2025-06-07T23:36:07.501Z,1749339367.501 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-06-07T23:36:07.501Z,1749339367.501 [lineCaptureHoming:BA.Execute] Stopped
2025-06-07T23:36:07.501Z,1749339367.501 [lineCaptureHoming:InitialDive] Running Loop=1
2025-06-07T23:36:07.501Z,1749339367.501 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-06-07T23:36:07.501Z,1749339367.501 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-07T23:36:07.501Z,1749339367.501 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-06-07T23:36:07.501Z,1749339367.501 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-07T23:36:07.502Z,1749339367.502 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-06-07T23:36:07.502Z,1749339367.502 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-06-07T23:36:07.502Z,1749339367.502 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-06-07T23:36:07.520Z,1749339367.520 [CommandExec](IMPORTANT): got command restart logs
2025-06-07T23:36:07.552Z,1749339367.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:36:07.926Z,1749339367.926 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-07T23:36:07.927Z,1749339367.927 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-07T23:36:08.710Z,1749339368.710 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,2506071537254+150 ,  0.00,   0.00, 665.40,   0.00,   0.00
2025-06-07T23:36:38.300Z,1749339398.300 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-07T23:36:38.496Z,1749339398.496 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-07T23:36:38.510Z,1749339398.510 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -342.49,     -2    -40.48,  20.00,  0.00
2025-06-07T23:36:39.304Z,1749339399.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:36:42.578Z,1749339402.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:36:42.820Z,1749339402.820 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:36:42.820Z,1749339402.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:36:43.072Z,1749339403.072 [DAT](INFO): DAT read: user:1800>

2025-06-07T23:36:43.073Z,1749339403.073 [DAT](INFO): DAT read: Tx time:23:36:42.7148

2025-06-07T23:36:43.073Z,1749339403.073 [DAT](INFO): Ping request sent.
2025-06-07T23:36:43.073Z,1749339403.073 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:36:43.073Z,1749339403.073 [DAT](INFO): publishing transmit ping time
2025-06-07T23:36:43.074Z,1749339403.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-06-07T23:36:43.324Z,1749339403.324 [DAT](INFO): DAT read: TxSync time:23:36:42.7140

2025-06-07T23:36:43.325Z,1749339403.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251543
2025-06-07T23:36:43.576Z,1749339403.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502763
2025-06-07T23:36:43.828Z,1749339403.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754840
2025-06-07T23:36:44.080Z,1749339404.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006724
2025-06-07T23:36:44.333Z,1749339404.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259742
2025-06-07T23:36:44.584Z,1749339404.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510931
2025-06-07T23:36:44.836Z,1749339404.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762771
2025-06-07T23:36:45.088Z,1749339405.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014759
2025-06-07T23:36:45.340Z,1749339405.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266872
2025-06-07T23:36:45.592Z,1749339405.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518796
2025-06-07T23:36:45.851Z,1749339405.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778061
2025-06-07T23:36:46.104Z,1749339406.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030784
2025-06-07T23:36:46.356Z,1749339406.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282748
2025-06-07T23:36:46.608Z,1749339406.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534839
2025-06-07T23:36:46.860Z,1749339406.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786822
2025-06-07T23:36:47.112Z,1749339407.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038753
2025-06-07T23:36:47.364Z,1749339407.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290767
2025-06-07T23:36:47.617Z,1749339407.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543173
2025-06-07T23:36:47.868Z,1749339407.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795101
2025-06-07T23:36:48.120Z,1749339408.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046740
2025-06-07T23:36:48.372Z,1749339408.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298758
2025-06-07T23:36:48.610Z,1749339408.610 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,    ,     +6120.12,      -62.85,  79.27,  0.00
2025-06-07T23:36:48.624Z,1749339408.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550867
2025-06-07T23:36:48.876Z,1749339408.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802757
2025-06-07T23:36:49.128Z,1749339409.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054809
2025-06-07T23:36:49.380Z,1749339409.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306723
2025-06-07T23:36:49.632Z,1749339409.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558747
2025-06-07T23:36:49.885Z,1749339409.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811138
2025-06-07T23:36:50.136Z,1749339410.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062727
2025-06-07T23:36:50.388Z,1749339410.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314721
2025-06-07T23:36:50.640Z,1749339410.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566919
2025-06-07T23:36:50.892Z,1749339410.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818723
2025-06-07T23:36:51.144Z,1749339411.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070760
2025-06-07T23:36:51.397Z,1749339411.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323248
2025-06-07T23:36:51.648Z,1749339411.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574877
2025-06-07T23:36:51.900Z,1749339411.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826651
2025-06-07T23:36:52.152Z,1749339412.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078819
2025-06-07T23:36:52.407Z,1749339412.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333069
2025-06-07T23:36:52.656Z,1749339412.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582872
2025-06-07T23:36:52.908Z,1749339412.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834808
2025-06-07T23:36:53.160Z,1749339413.160 [DAT](INFO): Reached modem response timeout
2025-06-07T23:36:53.916Z,1749339413.916 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:36:53.916Z,1749339413.916 [DAT](INFO): response not received
2025-06-07T23:36:53.917Z,1749339413.917 [DAT](ERROR): No response from remote modem.
2025-06-07T23:36:58.710Z,1749339418.710 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  -233, -194,A
2025-06-07T23:37:07.416Z,1749339427.416 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.867413
2025-06-07T23:37:08.421Z,1749339428.421 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:37:29.492Z,1749339449.492 [Radio_Surface](INFO): Powering down
2025-06-07T23:37:38.540Z,1749339458.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:37:39.544Z,1749339459.544 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-07T23:37:39.545Z,1749339459.545 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:37:42.756Z,1749339462.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:37:42.850Z,1749339462.850 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:37:42.850Z,1749339462.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:37:43.100Z,1749339463.100 [DAT](INFO): DAT read: user:1801>

2025-06-07T23:37:43.101Z,1749339463.101 [DAT](INFO): DAT read: Tx time:23:37:42.7154

2025-06-07T23:37:43.101Z,1749339463.101 [DAT](INFO): Ping request sent.
2025-06-07T23:37:43.101Z,1749339463.101 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:37:43.102Z,1749339463.102 [DAT](INFO): DAT read: TxSync time:23:37:42.7146

2025-06-07T23:37:43.102Z,1749339463.102 [DAT](INFO): publishing transmit ping time
2025-06-07T23:37:43.103Z,1749339463.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001558
2025-06-07T23:37:43.352Z,1749339463.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250653
2025-06-07T23:37:43.604Z,1749339463.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502824
2025-06-07T23:37:43.856Z,1749339463.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754615
2025-06-07T23:37:44.108Z,1749339464.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006692
2025-06-07T23:37:44.363Z,1749339464.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261509
2025-06-07T23:37:44.616Z,1749339464.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514646
2025-06-07T23:37:44.868Z,1749339464.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766708
2025-06-07T23:37:45.120Z,1749339465.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018745
2025-06-07T23:37:45.372Z,1749339465.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270732
2025-06-07T23:37:45.624Z,1749339465.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522848
2025-06-07T23:37:45.876Z,1749339465.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774772
2025-06-07T23:37:46.129Z,1749339466.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027257
2025-06-07T23:37:46.383Z,1749339466.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281563
2025-06-07T23:37:46.636Z,1749339466.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534753
2025-06-07T23:37:46.888Z,1749339466.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786671
2025-06-07T23:37:47.152Z,1749339467.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.050948
2025-06-07T23:37:47.392Z,1749339467.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290755
2025-06-07T23:37:47.644Z,1749339467.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542772
2025-06-07T23:37:47.896Z,1749339467.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794690
2025-06-07T23:37:48.148Z,1749339468.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046726
2025-06-07T23:37:48.402Z,1749339468.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300669
2025-06-07T23:37:48.652Z,1749339468.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550703
2025-06-07T23:37:48.904Z,1749339468.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802778
2025-06-07T23:37:49.156Z,1749339469.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054670
2025-06-07T23:37:49.408Z,1749339469.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306634
2025-06-07T23:37:49.661Z,1749339469.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559257
2025-06-07T23:37:49.912Z,1749339469.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810688
2025-06-07T23:37:50.164Z,1749339470.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062681
2025-06-07T23:37:50.421Z,1749339470.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317178
2025-06-07T23:37:50.668Z,1749339470.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566623
2025-06-07T23:37:50.920Z,1749339470.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818675
2025-06-07T23:37:51.172Z,1749339471.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070741
2025-06-07T23:37:51.424Z,1749339471.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322672
2025-06-07T23:37:51.677Z,1749339471.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575406
2025-06-07T23:37:51.928Z,1749339471.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826726
2025-06-07T23:37:52.180Z,1749339472.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078724
2025-06-07T23:37:52.435Z,1749339472.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332826
2025-06-07T23:37:52.684Z,1749339472.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582771
2025-06-07T23:37:52.937Z,1749339472.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835165
2025-06-07T23:37:53.188Z,1749339473.188 [DAT](INFO): Reached modem response timeout
2025-06-07T23:37:53.944Z,1749339473.944 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:37:53.944Z,1749339473.944 [DAT](INFO): response not received
2025-06-07T23:37:53.945Z,1749339473.945 [DAT](ERROR): No response from remote modem.
2025-06-07T23:38:09.683Z,1749339489.683 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:38:10.688Z,1749339490.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:38:40.808Z,1749339520.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:38:41.812Z,1749339521.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:38:42.944Z,1749339522.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:38:43.168Z,1749339523.168 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:38:43.168Z,1749339523.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:38:43.420Z,1749339523.420 [DAT](INFO): DAT read: user:1802>

2025-06-07T23:38:43.421Z,1749339523.421 [DAT](INFO): DAT read: Tx time:23:38:43.0661

2025-06-07T23:38:43.421Z,1749339523.421 [DAT](INFO): Ping request sent.
2025-06-07T23:38:43.421Z,1749339523.421 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:38:43.421Z,1749339523.421 [DAT](INFO): publishing transmit ping time
2025-06-07T23:38:43.422Z,1749339523.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-06-07T23:38:43.672Z,1749339523.672 [DAT](INFO): DAT read: TxSync time:23:38:43.0653

2025-06-07T23:38:43.673Z,1749339523.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251654
2025-06-07T23:38:43.928Z,1749339523.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506172
2025-06-07T23:38:44.176Z,1749339524.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754906
2025-06-07T23:38:44.428Z,1749339524.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006762
2025-06-07T23:38:44.680Z,1749339524.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258893
2025-06-07T23:38:44.932Z,1749339524.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510916
2025-06-07T23:38:45.184Z,1749339525.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762715
2025-06-07T23:38:45.436Z,1749339525.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014755
2025-06-07T23:38:45.688Z,1749339525.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827
2025-06-07T23:38:45.940Z,1749339525.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518926
2025-06-07T23:38:46.205Z,1749339526.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784028
2025-06-07T23:38:46.456Z,1749339526.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034826
2025-06-07T23:38:46.708Z,1749339526.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286715
2025-06-07T23:38:46.960Z,1749339526.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539096
2025-06-07T23:38:47.212Z,1749339527.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790999
2025-06-07T23:38:47.464Z,1749339527.464 [DAT](INFO): DAT read: Rx Time:23:38:46.5811

2025-06-07T23:38:47.465Z,1749339527.465 [DAT](INFO): Rx dataTimestamp_ set to:1749339527.464355
2025-06-07T23:38:47.465Z,1749339527.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043866
2025-06-07T23:38:47.716Z,1749339527.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294777
2025-06-07T23:38:47.977Z,1749339527.977 [DAT](INFO): DAT read: 23:38:46.5811 LVL= 20880, 32753, 24034, 29011, AGC= 81, IDX= 378, 0.41,-1.898,-3.125, 2.700, 2.771, PHS= 1.702, 0.434,-0.074, RAW=  73.9, -24.7, CAL=  88.3, -31.7, ROT=  61.7,  31.7

2025-06-07T23:38:47.979Z,1749339527.979 [DAT](INFO): got valid direction response:
 23:38:46.5811 LVL= 20880, 32753, 24034, 29011, AGC= 81, IDX= 378, 0.41,-1.898,-3.125, 2.700, 2.771, PHS= 1.702, 0.434,-0.074, RAW=  73.9, -24.7, CAL=  88.3, -31.7, ROT=  61.7,  31.7

2025-06-07T23:38:47.980Z,1749339527.980 [DAT](INFO): DAT read: Bearing  61.7,  31.7 (Local)

2025-06-07T23:38:47.981Z,1749339527.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.7,  31.7 (Local)

2025-06-07T23:38:47.983Z,1749339527.983 [DAT](INFO): DAT read: Range 10 to 50 : 833.1 m  (Round-trip  1110.8 ms) speed  0.4 m/s

2025-06-07T23:38:47.984Z,1749339527.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:38:47.986Z,1749339527.986 [DAT](INFO): direction in FSK: [0.403359,0.749120,-0.525472]
2025-06-07T23:38:47.986Z,1749339527.986 [DAT](INFO): publishing direction and range info
2025-06-07T23:39:11.937Z,1749339551.937 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:39:12.941Z,1749339552.941 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:39:19.698Z,1749339559.698 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-07T23:39:19.699Z,1749339559.699 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-07T23:39:19.699Z,1749339559.699 [lineCaptureHoming:InitialDive] Stopped
2025-06-07T23:39:19.700Z,1749339559.700 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-07T23:39:19.700Z,1749339559.700 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-07T23:39:19.700Z,1749339559.700 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-07T23:39:19.700Z,1749339559.700 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-07T23:39:19.700Z,1749339559.700 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-07T23:39:19.700Z,1749339559.700 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-07T23:39:19.700Z,1749339559.700 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-07T23:39:19.700Z,1749339559.700 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-07T23:39:20.132Z,1749339560.132 [lineCaptureHoming:RepeatHack] Stopped
2025-06-07T23:39:20.132Z,1749339560.132 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-07T23:39:20.132Z,1749339560.132 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-07T23:39:20.132Z,1749339560.132 [lineCaptureHoming:Lap] Running Loop=1
2025-06-07T23:39:20.132Z,1749339560.132 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-07T23:39:20.132Z,1749339560.132 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-07T23:39:20.507Z,1749339560.507 [lineCaptureHoming:Lap:A] Stopped
2025-06-07T23:39:20.507Z,1749339560.507 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-07T23:39:20.507Z,1749339560.507 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-07T23:39:20.904Z,1749339560.904 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-07T23:39:20.904Z,1749339560.904 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-07T23:39:20.904Z,1749339560.904 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-07T23:39:20.904Z,1749339560.904 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-07T23:39:20.904Z,1749339560.904 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-07T23:39:20.904Z,1749339560.904 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-07T23:39:20.905Z,1749339560.905 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-07T23:39:20.906Z,1749339560.906 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-07T23:39:20.906Z,1749339560.906 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-07T23:39:20.906Z,1749339560.906 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-07T23:39:20.906Z,1749339560.906 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-07T23:39:20.906Z,1749339560.906 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-07T23:39:20.906Z,1749339560.906 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-07T23:39:20.906Z,1749339560.906 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-07T23:39:20.907Z,1749339560.907 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-07T23:39:20.907Z,1749339560.907 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-07T23:39:20.912Z,1749339560.912 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-07T23:39:20.912Z,1749339560.912 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-07T23:39:20.912Z,1749339560.912 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-07T23:39:20.913Z,1749339560.913 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-07T23:39:20.913Z,1749339560.913 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-07T23:39:20.913Z,1749339560.913 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-07T23:39:20.913Z,1749339560.913 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-07T23:39:20.914Z,1749339560.914 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-07T23:39:20.914Z,1749339560.914 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-07T23:39:21.333Z,1749339561.333 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-07T23:39:21.333Z,1749339561.333 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-07T23:39:21.736Z,1749339561.736 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-07T23:39:21.736Z,1749339561.736 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-07T23:39:22.162Z,1749339562.162 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-07T23:39:22.162Z,1749339562.162 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-07T23:39:22.524Z,1749339562.524 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-07T23:39:22.524Z,1749339562.524 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-07T23:39:22.524Z,1749339562.524 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-07T23:39:22.524Z,1749339562.524 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-07T23:39:22.524Z,1749339562.524 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-07T23:39:22.524Z,1749339562.524 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-07T23:39:22.525Z,1749339562.525 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-07T23:39:22.525Z,1749339562.525 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-07T23:39:22.525Z,1749339562.525 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-07T23:39:22.525Z,1749339562.525 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-07T23:39:22.525Z,1749339562.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-07T23:39:22.525Z,1749339562.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-07T23:39:22.525Z,1749339562.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-07T23:39:22.526Z,1749339562.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-07T23:39:22.527Z,1749339562.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-07T23:39:22.527Z,1749339562.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-07T23:39:22.527Z,1749339562.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-07T23:39:22.527Z,1749339562.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-07T23:39:22.527Z,1749339562.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-07T23:39:22.527Z,1749339562.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-07T23:39:22.527Z,1749339562.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-07T23:39:22.528Z,1749339562.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-07T23:39:22.528Z,1749339562.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-07T23:39:22.528Z,1749339562.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-07T23:39:22.528Z,1749339562.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-07T23:39:22.528Z,1749339562.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-07T23:39:22.958Z,1749339562.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-07T23:39:22.958Z,1749339562.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-07T23:39:22.958Z,1749339562.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-07T23:39:22.958Z,1749339562.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-07T23:39:22.958Z,1749339562.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-07T23:39:22.958Z,1749339562.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-07T23:39:22.958Z,1749339562.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-07T23:39:22.958Z,1749339562.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-07T23:39:22.959Z,1749339562.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-07T23:39:22.959Z,1749339562.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-07T23:39:22.959Z,1749339562.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-07T23:39:22.963Z,1749339562.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-07T23:39:22.963Z,1749339562.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-07T23:39:22.963Z,1749339562.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-07T23:39:22.963Z,1749339562.963 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-07T23:39:22.963Z,1749339562.963 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-07T23:39:22.964Z,1749339562.964 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-07T23:39:22.964Z,1749339562.964 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-07T23:39:22.964Z,1749339562.964 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-07T23:39:22.964Z,1749339562.964 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-07T23:39:22.964Z,1749339562.964 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-07T23:39:22.964Z,1749339562.964 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-07T23:39:22.964Z,1749339562.964 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-07T23:39:22.965Z,1749339562.965 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-07T23:39:22.965Z,1749339562.965 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-07T23:39:22.966Z,1749339562.966 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.423187 m.
2025-06-07T23:39:22.993Z,1749339562.993 [DockingStepper](INFO): Resume
2025-06-07T23:39:23.380Z,1749339563.380 [DockingStepper](INFO): Resuming
2025-06-07T23:39:23.888Z,1749339563.888 [DockingStepper](INFO): Start
2025-06-07T23:39:23.888Z,1749339563.888 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-07T23:39:24.008Z,1749339564.008 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-07T23:39:24.372Z,1749339564.372 [DockingStepper](INFO): Starting
2025-06-07T23:39:24.640Z,1749339564.640 [DockingStepper](INFO): Starting
2025-06-07T23:39:25.043Z,1749339565.043 [DockingStepper](INFO): Starting
2025-06-07T23:39:25.092Z,1749339565.092 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-07T23:39:25.592Z,1749339565.592 [DockingStepper](INFO): Starting
2025-06-07T23:39:25.936Z,1749339565.936 [DockingStepper](INFO): Starting
2025-06-07T23:39:26.296Z,1749339566.296 [DockingStepper](INFO): Starting
2025-06-07T23:39:26.644Z,1749339566.644 [DockingStepper](INFO): Starting
2025-06-07T23:39:26.668Z,1749339566.668 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-07T23:39:27.048Z,1749339567.048 [DockingStepper](INFO): Starting
2025-06-07T23:39:27.433Z,1749339567.433 [DockingStepper](INFO): Changing to mode: 3
2025-06-07T23:39:27.433Z,1749339567.433 [DockingStepper](INFO): Detach mode.
2025-06-07T23:39:27.495Z,1749339567.495 [DockingStepper](INFO): Commanding negative:54599
2025-06-07T23:39:33.454Z,1749339573.454 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-07T23:39:43.076Z,1749339583.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:39:43.133Z,1749339583.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:39:43.172Z,1749339583.172 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:39:43.173Z,1749339583.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:39:43.426Z,1749339583.426 [DAT](INFO): DAT read: user:1803>

2025-06-07T23:39:43.428Z,1749339583.428 [DAT](INFO): DAT read: Tx time:23:39:43.0667

2025-06-07T23:39:43.429Z,1749339583.429 [DAT](INFO): Ping request sent.
2025-06-07T23:39:43.430Z,1749339583.430 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:39:43.431Z,1749339583.431 [DAT](INFO): publishing transmit ping time
2025-06-07T23:39:43.433Z,1749339583.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002953
2025-06-07T23:39:43.676Z,1749339583.676 [DAT](INFO): DAT read: TxSync time:23:39:43.0660

