Z,1749149973.638 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T18:59:33.646Z,1749149973.646 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T18:59:33.653Z,1749149973.653 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-05T18:59:33.665Z,1749149973.665 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-05T18:59:33.677Z,1749149973.677 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T18:59:33.695Z,1749149973.695 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T18:59:33.719Z,1749149973.719 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T18:59:33.739Z,1749149973.739 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-05T18:59:33.757Z,1749149973.757 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-05T18:59:33.759Z,1749149973.759 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-05T18:59:33.766Z,1749149973.766 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-05T18:59:33.773Z,1749149973.773 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-05T18:59:33.775Z,1749149973.775 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-05T18:59:33.783Z,1749149973.783 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-05T18:59:33.790Z,1749149973.790 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-05T18:59:33.796Z,1749149973.796 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-05T18:59:33.799Z,1749149973.799 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-05T18:59:33.805Z,1749149973.805 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-05T18:59:33.812Z,1749149973.812 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-05T18:59:33.814Z,1749149973.814 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-05T18:59:33.821Z,1749149973.821 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-05T18:59:33.823Z,1749149973.823 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-05T18:59:33.834Z,1749149973.834 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-05T18:59:33.848Z,1749149973.848 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-05T18:59:33.922Z,1749149973.922 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:33.975Z,1749149973.975 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T18:59:34.056Z,1749149974.056 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T18:59:34.107Z,1749149974.107 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:34.151Z,1749149974.151 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:34.196Z,1749149974.196 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T18:59:34.240Z,1749149974.240 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:34.255Z,1749149974.255 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:34.322Z,1749149974.322 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T18:59:34.373Z,1749149974.373 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:34.429Z,1749149974.429 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T18:59:34.490Z,1749149974.490 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:34.514Z,1749149974.514 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T18:59:34.562Z,1749149974.562 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:34.592Z,1749149974.592 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T18:59:34.633Z,1749149974.633 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T18:59:34.657Z,1749149974.657 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T18:59:34.794Z,1749149974.794 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-05T18:59:34.864Z,1749149974.864 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-05T18:59:34.866Z,1749149974.866 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-05T18:59:34.872Z,1749149974.872 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-05T18:59:34.874Z,1749149974.874 [OnDock:N.Docked](DEBUG): Construct.
2025-06-05T18:59:34.874Z,1749149974.874 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-05T18:59:34.915Z,1749149974.915 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-05T18:59:34.915Z,1749149974.915 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-05T18:59:35.040Z,1749149975.040 [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
    }
  }
}


2025-06-05T18:59:35.041Z,1749149975.041 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-06-05T18:59:35.140Z,1749149975.140 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-05T18:59:35.141Z,1749149975.141 [DefaultWithUndock] Running Loop=1
2025-06-05T18:59:35.141Z,1749149975.141 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-05T18:59:35.141Z,1749149975.141 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-05T18:59:35.141Z,1749149975.141 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T18:59:41.009Z,1749149981.009 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 1.5 hour
2025-06-05T18:59:41.010Z,1749149981.010 [CommandExec](IMPORTANT): got command run
2025-06-05T18:59:41.012Z,1749149981.012 [CommandExec](IMPORTANT): Running 
2025-06-05T18:59:41.203Z,1749149981.203 [DefaultWithUndock] Stopped
2025-06-05T18:59:41.203Z,1749149981.203 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-05T18:59:41.204Z,1749149981.204 [DefaultWithUndock:A.Wait] Stopped
2025-06-05T18:59:41.204Z,1749149981.204 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T18:59:41.204Z,1749149981.204 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-05T18:59:41.204Z,1749149981.204 [OnDock] Running Loop=1
2025-06-05T18:59:41.204Z,1749149981.204 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-05T18:59:41.204Z,1749149981.204 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-05T18:59:41.204Z,1749149981.204 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-05T18:59:41.204Z,1749149981.204 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:BackseatDriver] Running Loop=1
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T18:59:41.205Z,1749149981.205 [OnDock:PowerOnly] Running Loop=1
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:PowerOnly:A] Running Loop=1
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:PowerOnly:B] Running Loop=1
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:PowerOnly:C] Running Loop=1
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:PowerOnly:D] Running Loop=1
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:dataRead] Running Loop=1
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:dataRead:A] Running Loop=1