2025-06-07T23:39:43.677Z,1749339583.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247732
2025-06-07T23:39:43.928Z,1749339583.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498702
2025-06-07T23:39:44.081Z,1749339584.081 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:39:44.180Z,1749339584.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750757
2025-06-07T23:39:44.437Z,1749339584.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005312
2025-06-07T23:39:44.684Z,1749339584.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254812
2025-06-07T23:39:44.936Z,1749339584.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506903
2025-06-07T23:39:45.188Z,1749339585.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758848
2025-06-07T23:39:45.443Z,1749339585.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012618
2025-06-07T23:39:45.692Z,1749339585.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262716
2025-06-07T23:39:45.944Z,1749339585.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514889
2025-06-07T23:39:46.196Z,1749339586.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766796
2025-06-07T23:39:46.451Z,1749339586.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021175
2025-06-07T23:39:46.700Z,1749339586.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270765
2025-06-07T23:39:46.953Z,1749339586.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523274
2025-06-07T23:39:47.205Z,1749339587.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775316
2025-06-07T23:39:47.459Z,1749339587.459 [DAT](INFO): DAT read: Rx Time:23:39:46.5539

2025-06-07T23:39:47.460Z,1749339587.460 [DAT](INFO): Rx dataTimestamp_ set to:1749339587.459197
2025-06-07T23:39:47.462Z,1749339587.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031983
2025-06-07T23:39:47.708Z,1749339587.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278787
2025-06-07T23:39:47.968Z,1749339587.968 [DAT](INFO): DAT read: 23:39:46.5539 LVL= 16752, 17777, 16562, 14691, AGC= 66, IDX= 158, 0.13, 1.002,-0.926,-0.105, 0.281, PHS= 0.808,-1.160,-0.389, RAW= 112.9,   8.7, CAL= 122.4,   5.7, ROT=  27.6,  -5.7

2025-06-07T23:39:47.969Z,1749339587.969 [DAT](INFO): got valid direction response:
 23:39:46.5539 LVL= 16752, 17777, 16562, 14691, AGC= 66, IDX= 158, 0.13, 1.002,-0.926,-0.105, 0.281, PHS= 0.808,-1.160,-0.389, RAW= 112.9,   8.7, CAL= 122.4,   5.7, ROT=  27.6,  -5.7

2025-06-07T23:39:47.970Z,1749339587.970 [DAT](INFO): DAT read: Bearing  27.6,  -5.7 (Local)

2025-06-07T23:39:47.971Z,1749339587.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.6,  -5.7 (Local)

2025-06-07T23:39:47.973Z,1749339587.973 [DAT](INFO): DAT read: Range 10 to 50 : 812.2 m  (Round-trip  1083.0 ms) speed  0.2 m/s

2025-06-07T23:39:47.974Z,1749339587.974 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:39:47.979Z,1749339587.979 [DAT](INFO): direction in FSK: [0.881822,0.461005,0.099320]
2025-06-07T23:39:47.980Z,1749339587.980 [DAT](INFO): publishing direction and range info
2025-06-07T23:39:53.806Z,1749339593.806 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 812.20 m. Transitioning docking module to standby.
2025-06-07T23:39:54.085Z,1749339594.085 [DockingStepper](INFO): Changing to mode: 1
2025-06-07T23:39:54.085Z,1749339594.085 [DockingStepper](INFO): Standby mode.
2025-06-07T23:39:54.148Z,1749339594.148 [DockingStepper](INFO): Commanding positive:54488
2025-06-07T23:40:00.096Z,1749339600.096 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-07T23:40:00.496Z,1749339600.496 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-07T23:40:00.497Z,1749339600.497 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-07T23:40:00.497Z,1749339600.497 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-07T23:40:00.930Z,1749339600.930 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-07T23:40:00.930Z,1749339600.930 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-07T23:40:00.930Z,1749339600.930 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-07T23:40:00.973Z,1749339600.973 [DockingStepper](INFO): Pause
2025-06-07T23:40:01.303Z,1749339601.303 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-07T23:40:01.303Z,1749339601.303 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-07T23:40:01.303Z,1749339601.303 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-07T23:40:01.303Z,1749339601.303 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-07T23:40:01.303Z,1749339601.303 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-07T23:40:01.762Z,1749339601.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-07T23:40:01.762Z,1749339601.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-07T23:40:01.762Z,1749339601.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-07T23:40:01.762Z,1749339601.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-07T23:40:01.762Z,1749339601.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-07T23:40:01.762Z,1749339601.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-07T23:40:01.762Z,1749339601.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-07T23:40:01.762Z,1749339601.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-07T23:40:01.763Z,1749339601.763 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-07T23:40:01.763Z,1749339601.763 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-07T23:40:01.763Z,1749339601.763 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-07T23:40:01.763Z,1749339601.763 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-07T23:40:01.765Z,1749339601.765 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-07T23:40:01.765Z,1749339601.765 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-07T23:40:01.765Z,1749339601.765 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-07T23:40:01.765Z,1749339601.765 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-07T23:40:01.766Z,1749339601.766 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-07T23:40:02.118Z,1749339602.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-07T23:40:14.200Z,1749339614.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:40:15.204Z,1749339615.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:40:43.153Z,1749339643.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:40:43.197Z,1749339643.197 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:40:43.197Z,1749339643.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:40:43.448Z,1749339643.448 [DAT](INFO): DAT read: user:1804>

2025-06-07T23:40:43.449Z,1749339643.449 [DAT](INFO): DAT read: Tx time:23:40:43.1173

2025-06-07T23:40:43.449Z,1749339643.449 [DAT](INFO): Ping request sent.
2025-06-07T23:40:43.449Z,1749339643.449 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:40:43.449Z,1749339643.449 [DAT](INFO): publishing transmit ping time
2025-06-07T23:40:43.450Z,1749339643.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-06-07T23:40:43.700Z,1749339643.700 [DAT](INFO): DAT read: TxSync time:23:40:43.1166

2025-06-07T23:40:43.701Z,1749339643.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251789
2025-06-07T23:40:43.957Z,1749339643.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507276
2025-06-07T23:40:44.208Z,1749339644.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758929
2025-06-07T23:40:44.460Z,1749339644.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010973
2025-06-07T23:40:44.712Z,1749339644.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262954
2025-06-07T23:40:44.966Z,1749339644.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516567
2025-06-07T23:40:45.216Z,1749339645.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766904
2025-06-07T23:40:45.325Z,1749339645.325 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:40:45.468Z,1749339645.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018888
2025-06-07T23:40:45.720Z,1749339645.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270829
2025-06-07T23:40:45.973Z,1749339645.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523698
2025-06-07T23:40:46.224Z,1749339646.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774757
2025-06-07T23:40:46.332Z,1749339646.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:40:46.477Z,1749339646.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027283
2025-06-07T23:40:46.729Z,1749339646.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279351
2025-06-07T23:40:46.981Z,1749339646.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531197
2025-06-07T23:40:47.232Z,1749339647.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782953
2025-06-07T23:40:47.484Z,1749339647.484 [DAT](INFO): DAT read: Rx Time:23:40:46.5701

2025-06-07T23:40:47.485Z,1749339647.485 [DAT](INFO): Rx dataTimestamp_ set to:1749339647.484397
2025-06-07T23:40:47.485Z,1749339647.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035956
2025-06-07T23:40:47.736Z,1749339647.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286825
2025-06-07T23:40:47.994Z,1749339647.994 [DAT](INFO): DAT read: 23:40:46.5702 LVL= 29760, 31345, 26722, 32755, AGC= 85, IDX=  94, 0.03,-0.128,-1.328, 0.360,-0.434, PHS= 0.394,-0.847, 0.791, RAW= 163.4,  -4.6, CAL= 166.5, -12.2, ROT= 343.5,  12.2

2025-06-07T23:40:47.995Z,1749339647.995 [DAT](INFO): got valid direction response:
 23:40:46.5702 LVL= 29760, 31345, 26722, 32755, AGC= 85, IDX=  94, 0.03,-0.128,-1.328, 0.360,-0.434, PHS= 0.394,-0.847, 0.791, RAW= 163.4,  -4.6, CAL= 166.5, -12.2, ROT= 343.5,  12.2

2025-06-07T23:40:48.004Z,1749339648.004 [DAT](INFO): DAT read: Bearing 343.5,  12.2 (Local)

2025-06-07T23:40:48.004Z,1749339648.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.5,  12.2 (Local)

2025-06-07T23:40:48.006Z,1749339648.006 [DAT](INFO): DAT read: Range 10 to 50 : 786.4 m  (Round-trip  1048.6 ms) speed  0.8 m/s

2025-06-07T23:40:48.006Z,1749339648.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:40:48.007Z,1749339648.007 [DAT](INFO): direction in FSK: [0.937166,-0.277601,-0.211325]
2025-06-07T23:40:48.008Z,1749339648.008 [DAT](INFO): publishing direction and range info
2025-06-07T23:41:13.052Z,1749339673.052 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 163
Device respsone is::TS,25060715422991,35.0, +11.9,   -41.33,  20.00,163.41
2025-06-07T23:41:16.456Z,1749339676.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:41:17.472Z,1749339677.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:41:17.886Z,1749339677.886 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-06-07T23:41:43.376Z,1749339703.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:41:43.492Z,1749339703.492 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:41:43.492Z,1749339703.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:41:43.744Z,1749339703.744 [DAT](INFO): DAT read: user:1805>

2025-06-07T23:41:43.745Z,1749339703.745 [DAT](INFO): DAT read: Tx time:23:41:43.3680

2025-06-07T23:41:43.745Z,1749339703.745 [DAT](INFO): Ping request sent.
2025-06-07T23:41:43.745Z,1749339703.745 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:41:43.746Z,1749339703.746 [DAT](INFO): DAT read: TxSync time:23:41:43.3672

2025-06-07T23:41:43.746Z,1749339703.746 [DAT](INFO): publishing transmit ping time
2025-06-07T23:41:43.747Z,1749339703.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001538
2025-06-07T23:41:43.998Z,1749339703.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253035
2025-06-07T23:41:44.248Z,1749339704.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502979
2025-06-07T23:41:44.500Z,1749339704.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768
2025-06-07T23:41:44.752Z,1749339704.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006880
2025-06-07T23:41:45.004Z,1749339705.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259005
2025-06-07T23:41:45.257Z,1749339705.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511123
2025-06-07T23:41:45.508Z,1749339705.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762831
2025-06-07T23:41:45.760Z,1749339705.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014895
2025-06-07T23:41:46.012Z,1749339706.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266872
2025-06-07T23:41:46.264Z,1749339706.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518957
2025-06-07T23:41:46.516Z,1749339706.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771144
2025-06-07T23:41:46.768Z,1749339706.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022858
2025-06-07T23:41:47.021Z,1749339707.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275251
2025-06-07T23:41:47.283Z,1749339707.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529307
2025-06-07T23:41:47.524Z,1749339707.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779172
2025-06-07T23:41:47.591Z,1749339707.591 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:41:47.776Z,1749339707.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030764
2025-06-07T23:41:48.028Z,1749339708.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282909
2025-06-07T23:41:48.282Z,1749339708.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536986
2025-06-07T23:41:48.532Z,1749339708.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786898
2025-06-07T23:41:48.604Z,1749339708.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:41:48.784Z,1749339708.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038910
2025-06-07T23:41:49.036Z,1749339709.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290963
2025-06-07T23:41:49.291Z,1749339709.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545243
2025-06-07T23:41:49.540Z,1749339709.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794884
2025-06-07T23:41:49.792Z,1749339709.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046908
2025-06-07T23:41:50.044Z,1749339710.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298821
2025-06-07T23:41:50.299Z,1749339710.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553170
2025-06-07T23:41:50.548Z,1749339710.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802836
2025-06-07T23:41:50.800Z,1749339710.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054893
2025-06-07T23:41:51.060Z,1749339711.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314976
2025-06-07T23:41:51.315Z,1749339711.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.568859
2025-06-07T23:41:51.564Z,1749339711.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818874
2025-06-07T23:41:51.816Z,1749339711.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070819
2025-06-07T23:41:52.068Z,1749339712.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322855
2025-06-07T23:41:52.324Z,1749339712.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577499
2025-06-07T23:41:52.572Z,1749339712.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826960
2025-06-07T23:41:52.824Z,1749339712.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078838
2025-06-07T23:41:53.078Z,1749339713.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332460
2025-06-07T23:41:53.331Z,1749339713.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585322
2025-06-07T23:41:53.580Z,1749339713.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834860
2025-06-07T23:41:53.832Z,1749339713.832 [DAT](INFO): Reached modem response timeout
2025-06-07T23:41:54.588Z,1749339714.588 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:41:54.588Z,1749339714.588 [DAT](INFO): response not received
2025-06-07T23:41:54.589Z,1749339714.589 [DAT](ERROR): No response from remote modem.
2025-06-07T23:42:18.725Z,1749339738.725 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:42:18.903Z,1749339738.903 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  727,   -15,A
2025-06-07T23:42:19.729Z,1749339739.729 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:42:43.544Z,1749339763.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:42:43.764Z,1749339763.764 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:42:43.764Z,1749339763.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:42:44.020Z,1749339764.020 [DAT](INFO): DAT read: user:1806>

2025-06-07T23:42:44.021Z,1749339764.021 [DAT](INFO): DAT read: Tx time:23:42:43.6686

2025-06-07T23:42:44.022Z,1749339764.022 [DAT](INFO): Ping request sent.
2025-06-07T23:42:44.022Z,1749339764.022 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:42:44.022Z,1749339764.022 [DAT](INFO): publishing transmit ping time
2025-06-07T23:42:44.023Z,1749339764.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001051
2025-06-07T23:42:44.272Z,1749339764.272 [DAT](INFO): DAT read: TxSync time:23:42:43.6678

2025-06-07T23:42:44.273Z,1749339764.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251172
2025-06-07T23:42:44.524Z,1749339764.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502175
2025-06-07T23:42:44.776Z,1749339764.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754322
2025-06-07T23:42:45.028Z,1749339765.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006265
2025-06-07T23:42:45.280Z,1749339765.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258177
2025-06-07T23:42:45.544Z,1749339765.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522043
2025-06-07T23:42:45.784Z,1749339765.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762218
2025-06-07T23:42:46.036Z,1749339766.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014244
2025-06-07T23:42:46.288Z,1749339766.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266060
2025-06-07T23:42:46.540Z,1749339766.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518232
2025-06-07T23:42:46.793Z,1749339766.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770762
2025-06-07T23:42:47.044Z,1749339767.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022134
2025-06-07T23:42:47.296Z,1749339767.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274249
2025-06-07T23:42:47.559Z,1749339767.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528478
2025-06-07T23:42:47.800Z,1749339767.800 [DAT](INFO): DAT read: Rx Time:23:42:47.0035

2025-06-07T23:42:47.801Z,1749339767.801 [DAT](INFO): Rx dataTimestamp_ set to:1749339767.800352
2025-06-07T23:42:47.801Z,1749339767.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779276
2025-06-07T23:42:48.052Z,1749339768.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030370
2025-06-07T23:42:48.310Z,1749339768.310 [DAT](INFO): DAT read: 23:42:47.0035 LVL= 25840, 27697, 31298, 32755, AGC= 81, IDX= 263, 0.01, 1.400, 0.078, 1.331, 0.774, PHS= 0.714,-0.650, 0.554, RAW= 143.8,  -9.6, CAL= 150.6, -18.7, ROT= 359.4,  18.7

2025-06-07T23:42:48.311Z,1749339768.311 [DAT](INFO): got valid direction response:
 23:42:47.0035 LVL= 25840, 27697, 31298, 32755, AGC= 81, IDX= 263, 0.01, 1.400, 0.078, 1.331, 0.774, PHS= 0.714,-0.650, 0.554, RAW= 143.8,  -9.6, CAL= 150.6, -18.7, ROT= 359.4,  18.7

2025-06-07T23:42:48.312Z,1749339768.312 [DAT](INFO): DAT read: Bearing 359.4,  18.7 (Local)

2025-06-07T23:42:48.313Z,1749339768.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  18.7 (Local)

2025-06-07T23:42:48.314Z,1749339768.314 [DAT](INFO): DAT read: Range 10 to 50 : 697.9 m  (Round-trip  930.6 ms) speed  0.7 m/s

2025-06-07T23:42:48.314Z,1749339768.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:42:48.316Z,1749339768.316 [DAT](INFO): direction in FSK: [0.947158,-0.009919,-0.320613]
2025-06-07T23:42:48.316Z,1749339768.316 [DAT](INFO): publishing direction and range info
2025-06-07T23:42:49.852Z,1749339769.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:42:50.855Z,1749339770.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:43:20.976Z,1749339800.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:43:21.980Z,1749339801.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:43:43.761Z,1749339823.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:43:43.768Z,1749339823.768 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:43:43.768Z,1749339823.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:43:44.020Z,1749339824.020 [DAT](INFO): DAT read: user:1807>

2025-06-07T23:43:44.021Z,1749339824.021 [DAT](INFO): DAT read: Tx time:23:43:43.6693

2025-06-07T23:43:44.021Z,1749339824.021 [DAT](INFO): Ping request sent.
2025-06-07T23:43:44.021Z,1749339824.021 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:43:44.021Z,1749339824.021 [DAT](INFO): publishing transmit ping time
2025-06-07T23:43:44.022Z,1749339824.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-06-07T23:43:44.272Z,1749339824.272 [DAT](INFO): DAT read: TxSync time:23:43:43.6685

2025-06-07T23:43:44.273Z,1749339824.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251757
2025-06-07T23:43:44.528Z,1749339824.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507116
2025-06-07T23:43:44.780Z,1749339824.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758924
2025-06-07T23:43:45.032Z,1749339825.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010973
2025-06-07T23:43:45.284Z,1749339825.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262817
2025-06-07T23:43:45.536Z,1749339825.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514899
2025-06-07T23:43:45.790Z,1749339825.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769146
2025-06-07T23:43:46.040Z,1749339826.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018891
2025-06-07T23:43:46.292Z,1749339826.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270922
2025-06-07T23:43:46.552Z,1749339826.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530980
2025-06-07T23:43:46.804Z,1749339826.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782818
2025-06-07T23:43:47.057Z,1749339827.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035270
2025-06-07T23:43:47.308Z,1749339827.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286820
2025-06-07T23:43:47.560Z,1749339827.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538912
2025-06-07T23:43:47.812Z,1749339827.812 [DAT](INFO): DAT read: Rx Time:23:43:46.9516

2025-06-07T23:43:47.813Z,1749339827.813 [DAT](INFO): Rx dataTimestamp_ set to:1749339827.812525
2025-06-07T23:43:47.813Z,1749339827.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792119
2025-06-07T23:43:48.064Z,1749339828.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042867
2025-06-07T23:43:48.322Z,1749339828.322 [DAT](INFO): DAT read: 23:43:46.9516 LVL= 27504, 32753, 27842, 32755, AGC= 77, IDX= 451,-0.25, 1.320,-0.264, 1.329, 0.636, PHS= 0.772,-0.852, 0.691, RAW= 147.5,  -7.8, CAL= 153.4, -16.3, ROT= 356.6,  16.3

2025-06-07T23:43:48.323Z,1749339828.323 [DAT](INFO): got valid direction response:
 23:43:46.9516 LVL= 27504, 32753, 27842, 32755, AGC= 77, IDX= 451,-0.25, 1.320,-0.264, 1.329, 0.636, PHS= 0.772,-0.852, 0.691, RAW= 147.5,  -7.8, CAL= 153.4, -16.3, ROT= 356.6,  16.3

2025-06-07T23:43:48.324Z,1749339828.324 [DAT](INFO): DAT read: Bearing 356.6,  16.3 (Local)

2025-06-07T23:43:48.324Z,1749339828.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  16.3 (Local)

2025-06-07T23:43:48.325Z,1749339828.325 [DAT](INFO): DAT read: Range 10 to 50 : 658.5 m  (Round-trip  878.1 ms) speed  0.6 m/s

2025-06-07T23:43:48.326Z,1749339828.326 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:43:48.327Z,1749339828.327 [DAT](INFO): direction in FSK: [0.958116,-0.056923,-0.280667]
2025-06-07T23:43:48.327Z,1749339828.327 [DAT](INFO): publishing direction and range info
2025-06-07T23:43:52.103Z,1749339832.103 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:43:53.105Z,1749339833.105 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:44:21.173Z,1749339861.173 [CTD_Seabird](ERROR): Failed to parse device response: 50.21,10.3675,3.757.29
2025-06-07T23:44:23.224Z,1749339863.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:44:24.228Z,1749339864.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:44:43.995Z,1749339883.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:44:44.036Z,1749339884.036 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:44:44.036Z,1749339884.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:44:44.290Z,1749339884.290 [DAT](INFO): DAT read: user:1808>

2025-06-07T23:44:44.292Z,1749339884.292 [DAT](INFO): DAT read: Tx time:23:44:43.9200

2025-06-07T23:44:44.293Z,1749339884.293 [DAT](INFO): Ping request sent.
2025-06-07T23:44:44.293Z,1749339884.293 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:44:44.294Z,1749339884.294 [DAT](INFO): DAT read: TxSync time:23:44:43.9192