2025-06-05T18:59:41.206Z,1749149981.206 [OnDock:science] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science:A] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science:B] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science:C] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science:D] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science:E] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science:F] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-05T18:59:41.207Z,1749149981.207 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T18:59:41.208Z,1749149981.208 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T18:59:41.209Z,1749149981.209 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-05T18:59:41.209Z,1749149981.209 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-05T18:59:41.209Z,1749149981.209 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-05T18:59:41.209Z,1749149981.209 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-05T18:59:41.209Z,1749149981.209 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-05T18:59:41.209Z,1749149981.209 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-05T18:59:41.209Z,1749149981.209 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-05T18:59:41.210Z,1749149981.210 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-05T18:59:41.210Z,1749149981.210 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T18:59:41.210Z,1749149981.210 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T18:59:41.210Z,1749149981.210 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-05T18:59:41.210Z,1749149981.210 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-05T18:59:41.210Z,1749149981.210 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-05T18:59:41.210Z,1749149981.210 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-05T18:59:41.211Z,1749149981.211 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-05T18:59:41.211Z,1749149981.211 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-05T18:59:41.211Z,1749149981.211 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-05T18:59:41.211Z,1749149981.211 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-05T18:59:41.211Z,1749149981.211 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T18:59:41.211Z,1749149981.211 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T18:59:41.212Z,1749149981.212 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T18:59:41.212Z,1749149981.212 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T18:59:41.212Z,1749149981.212 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T18:59:41.212Z,1749149981.212 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T18:59:41.212Z,1749149981.212 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T18:59:41.212Z,1749149981.212 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T18:59:41.212Z,1749149981.212 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T18:59:41.212Z,1749149981.212 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T18:59:41.213Z,1749149981.213 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T18:59:41.214Z,1749149981.214 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T18:59:41.214Z,1749149981.214 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T18:59:41.214Z,1749149981.214 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T18:59:41.214Z,1749149981.214 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T18:59:41.214Z,1749149981.214 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T18:59:41.214Z,1749149981.214 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T18:59:41.214Z,1749149981.214 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T18:59:41.215Z,1749149981.215 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-05T18:59:41.215Z,1749149981.215 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-05T18:59:41.215Z,1749149981.215 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-05T18:59:41.215Z,1749149981.215 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-05T18:59:41.215Z,1749149981.215 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:J.] Running Loop=1
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:PeriodicCheck] Running Loop=1
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-05T18:59:41.216Z,1749149981.216 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-05T18:59:41.217Z,1749149981.217 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-05T18:59:41.217Z,1749149981.217 [OnDock:B] Running Loop=1
2025-06-05T18:59:41.217Z,1749149981.217 [OnDock:PeriodicCheck] Running Loop=1
2025-06-05T18:59:41.217Z,1749149981.217 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-05T18:59:41.218Z,1749149981.218 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-05T18:59:41.218Z,1749149981.218 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-05T18:59:41.218Z,1749149981.218 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-05T18:59:41.218Z,1749149981.218 [OnDock:J.] Running Loop=1
2025-06-05T18:59:41.218Z,1749149981.218 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-05T18:59:41.218Z,1749149981.218 [OnDock:science] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:A] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:B] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:C] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:D] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:E] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:F] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:Read_Oil] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-05T18:59:41.221Z,1749149981.221 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-05T18:59:41.219Z,1749149981.219 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-05T18:59:41.264Z,1749149981.264 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-05T18:59:41.264Z,1749149981.264 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-05T18:59:41.265Z,1749149981.265 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-05T18:59:41.265Z,1749149981.265 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-05T18:59:41.265Z,1749149981.265 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-05T18:59:41.266Z,1749149981.266 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-05T18:59:41.266Z,1749149981.266 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-05T18:59:41.266Z,1749149981.266 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T18:59:41.266Z,1749149981.266 