2025-06-07T23:44:44.294Z,1749339884.294 [DAT](INFO): publishing transmit ping time
2025-06-07T23:44:44.295Z,1749339884.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001605
2025-06-07T23:44:44.540Z,1749339884.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247060
2025-06-07T23:44:44.795Z,1749339884.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501866
2025-06-07T23:44:45.044Z,1749339885.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751061
2025-06-07T23:44:45.296Z,1749339885.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003148
2025-06-07T23:44:45.548Z,1749339885.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254842
2025-06-07T23:44:45.800Z,1749339885.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506998
2025-06-07T23:44:46.053Z,1749339886.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759404
2025-06-07T23:44:46.304Z,1749339886.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010907
2025-06-07T23:44:46.556Z,1749339886.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263291
2025-06-07T23:44:46.808Z,1749339886.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515019
2025-06-07T23:44:47.060Z,1749339887.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766929
2025-06-07T23:44:47.312Z,1749339887.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019004
2025-06-07T23:44:47.564Z,1749339887.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271107
2025-06-07T23:44:47.816Z,1749339887.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522969
2025-06-07T23:44:48.068Z,1749339888.068 [DAT](INFO): DAT read: Rx Time:23:44:47.1392

2025-06-07T23:44:48.069Z,1749339888.069 [DAT](INFO): Rx dataTimestamp_ set to:1749339888.068439
2025-06-07T23:44:48.069Z,1749339888.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776164
2025-06-07T23:44:48.320Z,1749339888.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027005
2025-06-07T23:44:48.578Z,1749339888.578 [DAT](INFO): DAT read: 23:44:47.1392 LVL= 29152, 32753, 26242, 32755, AGC= 82, IDX= 362,-0.13,-2.412, 2.381,-2.389,-3.056, PHS= 0.732,-0.800, 0.664, RAW= 147.8,  -8.0, CAL= 153.7, -16.5, ROT= 356.3,  16.5

2025-06-07T23:44:48.582Z,1749339888.582 [DAT](INFO): got valid direction response:
 23:44:47.1392 LVL= 29152, 32753, 26242, 32755, AGC= 82, IDX= 362,-0.13,-2.412, 2.381,-2.389,-3.056, PHS= 0.732,-0.800, 0.664, RAW= 147.8,  -8.0, CAL= 153.7, -16.5, ROT= 356.3,  16.5

2025-06-07T23:44:48.596Z,1749339888.596 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:44:48.596Z,1749339888.596 [DAT](INFO): Received a bad header
2025-06-07T23:44:48.607Z,1749339888.607 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:44:48.608Z,1749339888.608 [DAT](INFO): direction in FSK: [0.956821,-0.061875,-0.284015]
2025-06-07T23:44:54.352Z,1749339894.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:44:54.368Z,1749339894.368 [DAT](INFO): Reached modem response timeout
2025-06-07T23:44:55.124Z,1749339895.124 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:44:55.124Z,1749339895.124 [DAT](INFO): response not received
2025-06-07T23:44:55.125Z,1749339895.125 [DAT](ERROR): No response from remote modem.
2025-06-07T23:44:55.355Z,1749339895.355 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:45:25.481Z,1749339925.481 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:45:26.484Z,1749339926.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:45:44.173Z,1749339944.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:45:44.300Z,1749339944.300 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:45:44.300Z,1749339944.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:45:44.552Z,1749339944.552 [DAT](INFO): DAT read: 

2025-06-07T23:45:44.553Z,1749339944.553 [DAT](INFO): DAT read: Tx time:23:45:44.2206

2025-06-07T23:45:44.553Z,1749339944.553 [DAT](INFO): Ping request sent.
2025-06-07T23:45:44.553Z,1749339944.553 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:45:44.553Z,1749339944.553 [DAT](INFO): publishing transmit ping time
2025-06-07T23:45:44.554Z,1749339944.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-06-07T23:45:44.804Z,1749339944.804 [DAT](INFO): DAT read: TxSync time:23:45:44.2198

2025-06-07T23:45:44.805Z,1749339944.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251827
2025-06-07T23:45:45.056Z,1749339945.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503012
2025-06-07T23:45:45.308Z,1749339945.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755012
2025-06-07T23:45:45.561Z,1749339945.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007413
2025-06-07T23:45:45.812Z,1749339945.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259264
2025-06-07T23:45:46.064Z,1749339946.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510992
2025-06-07T23:45:46.316Z,1749339946.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762953
2025-06-07T23:45:46.569Z,1749339946.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015547
2025-06-07T23:45:46.821Z,1749339946.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267736
2025-06-07T23:45:47.074Z,1749339947.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520924
2025-06-07T23:45:47.324Z,1749339947.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771202
2025-06-07T23:45:47.576Z,1749339947.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023020
2025-06-07T23:45:47.828Z,1749339947.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275076
2025-06-07T23:45:48.080Z,1749339948.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526886
2025-06-07T23:45:48.332Z,1749339948.332 [DAT](INFO): DAT read: Rx Time:23:45:47.3926

2025-06-07T23:45:48.333Z,1749339948.333 [DAT](INFO): Rx dataTimestamp_ set to:1749339948.332411
2025-06-07T23:45:48.333Z,1749339948.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780072
2025-06-07T23:45:48.584Z,1749339948.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030824
2025-06-07T23:45:48.841Z,1749339948.841 [DAT](INFO): DAT read: Range 10 to 50 : 575.8 m  (Round-trip  767.8 ms) speed  0.8 m/s

2025-06-07T23:45:48.843Z,1749339948.843 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:45:49.417Z,1749339949.417 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-07T23:45:49.417Z,1749339949.417 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-07T23:45:49.417Z,1749339949.417 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-07T23:45:49.419Z,1749339949.419 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 575.799988 m (mode  0.000000 count ).
2025-06-07T23:45:49.419Z,1749339949.419 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-07T23:45:49.419Z,1749339949.419 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-07T23:45:49.442Z,1749339949.442 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-07T23:45:49.442Z,1749339949.442 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-07T23:45:49.442Z,1749339949.442 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-07T23:45:49.443Z,1749339949.443 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 575.799988 m 
2025-06-07T23:45:49.443Z,1749339949.443 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-07T23:45:49.443Z,1749339949.443 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-07T23:45:49.916Z,1749339949.916 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-07T23:45:49.917Z,1749339949.917 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-07T23:45:49.917Z,1749339949.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:45:49.935Z,1749339949.935 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-07T23:45:49.935Z,1749339949.935 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-07T23:45:49.939Z,1749339949.939 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-07T23:45:49.939Z,1749339949.939 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-07T23:45:50.096Z,1749339950.096 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:50.096Z,1749339950.096 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:50.096Z,1749339950.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:45:50.286Z,1749339950.286 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-07T23:45:50.286Z,1749339950.286 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-07T23:45:50.286Z,1749339950.286 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-07T23:45:50.286Z,1749339950.286 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-07T23:45:50.286Z,1749339950.286 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-07T23:45:50.288Z,1749339950.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-07T23:45:50.289Z,1749339950.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-07T23:45:50.290Z,1749339950.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-07T23:45:50.290Z,1749339950.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-07T23:45:50.290Z,1749339950.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-07T23:45:50.290Z,1749339950.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-07T23:45:50.290Z,1749339950.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-07T23:45:50.290Z,1749339950.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-07T23:45:50.291Z,1749339950.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-07T23:45:50.291Z,1749339950.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-07T23:45:50.291Z,1749339950.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-07T23:45:50.291Z,1749339950.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-07T23:45:50.291Z,1749339950.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-07T23:45:50.291Z,1749339950.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-07T23:45:50.292Z,1749339950.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-07T23:45:50.292Z,1749339950.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-07T23:45:50.292Z,1749339950.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-07T23:45:50.293Z,1749339950.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-07T23:45:50.293Z,1749339950.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-07T23:45:50.293Z,1749339950.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-07T23:45:50.293Z,1749339950.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-07T23:45:50.294Z,1749339950.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-06-07T23:45:50.294Z,1749339950.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-07T23:45:50.294Z,1749339950.294 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-07T23:45:50.295Z,1749339950.295 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-07T23:45:50.295Z,1749339950.295 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-07T23:45:50.295Z,1749339950.295 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-07T23:45:50.295Z,1749339950.295 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-07T23:45:50.295Z,1749339950.295 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-07T23:45:50.295Z,1749339950.295 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-07T23:45:50.295Z,1749339950.295 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-07T23:45:50.295Z,1749339950.295 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-07T23:45:50.348Z,1749339950.348 [DAT](INFO): DAT read: user:1810>

2025-06-07T23:45:50.349Z,1749339950.349 [DAT](INFO): DAT read: Tx time:23:45:50.0207

2025-06-07T23:45:50.349Z,1749339950.349 [DAT](INFO): Ping request sent.
2025-06-07T23:45:50.349Z,1749339950.349 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:45:50.350Z,1749339950.350 [DAT](INFO): publishing transmit ping time
2025-06-07T23:45:50.350Z,1749339950.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-06-07T23:45:50.600Z,1749339950.600 [DAT](INFO): DAT read: TxSync time:23:45:50.0199

2025-06-07T23:45:50.601Z,1749339950.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251773
2025-06-07T23:45:50.663Z,1749339950.663 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-07T23:45:50.663Z,1749339950.663 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-07T23:45:50.663Z,1749339950.663 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-07T23:45:50.667Z,1749339950.667 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-07T23:45:50.670Z,1749339950.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 575.799988 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-07T23:45:50.677Z,1749339950.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 654.240784 m,
      bearing: 307.571974 deg,
      lat: 36.905593 deg,
      lon: -122.116094 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-07T23:45:50.678Z,1749339950.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:50.685Z,1749339950.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 542.728638 m,
      bearing: 307.488068 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 306.111566 deg,
      new cmd heading: 307.488068 deg.

2025-06-07T23:45:50.688Z,1749339950.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366679 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:50.708Z,1749339950.708 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-07T23:45:50.708Z,1749339950.708 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-07T23:45:50.724Z,1749339950.724 [DockingStepper](INFO): Resume
2025-06-07T23:45:50.855Z,1749339950.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504843
2025-06-07T23:45:51.075Z,1749339951.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:51.077Z,1749339951.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 542.431763 m,
      bearing: 307.488665 deg,
      approach rate: -0.733345 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.488068 deg,
      new cmd heading: 307.488665 deg.

2025-06-07T23:45:51.078Z,1749339951.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366690 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:51.104Z,1749339951.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875
2025-06-07T23:45:51.153Z,1749339951.153 [DockingStepper](INFO): Resuming
2025-06-07T23:45:51.356Z,1749339951.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006809
2025-06-07T23:45:51.458Z,1749339951.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:51.481Z,1749339951.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 542.155884 m,
      bearing: 307.489273 deg,
      approach rate: -0.719642 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.488669 deg,
      new cmd heading: 307.489273 deg.

2025-06-07T23:45:51.482Z,1749339951.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366700 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:51.608Z,1749339951.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258710
2025-06-07T23:45:51.672Z,1749339951.672 [DockingStepper](INFO): Start
2025-06-07T23:45:51.672Z,1749339951.672 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-07T23:45:51.788Z,1749339951.788 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-07T23:45:51.863Z,1749339951.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512860
2025-06-07T23:45:52.009Z,1749339952.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:45:52.015Z,1749339952.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:52.018Z,1749339952.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 541.776672 m,
      bearing: 307.491128 deg,
      approach rate: -0.685812 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.489270 deg,
      new cmd heading: 307.491128 deg.

2025-06-07T23:45:52.019Z,1749339952.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366733 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:52.112Z,1749339952.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762748
2025-06-07T23:45:52.200Z,1749339952.200 [DockingStepper](INFO): Starting
2025-06-07T23:45:52.364Z,1749339952.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014773
2025-06-07T23:45:52.376Z,1749339952.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:52.379Z,1749339952.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 541.506836 m,
      bearing: 307.492352 deg,
      approach rate: -0.738928 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.491128 deg,
      new cmd heading: 307.492352 deg.

2025-06-07T23:45:52.380Z,1749339952.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366754 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:52.512Z,1749339952.512 [DockingStepper](INFO): Starting
2025-06-07T23:45:52.616Z,1749339952.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266684
2025-06-07T23:45:52.765Z,1749339952.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:52.767Z,1749339952.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 541.232117 m,
      bearing: 307.493488 deg,
      approach rate: -0.707276 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.492357 deg,
      new cmd heading: 307.493488 deg.

2025-06-07T23:45:52.768Z,1749339952.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366774 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:52.798Z,1749339952.798 [DockingStepper](INFO): Starting
2025-06-07T23:45:52.854Z,1749339952.854 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-07T23:45:52.880Z,1749339952.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530001
2025-06-07T23:45:53.128Z,1749339953.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778717
2025-06-07T23:45:53.191Z,1749339953.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:53.193Z,1749339953.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 540.945496 m,
      bearing: 307.495480 deg,
      approach rate: -0.672420 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.493477 deg,
      new cmd heading: 307.495480 deg.

2025-06-07T23:45:53.194Z,1749339953.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366808 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:53.240Z,1749339953.240 [DockingStepper](INFO): Starting
2025-06-07T23:45:53.381Z,1749339953.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031730
2025-06-07T23:45:53.576Z,1749339953.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:53.579Z,1749339953.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 540.686218 m,
      bearing: 307.497190 deg,
      approach rate: -0.672363 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.495472 deg,
      new cmd heading: 307.497190 deg.

2025-06-07T23:45:53.580Z,1749339953.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366838 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:53.613Z,1749339953.613 [DockingStepper](INFO): Starting
2025-06-07T23:45:53.633Z,1749339953.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283512
2025-06-07T23:45:53.889Z,1749339953.889 [DAT](INFO): DAT read: Rx Time:23:45:53.1874

2025-06-07T23:45:53.890Z,1749339953.890 [DAT](INFO): Rx dataTimestamp_ set to:1749339953.889558
2025-06-07T23:45:53.892Z,1749339953.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542541
2025-06-07T23:45:53.993Z,1749339953.993 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -42,  +632,
2025-06-07T23:45:54.009Z,1749339954.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:54.011Z,1749339954.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 540.395691 m,
      bearing: 307.499002 deg,
      approach rate: -0.672341 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.497193 deg,
      new cmd heading: 307.499002 deg.

2025-06-07T23:45:54.012Z,1749339954.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366870 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:54.041Z,1749339954.041 [DockingStepper](INFO): Starting
2025-06-07T23:45:54.140Z,1749339954.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790721
2025-06-07T23:45:54.379Z,1749339954.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:45:54.381Z,1749339954.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:54.384Z,1749339954.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 540.145142 m,
      bearing: 307.500492 deg,
      approach rate: -0.671829 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.498996 deg,
      new cmd heading: 307.500492 deg.

2025-06-07T23:45:54.385Z,1749339954.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366896 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:54.394Z,1749339954.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044379
2025-06-07T23:45:54.477Z,1749339954.477 [DockingStepper](INFO): Starting
2025-06-07T23:45:54.504Z,1749339954.504 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-07T23:45:54.650Z,1749339954.650 [DAT](INFO): DAT read: 23:45:53.1874 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 381,-0.43, 2.747, 1.181, 2.742, 2.007, PHS= 0.828,-0.779, 0.732, RAW= 146.9, -10.0, CAL= 153.6, -18.5, ROT= 356.4,  18.5

2025-06-07T23:45:54.651Z,1749339954.651 [DAT](INFO): got valid direction response:
 23:45:53.1874 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 381,-0.43, 2.747, 1.181, 2.742, 2.007, PHS= 0.828,-0.779, 0.732, RAW= 146.9, -10.0, CAL= 153.6, -18.5, ROT= 356.4,  18.5

2025-06-07T23:45:54.652Z,1749339954.652 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:45:54.652Z,1749339954.652 [DAT](INFO): Received a bad header
2025-06-07T23:45:54.665Z,1749339954.665 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:45:54.666Z,1749339954.666 [DAT](INFO): direction in FSK: [0.946452,-0.059546,-0.317305]
2025-06-07T23:45:54.700Z,1749339954.700 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:54.700Z,1749339954.700 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:54.700Z,1749339954.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:54.849Z,1749339954.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:54.851Z,1749339954.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 539.830688 m,
      bearing: 307.502269 deg,
      approach rate: -0.673287 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.500499 deg,
      new cmd heading: 307.502269 deg.

2025-06-07T23:45:54.852Z,1749339954.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366927 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:54.870Z,1749339954.870 [DockingStepper](INFO): Starting
2025-06-07T23:45:54.898Z,1749339954.898 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:54.898Z,1749339954.898 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:54.899Z,1749339954.899 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:55.148Z,1749339955.148 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:55.148Z,1749339955.148 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:55.148Z,1749339955.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:55.262Z,1749339955.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:55.269Z,1749339955.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 539.585754 m,
      bearing: 307.503747 deg,
      approach rate: -0.592496 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.502274 deg,
      new cmd heading: 307.503747 deg.

2025-06-07T23:45:55.270Z,1749339955.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366953 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:55.295Z,1749339955.295 [DockingStepper](INFO): Changing to mode: 1
2025-06-07T23:45:55.303Z,1749339955.303 [DockingStepper](INFO): Standby mode.
2025-06-07T23:45:55.400Z,1749339955.400 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:55.400Z,1749339955.400 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:55.400Z,1749339955.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:55.628Z,1749339955.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:55.630Z,1749339955.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 539.364441 m,
      bearing: 307.505021 deg,
      approach rate: -0.604796 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.503750 deg,
      new cmd heading: 307.505021 deg.

2025-06-07T23:45:55.635Z,1749339955.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366975 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:55.652Z,1749339955.652 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:55.652Z,1749339955.652 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:55.652Z,1749339955.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:55.906Z,1749339955.906 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:55.906Z,1749339955.906 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:55.906Z,1749339955.906 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:56.059Z,1749339956.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:56.062Z,1749339956.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 539.103577 m,
      bearing: 307.506153 deg,
      approach rate: -0.605328 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.505034 deg,
      new cmd heading: 307.506153 deg.

2025-06-07T23:45:56.062Z,1749339956.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366995 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:56.156Z,1749339956.156 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:56.156Z,1749339956.156 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:56.156Z,1749339956.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:56.408Z,1749339956.408 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:56.408Z,1749339956.408 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:56.408Z,1749339956.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:56.418Z,1749339956.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:45:56.420Z,1749339956.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:56.423Z,1749339956.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 538.898743 m,
      bearing: 307.507031 deg,
      approach rate: -0.566891 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.506154 deg,
      new cmd heading: 307.507031 deg.

2025-06-07T23:45:56.431Z,1749339956.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367010 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:56.608Z,1749339956.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:45:56.661Z,1749339956.661 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:56.661Z,1749339956.661 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:56.661Z,1749339956.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:56.808Z,1749339956.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:56.811Z,1749339956.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 538.658752 m,
      bearing: 307.508060 deg,
      approach rate: -0.618127 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.507028 deg,
      new cmd heading: 307.508060 deg.

2025-06-07T23:45:56.812Z,1749339956.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367028 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:56.914Z,1749339956.914 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:56.914Z,1749339956.914 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:56.914Z,1749339956.914 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:57.164Z,1749339957.164 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:57.164Z,1749339957.164 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:57.164Z,1749339957.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:57.247Z,1749339957.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:57.249Z,1749339957.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 538.386536 m,
      bearing: 307.508371 deg,
      approach rate: -0.621081 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.508066 deg,
      new cmd heading: 307.508371 deg.

2025-06-07T23:45:57.250Z,1749339957.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367033 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:57.416Z,1749339957.416 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:57.416Z,1749339957.416 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:57.416Z,1749339957.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:57.612Z,1749339957.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:45:57.624Z,1749339957.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:57.627Z,1749339957.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 538.152893 m,
      bearing: 307.508642 deg,
      approach rate: -0.618703 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.508367 deg,
      new cmd heading: 307.508642 deg.

2025-06-07T23:45:57.628Z,1749339957.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367038 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:57.668Z,1749339957.668 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:57.669Z,1749339957.669 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:57.669Z,1749339957.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:57.922Z,1749339957.922 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:57.922Z,1749339957.922 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:57.923Z,1749339957.923 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:58.069Z,1749339958.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:58.076Z,1749339958.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 537.878113 m,
      bearing: 307.508908 deg,
      approach rate: -0.617448 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.508640 deg,
      new cmd heading: 307.508908 deg.

2025-06-07T23:45:58.077Z,1749339958.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367043 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:58.172Z,1749339958.172 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:58.173Z,1749339958.173 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:58.173Z,1749339958.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:58.424Z,1749339958.424 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:58.424Z,1749339958.424 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:58.424Z,1749339958.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:58.425Z,1749339958.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:45:58.427Z,1749339958.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:58.430Z,1749339958.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 537.650269 m,
      bearing: 307.509128 deg,
      approach rate: -0.636887 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.508913 deg,
      new cmd heading: 307.509128 deg.

2025-06-07T23:45:58.431Z,1749339958.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367047 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:58.676Z,1749339958.676 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:58.676Z,1749339958.676 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:58.676Z,1749339958.676 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:58.836Z,1749339958.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:58.839Z,1749339958.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 537.392639 m,
      bearing: 307.509383 deg,
      approach rate: -0.629604 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509132 deg,
      new cmd heading: 307.509383 deg.

2025-06-07T23:45:58.840Z,1749339958.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367051 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:58.929Z,1749339958.929 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:58.930Z,1749339958.930 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:58.930Z,1749339958.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:59.180Z,1749339959.180 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:59.180Z,1749339959.180 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:59.180Z,1749339959.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:59.261Z,1749339959.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:59.264Z,1749339959.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 537.117310 m,
      bearing: 307.509297 deg,
      approach rate: -0.648588 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509378 deg,
      new cmd heading: 307.509297 deg.

2025-06-07T23:45:59.264Z,1749339959.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367050 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:59.432Z,1749339959.432 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:59.432Z,1749339959.432 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:59.432Z,1749339959.432 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:59.648Z,1749339959.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:45:59.651Z,1749339959.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 536.865601 m,
      bearing: 307.509209 deg,
      approach rate: -0.649905 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509296 deg,
      new cmd heading: 307.509209 deg.

2025-06-07T23:45:59.652Z,1749339959.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367048 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:45:59.684Z,1749339959.684 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:59.684Z,1749339959.684 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:59.685Z,1749339959.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:45:59.938Z,1749339959.938 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:45:59.938Z,1749339959.938 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:45:59.938Z,1749339959.938 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:00.083Z,1749339960.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:00.086Z,1749339960.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 536.578308 m,
      bearing: 307.509341 deg,
      approach rate: -0.660497 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509214 deg,
      new cmd heading: 307.509341 deg.

2025-06-07T23:46:00.087Z,1749339960.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367051 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:00.191Z,1749339960.191 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:00.192Z,1749339960.192 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:00.192Z,1749339960.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:00.440Z,1749339960.440 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:00.440Z,1749339960.440 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:00.440Z,1749339960.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:00.466Z,1749339960.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:00.469Z,1749339960.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:00.471Z,1749339960.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 536.339661 m,
      bearing: 307.509463 deg,
      approach rate: -0.619119 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509351 deg,
      new cmd heading: 307.509463 deg.

2025-06-07T23:46:00.472Z,1749339960.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367053 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:00.692Z,1749339960.692 [DAT](INFO): DAT read: 

2025-06-07T23:46:00.693Z,1749339960.693 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:00.693Z,1749339960.693 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:00.693Z,1749339960.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:00.855Z,1749339960.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:00.858Z,1749339960.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 536.067566 m,
      bearing: 307.509615 deg,
      approach rate: -0.704223 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509460 deg,
      new cmd heading: 307.509615 deg.

2025-06-07T23:46:00.858Z,1749339960.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367055 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:00.949Z,1749339960.949 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:00.949Z,1749339960.949 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:00.949Z,1749339960.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:01.200Z,1749339961.200 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:46:01.201Z,1749339961.201 [DAT](INFO): response not received
2025-06-07T23:46:01.201Z,1749339961.201 [DAT](INFO): DAT read: user:1812>

2025-06-07T23:46:01.202Z,1749339961.202 [DAT](INFO): DAT read: Tx time:23:46:00.9708

2025-06-07T23:46:01.202Z,1749339961.202 [DAT](INFO): Ping request sent.
2025-06-07T23:46:01.202Z,1749339961.202 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:01.202Z,1749339961.202 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:01.203Z,1749339961.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-06-07T23:46:01.345Z,1749339961.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:01.348Z,1749339961.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 535.734924 m,
      bearing: 307.509713 deg,
      approach rate: -0.678991 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509624 deg,
      new cmd heading: 307.509713 deg.

2025-06-07T23:46:01.348Z,1749339961.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367057 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:01.453Z,1749339961.453 [DAT](INFO): DAT read: TxSync time:23:46:00.9700

2025-06-07T23:46:01.454Z,1749339961.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251942
2025-06-07T23:46:01.690Z,1749339961.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:01.697Z,1749339961.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 535.504517 m,
      bearing: 307.509812 deg,
      approach rate: -0.667355 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509706 deg,
      new cmd heading: 307.509812 deg.

2025-06-07T23:46:01.698Z,1749339961.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367059 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:01.704Z,1749339961.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502115
2025-06-07T23:46:01.957Z,1749339961.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755117
2025-06-07T23:46:02.105Z,1749339962.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:02.125Z,1749339962.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 535.208313 m,
      bearing: 307.510318 deg,
      approach rate: -0.713290 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.509815 deg,
      new cmd heading: 307.510318 deg.

2025-06-07T23:46:02.125Z,1749339962.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367067 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:02.208Z,1749339962.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006131
2025-06-07T23:46:02.460Z,1749339962.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258074
2025-06-07T23:46:02.485Z,1749339962.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:02.488Z,1749339962.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:02.490Z,1749339962.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 534.943665 m,
      bearing: 307.510778 deg,
      approach rate: -0.692665 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.510307 deg,
      new cmd heading: 307.510778 deg.

2025-06-07T23:46:02.491Z,1749339962.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367075 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:02.712Z,1749339962.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510230
2025-06-07T23:46:02.916Z,1749339962.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:02.919Z,1749339962.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 534.645996 m,
      bearing: 307.511331 deg,
      approach rate: -0.694066 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.510771 deg,
      new cmd heading: 307.511331 deg.

2025-06-07T23:46:02.920Z,1749339962.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367085 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:02.965Z,1749339962.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763254
2025-06-07T23:46:03.217Z,1749339963.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014526
2025-06-07T23:46:03.312Z,1749339963.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:03.315Z,1749339963.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 534.378418 m,
      bearing: 307.512246 deg,
      approach rate: -0.675972 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.511318 deg,
      new cmd heading: 307.512246 deg.

2025-06-07T23:46:03.316Z,1749339963.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367101 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:03.468Z,1749339963.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265994
2025-06-07T23:46:03.720Z,1749339963.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518033
2025-06-07T23:46:03.783Z,1749339963.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:03.790Z,1749339963.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 534.070190 m,
      bearing: 307.513264 deg,
      approach rate: -0.655031 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.512247 deg,
      new cmd heading: 307.513264 deg.

2025-06-07T23:46:03.790Z,1749339963.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367119 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:03.974Z,1749339963.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771200
2025-06-07T23:46:04.165Z,1749339964.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:04.168Z,1749339964.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 533.801819 m,
      bearing: 307.514091 deg,
      approach rate: -0.701521 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.513257 deg,
      new cmd heading: 307.514091 deg.

2025-06-07T23:46:04.169Z,1749339964.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367134 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:04.225Z,1749339964.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023298
2025-06-07T23:46:04.476Z,1749339964.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274066
2025-06-07T23:46:04.564Z,1749339964.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:04.572Z,1749339964.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:04.575Z,1749339964.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 533.561096 m,
      bearing: 307.514836 deg,
      approach rate: -0.591516 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.514104 deg,
      new cmd heading: 307.514836 deg.

2025-06-07T23:46:04.580Z,1749339964.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367146 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:04.728Z,1749339964.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525960
2025-06-07T23:46:04.981Z,1749339964.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778877
2025-06-07T23:46:05.114Z,1749339965.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:05.117Z,1749339965.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 533.171448 m,
      bearing: 307.516051 deg,
      approach rate: -0.718942 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.514842 deg,
      new cmd heading: 307.516051 deg.

2025-06-07T23:46:05.118Z,1749339965.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367167 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:05.232Z,1749339965.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029990
2025-06-07T23:46:05.484Z,1749339965.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282346
2025-06-07T23:46:05.607Z,1749339965.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:05.610Z,1749339965.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 532.836243 m,
      bearing: 307.517653 deg,
      approach rate: -0.680186 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.516044 deg,
      new cmd heading: 307.517653 deg.

2025-06-07T23:46:05.611Z,1749339965.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367196 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:05.736Z,1749339965.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534139
2025-06-07T23:46:05.988Z,1749339965.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786106
2025-06-07T23:46:06.078Z,1749339966.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:06.092Z,1749339966.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 532.551697 m,
      bearing: 307.519017 deg,
      approach rate: -0.606211 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.517656 deg,
      new cmd heading: 307.519017 deg.

2025-06-07T23:46:06.093Z,1749339966.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367219 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:06.240Z,1749339966.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037960
2025-06-07T23:46:06.441Z,1749339966.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:06.448Z,1749339966.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 532.289001 m,
      bearing: 307.519569 deg,
      approach rate: -0.719889 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.519022 deg,
      new cmd heading: 307.519569 deg.

2025-06-07T23:46:06.449Z,1749339966.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367229 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:06.495Z,1749339966.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292713
2025-06-07T23:46:06.744Z,1749339966.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542057
2025-06-07T23:46:06.830Z,1749339966.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:06.836Z,1749339966.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:06.838Z,1749339966.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 532.030212 m,
      bearing: 307.520110 deg,
      approach rate: -0.655574 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.519569 deg,
      new cmd heading: 307.520110 deg.

2025-06-07T23:46:06.844Z,1749339966.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367239 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:06.996Z,1749339966.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794010
2025-06-07T23:46:07.234Z,1749339967.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:07.236Z,1749339967.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 531.749268 m,
      bearing: 307.520141 deg,
      approach rate: -0.706771 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.520115 deg,
      new cmd heading: 307.520141 deg.

2025-06-07T23:46:07.237Z,1749339967.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367239 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:07.248Z,1749339967.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046174
2025-06-07T23:46:07.501Z,1749339967.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298459
2025-06-07T23:46:07.699Z,1749339967.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:07.708Z,1749339967.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 531.451904 m,
      bearing: 307.520169 deg,
      approach rate: -0.643995 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.520142 deg,
      new cmd heading: 307.520169 deg.

2025-06-07T23:46:07.708Z,1749339967.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367239 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:07.753Z,1749339967.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550543
2025-06-07T23:46:08.004Z,1749339968.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802145
2025-06-07T23:46:08.028Z,1749339968.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:08.031Z,1749339968.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 531.219055 m,
      bearing: 307.520189 deg,
      approach rate: -0.699621 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.520170 deg,
      new cmd heading: 307.520189 deg.

2025-06-07T23:46:08.032Z,1749339968.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367240 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:08.256Z,1749339968.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053953
2025-06-07T23:46:08.453Z,1749339968.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:08.457Z,1749339968.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 530.935364 m,
      bearing: 307.520013 deg,
      approach rate: -0.667202 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.520197 deg,
      new cmd heading: 307.520013 deg.

2025-06-07T23:46:08.457Z,1749339968.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367237 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:08.509Z,1749339968.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306607
2025-06-07T23:46:08.760Z,1749339968.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558054
2025-06-07T23:46:08.849Z,1749339968.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:08.851Z,1749339968.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:08.853Z,1749339968.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 530.670166 m,
      bearing: 307.519853 deg,
      approach rate: -0.667181 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.520006 deg,
      new cmd heading: 307.519853 deg.

2025-06-07T23:46:08.854Z,1749339968.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367234 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:09.012Z,1749339969.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810258
2025-06-07T23:46:09.264Z,1749339969.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061905
2025-06-07T23:46:09.296Z,1749339969.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:09.299Z,1749339969.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 530.366394 m,
      bearing: 307.519691 deg,
      approach rate: -0.681936 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.519842 deg,
      new cmd heading: 307.519691 deg.

2025-06-07T23:46:09.300Z,1749339969.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367231 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:09.519Z,1749339969.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316920
2025-06-07T23:46:09.646Z,1749339969.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:09.649Z,1749339969.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 530.115356 m,
      bearing: 307.519559 deg,
      approach rate: -0.718091 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.519678 deg,
      new cmd heading: 307.519559 deg.

2025-06-07T23:46:09.649Z,1749339969.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367229 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:09.768Z,1749339969.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566003
2025-06-07T23:46:10.021Z,1749339970.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818379
2025-06-07T23:46:10.038Z,1749339970.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:10.040Z,1749339970.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 529.841980 m,
      bearing: 307.519419 deg,
      approach rate: -0.697538 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.519569 deg,
      new cmd heading: 307.519419 deg.

2025-06-07T23:46:10.041Z,1749339970.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367227 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:10.272Z,1749339970.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070114
2025-06-07T23:46:10.488Z,1749339970.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:10.490Z,1749339970.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 529.523865 m,
      bearing: 307.518910 deg,
      approach rate: -0.707589 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.519432 deg,
      new cmd heading: 307.518910 deg.

2025-06-07T23:46:10.491Z,1749339970.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367218 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:10.525Z,1749339970.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322558
2025-06-07T23:46:10.776Z,1749339970.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574001
2025-06-07T23:46:10.865Z,1749339970.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:10.871Z,1749339970.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:10.874Z,1749339970.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 529.266846 m,
      bearing: 307.518525 deg,
      approach rate: -0.676888 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.518913 deg,
      new cmd heading: 307.518525 deg.

2025-06-07T23:46:10.875Z,1749339970.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367211 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:11.028Z,1749339971.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826078
2025-06-07T23:46:11.280Z,1749339971.280 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:11.280Z,1749339971.280 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:11.280Z,1749339971.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:11.318Z,1749339971.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:11.335Z,1749339971.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 528.950134 m,
      bearing: 307.518646 deg,
      approach rate: -0.702275 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.518530 deg,
      new cmd heading: 307.518646 deg.

2025-06-07T23:46:11.336Z,1749339971.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367213 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:11.532Z,1749339971.532 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:11.532Z,1749339971.532 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:11.532Z,1749339971.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:11.689Z,1749339971.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:11.691Z,1749339971.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 528.656250 m,
      bearing: 307.518821 deg,
      approach rate: -0.793105 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.518640 deg,
      new cmd heading: 307.518821 deg.

2025-06-07T23:46:11.692Z,1749339971.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367216 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:11.784Z,1749339971.784 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:11.785Z,1749339971.785 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:11.785Z,1749339971.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:12.039Z,1749339972.039 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:46:12.039Z,1749339972.039 [DAT](INFO): response not received
2025-06-07T23:46:12.040Z,1749339972.040 [DAT](INFO): DAT read: user:1813>

2025-06-07T23:46:12.040Z,1749339972.040 [DAT](ERROR): No response from remote modem.
2025-06-07T23:46:12.041Z,1749339972.041 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:12.041Z,1749339972.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:12.153Z,1749339972.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:12.170Z,1749339972.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 528.347168 m,
      bearing: 307.519035 deg,
      approach rate: -0.673577 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.518831 deg,
      new cmd heading: 307.519035 deg.

2025-06-07T23:46:12.178Z,1749339972.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367219 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:12.289Z,1749339972.289 [DAT](INFO): DAT read: Tx time:23:46:11.9208

2025-06-07T23:46:12.289Z,1749339972.289 [DAT](INFO): Ping request sent.
2025-06-07T23:46:12.290Z,1749339972.290 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:12.290Z,1749339972.290 [DAT](INFO): DAT read: TxSync time:23:46:11.9201

2025-06-07T23:46:12.291Z,1749339972.291 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:12.292Z,1749339972.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002739
2025-06-07T23:46:12.518Z,1749339972.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:12.525Z,1749339972.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 528.062439 m,
      bearing: 307.519582 deg,
      approach rate: -0.768199 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.519022 deg,
      new cmd heading: 307.519582 deg.

2025-06-07T23:46:12.526Z,1749339972.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367229 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:12.540Z,1749339972.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251016
2025-06-07T23:46:12.792Z,1749339972.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502767
2025-06-07T23:46:12.870Z,1749339972.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:12.873Z,1749339972.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:12.875Z,1749339972.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 527.785950 m,
      bearing: 307.520165 deg,
      approach rate: -0.779926 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.519596 deg,
      new cmd heading: 307.520165 deg.

2025-06-07T23:46:12.876Z,1749339972.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367239 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:13.044Z,1749339973.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754818
2025-06-07T23:46:13.287Z,1749339973.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:13.290Z,1749339973.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 527.487061 m,
      bearing: 307.521743 deg,
      approach rate: -0.721399 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.520170 deg,
      new cmd heading: 307.521743 deg.

2025-06-07T23:46:13.290Z,1749339973.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367267 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:13.312Z,1749339973.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.022756
2025-06-07T23:46:13.564Z,1749339973.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274680
2025-06-07T23:46:13.698Z,1749339973.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:13.704Z,1749339973.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 527.196716 m,
      bearing: 307.523290 deg,
      approach rate: -0.706650 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.521754 deg,
      new cmd heading: 307.523290 deg.

2025-06-07T23:46:13.705Z,1749339973.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367294 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:13.816Z,1749339973.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526631
2025-06-07T23:46:14.071Z,1749339974.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.781395
2025-06-07T23:46:14.228Z,1749339974.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:14.231Z,1749339974.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 526.814026 m,
      bearing: 307.525285 deg,
      approach rate: -0.721551 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.523284 deg,
      new cmd heading: 307.525285 deg.

2025-06-07T23:46:14.236Z,1749339974.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367329 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:14.320Z,1749339974.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030716
2025-06-07T23:46:14.572Z,1749339974.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282775
2025-06-07T23:46:14.616Z,1749339974.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:14.618Z,1749339974.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 526.549988 m,
      bearing: 307.527084 deg,
      approach rate: -0.680797 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.525279 deg,
      new cmd heading: 307.527084 deg.

2025-06-07T23:46:14.624Z,1749339974.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367360 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:14.825Z,1749339974.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535874
2025-06-07T23:46:15.029Z,1749339975.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:15.031Z,1749339975.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:15.034Z,1749339975.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 526.237610 m,
      bearing: 307.529196 deg,
      approach rate: -0.752776 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.527082 deg,
      new cmd heading: 307.529196 deg.

2025-06-07T23:46:15.034Z,1749339975.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367397 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:15.076Z,1749339975.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787028
2025-06-07T23:46:15.328Z,1749339975.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038672
2025-06-07T23:46:15.444Z,1749339975.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:15.447Z,1749339975.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 525.954590 m,
      bearing: 307.531277 deg,
      approach rate: -0.684566 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.529185 deg,
      new cmd heading: 307.531277 deg.

2025-06-07T23:46:15.464Z,1749339975.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367434 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:15.581Z,1749339975.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290757
2025-06-07T23:46:15.833Z,1749339975.833 [DAT](INFO): DAT read: Rx Time:23:46:15.0625

2025-06-07T23:46:15.834Z,1749339975.834 [DAT](INFO): Rx dataTimestamp_ set to:1749339975.833383
2025-06-07T23:46:15.835Z,1749339975.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545088
2025-06-07T23:46:15.872Z,1749339975.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:15.875Z,1749339975.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 525.680603 m,
      bearing: 307.533303 deg,
      approach rate: -0.640553 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.531289 deg,
      new cmd heading: 307.533303 deg.

2025-06-07T23:46:15.880Z,1749339975.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367469 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:16.085Z,1749339976.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795545
2025-06-07T23:46:16.330Z,1749339976.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:16.350Z,1749339976.350 [DAT](INFO): DAT read: 23:46:15.0625 LVL= 15648, 15201, 13554, 18275, AGC= 71, IDX= 231, 0.19,-2.957, 1.565,-3.073, 2.453, PHS= 0.962,-0.841, 0.755, RAW= 144.0, -10.3, CAL= 151.0, -19.3, ROT= 359.0,  19.3

2025-06-07T23:46:16.352Z,1749339976.352 [DAT](INFO): got valid direction response:
 23:46:15.0625 LVL= 15648, 15201, 13554, 18275, AGC= 71, IDX= 231, 0.19,-2.957, 1.565,-3.073, 2.453, PHS= 0.962,-0.841, 0.755, RAW= 144.0, -10.3, CAL= 151.0, -19.3, ROT= 359.0,  19.3

2025-06-07T23:46:16.352Z,1749339976.352 [DAT](INFO): DAT read: Bearing 359.0,  19.3 (Local)

2025-06-07T23:46:16.353Z,1749339976.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  19.3 (Local)

2025-06-07T23:46:16.354Z,1749339976.354 [DAT](INFO): DAT read: Range 10 to 50 : 553.0 m  (Round-trip  737.4 ms) speed  0.5 m/s

2025-06-07T23:46:16.355Z,1749339976.355 [DAT](INFO): DAT read: user:1814>

2025-06-07T23:46:16.356Z,1749339976.356 [DAT](INFO): DAT read: Tx time:23:46:16.1709

2025-06-07T23:46:16.356Z,1749339976.356 [DAT](INFO): Ping request sent.
2025-06-07T23:46:16.356Z,1749339976.356 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:16.357Z,1749339976.357 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:46:16.357Z,1749339976.357 [DAT](INFO): direction in FSK: [0.943657,-0.016472,-0.330514]
2025-06-07T23:46:16.358Z,1749339976.358 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:16.358Z,1749339976.358 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:16.362Z,1749339976.362 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:16.362Z,1749339976.362 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:16.370Z,1749339976.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 525.373230 m,
      bearing: 307.535519 deg,
      approach rate: -0.700015 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.533311 deg,
      new cmd heading: 307.535519 deg.

2025-06-07T23:46:16.376Z,1749339976.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367507 target range: 654.240784 and range: 575.80 m.
2025-06-07T23:46:16.588Z,1749339976.588 [DAT](INFO): DAT read: TxSync time:23:46:16.1702

2025-06-07T23:46:16.696Z,1749339976.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 553.000000 m,
      deltaT: 27.500161 s,
      deltaX: -22.799988 m,
      approachRate: -0.829086 m/s,
      rangeRepo size: 2

2025-06-07T23:46:16.697Z,1749339976.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:16.703Z,1749339976.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 525.108276 m,
      bearing: 307.537434 deg,
      approach rate: -0.697415 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.535524 deg,
      new cmd heading: 307.537434 deg.