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T18:59:41.267Z,1749149981.267 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-05T18:59:41.267Z,1749149981.267 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-05T18:59:41.267Z,1749149981.267 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-05T18:59:41.268Z,1749149981.268 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-05T18:59:41.268Z,1749149981.268 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-05T18:59:41.268Z,1749149981.268 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-05T18:59:41.269Z,1749149981.269 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-05T18:59:41.269Z,1749149981.269 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-05T18:59:41.269Z,1749149981.269 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T18:59:41.269Z,1749149981.269 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T18:59:41.270Z,1749149981.270 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-05T18:59:41.280Z,1749149981.280 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-05T18:59:41.280Z,1749149981.280 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-05T18:59:41.280Z,1749149981.280 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-05T18:59:41.280Z,1749149981.280 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-05T18:59:41.280Z,1749149981.280 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-05T18:59:41.281Z,1749149981.281 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-05T18:59:41.281Z,1749149981.281 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-05T18:59:41.281Z,1749149981.281 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T18:59:41.281Z,1749149981.281 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T18:59:41.281Z,1749149981.281 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-05T18:59:41.281Z,1749149981.281 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T18:59:41.282Z,1749149981.282 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T18:59:41.282Z,1749149981.282 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-05T18:59:41.282Z,1749149981.282 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T18:59:41.282Z,1749149981.282 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T18:59:41.282Z,1749149981.282 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-05T18:59:41.282Z,1749149981.282 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T18:59:41.282Z,1749149981.282 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T18:59:41.282Z,1749149981.282 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-05T18:59:41.283Z,1749149981.283 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T18:59:41.283Z,1749149981.283 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T18:59:41.283Z,1749149981.283 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-05T18:59:41.283Z,1749149981.283 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T18:59:41.283Z,1749149981.283 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T18:59:41.283Z,1749149981.283 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-05T18:59:41.292Z,1749149981.292 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T18:59:41.292Z,1749149981.292 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T18:59:41.292Z,1749149981.292 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T18:59:41.292Z,1749149981.292 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T18:59:41.292Z,1749149981.292 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T18:59:41.292Z,1749149981.292 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T18:59:41.293Z,1749149981.293 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T18:59:41.293Z,1749149981.293 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T18:59:41.293Z,1749149981.293 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-05T18:59:41.293Z,1749149981.293 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-05T18:59:41.293Z,1749149981.293 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-05T18:59:41.293Z,1749149981.293 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-05T18:59:41.293Z,1749149981.293 [OnDock:dataRead] Running Loop=1
2025-06-05T18:59:41.294Z,1749149981.294 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T18:59:41.294Z,1749149981.294 [OnDock:PowerOnly] Running Loop=1
2025-06-05T18:59:41.295Z,1749149981.295 [OnDock:PowerOnly:D] Stopped
2025-06-05T18:59:41.295Z,1749149981.295 [OnDock:PowerOnly:C] Stopped
2025-06-05T18:59:41.295Z,1749149981.295 [OnDock:PowerOnly:B] Stopped
2025-06-05T18:59:41.295Z,1749149981.295 [OnDock:PowerOnly:A] Stopped
2025-06-05T18:59:41.295Z,1749149981.295 [OnDock:BackseatDriver] Running Loop=1
2025-06-05T18:59:41.304Z,1749149981.304 [OnDock:B] Stopped
2025-06-05T18:59:41.304Z,1749149981.304 [OnDock:C] Running Loop=1
2025-06-05T18:59:41.305Z,1749149981.305 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-05T18:59:41.305Z,1749149981.305 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T18:59:41.305Z,1749149981.305 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T18:59:41.306Z,1749149981.306 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T18:59:41.469Z,1749149981.469 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            inet addr:134.89.93.61  Bcast:134.89.93.255  Mask:255.255.255.0
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:6430456 errors:0 dropped:0 overruns:0 frame:0
            TX packets:8413982 errors:0 dropped:0 overruns:0 carrier:0
            collisions:134824 txqueuelen:1000 
            RX bytes:2464884921 (2350.6 Mb)  TX bytes:1249178719 (1191.3 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:4200 errors:0 dropped:0 overruns:0 frame:0
            TX packets:4200 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:404517 (395.0 Kb)  TX bytes:404517 (395.0 Kb)
  
  
2025-06-05T18:59:42.148Z,1749149982.148 [OnDock:C] Stopped
2025-06-05T18:59:42.148Z,1749149982.148 [OnDock:D] Running Loop=1
2025-06-05T18:59:42.469Z,1749149982.469 [OnDock:D] Stopped
2025-06-05T18:59:42.470Z,1749149982.470 [OnDock:E] Running Loop=1
2025-06-05T18:59:42.913Z,1749149982.913 [OnDock:E] Stopped
2025-06-05T18:59:42.914Z,1749149982.914 [OnDock:K] Running Loop=1
2025-06-05T18:59:43.265Z,1749149983.265 [OnDock:K](IMPORTANT): Restarting logs
2025-06-05T18:59:43.265Z,1749149983.265 [OnDock:K] Stopped
2025-06-05T18:59:43.265Z,1749149983.265 [OnDock:L.Execute] Running Loop=1