2025-06-07T23:46:16.704Z,1749339976.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367541 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:17.068Z,1749339977.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:17.070Z,1749339977.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:17.073Z,1749339977.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 524.832214 m,
      bearing: 307.539441 deg,
      approach rate: -0.728509 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.537436 deg,
      new cmd heading: 307.539441 deg.

2025-06-07T23:46:17.074Z,1749339977.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367576 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:17.092Z,1749339977.092 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:17.092Z,1749339977.092 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:17.093Z,1749339977.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:17.344Z,1749339977.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987864
2025-06-07T23:46:17.491Z,1749339977.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:17.493Z,1749339977.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 524.550415 m,
      bearing: 307.541169 deg,
      approach rate: -0.669774 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.539431 deg,
      new cmd heading: 307.541169 deg.

2025-06-07T23:46:17.494Z,1749339977.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367606 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:17.597Z,1749339977.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240296
2025-06-07T23:46:17.848Z,1749339977.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492050
2025-06-07T23:46:17.867Z,1749339977.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:17.869Z,1749339977.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 524.298401 m,
      bearing: 307.542752 deg,
      approach rate: -0.670555 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.541179 deg,
      new cmd heading: 307.542752 deg.

2025-06-07T23:46:17.870Z,1749339977.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367634 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:18.100Z,1749339978.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743930
2025-06-07T23:46:18.316Z,1749339978.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:18.318Z,1749339978.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 523.989136 m,
      bearing: 307.544325 deg,
      approach rate: -0.688299 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.542764 deg,
      new cmd heading: 307.544325 deg.

2025-06-07T23:46:18.319Z,1749339978.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367661 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:18.352Z,1749339978.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996003
2025-06-07T23:46:18.604Z,1749339978.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247908
2025-06-07T23:46:18.688Z,1749339978.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:18.690Z,1749339978.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 523.732910 m,
      bearing: 307.545607 deg,
      approach rate: -0.688986 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.544321 deg,
      new cmd heading: 307.545607 deg.

2025-06-07T23:46:18.691Z,1749339978.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367683 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:18.856Z,1749339978.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499823
2025-06-07T23:46:19.079Z,1749339979.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:19.082Z,1749339979.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:19.085Z,1749339979.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 523.461670 m,
      bearing: 307.546964 deg,
      approach rate: -0.688799 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.545605 deg,
      new cmd heading: 307.546964 deg.

2025-06-07T23:46:19.086Z,1749339979.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367707 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:19.108Z,1749339979.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751990
2025-06-07T23:46:19.360Z,1749339979.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003915
2025-06-07T23:46:19.505Z,1749339979.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:19.508Z,1749339979.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 523.161987 m,
      bearing: 307.547934 deg,
      approach rate: -0.708039 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.546971 deg,
      new cmd heading: 307.547934 deg.

2025-06-07T23:46:19.508Z,1749339979.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367724 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:19.612Z,1749339979.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255996
2025-06-07T23:46:19.864Z,1749339979.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507768
2025-06-07T23:46:19.958Z,1749339979.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:19.962Z,1749339979.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 522.843506 m,
      bearing: 307.548979 deg,
      approach rate: -0.703320 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.547927 deg,
      new cmd heading: 307.548979 deg.

2025-06-07T23:46:19.964Z,1749339979.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367743 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:20.122Z,1749339980.122 [DAT](INFO): DAT read: 23:46:19.3083 LVL= 11872, 11313, 12354, 17715, AGC= 72, IDX= 460, 0.05, 0.606,-0.924, 0.563,-0.100, PHS= 0.795,-0.777, 0.660, RAW= 145.6,  -9.0, CAL= 152.1, -17.8, ROT= 357.9,  17.8

2025-06-07T23:46:20.123Z,1749339980.123 [DAT](INFO): got valid direction response:
 23:46:19.3083 LVL= 11872, 11313, 12354, 17715, AGC= 72, IDX= 460, 0.05, 0.606,-0.924, 0.563,-0.100, PHS= 0.795,-0.777, 0.660, RAW= 145.6,  -9.0, CAL= 152.1, -17.8, ROT= 357.9,  17.8

2025-06-07T23:46:20.136Z,1749339980.136 [DAT](INFO): DAT read: Rx Time:23:46:19.3083

2025-06-07T23:46:20.137Z,1749339980.137 [DAT](INFO): Rx dataTimestamp_ set to:1749339980.136657
2025-06-07T23:46:20.138Z,1749339980.138 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-07T23:46:20.138Z,1749339980.138 [DAT](INFO): Received low SNR in chirp
2025-06-07T23:46:20.152Z,1749339980.152 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:46:20.153Z,1749339980.153 [DAT](INFO): direction in FSK: [0.951490,-0.034890,-0.305695]
2025-06-07T23:46:20.156Z,1749339980.156 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:20.156Z,1749339980.156 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:20.156Z,1749339980.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:20.368Z,1749339980.368 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:20.368Z,1749339980.368 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:20.368Z,1749339980.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:20.390Z,1749339980.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:20.396Z,1749339980.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 522.532654 m,
      bearing: 307.549891 deg,
      approach rate: -0.719678 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.548993 deg,
      new cmd heading: 307.549891 deg.

2025-06-07T23:46:20.399Z,1749339980.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367758 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:20.620Z,1749339980.620 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:20.621Z,1749339980.621 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:20.621Z,1749339980.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:20.756Z,1749339980.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:20.758Z,1749339980.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 522.261475 m,
      bearing: 307.550687 deg,
      approach rate: -0.740516 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.549895 deg,
      new cmd heading: 307.550687 deg.

2025-06-07T23:46:20.784Z,1749339980.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367772 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:20.872Z,1749339980.872 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:20.872Z,1749339980.872 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:20.872Z,1749339980.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:21.124Z,1749339981.124 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:21.124Z,1749339981.124 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:21.124Z,1749339981.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:21.129Z,1749339981.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:21.147Z,1749339981.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:21.150Z,1749339981.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 521.989929 m,
      bearing: 307.551536 deg,
      approach rate: -0.723627 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.550687 deg,
      new cmd heading: 307.551536 deg.

2025-06-07T23:46:21.151Z,1749339981.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367787 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:21.376Z,1749339981.376 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:21.377Z,1749339981.377 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:21.377Z,1749339981.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:21.590Z,1749339981.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:21.592Z,1749339981.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 521.654114 m,
      bearing: 307.552336 deg,
      approach rate: -0.732313 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.551534 deg,
      new cmd heading: 307.552336 deg.

2025-06-07T23:46:21.593Z,1749339981.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367801 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:21.629Z,1749339981.629 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:21.629Z,1749339981.629 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:21.629Z,1749339981.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:21.880Z,1749339981.880 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:21.880Z,1749339981.880 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:21.880Z,1749339981.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:21.956Z,1749339981.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:21.964Z,1749339981.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 521.396179 m,
      bearing: 307.552977 deg,
      approach rate: -0.729732 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.552326 deg,
      new cmd heading: 307.552977 deg.

2025-06-07T23:46:21.965Z,1749339981.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367812 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:22.132Z,1749339982.132 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:22.132Z,1749339982.132 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:22.132Z,1749339982.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:22.380Z,1749339982.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:22.383Z,1749339982.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 521.078003 m,
      bearing: 307.553243 deg,
      approach rate: -0.728064 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.552982 deg,
      new cmd heading: 307.553243 deg.

2025-06-07T23:46:22.384Z,1749339982.384 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:22.384Z,1749339982.384 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:22.384Z,1749339982.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:22.385Z,1749339982.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367817 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:22.636Z,1749339982.636 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:22.636Z,1749339982.636 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:22.636Z,1749339982.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:22.808Z,1749339982.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:22.811Z,1749339982.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 520.766113 m,
      bearing: 307.553504 deg,
      approach rate: -0.728598 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.553255 deg,
      new cmd heading: 307.553504 deg.

2025-06-07T23:46:22.812Z,1749339982.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367821 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:22.888Z,1749339982.888 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:22.888Z,1749339982.888 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:22.888Z,1749339982.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:23.140Z,1749339983.140 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:23.140Z,1749339983.140 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:23.140Z,1749339983.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:23.151Z,1749339983.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:23.153Z,1749339983.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:23.156Z,1749339983.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 520.516113 m,
      bearing: 307.553724 deg,
      approach rate: -0.724426 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.553501 deg,
      new cmd heading: 307.553724 deg.

2025-06-07T23:46:23.157Z,1749339983.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367825 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:23.392Z,1749339983.392 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:23.392Z,1749339983.392 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:23.392Z,1749339983.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:23.644Z,1749339983.644 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:23.645Z,1749339983.645 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:23.645Z,1749339983.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:23.691Z,1749339983.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:23.694Z,1749339983.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 520.196106 m,
      bearing: 307.553170 deg,
      approach rate: -0.622883 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.553719 deg,
      new cmd heading: 307.553170 deg.

2025-06-07T23:46:23.695Z,1749339983.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367815 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:23.896Z,1749339983.896 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:23.896Z,1749339983.896 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:23.897Z,1749339983.897 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:24.105Z,1749339984.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:24.123Z,1749339984.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 519.826904 m,
      bearing: 307.552514 deg,
      approach rate: -0.843905 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.553173 deg,
      new cmd heading: 307.552514 deg.

2025-06-07T23:46:24.124Z,1749339984.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367804 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:24.148Z,1749339984.148 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:24.148Z,1749339984.148 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:24.148Z,1749339984.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:24.400Z,1749339984.400 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:24.400Z,1749339984.400 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:24.400Z,1749339984.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:24.520Z,1749339984.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:24.522Z,1749339984.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 519.535706 m,
      bearing: 307.551786 deg,
      approach rate: -0.702141 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.552517 deg,
      new cmd heading: 307.551786 deg.

2025-06-07T23:46:24.523Z,1749339984.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367791 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:24.652Z,1749339984.652 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:24.652Z,1749339984.652 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:24.652Z,1749339984.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:24.895Z,1749339984.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:24.897Z,1749339984.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 519.272034 m,
      bearing: 307.551065 deg,
      approach rate: -0.702273 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.551780 deg,
      new cmd heading: 307.551065 deg.

2025-06-07T23:46:24.898Z,1749339984.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367779 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:24.904Z,1749339984.904 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:24.904Z,1749339984.904 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:24.904Z,1749339984.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:25.156Z,1749339985.156 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:25.156Z,1749339985.156 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:25.156Z,1749339985.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:25.294Z,1749339985.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:25.296Z,1749339985.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:25.299Z,1749339985.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 518.990662 m,
      bearing: 307.550250 deg,
      approach rate: -0.700699 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.551069 deg,
      new cmd heading: 307.550250 deg.

2025-06-07T23:46:25.300Z,1749339985.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367764 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:25.409Z,1749339985.409 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:25.409Z,1749339985.409 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:25.409Z,1749339985.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:25.660Z,1749339985.660 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:25.660Z,1749339985.660 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:25.660Z,1749339985.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:25.760Z,1749339985.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:25.762Z,1749339985.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 518.669067 m,
      bearing: 307.549872 deg,
      approach rate: -0.693978 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.550250 deg,
      new cmd heading: 307.549872 deg.

2025-06-07T23:46:25.767Z,1749339985.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367758 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:25.912Z,1749339985.912 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:25.912Z,1749339985.912 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:25.912Z,1749339985.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:26.103Z,1749339986.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:26.106Z,1749339986.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 518.420105 m,
      bearing: 307.549539 deg,
      approach rate: -0.724712 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.549867 deg,
      new cmd heading: 307.549539 deg.

2025-06-07T23:46:26.107Z,1749339986.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367752 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:26.165Z,1749339986.165 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:26.165Z,1749339986.165 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:26.165Z,1749339986.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:46:26.416Z,1749339986.416 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:26.416Z,1749339986.416 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:26.416Z,1749339986.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:26.531Z,1749339986.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:26.534Z,1749339986.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 518.118164 m,
      bearing: 307.550013 deg,
      approach rate: -0.705570 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.549539 deg,
      new cmd heading: 307.550013 deg.

2025-06-07T23:46:26.535Z,1749339986.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367760 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:26.668Z,1749339986.668 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:26.668Z,1749339986.668 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:26.669Z,1749339986.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:26.911Z,1749339986.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:26.914Z,1749339986.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 517.850037 m,
      bearing: 307.550386 deg,
      approach rate: -0.706184 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.550004 deg,
      new cmd heading: 307.550386 deg.

2025-06-07T23:46:26.914Z,1749339986.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367767 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:26.920Z,1749339986.920 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:26.920Z,1749339986.920 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:26.920Z,1749339986.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:27.172Z,1749339987.172 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:27.172Z,1749339987.172 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:27.172Z,1749339987.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:27.347Z,1749339987.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:27.349Z,1749339987.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:27.354Z,1749339987.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 517.541138 m,
      bearing: 307.550788 deg,
      approach rate: -0.705044 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.550386 deg,
      new cmd heading: 307.550788 deg.

2025-06-07T23:46:27.357Z,1749339987.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367774 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:27.429Z,1749339987.429 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:46:27.429Z,1749339987.429 [DAT](INFO): response not received
2025-06-07T23:46:27.429Z,1749339987.429 [DAT](INFO): DAT read: user:1816>

2025-06-07T23:46:27.430Z,1749339987.430 [DAT](INFO): DAT read: Tx time:23:46:27.1210

2025-06-07T23:46:27.430Z,1749339987.430 [DAT](INFO): Ping request sent.
2025-06-07T23:46:27.430Z,1749339987.430 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:27.431Z,1749339987.431 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:27.432Z,1749339987.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001042
2025-06-07T23:46:27.676Z,1749339987.676 [DAT](INFO): DAT read: TxSync time:23:46:27.1203

2025-06-07T23:46:27.677Z,1749339987.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246538
2025-06-07T23:46:27.732Z,1749339987.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:46:27.780Z,1749339987.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:27.782Z,1749339987.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 517.253784 m,
      bearing: 307.551450 deg,
      approach rate: -0.667806 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.550796 deg,
      new cmd heading: 307.551450 deg.

2025-06-07T23:46:27.791Z,1749339987.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367785 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:27.928Z,1749339987.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497585
2025-06-07T23:46:28.125Z,1749339988.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:28.128Z,1749339988.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 516.997864 m,
      bearing: 307.552070 deg,
      approach rate: -0.740731 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.551452 deg,
      new cmd heading: 307.552070 deg.

2025-06-07T23:46:28.128Z,1749339988.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367796 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:28.181Z,1749339988.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750624
2025-06-07T23:46:28.432Z,1749339988.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001633
2025-06-07T23:46:28.546Z,1749339988.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:28.549Z,1749339988.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 516.696594 m,
      bearing: 307.553820 deg,
      approach rate: -0.715275 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.552080 deg,
      new cmd heading: 307.553820 deg.

2025-06-07T23:46:28.550Z,1749339988.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367827 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:28.684Z,1749339988.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253598
2025-06-07T23:46:28.735Z,1749339988.735 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:46:28.936Z,1749339988.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505678
2025-06-07T23:46:28.990Z,1749339988.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:28.997Z,1749339988.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 516.398010 m,
      bearing: 307.555526 deg,
      approach rate: -0.671963 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.553829 deg,
      new cmd heading: 307.555526 deg.

2025-06-07T23:46:28.998Z,1749339988.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367857 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:29.188Z,1749339989.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757564
2025-06-07T23:46:29.345Z,1749339989.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:29.350Z,1749339989.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 516.128540 m,
      bearing: 307.557033 deg,
      approach rate: -0.760938 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.555523 deg,
      new cmd heading: 307.557033 deg.

2025-06-07T23:46:29.352Z,1749339989.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367883 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:29.443Z,1749339989.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011804
2025-06-07T23:46:29.692Z,1749339989.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261575
2025-06-07T23:46:29.777Z,1749339989.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:29.779Z,1749339989.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:29.781Z,1749339989.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 515.810547 m,
      bearing: 307.559360 deg,
      approach rate: -0.732408 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.557025 deg,
      new cmd heading: 307.559360 deg.

2025-06-07T23:46:29.782Z,1749339989.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367923 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:29.945Z,1749339989.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514195
2025-06-07T23:46:30.139Z,1749339990.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:30.142Z,1749339990.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 515.549805 m,
      bearing: 307.561266 deg,
      approach rate: -0.723739 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.559348 deg,
      new cmd heading: 307.561266 deg.

2025-06-07T23:46:30.142Z,1749339990.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367957 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:30.197Z,1749339990.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766258
2025-06-07T23:46:30.450Z,1749339990.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019510
2025-06-07T23:46:30.569Z,1749339990.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:30.572Z,1749339990.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 515.233154 m,
      bearing: 307.563635 deg,
      approach rate: -0.735888 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.561260 deg,
      new cmd heading: 307.563635 deg.

2025-06-07T23:46:30.573Z,1749339990.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367998 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:30.700Z,1749339990.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269613
2025-06-07T23:46:30.953Z,1749339990.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522335
2025-06-07T23:46:30.962Z,1749339990.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:30.967Z,1749339990.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 514.950134 m,
      bearing: 307.565781 deg,
      approach rate: -0.721210 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.563637 deg,
      new cmd heading: 307.565781 deg.

2025-06-07T23:46:30.969Z,1749339990.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368035 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:31.207Z,1749339991.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776805
2025-06-07T23:46:31.402Z,1749339991.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:31.437Z,1749339991.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 514.632019 m,
      bearing: 307.568215 deg,
      approach rate: -0.722414 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.565768 deg,
      new cmd heading: 307.568215 deg.

2025-06-07T23:46:31.448Z,1749339991.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368078 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:31.462Z,1749339991.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031396
2025-06-07T23:46:31.712Z,1749339991.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281716
2025-06-07T23:46:31.831Z,1749339991.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:31.834Z,1749339991.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:31.836Z,1749339991.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 514.307312 m,
      bearing: 307.570863 deg,
      approach rate: -0.752251 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.568227 deg,
      new cmd heading: 307.570863 deg.

2025-06-07T23:46:31.837Z,1749339991.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368124 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:31.965Z,1749339991.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534161
2025-06-07T23:46:32.216Z,1749339992.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785694
2025-06-07T23:46:32.244Z,1749339992.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:32.246Z,1749339992.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 514.008301 m,
      bearing: 307.573317 deg,
      approach rate: -0.729630 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.570877 deg,
      new cmd heading: 307.573317 deg.

2025-06-07T23:46:32.263Z,1749339992.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368167 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:32.472Z,1749339992.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040415
2025-06-07T23:46:32.657Z,1749339992.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:32.664Z,1749339992.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 513.724609 m,
      bearing: 307.575198 deg,
      approach rate: -0.685222 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.573308 deg,
      new cmd heading: 307.575198 deg.

2025-06-07T23:46:32.665Z,1749339992.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368200 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:32.723Z,1749339992.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292389
2025-06-07T23:46:32.973Z,1749339992.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541974
2025-06-07T23:46:33.035Z,1749339993.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:33.041Z,1749339993.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 513.449951 m,
      bearing: 307.577028 deg,
      approach rate: -0.728306 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.575194 deg,
      new cmd heading: 307.577028 deg.

2025-06-07T23:46:33.042Z,1749339993.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368232 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:33.224Z,1749339993.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793590
2025-06-07T23:46:33.479Z,1749339993.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048069
2025-06-07T23:46:33.530Z,1749339993.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:33.536Z,1749339993.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 513.086731 m,
      bearing: 307.579443 deg,
      approach rate: -0.733864 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.577024 deg,
      new cmd heading: 307.579443 deg.

2025-06-07T23:46:33.537Z,1749339993.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368274 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:33.728Z,1749339993.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297701
2025-06-07T23:46:33.900Z,1749339993.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:33.903Z,1749339993.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:33.905Z,1749339993.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 512.818115 m,
      bearing: 307.580842 deg,
      approach rate: -0.719966 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.579456 deg,
      new cmd heading: 307.580842 deg.

2025-06-07T23:46:33.906Z,1749339993.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368299 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:33.981Z,1749339993.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550438
2025-06-07T23:46:34.232Z,1749339994.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801606
2025-06-07T23:46:34.365Z,1749339994.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:34.372Z,1749339994.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 512.496033 m,
      bearing: 307.582511 deg,
      approach rate: -0.696473 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.580849 deg,
      new cmd heading: 307.582511 deg.

2025-06-07T23:46:34.373Z,1749339994.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368328 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:34.487Z,1749339994.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055787
2025-06-07T23:46:34.736Z,1749339994.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305651
2025-06-07T23:46:34.808Z,1749339994.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:34.811Z,1749339994.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 512.191345 m,
      bearing: 307.583831 deg,
      approach rate: -0.687615 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.582516 deg,
      new cmd heading: 307.583831 deg.

2025-06-07T23:46:34.816Z,1749339994.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368351 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:34.990Z,1749339994.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558954
2025-06-07T23:46:35.221Z,1749339995.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:35.224Z,1749339995.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 511.895935 m,
      bearing: 307.585097 deg,
      approach rate: -0.715447 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.583827 deg,
      new cmd heading: 307.585097 deg.

2025-06-07T23:46:35.225Z,1749339995.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368372 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:35.240Z,1749339995.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809709
2025-06-07T23:46:35.495Z,1749339995.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063894
2025-06-07T23:46:35.601Z,1749339995.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:35.620Z,1749339995.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 511.635284 m,
      bearing: 307.586001 deg,
      approach rate: -0.685962 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.585084 deg,
      new cmd heading: 307.586001 deg.

2025-06-07T23:46:35.621Z,1749339995.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368389 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:35.744Z,1749339995.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313901
2025-06-07T23:46:35.993Z,1749339995.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:35.995Z,1749339995.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:35.996Z,1749339995.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565759
2025-06-07T23:46:35.999Z,1749339995.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 511.364990 m,
      bearing: 307.586937 deg,
      approach rate: -0.686718 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.586013 deg,
      new cmd heading: 307.586937 deg.

2025-06-07T23:46:35.000Z,1749339996.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368405 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:36.248Z,1749339996.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817565
2025-06-07T23:46:36.401Z,1749339996.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:36.403Z,1749339996.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 511.085754 m,
      bearing: 307.587901 deg,
      approach rate: -0.687588 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.586941 deg,
      new cmd heading: 307.587901 deg.

2025-06-07T23:46:36.404Z,1749339996.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368422 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:36.506Z,1749339996.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074169
2025-06-07T23:46:36.752Z,1749339996.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321707
2025-06-07T23:46:36.826Z,1749339996.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:36.828Z,1749339996.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 510.790283 m,
      bearing: 307.588887 deg,
      approach rate: -0.695347 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.587898 deg,
      new cmd heading: 307.588887 deg.

2025-06-07T23:46:36.829Z,1749339996.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368439 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:37.004Z,1749339997.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573516
2025-06-07T23:46:37.195Z,1749339997.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:37.197Z,1749339997.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 510.541168 m,
      bearing: 307.589731 deg,
      approach rate: -0.675207 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.588881 deg,
      new cmd heading: 307.589731 deg.

2025-06-07T23:46:37.198Z,1749339997.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368454 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:37.258Z,1749339997.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827444
2025-06-07T23:46:37.509Z,1749339997.509 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:37.510Z,1749339997.510 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:37.511Z,1749339997.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:37.637Z,1749339997.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:37.644Z,1749339997.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 510.233368 m,
      bearing: 307.590361 deg,
      approach rate: -0.695273 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.589728 deg,
      new cmd heading: 307.590361 deg.

2025-06-07T23:46:37.645Z,1749339997.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368464 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:37.760Z,1749339997.760 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:37.760Z,1749339997.760 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:37.760Z,1749339997.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:38.012Z,1749339998.012 [DAT](INFO): Reached modem response timeout
2025-06-07T23:46:38.012Z,1749339998.012 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:46:38.012Z,1749339998.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:38.035Z,1749339998.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:38.037Z,1749339998.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:38.040Z,1749339998.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 509.951416 m,
      bearing: 307.590939 deg,
      approach rate: -0.705255 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.590357 deg,
      new cmd heading: 307.590939 deg.

2025-06-07T23:46:38.041Z,1749339998.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368474 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:38.264Z,1749339998.264 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:46:38.265Z,1749339998.265 [DAT](INFO): response not received
2025-06-07T23:46:38.265Z,1749339998.265 [DAT](INFO): DAT read: user:1817>

2025-06-07T23:46:38.266Z,1749339998.266 [DAT](INFO): DAT read: Tx time:23:46:38.0711

2025-06-07T23:46:38.266Z,1749339998.266 [DAT](INFO): Ping request sent.
2025-06-07T23:46:38.266Z,1749339998.266 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:38.266Z,1749339998.266 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:38.267Z,1749339998.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-06-07T23:46:38.427Z,1749339998.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:38.430Z,1749339998.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 509.659088 m,
      bearing: 307.591539 deg,
      approach rate: -0.749597 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.590930 deg,
      new cmd heading: 307.591539 deg.

2025-06-07T23:46:38.431Z,1749339998.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368485 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:38.520Z,1749339998.520 [DAT](INFO): DAT read: TxSync time:23:46:38.0704

2025-06-07T23:46:38.523Z,1749339998.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255703
2025-06-07T23:46:38.768Z,1749339998.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501796
2025-06-07T23:46:38.835Z,1749339998.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:38.838Z,1749339998.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 509.366943 m,
      bearing: 307.592275 deg,
      approach rate: -0.716417 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.591531 deg,
      new cmd heading: 307.592275 deg.

2025-06-07T23:46:38.838Z,1749339998.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368498 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:39.023Z,1749339999.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757011
2025-06-07T23:46:39.205Z,1749339999.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:39.208Z,1749339999.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 509.096771 m,
      bearing: 307.592962 deg,
      approach rate: -0.730327 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.592269 deg,
      new cmd heading: 307.592962 deg.

2025-06-07T23:46:39.208Z,1749339999.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368510 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:39.272Z,1749339999.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006076
2025-06-07T23:46:39.524Z,1749339999.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257864
2025-06-07T23:46:39.651Z,1749339999.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:39.654Z,1749339999.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 508.772522 m,
      bearing: 307.592990 deg,
      approach rate: -0.726919 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.592952 deg,
      new cmd heading: 307.592990 deg.

2025-06-07T23:46:39.654Z,1749339999.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368510 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:39.776Z,1749339999.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509946
2025-06-07T23:46:40.018Z,1749340000.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:40.021Z,1749340000.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 508.506104 m,
      bearing: 307.593048 deg,
      approach rate: -0.726108 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.592979 deg,
      new cmd heading: 307.593048 deg.

2025-06-07T23:46:40.022Z,1749340000.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368512 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:40.028Z,1749340000.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761940
2025-06-07T23:46:40.280Z,1749340000.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013872
2025-06-07T23:46:40.414Z,1749340000.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:40.416Z,1749340000.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:40.418Z,1749340000.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 508.217590 m,
      bearing: 307.593134 deg,
      approach rate: -0.724707 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.593061 deg,
      new cmd heading: 307.593134 deg.

2025-06-07T23:46:40.419Z,1749340000.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368513 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:40.534Z,1749340000.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267730
2025-06-07T23:46:40.784Z,1749340000.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517830
2025-06-07T23:46:40.869Z,1749340000.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:40.872Z,1749340000.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 507.884674 m,
      bearing: 307.593180 deg,
      approach rate: -0.734611 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.593143 deg,
      new cmd heading: 307.593180 deg.

2025-06-07T23:46:40.873Z,1749340000.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368514 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:41.036Z,1749340001.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769941
2025-06-07T23:46:41.225Z,1749340001.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:41.227Z,1749340001.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 507.623962 m,
      bearing: 307.593310 deg,
      approach rate: -0.733341 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.593171 deg,
      new cmd heading: 307.593310 deg.

2025-06-07T23:46:41.228Z,1749340001.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368516 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:41.289Z,1749340001.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022920
2025-06-07T23:46:41.540Z,1749340001.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273824
2025-06-07T23:46:41.721Z,1749340001.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:41.724Z,1749340001.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 507.261688 m,
      bearing: 307.592855 deg,
      approach rate: -0.729910 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.593307 deg,
      new cmd heading: 307.592855 deg.

2025-06-07T23:46:41.725Z,1749340001.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368508 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:41.793Z,1749340001.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525936
2025-06-07T23:46:42.044Z,1749340002.044 [DAT](INFO): DAT read: Rx Time:23:46:41.1816

2025-06-07T23:46:42.045Z,1749340002.045 [DAT](INFO): Rx dataTimestamp_ set to:1749340002.044306
2025-06-07T23:46:42.045Z,1749340002.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778870
2025-06-07T23:46:42.083Z,1749340002.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:42.086Z,1749340002.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 506.997162 m,
      bearing: 307.592522 deg,
      approach rate: -0.730096 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.592843 deg,
      new cmd heading: 307.592522 deg.

2025-06-07T23:46:42.087Z,1749340002.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368502 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:42.296Z,1749340002.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029925
2025-06-07T23:46:42.505Z,1749340002.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:42.508Z,1749340002.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 654.24 m.
2025-06-07T23:46:42.510Z,1749340002.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 654.240784 m,
      nav range: 506.687775 m,
      bearing: 307.592132 deg,
      approach rate: -0.729429 m/s,
      LOS rate: nan deg/s,
      cmd heading: 307.592515 deg,
      new cmd heading: 307.592132 deg.

2025-06-07T23:46:42.511Z,1749340002.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368495 target range: 654.240784 and range: 553.00 m.
2025-06-07T23:46:42.555Z,1749340002.555 [DAT](INFO): DAT read: 23:46:41.1816 LVL= 21696, 27905, 20002, 30019, AGC= 70, IDX= 205,-0.36,-0.067,-1.383, 0.006,-0.626, PHS= 0.648,-0.710, 0.629, RAW= 149.3,  -8.5, CAL= 155.3, -16.7, ROT= 354.7,  16.7

2025-06-07T23:46:42.556Z,1749340002.556 [DAT](INFO): got valid direction response:
 23:46:41.1816 LVL= 21696, 27905, 20002, 30019, AGC= 70, IDX= 205,-0.36,-0.067,-1.383, 0.006,-0.626, PHS= 0.648,-0.710, 0.629, RAW= 149.3,  -8.5, CAL= 155.3, -16.7, ROT= 354.7,  16.7

2025-06-07T23:46:42.557Z,1749340002.557 [DAT](INFO): DAT read: Bearing 354.7,  16.7 (Local)

2025-06-07T23:46:42.557Z,1749340002.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.7,  16.7 (Local)

2025-06-07T23:46:42.559Z,1749340002.559 [DAT](INFO): DAT read: Range 10 to 50 : 529.7 m  (Round-trip  706.3 ms) speed  0.7 m/s

2025-06-07T23:46:42.560Z,1749340002.560 [DAT](INFO): DAT read: user:1818>

2025-06-07T23:46:42.560Z,1749340002.560 [DAT](INFO): DAT read: Tx time:23:46:42.2711

2025-06-07T23:46:42.561Z,1749340002.561 [DAT](INFO): Ping request sent.
2025-06-07T23:46:42.561Z,1749340002.561 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:42.562Z,1749340002.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:46:42.566Z,1749340002.566 [DAT](INFO): direction in FSK: [0.953728,-0.088475,-0.287361]
2025-06-07T23:46:42.566Z,1749340002.566 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:42.568Z,1749340002.568 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:42.599Z,1749340002.599 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:42.601Z,1749340002.601 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:42.802Z,1749340002.802 [DAT](INFO): DAT read: TxSync time:23:46:42.2704

2025-06-07T23:46:42.954Z,1749340002.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 529.700012 m,
      deltaT: 26.211290 s,
      deltaX: -23.299988 m,
      approachRate: -0.888929 m/s,
      rangeRepo size: 3

2025-06-07T23:46:42.961Z,1749340002.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 526.268677 m,
      bearing: 302.837780 deg,
      lat: 36.905563 deg,
      lon: -122.116094 deg,
      deltaT: 174.232743 s,
      deltaX: -127.972107 m,
      approachRate: -0.734489 m/s,
      posRepo size: 2

2025-06-07T23:46:42.962Z,1749340002.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:42.968Z,1749340002.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 302.837780 deg.
2025-06-07T23:46:42.970Z,1749340002.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285516 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:43.261Z,1749340003.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:43.264Z,1749340003.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 504.128540 m,
      bearing: 307.292577 deg,
      approach rate: -0.758597 m/s,
      LOS rate: -0.001430 deg/s,
      cmd heading: 302.837774 deg,
      new cmd heading: 302.836429 deg.

2025-06-07T23:46:43.265Z,1749340003.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285493 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:43.703Z,1749340003.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:43.706Z,1749340003.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 503.814270 m,
      bearing: 307.292742 deg,
      approach rate: -0.710175 m/s,
      LOS rate: 0.000372 deg/s,
      cmd heading: 302.836436 deg,
      new cmd heading: 302.836930 deg.

2025-06-07T23:46:43.707Z,1749340003.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285501 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:44.083Z,1749340004.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:44.085Z,1749340004.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 503.544708 m,
      bearing: 307.292910 deg,
      approach rate: -0.710291 m/s,
      LOS rate: 0.000445 deg/s,
      cmd heading: 302.836927 deg,
      new cmd heading: 302.837434 deg.

2025-06-07T23:46:44.086Z,1749340004.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285511 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:44.522Z,1749340004.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:44.525Z,1749340004.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:44.528Z,1749340004.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 503.231049 m,
      bearing: 307.293070 deg,
      approach rate: -0.709300 m/s,
      LOS rate: 0.000362 deg/s,
      cmd heading: 302.837447 deg,
      new cmd heading: 302.837927 deg.

2025-06-07T23:46:44.529Z,1749340004.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285519 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:44.564Z,1749340004.564 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:44.564Z,1749340004.564 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:44.564Z,1749340004.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:44.816Z,1749340004.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255083
2025-06-07T23:46:44.923Z,1749340004.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:44.926Z,1749340004.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 502.949677 m,
      bearing: 307.293955 deg,
      approach rate: -0.707272 m/s,
      LOS rate: 0.002225 deg/s,
      cmd heading: 302.837938 deg,
      new cmd heading: 302.840594 deg.

2025-06-07T23:46:44.927Z,1749340004.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285565 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:45.068Z,1749340005.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507255
2025-06-07T23:46:45.295Z,1749340005.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:45.314Z,1749340005.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 502.686584 m,
      bearing: 307.294851 deg,
      approach rate: -0.706902 m/s,
      LOS rate: 0.002408 deg/s,
      cmd heading: 302.840588 deg,
      new cmd heading: 302.843278 deg.

2025-06-07T23:46:45.315Z,1749340005.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285612 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:45.320Z,1749340005.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759198
2025-06-07T23:46:45.572Z,1749340005.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011210
2025-06-07T23:46:45.756Z,1749340005.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:45.758Z,1749340005.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 502.359985 m,
      bearing: 307.297050 deg,
      approach rate: -0.709394 m/s,
      LOS rate: 0.004779 deg/s,
      cmd heading: 302.843266 deg,
      new cmd heading: 302.849867 deg.

2025-06-07T23:46:45.760Z,1749340005.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285728 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:45.824Z,1749340005.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263383
2025-06-07T23:46:46.076Z,1749340006.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515164
2025-06-07T23:46:46.091Z,1749340006.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:46.094Z,1749340006.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 502.124695 m,
      bearing: 307.298792 deg,
      approach rate: -0.701294 m/s,
      LOS rate: 0.005196 deg/s,
      cmd heading: 302.849877 deg,
      new cmd heading: 302.855107 deg.

2025-06-07T23:46:46.095Z,1749340006.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285819 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:46.328Z,1749340006.328 [DAT](INFO): DAT read: Rx Time:23:46:45.3777

2025-06-07T23:46:46.329Z,1749340006.329 [DAT](INFO): Rx dataTimestamp_ set to:1749340006.328495
2025-06-07T23:46:46.329Z,1749340006.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768288
2025-06-07T23:46:46.505Z,1749340006.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.27 m.
2025-06-07T23:46:46.508Z,1749340006.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.268677 m,
      nav range: 501.827789 m,
      bearing: 307.300993 deg,
      approach rate: -0.716201 m/s,
      LOS rate: 0.005312 deg/s,
      cmd heading: 302.855096 deg,
      new cmd heading: 302.861702 deg.

2025-06-07T23:46:46.509Z,1749340006.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285934 target range: 526.268677 and range: 529.70 m.
2025-06-07T23:46:46.582Z,1749340006.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021050
2025-06-07T23:46:46.846Z,1749340006.846 [DAT](INFO): DAT read: 23:46:45.3777 LVL= 17456, 18033, 17026, 25891, AGC= 73, IDX= 470,-0.07,-0.336,-1.699,-0.373,-1.001, PHS= 0.753,-0.650, 0.625, RAW= 145.3, -10.8, CAL= 152.3, -19.6, ROT= 357.7,  19.6

2025-06-07T23:46:46.847Z,1749340006.847 [DAT](INFO): got valid direction response:
 23:46:45.3777 LVL= 17456, 18033, 17026, 25891, AGC= 73, IDX= 470,-0.07,-0.336,-1.699,-0.373,-1.001, PHS= 0.753,-0.650, 0.625, RAW= 145.3, -10.8, CAL= 152.3, -19.6, ROT= 357.7,  19.6

2025-06-07T23:46:46.848Z,1749340006.848 [DAT](INFO): DAT read: Bearing 357.7,  19.6 (Local)

2025-06-07T23:46:46.848Z,1749340006.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  19.6 (Local)

2025-06-07T23:46:46.850Z,1749340006.850 [DAT](INFO): DAT read: Range 10 to 50 : 526.8 m  (Round-trip  702.4 ms) speed  0.4 m/s

2025-06-07T23:46:46.851Z,1749340006.851 [DAT](INFO): DAT read: user:1819>

2025-06-07T23:46:46.852Z,1749340006.852 [DAT](INFO): DAT read: Tx time:23:46:46.4711

2025-06-07T23:46:46.852Z,1749340006.852 [DAT](INFO): Ping request sent.
2025-06-07T23:46:46.852Z,1749340006.852 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:46.853Z,1749340006.853 [DAT](INFO): DAT read: TxSync time:23:46:46.4704

2025-06-07T23:46:46.854Z,1749340006.854 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:46:46.855Z,1749340006.855 [DAT](INFO): direction in FSK: [0.941299,-0.037806,-0.335452]
2025-06-07T23:46:46.855Z,1749340006.855 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:46.855Z,1749340006.855 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:46.858Z,1749340006.858 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:46.859Z,1749340006.859 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:47.007Z,1749340007.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 526.799988 m,
      deltaT: 4.290776 s,
      deltaX: -2.900024 m,
      approachRate: -0.675874 m/s,
      rangeRepo size: 4

2025-06-07T23:46:47.021Z,1749340007.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 523.368652 m,
      bearing: 303.668112 deg,
      lat: 36.905471 deg,
      lon: -122.116244 deg,
      deltaT: 4.290776 s,
      deltaX: -2.900024 m,
      approachRate: -0.675874 m/s,
      posRepo size: 3

2025-06-07T23:46:47.022Z,1749340007.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:47.029Z,1749340007.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 506.100128 m,
      bearing: 305.470071 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005312 deg/s,
      cmd heading: 302.861707 deg,
      new cmd heading: 302.869690 deg.

2025-06-07T23:46:47.030Z,1749340007.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286073 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:47.435Z,1749340007.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:47.441Z,1749340007.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:47.448Z,1749340007.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 505.776917 m,
      bearing: 305.473160 deg,
      approach rate: -0.743509 m/s,
      LOS rate: 0.007111 deg/s,
      cmd heading: 302.869685 deg,
      new cmd heading: 302.878958 deg.

2025-06-07T23:46:47.449Z,1749340007.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286235 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:47.592Z,1749340007.592 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:47.592Z,1749340007.592 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:47.592Z,1749340007.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:47.764Z,1749340007.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:47.767Z,1749340007.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 505.542542 m,
      bearing: 305.475937 deg,
      approach rate: -0.725267 m/s,
      LOS rate: 0.008596 deg/s,
      cmd heading: 302.878947 deg,
      new cmd heading: 302.887281 deg.

2025-06-07T23:46:47.784Z,1749340007.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286380 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:47.845Z,1749340007.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992515
2025-06-07T23:46:48.096Z,1749340008.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243777
2025-06-07T23:46:48.135Z,1749340008.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:48.138Z,1749340008.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 505.283508 m,
      bearing: 305.479216 deg,
      approach rate: -0.698444 m/s,
      LOS rate: 0.008847 deg/s,
      cmd heading: 302.887280 deg,
      new cmd heading: 302.897123 deg.

2025-06-07T23:46:48.139Z,1749340008.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286552 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:48.351Z,1749340008.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498274
2025-06-07T23:46:48.553Z,1749340008.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:48.556Z,1749340008.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 504.991943 m,
      bearing: 305.483157 deg,
      approach rate: -0.697344 m/s,
      LOS rate: 0.009431 deg/s,
      cmd heading: 302.897115 deg,
      new cmd heading: 302.908944 deg.

2025-06-07T23:46:48.557Z,1749340008.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286758 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:48.601Z,1749340008.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748172
2025-06-07T23:46:48.852Z,1749340008.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999688
2025-06-07T23:46:49.010Z,1749340009.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:49.017Z,1749340009.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 504.672180 m,
      bearing: 305.488208 deg,
      approach rate: -0.699900 m/s,
      LOS rate: 0.011063 deg/s,
      cmd heading: 302.908945 deg,
      new cmd heading: 302.924108 deg.

2025-06-07T23:46:49.018Z,1749340009.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287023 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:49.105Z,1749340009.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252242
2025-06-07T23:46:49.340Z,1749340009.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:49.345Z,1749340009.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 504.442535 m,
      bearing: 305.492022 deg,
      approach rate: -0.694885 m/s,
      LOS rate: 0.011546 deg/s,
      cmd heading: 302.924108 deg,
      new cmd heading: 302.935555 deg.

2025-06-07T23:46:49.346Z,1749340009.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287223 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:49.356Z,1749340009.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503856
2025-06-07T23:46:49.608Z,1749340009.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755647
2025-06-07T23:46:49.793Z,1749340009.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:49.795Z,1749340009.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:49.798Z,1749340009.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 504.109924 m,
      bearing: 305.496124 deg,
      approach rate: -0.731470 m/s,
      LOS rate: 0.009026 deg/s,
      cmd heading: 302.935555 deg,
      new cmd heading: 302.947868 deg.

2025-06-07T23:46:49.799Z,1749340009.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287438 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:49.860Z,1749340009.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007792
2025-06-07T23:46:50.112Z,1749340010.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259546
2025-06-07T23:46:50.136Z,1749340010.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:50.138Z,1749340010.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 503.869293 m,
      bearing: 305.499223 deg,
      approach rate: -0.706392 m/s,
      LOS rate: 0.009102 deg/s,
      cmd heading: 302.947877 deg,
      new cmd heading: 302.957179 deg.

2025-06-07T23:46:50.140Z,1749340010.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287600 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:50.364Z,1749340010.364 [DAT](INFO): DAT read: Rx Time:23:46:49.5739

2025-06-07T23:46:50.365Z,1749340010.365 [DAT](INFO): Rx dataTimestamp_ set to:1749340010.364472
2025-06-07T23:46:50.365Z,1749340010.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512820
2025-06-07T23:46:50.545Z,1749340010.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.37 m.
2025-06-07T23:46:50.548Z,1749340010.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.368652 m,
      nav range: 503.579865 m,
      bearing: 305.503069 deg,
      approach rate: -0.706774 m/s,
      LOS rate: 0.009397 deg/s,
      cmd heading: 302.957166 deg,
      new cmd heading: 302.968711 deg.

2025-06-07T23:46:50.549Z,1749340010.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287802 target range: 523.368652 and range: 526.80 m.
2025-06-07T23:46:50.616Z,1749340010.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763786
2025-06-07T23:46:50.874Z,1749340010.874 [DAT](INFO): DAT read: 23:46:49.5739 LVL= 32624, 27505, 29298, 32755, AGC= 75, IDX= 397,-0.05,-2.149, 2.564,-2.342,-2.884, PHS= 0.823,-0.788, 0.538, RAW= 140.5,  -7.8, CAL= 146.7, -17.5, ROT=   3.3,  17.5

2025-06-07T23:46:50.875Z,1749340010.875 [DAT](INFO): got valid direction response:
 23:46:49.5739 LVL= 32624, 27505, 29298, 32755, AGC= 75, IDX= 397,-0.05,-2.149, 2.564,-2.342,-2.884, PHS= 0.823,-0.788, 0.538, RAW= 140.5,  -7.8, CAL= 146.7, -17.5, ROT=   3.3,  17.5

2025-06-07T23:46:50.876Z,1749340010.876 [DAT](INFO): DAT read: Bearing   3.3,  17.5 (Local)

2025-06-07T23:46:50.876Z,1749340010.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  17.5 (Local)

2025-06-07T23:46:50.878Z,1749340010.878 [DAT](INFO): DAT read: Range 10 to 50 : 523.8 m  (Round-trip  698.5 ms) speed  0.6 m/s

2025-06-07T23:46:50.879Z,1749340010.879 [DAT](INFO): DAT read: user:1820>

2025-06-07T23:46:50.879Z,1749340010.879 [DAT](INFO): DAT read: Tx time:23:46:50.6712

2025-06-07T23:46:50.880Z,1749340010.880 [DAT](INFO): Ping request sent.
2025-06-07T23:46:50.880Z,1749340010.880 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:50.880Z,1749340010.880 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:46:50.881Z,1749340010.881 [DAT](INFO): direction in FSK: [0.952136,0.054900,-0.300706]
2025-06-07T23:46:50.881Z,1749340010.881 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:50.882Z,1749340010.882 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:50.885Z,1749340010.885 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:50.885Z,1749340010.885 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:51.070Z,1749340011.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 523.799988 m,
      deltaT: 4.028439 s,
      deltaX: -3.000000 m,
      approachRate: -0.744705 m/s,
      rangeRepo size: 4

2025-06-07T23:46:51.077Z,1749340011.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 520.339600 m,
      bearing: 305.587780 deg,
      lat: 36.905529 deg,
      lon: -122.116331 deg,
      deltaT: 4.028439 s,
      deltaX: -3.029053 m,
      approachRate: -0.751917 m/s,
      posRepo size: 4

2025-06-07T23:46:51.077Z,1749340011.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:51.092Z,1749340011.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 513.309143 m,
      bearing: 305.589668 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009397 deg/s,
      cmd heading: 302.968723 deg,
      new cmd heading: 302.983504 deg.

2025-06-07T23:46:51.093Z,1749340011.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288060 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:51.120Z,1749340011.120 [DAT](INFO): DAT read: TxSync time:23:46:50.6705

2025-06-07T23:46:51.386Z,1749340011.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:51.389Z,1749340011.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 513.062622 m,
      bearing: 305.592706 deg,
      approach rate: -0.778231 m/s,
      LOS rate: 0.009597 deg/s,
      cmd heading: 302.983503 deg,
      new cmd heading: 302.992623 deg.

2025-06-07T23:46:51.390Z,1749340011.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288219 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:51.827Z,1749340011.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:51.829Z,1749340011.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:51.849Z,1749340011.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 512.744934 m,
      bearing: 305.595532 deg,
      approach rate: -0.717532 m/s,
      LOS rate: 0.006388 deg/s,
      cmd heading: 302.992628 deg,
      new cmd heading: 303.001113 deg.

2025-06-07T23:46:51.850Z,1749340011.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288367 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:51.876Z,1749340011.876 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:51.876Z,1749340011.876 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:51.876Z,1749340011.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:52.129Z,1749340012.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248657
2025-06-07T23:46:52.201Z,1749340012.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:52.204Z,1749340012.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 512.477600 m,
      bearing: 305.597916 deg,
      approach rate: -0.719644 m/s,
      LOS rate: 0.006420 deg/s,
      cmd heading: 303.001125 deg,
      new cmd heading: 303.008280 deg.

2025-06-07T23:46:52.205Z,1749340012.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288492 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:52.381Z,1749340012.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500997
2025-06-07T23:46:52.603Z,1749340012.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:52.606Z,1749340012.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 512.188721 m,
      bearing: 305.600501 deg,
      approach rate: -0.718091 m/s,
      LOS rate: 0.006429 deg/s,
      cmd heading: 303.008283 deg,
      new cmd heading: 303.016042 deg.

2025-06-07T23:46:52.607Z,1749340012.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288628 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:52.632Z,1749340012.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752219
2025-06-07T23:46:52.884Z,1749340012.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004217
2025-06-07T23:46:53.045Z,1749340013.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:53.049Z,1749340013.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 511.882111 m,
      bearing: 305.602617 deg,
      approach rate: -0.692854 m/s,
      LOS rate: 0.004785 deg/s,
      cmd heading: 303.016042 deg,
      new cmd heading: 303.022395 deg.

2025-06-07T23:46:53.050Z,1749340013.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288739 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:53.137Z,1749340013.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257120
2025-06-07T23:46:53.388Z,1749340013.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508304
2025-06-07T23:46:53.413Z,1749340013.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:53.416Z,1749340013.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 511.616577 m,
      bearing: 305.604452 deg,
      approach rate: -0.723099 m/s,
      LOS rate: 0.005000 deg/s,
      cmd heading: 303.022408 deg,
      new cmd heading: 303.027916 deg.

2025-06-07T23:46:53.417Z,1749340013.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288835 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:53.641Z,1749340013.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760653
2025-06-07T23:46:53.862Z,1749340013.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:53.864Z,1749340013.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:53.867Z,1749340013.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 511.301025 m,
      bearing: 305.606173 deg,
      approach rate: -0.698684 m/s,
      LOS rate: 0.003811 deg/s,
      cmd heading: 303.027927 deg,
      new cmd heading: 303.033091 deg.

2025-06-07T23:46:53.868Z,1749340013.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288925 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:53.892Z,1749340013.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012341
2025-06-07T23:46:54.146Z,1749340014.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265821
2025-06-07T23:46:54.230Z,1749340014.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:54.236Z,1749340014.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 511.055420 m,
      bearing: 305.607463 deg,
      approach rate: -0.672446 m/s,
      LOS rate: 0.003535 deg/s,
      cmd heading: 303.033090 deg,
      new cmd heading: 303.036964 deg.

2025-06-07T23:46:54.237Z,1749340014.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288993 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:54.396Z,1749340014.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516166
2025-06-07T23:46:54.635Z,1749340014.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:54.638Z,1749340014.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 510.759735 m,
      bearing: 305.609019 deg,
      approach rate: -0.728943 m/s,
      LOS rate: 0.003836 deg/s,
      cmd heading: 303.036970 deg,
      new cmd heading: 303.041639 deg.

2025-06-07T23:46:54.639Z,1749340014.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289074 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:54.648Z,1749340014.648 [DAT](INFO): DAT read: Rx Time:23:46:53.7764

2025-06-07T23:46:54.649Z,1749340014.649 [DAT](INFO): Rx dataTimestamp_ set to:1749340014.648375
2025-06-07T23:46:54.649Z,1749340014.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769336
2025-06-07T23:46:54.901Z,1749340014.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020306
2025-06-07T23:46:55.113Z,1749340015.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.34 m.
2025-06-07T23:46:55.120Z,1749340015.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.339600 m,
      nav range: 510.442719 m,
      bearing: 305.610462 deg,
      approach rate: -0.663558 m/s,
      LOS rate: 0.003022 deg/s,
      cmd heading: 303.041642 deg,
      new cmd heading: 303.045974 deg.

2025-06-07T23:46:55.121Z,1749340015.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289150 target range: 520.339600 and range: 523.80 m.
2025-06-07T23:46:55.170Z,1749340015.170 [DAT](INFO): DAT read: 23:46:53.7764 LVL= 23136, 32753, 25442, 32755, AGC= 67, IDX= 470, 0.07,-2.839, 1.956,-2.942, 2.640, PHS= 0.892,-0.638, 0.698, RAW= 143.3, -13.1, CAL= 150.1, -21.9, ROT= 359.9,  21.9

2025-06-07T23:46:55.172Z,1749340015.172 [DAT](INFO): got valid direction response:
 23:46:53.7764 LVL= 23136, 32753, 25442, 32755, AGC= 67, IDX= 470, 0.07,-2.839, 1.956,-2.942, 2.640, PHS= 0.892,-0.638, 0.698, RAW= 143.3, -13.1, CAL= 150.1, -21.9, ROT= 359.9,  21.9

2025-06-07T23:46:55.173Z,1749340015.173 [DAT](INFO): DAT read: Bearing 359.9,  21.9 (Local)

2025-06-07T23:46:55.173Z,1749340015.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  21.9 (Local)

2025-06-07T23:46:55.175Z,1749340015.175 [DAT](INFO): DAT read: Range 10 to 50 : 525.7 m  (Round-trip  701.0 ms) speed  0.2 m/s

2025-06-07T23:46:55.175Z,1749340015.175 [DAT](INFO): DAT read: user:1821>

2025-06-07T23:46:55.176Z,1749340015.176 [DAT](INFO): DAT read: Tx time:23:46:54.8712

2025-06-07T23:46:55.176Z,1749340015.176 [DAT](INFO): Ping request sent.
2025-06-07T23:46:55.177Z,1749340015.177 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:55.177Z,1749340015.177 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:46:55.178Z,1749340015.178 [DAT](INFO): direction in FSK: [0.927835,-0.001620,-0.372988]
2025-06-07T23:46:55.178Z,1749340015.178 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:55.178Z,1749340015.178 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:55.182Z,1749340015.182 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:55.182Z,1749340015.182 [DAT](INFO): publishing direction and range info
2025-06-07T23:46:55.405Z,1749340015.405 [DAT](INFO): DAT read: TxSync time:23:46:54.8705

2025-06-07T23:46:55.490Z,1749340015.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 525.700012 m,
      deltaT: 4.284279 s,
      deltaX: 1.900024 m,
      approachRate: 0.443488 m/s,
      rangeRepo size: 4

2025-06-07T23:46:55.497Z,1749340015.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 522.209412 m,
      bearing: 303.745271 deg,
      lat: 36.905397 deg,
      lon: -122.116393 deg,
      deltaT: 4.284279 s,
      deltaX: 1.869812 m,
      approachRate: 0.436436 m/s,
      posRepo size: 4

2025-06-07T23:46:55.498Z,1749340015.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:55.504Z,1749340015.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 506.345367 m,
      bearing: 303.900320 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003022 deg/s,
      cmd heading: 303.045986 deg,
      new cmd heading: 303.049403 deg.

2025-06-07T23:46:55.505Z,1749340015.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289210 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:55.905Z,1749340015.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:55.907Z,1749340015.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:55.908Z,1749340015.908 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:46:55.908Z,1749340015.908 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:46:55.908Z,1749340015.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:46:55.913Z,1749340015.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 506.041504 m,
      bearing: 303.901014 deg,
      approach rate: -0.728808 m/s,
      LOS rate: 0.001666 deg/s,
      cmd heading: 303.049401 deg,
      new cmd heading: 303.051485 deg.

2025-06-07T23:46:55.914Z,1749340015.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289246 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:56.160Z,1749340016.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983646
2025-06-07T23:46:56.280Z,1749340016.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:56.282Z,1749340016.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 505.784363 m,
      bearing: 303.901598 deg,
      approach rate: -0.689329 m/s,
      LOS rate: 0.001567 deg/s,
      cmd heading: 303.051477 deg,
      new cmd heading: 303.053231 deg.

2025-06-07T23:46:56.284Z,1749340016.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289277 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:56.413Z,1749340016.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236771
2025-06-07T23:46:56.664Z,1749340016.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487496
2025-06-07T23:46:56.736Z,1749340016.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:56.739Z,1749340016.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 505.468842 m,
      bearing: 303.902282 deg,
      approach rate: -0.691025 m/s,
      LOS rate: 0.001498 deg/s,
      cmd heading: 303.053226 deg,
      new cmd heading: 303.055278 deg.

2025-06-07T23:46:56.740Z,1749340016.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289312 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:56.916Z,1749340016.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739490
2025-06-07T23:46:57.136Z,1749340017.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:57.138Z,1749340017.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 505.202271 m,
      bearing: 303.902965 deg,
      approach rate: -0.667173 m/s,
      LOS rate: 0.001711 deg/s,
      cmd heading: 303.055275 deg,
      new cmd heading: 303.057326 deg.

2025-06-07T23:46:57.144Z,1749340017.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289348 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:57.168Z,1749340017.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991717
2025-06-07T23:46:57.420Z,1749340017.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243524
2025-06-07T23:46:57.535Z,1749340017.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:57.540Z,1749340017.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 504.942688 m,
      bearing: 303.903570 deg,
      approach rate: -0.658034 m/s,
      LOS rate: 0.001533 deg/s,
      cmd heading: 303.057324 deg,
      new cmd heading: 303.059138 deg.

2025-06-07T23:46:57.542Z,1749340017.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289380 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:57.672Z,1749340017.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495540
2025-06-07T23:46:57.924Z,1749340017.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747636
2025-06-07T23:46:57.976Z,1749340017.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:46:57.983Z,1749340017.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:57.989Z,1749340017.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 504.631134 m,
      bearing: 303.905332 deg,
      approach rate: -0.694614 m/s,
      LOS rate: 0.003931 deg/s,
      cmd heading: 303.059127 deg,
      new cmd heading: 303.064416 deg.

2025-06-07T23:46:57.990Z,1749340017.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289472 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:58.176Z,1749340018.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999492
2025-06-07T23:46:58.294Z,1749340018.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:58.297Z,1749340018.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 504.407013 m,
      bearing: 303.906577 deg,
      approach rate: -0.710929 m/s,
      LOS rate: 0.003952 deg/s,
      cmd heading: 303.064427 deg,
      new cmd heading: 303.068165 deg.

2025-06-07T23:46:58.298Z,1749340018.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289537 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:58.428Z,1749340018.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251516
2025-06-07T23:46:58.682Z,1749340018.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505087
2025-06-07T23:46:58.730Z,1749340018.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:58.733Z,1749340018.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 504.125122 m,
      bearing: 303.908108 deg,
      approach rate: -0.646227 m/s,
      LOS rate: 0.003511 deg/s,
      cmd heading: 303.068170 deg,
      new cmd heading: 303.072765 deg.

2025-06-07T23:46:58.734Z,1749340018.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289618 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:58.876Z,1749340018.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:46:58.933Z,1749340018.933 [DAT](INFO): DAT read: Rx Time:23:46:57.9798

2025-06-07T23:46:58.933Z,1749340018.933 [DAT](INFO): Rx dataTimestamp_ set to:1749340018.932900
2025-06-07T23:46:58.934Z,1749340018.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757333
2025-06-07T23:46:59.139Z,1749340019.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:59.142Z,1749340019.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 503.834076 m,
      bearing: 303.910062 deg,
      approach rate: -0.719362 m/s,
      LOS rate: 0.004834 deg/s,
      cmd heading: 303.072760 deg,
      new cmd heading: 303.078627 deg.

2025-06-07T23:46:59.143Z,1749340019.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289720 target range: 522.209412 and range: 525.70 m.
2025-06-07T23:46:59.184Z,1749340019.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007553
2025-06-07T23:46:59.440Z,1749340019.440 [DAT](INFO): DAT read: Range 10 to 50 : 528.3 m  (Round-trip  704.4 ms) speed  0.5 m/s

2025-06-07T23:46:59.441Z,1749340019.441 [DAT](INFO): DAT read: user:1822>

2025-06-07T23:46:59.442Z,1749340019.442 [DAT](INFO): DAT read: Tx time:23:46:59.0712

2025-06-07T23:46:59.442Z,1749340019.442 [DAT](INFO): Ping request sent.
2025-06-07T23:46:59.442Z,1749340019.442 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:46:59.443Z,1749340019.443 [DAT](INFO): DAT read: TxSync time:23:46:59.0705

2025-06-07T23:46:59.443Z,1749340019.443 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:46:59.443Z,1749340019.443 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:59.444Z,1749340019.444 [DAT](INFO): publishing transmit ping time
2025-06-07T23:46:59.613Z,1749340019.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 528.299988 m,
      deltaT: 4.285114 s,
      deltaX: 2.599976 m,
      approachRate: 0.606746 m/s,
      rangeRepo size: 4

2025-06-07T23:46:59.614Z,1749340019.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:46:59.624Z,1749340019.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 503.497803 m,
      bearing: 303.912312 deg,
      approach rate: -0.703701 m/s,
      LOS rate: 0.004712 deg/s,
      cmd heading: 303.078634 deg,
      new cmd heading: 303.085389 deg.

2025-06-07T23:46:59.625Z,1749340019.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289838 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:46:59.881Z,1749340019.881 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:47:00.032Z,1749340020.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:00.034Z,1749340020.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:00.041Z,1749340020.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 503.208496 m,
      bearing: 303.914947 deg,
      approach rate: -0.687276 m/s,
      LOS rate: 0.006262 deg/s,
      cmd heading: 303.085382 deg,
      new cmd heading: 303.093291 deg.

2025-06-07T23:47:00.042Z,1749340020.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289976 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:00.193Z,1749340020.193 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:00.193Z,1749340020.193 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:00.193Z,1749340020.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:00.371Z,1749340020.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:00.374Z,1749340020.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 502.951538 m,
      bearing: 303.917305 deg,
      approach rate: -0.762159 m/s,
      LOS rate: 0.006997 deg/s,
      cmd heading: 303.093278 deg,
      new cmd heading: 303.100355 deg.

2025-06-07T23:47:00.375Z,1749340020.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290099 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:00.445Z,1749340020.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003089
2025-06-07T23:47:00.696Z,1749340020.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254118
2025-06-07T23:47:00.788Z,1749340020.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:00.790Z,1749340020.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 502.651886 m,
      bearing: 303.920027 deg,
      approach rate: -0.718704 m/s,
      LOS rate: 0.006534 deg/s,
      cmd heading: 303.100354 deg,
      new cmd heading: 303.108527 deg.

2025-06-07T23:47:00.792Z,1749340020.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290242 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:00.949Z,1749340020.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507111
2025-06-07T23:47:01.184Z,1749340021.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:01.187Z,1749340021.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 502.363586 m,
      bearing: 303.922162 deg,
      approach rate: -0.727487 m/s,
      LOS rate: 0.005391 deg/s,
      cmd heading: 303.108523 deg,
      new cmd heading: 303.114932 deg.

2025-06-07T23:47:01.188Z,1749340021.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290354 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:01.200Z,1749340021.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758249
2025-06-07T23:47:01.452Z,1749340021.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010434
2025-06-07T23:47:01.565Z,1749340021.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:01.568Z,1749340021.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 502.085876 m,
      bearing: 303.924189 deg,
      approach rate: -0.729093 m/s,
      LOS rate: 0.005323 deg/s,
      cmd heading: 303.114943 deg,
      new cmd heading: 303.121026 deg.

2025-06-07T23:47:01.569Z,1749340021.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290460 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:01.704Z,1749340021.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262209
2025-06-07T23:47:01.957Z,1749340021.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514785
2025-06-07T23:47:02.012Z,1749340022.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:02.014Z,1749340022.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 501.749786 m,
      bearing: 303.925918 deg,
      approach rate: -0.752216 m/s,
      LOS rate: 0.003872 deg/s,
      cmd heading: 303.121036 deg,
      new cmd heading: 303.126226 deg.

2025-06-07T23:47:02.016Z,1749340022.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290551 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:02.208Z,1749340022.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766184
2025-06-07T23:47:02.370Z,1749340022.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:02.373Z,1749340022.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:02.376Z,1749340022.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 501.478455 m,
      bearing: 303.927309 deg,
      approach rate: -0.751789 m/s,
      LOS rate: 0.003857 deg/s,
      cmd heading: 303.126227 deg,
      new cmd heading: 303.130403 deg.

2025-06-07T23:47:02.377Z,1749340022.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290624 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:02.460Z,1749340022.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018370
2025-06-07T23:47:02.712Z,1749340022.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270138
2025-06-07T23:47:02.799Z,1749340022.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:02.802Z,1749340022.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 501.169281 m,
      bearing: 303.928881 deg,
      approach rate: -0.753343 m/s,
      LOS rate: 0.003833 deg/s,
      cmd heading: 303.130407 deg,
      new cmd heading: 303.135126 deg.

2025-06-07T23:47:02.807Z,1749340022.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290706 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:02.966Z,1749340022.966 [DAT](INFO): DAT read: Rx Time:23:47:02.1689

2025-06-07T23:47:02.966Z,1749340022.966 [DAT](INFO): Rx dataTimestamp_ set to:1749340022.965743
2025-06-07T23:47:02.967Z,1749340022.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524961
2025-06-07T23:47:03.216Z,1749340023.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774327
2025-06-07T23:47:03.236Z,1749340023.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.21 m.
2025-06-07T23:47:03.239Z,1749340023.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.209412 m,
      nav range: 500.843323 m,
      bearing: 303.930255 deg,
      approach rate: -0.719401 m/s,
      LOS rate: 0.003035 deg/s,
      cmd heading: 303.135133 deg,
      new cmd heading: 303.139258 deg.

2025-06-07T23:47:03.244Z,1749340023.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290778 target range: 522.209412 and range: 528.30 m.
2025-06-07T23:47:03.474Z,1749340023.474 [DAT](INFO): DAT read: 23:47:02.1689 LVL= 19376, 16097, 22834, 21235, AGC= 72, IDX= 329,-0.43, 2.229, 0.933, 2.122, 1.596, PHS= 0.721,-0.616, 0.523, RAW= 142.1, -10.1, CAL= 149.1, -19.5, ROT=   0.9,  19.5

2025-06-07T23:47:03.476Z,1749340023.476 [DAT](INFO): got valid direction response:
 23:47:02.1689 LVL= 19376, 16097, 22834, 21235, AGC= 72, IDX= 329,-0.43, 2.229, 0.933, 2.122, 1.596, PHS= 0.721,-0.616, 0.523, RAW= 142.1, -10.1, CAL= 149.1, -19.5, ROT=   0.9,  19.5

2025-06-07T23:47:03.477Z,1749340023.477 [DAT](INFO): DAT read: Bearing   0.9,  19.5 (Local)

2025-06-07T23:47:03.478Z,1749340023.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  19.5 (Local)

2025-06-07T23:47:03.480Z,1749340023.480 [DAT](INFO): DAT read: Range 10 to 50 : 520.0 m  (Round-trip  693.4 ms) speed  0.7 m/s

2025-06-07T23:47:03.481Z,1749340023.481 [DAT](INFO): DAT read: user:1823>

2025-06-07T23:47:03.482Z,1749340023.482 [DAT](INFO): DAT read: Tx time:23:47:03.2713

2025-06-07T23:47:03.482Z,1749340023.482 [DAT](INFO): Ping request sent.
2025-06-07T23:47:03.483Z,1749340023.483 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:03.483Z,1749340023.483 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:03.484Z,1749340023.484 [DAT](INFO): direction in FSK: [0.942525,0.014806,-0.333807]
2025-06-07T23:47:03.484Z,1749340023.484 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:03.485Z,1749340023.485 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:03.493Z,1749340023.493 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:03.493Z,1749340023.493 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:03.646Z,1749340023.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 520.000000 m,
      deltaT: 4.030636 s,
      deltaX: -8.299988 m,
      approachRate: -2.059225 m/s,
      rangeRepo size: 4

2025-06-07T23:47:03.653Z,1749340023.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 516.468811 m,
      bearing: 305.227397 deg,
      lat: 36.905397 deg,
      lon: -122.116393 deg,
      deltaT: 8.315750 s,
      deltaX: -5.740601 m,
      approachRate: -0.690329 m/s,
      posRepo size: 4

2025-06-07T23:47:03.654Z,1749340023.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:03.661Z,1749340023.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 500.546844 m,
      bearing: 303.931476 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003035 deg/s,
      cmd heading: 303.139259 deg,
      new cmd heading: 303.142988 deg.

2025-06-07T23:47:03.662Z,1749340023.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290843 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:03.721Z,1749340023.721 [DAT](INFO): DAT read: TxSync time:23:47:03.2706

2025-06-07T23:47:04.019Z,1749340024.019 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,   7,     ,      -70.67,  20.50,  0.00
2025-06-07T23:47:04.035Z,1749340024.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:04.037Z,1749340024.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 500.232147 m,
      bearing: 303.932760 deg,
      approach rate: -0.809467 m/s,
      LOS rate: 0.003303 deg/s,
      cmd heading: 303.142975 deg,
      new cmd heading: 303.146827 deg.

2025-06-07T23:47:04.038Z,1749340024.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290910 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:04.410Z,1749340024.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:04.412Z,1749340024.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:04.415Z,1749340024.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 499.959320 m,
      bearing: 303.933916 deg,
      approach rate: -0.722252 m/s,
      LOS rate: 0.003062 deg/s,
      cmd heading: 303.146827 deg,
      new cmd heading: 303.150297 deg.

2025-06-07T23:47:04.416Z,1749340024.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290971 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:04.480Z,1749340024.480 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:04.480Z,1749340024.480 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:04.480Z,1749340024.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:04.732Z,1749340024.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249585
2025-06-07T23:47:04.808Z,1749340024.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:04.811Z,1749340024.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 499.653107 m,
      bearing: 303.935226 deg,
      approach rate: -0.773415 m/s,
      LOS rate: 0.003313 deg/s,
      cmd heading: 303.150296 deg,
      new cmd heading: 303.154231 deg.

2025-06-07T23:47:04.812Z,1749340024.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291039 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:04.984Z,1749340024.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501725
2025-06-07T23:47:05.224Z,1749340025.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:05.227Z,1749340025.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 499.351410 m,
      bearing: 303.935649 deg,
      approach rate: -0.725311 m/s,
      LOS rate: 0.001016 deg/s,
      cmd heading: 303.154231 deg,
      new cmd heading: 303.155499 deg.

2025-06-07T23:47:05.228Z,1749340025.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291061 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:05.244Z,1749340025.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761586
2025-06-07T23:47:05.496Z,1749340025.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013554
2025-06-07T23:47:05.616Z,1749340025.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:05.619Z,1749340025.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 499.066620 m,
      bearing: 303.935944 deg,
      approach rate: -0.726290 m/s,
      LOS rate: 0.000752 deg/s,
      cmd heading: 303.155487 deg,
      new cmd heading: 303.156372 deg.

2025-06-07T23:47:05.620Z,1749340025.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291077 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:05.748Z,1749340025.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265523
2025-06-07T23:47:06.000Z,1749340026.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517828
2025-06-07T23:47:06.047Z,1749340026.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:06.050Z,1749340026.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 498.763092 m,
      bearing: 303.936539 deg,
      approach rate: -0.704427 m/s,
      LOS rate: 0.001382 deg/s,
      cmd heading: 303.156362 deg,
      new cmd heading: 303.158149 deg.

2025-06-07T23:47:06.051Z,1749340026.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291108 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:06.253Z,1749340026.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770132
2025-06-07T23:47:06.426Z,1749340026.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:06.428Z,1749340026.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:06.431Z,1749340026.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 498.495056 m,
      bearing: 303.937065 deg,
      approach rate: -0.703800 m/s,
      LOS rate: 0.001383 deg/s,
      cmd heading: 303.158138 deg,
      new cmd heading: 303.159717 deg.

2025-06-07T23:47:06.432Z,1749340026.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291135 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:06.508Z,1749340026.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025438
2025-06-07T23:47:06.756Z,1749340026.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273530
2025-06-07T23:47:06.828Z,1749340026.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:06.830Z,1749340026.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 498.213257 m,
      bearing: 303.937475 deg,
      approach rate: -0.704912 m/s,
      LOS rate: 0.001025 deg/s,
      cmd heading: 303.159722 deg,
      new cmd heading: 303.160952 deg.

2025-06-07T23:47:06.832Z,1749340026.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291157 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:07.009Z,1749340027.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526268
2025-06-07T23:47:07.249Z,1749340027.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:07.252Z,1749340027.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 497.920441 m,
      bearing: 303.937658 deg,
      approach rate: -0.695122 m/s,
      LOS rate: 0.000435 deg/s,
      cmd heading: 303.160952 deg,
      new cmd heading: 303.161502 deg.

2025-06-07T23:47:07.253Z,1749340027.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291166 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:07.266Z,1749340027.266 [DAT](INFO): DAT read: 23:47:06.3728 LVL= 13456, 18161, 13074, 18675, AGC= 68, IDX= 484,-0.39, 2.469, 1.152, 2.401, 1.795, PHS= 0.762,-0.595, 0.604, RAW= 143.9, -12.0, CAL= 150.9, -20.8, ROT= 359.1,  20.8

2025-06-07T23:47:07.267Z,1749340027.267 [DAT](INFO): got valid direction response:
 23:47:06.3728 LVL= 13456, 18161, 13074, 18675, AGC= 68, IDX= 484,-0.39, 2.469, 1.152, 2.401, 1.795, PHS= 0.762,-0.595, 0.604, RAW= 143.9, -12.0, CAL= 150.9, -20.8, ROT= 359.1,  20.8

2025-06-07T23:47:07.268Z,1749340027.268 [DAT](INFO): DAT read: Rx Time:23:47:06.3728

2025-06-07T23:47:07.268Z,1749340027.268 [DAT](INFO): Rx dataTimestamp_ set to:1749340027.268068
2025-06-07T23:47:07.269Z,1749340027.269 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-07T23:47:07.269Z,1749340027.269 [DAT](INFO): Received low SNR in chirp
2025-06-07T23:47:07.288Z,1749340027.288 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:47:07.289Z,1749340027.289 [DAT](INFO): direction in FSK: [0.934710,-0.014683,-0.355107]
2025-06-07T23:47:07.298Z,1749340027.298 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:07.298Z,1749340027.298 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:07.299Z,1749340027.299 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:07.512Z,1749340027.512 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:07.512Z,1749340027.512 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:07.513Z,1749340027.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:07.640Z,1749340027.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:07.642Z,1749340027.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 497.649170 m,
      bearing: 303.937758 deg,
      approach rate: -0.694131 m/s,
      LOS rate: 0.000257 deg/s,
      cmd heading: 303.161498 deg,
      new cmd heading: 303.161799 deg.

2025-06-07T23:47:07.644Z,1749340027.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291172 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:07.764Z,1749340027.764 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:07.764Z,1749340027.764 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:07.764Z,1749340027.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:08.018Z,1749340028.018 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:08.018Z,1749340028.018 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:08.019Z,1749340028.019 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:08.093Z,1749340028.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:08.096Z,1749340028.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 497.342010 m,
      bearing: 303.938392 deg,
      approach rate: -0.678204 m/s,
      LOS rate: 0.001401 deg/s,
      cmd heading: 303.161799 deg,
      new cmd heading: 303.163701 deg.

2025-06-07T23:47:08.097Z,1749340028.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291205 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:08.268Z,1749340028.268 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:08.268Z,1749340028.268 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:08.268Z,1749340028.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:08.435Z,1749340028.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:08.437Z,1749340028.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:08.440Z,1749340028.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 497.102753 m,
      bearing: 303.938865 deg,
      approach rate: -0.695274 m/s,
      LOS rate: 0.001373 deg/s,
      cmd heading: 303.163711 deg,
      new cmd heading: 303.165129 deg.

2025-06-07T23:47:08.441Z,1749340028.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291230 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:08.520Z,1749340028.520 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:08.520Z,1749340028.520 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:08.520Z,1749340028.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:08.772Z,1749340028.772 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:08.772Z,1749340028.772 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:08.772Z,1749340028.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:08.941Z,1749340028.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:09.014Z,1749340029.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 496.761597 m,
      bearing: 303.939527 deg,
      approach rate: -0.679042 m/s,
      LOS rate: 0.001319 deg/s,
      cmd heading: 303.165132 deg,
      new cmd heading: 303.167120 deg.

2025-06-07T23:47:09.020Z,1749340029.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291265 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:09.024Z,1749340029.024 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:09.024Z,1749340029.024 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:09.024Z,1749340029.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:09.276Z,1749340029.276 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:09.276Z,1749340029.276 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:09.276Z,1749340029.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:09.347Z,1749340029.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:09.350Z,1749340029.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 496.493561 m,
      bearing: 303.940075 deg,
      approach rate: -0.657350 m/s,
      LOS rate: 0.001345 deg/s,
      cmd heading: 303.167126 deg,
      new cmd heading: 303.168771 deg.

2025-06-07T23:47:09.355Z,1749340029.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291293 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:09.528Z,1749340029.528 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:09.528Z,1749340029.528 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:09.528Z,1749340029.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:09.731Z,1749340029.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:09.733Z,1749340029.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 496.217010 m,
      bearing: 303.940669 deg,
      approach rate: -0.720947 m/s,
      LOS rate: 0.001549 deg/s,
      cmd heading: 303.168765 deg,
      new cmd heading: 303.170548 deg.

2025-06-07T23:47:09.734Z,1749340029.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291324 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:09.781Z,1749340029.781 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:09.781Z,1749340029.781 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:09.781Z,1749340029.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:10.034Z,1749340030.034 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:10.035Z,1749340030.035 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:10.035Z,1749340030.035 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:10.182Z,1749340030.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:10.188Z,1749340030.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 495.902893 m,
      bearing: 303.941653 deg,
      approach rate: -0.696573 m/s,
      LOS rate: 0.002184 deg/s,
      cmd heading: 303.170541 deg,
      new cmd heading: 303.173496 deg.

2025-06-07T23:47:10.190Z,1749340030.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291376 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:10.284Z,1749340030.284 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:10.285Z,1749340030.285 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:10.285Z,1749340030.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:10.530Z,1749340030.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:10.534Z,1749340030.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:10.536Z,1749340030.536 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:10.536Z,1749340030.536 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:10.536Z,1749340030.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:10.539Z,1749340030.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 495.649811 m,
      bearing: 303.942481 deg,
      approach rate: -0.717305 m/s,
      LOS rate: 0.002348 deg/s,
      cmd heading: 303.173492 deg,
      new cmd heading: 303.175978 deg.

2025-06-07T23:47:10.541Z,1749340030.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291419 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:10.788Z,1749340030.788 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:10.788Z,1749340030.788 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:10.788Z,1749340030.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:10.960Z,1749340030.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:10.967Z,1749340030.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 495.352295 m,
      bearing: 303.943504 deg,
      approach rate: -0.700421 m/s,
      LOS rate: 0.002409 deg/s,
      cmd heading: 303.175978 deg,
      new cmd heading: 303.179048 deg.

2025-06-07T23:47:10.969Z,1749340030.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291472 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:11.042Z,1749340031.042 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:11.042Z,1749340031.042 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:11.042Z,1749340031.042 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:11.292Z,1749340031.292 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:11.292Z,1749340031.292 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:11.292Z,1749340031.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:11.378Z,1749340031.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:11.380Z,1749340031.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 495.048798 m,
      bearing: 303.944524 deg,
      approach rate: -0.725125 m/s,
      LOS rate: 0.002438 deg/s,
      cmd heading: 303.179038 deg,
      new cmd heading: 303.182100 deg.

2025-06-07T23:47:11.381Z,1749340031.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291526 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:11.544Z,1749340031.544 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:11.544Z,1749340031.544 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:11.544Z,1749340031.544 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:11.792Z,1749340031.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:11.795Z,1749340031.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 494.749512 m,
      bearing: 303.945579 deg,
      approach rate: -0.722151 m/s,
      LOS rate: 0.002548 deg/s,
      cmd heading: 303.182098 deg,
      new cmd heading: 303.185265 deg.

2025-06-07T23:47:11.796Z,1749340031.796 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:11.796Z,1749340031.796 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:11.796Z,1749340031.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:11.797Z,1749340031.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291581 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:12.050Z,1749340032.050 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:12.050Z,1749340032.050 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:12.051Z,1749340032.051 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:12.233Z,1749340032.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:12.244Z,1749340032.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 494.445862 m,
      bearing: 303.945272 deg,
      approach rate: -0.688697 m/s,
      LOS rate: -0.000698 deg/s,
      cmd heading: 303.185267 deg,
      new cmd heading: 303.184343 deg.

2025-06-07T23:47:12.245Z,1749340032.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291565 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:12.301Z,1749340032.301 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:12.301Z,1749340032.301 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:12.301Z,1749340032.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:12.552Z,1749340032.552 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:12.552Z,1749340032.552 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:12.552Z,1749340032.552 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:12.569Z,1749340032.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:12.571Z,1749340032.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:12.598Z,1749340032.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 494.182526 m,
      bearing: 303.945078 deg,
      approach rate: -0.779719 m/s,
      LOS rate: -0.000574 deg/s,
      cmd heading: 303.184338 deg,
      new cmd heading: 303.183757 deg.

2025-06-07T23:47:12.599Z,1749340032.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291555 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:12.804Z,1749340032.804 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:12.804Z,1749340032.804 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:12.804Z,1749340032.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:12.986Z,1749340032.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:12.989Z,1749340032.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 493.882294 m,
      bearing: 303.944894 deg,
      approach rate: -0.723041 m/s,
      LOS rate: -0.000444 deg/s,
      cmd heading: 303.183764 deg,
      new cmd heading: 303.183212 deg.

2025-06-07T23:47:12.990Z,1749340032.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291545 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:13.058Z,1749340033.058 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:13.058Z,1749340033.058 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:13.059Z,1749340033.059 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:13.309Z,1749340033.309 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:13.309Z,1749340033.309 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:13.310Z,1749340033.310 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:47:13.410Z,1749340033.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:13.413Z,1749340033.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 493.570282 m,
      bearing: 303.943882 deg,
      approach rate: -0.735708 m/s,
      LOS rate: -0.002387 deg/s,
      cmd heading: 303.183218 deg,
      new cmd heading: 303.180181 deg.

2025-06-07T23:47:13.414Z,1749340033.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291492 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:13.560Z,1749340033.560 [DAT](INFO): Reached modem response timeout
2025-06-07T23:47:13.560Z,1749340033.560 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:47:13.560Z,1749340033.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:13.752Z,1749340033.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:13.754Z,1749340033.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 493.320984 m,
      bearing: 303.943062 deg,
      approach rate: -0.730769 m/s,
      LOS rate: -0.002406 deg/s,
      cmd heading: 303.180185 deg,
      new cmd heading: 303.177723 deg.

2025-06-07T23:47:13.784Z,1749340033.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291450 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:13.812Z,1749340033.812 [DAT](INFO): Reached modem response timeout
2025-06-07T23:47:13.812Z,1749340033.812 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:47:13.812Z,1749340033.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:14.066Z,1749340034.066 [DAT](INFO): Reached modem response timeout
2025-06-07T23:47:14.066Z,1749340034.066 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:47:14.068Z,1749340034.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:14.189Z,1749340034.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:14.191Z,1749340034.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 492.996643 m,
      bearing: 303.941814 deg,
      approach rate: -0.741790 m/s,
      LOS rate: -0.002856 deg/s,
      cmd heading: 303.177727 deg,
      new cmd heading: 303.173980 deg.

2025-06-07T23:47:14.192Z,1749340034.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291384 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:14.316Z,1749340034.316 [DAT](INFO): Reached modem response timeout
2025-06-07T23:47:14.316Z,1749340034.316 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:47:14.316Z,1749340034.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:14.561Z,1749340034.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:14.564Z,1749340034.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 492.718353 m,
      bearing: 303.940734 deg,
      approach rate: -0.747061 m/s,
      LOS rate: -0.002900 deg/s,
      cmd heading: 303.173984 deg,
      new cmd heading: 303.170743 deg.

2025-06-07T23:47:14.565Z,1749340034.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291327 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:14.568Z,1749340034.568 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:47:14.569Z,1749340034.569 [DAT](INFO): response not received
2025-06-07T23:47:14.569Z,1749340034.569 [DAT](INFO): DAT read: user:1825>

2025-06-07T23:47:14.570Z,1749340034.570 [DAT](INFO): DAT read: Tx time:23:47:14.2214

2025-06-07T23:47:14.570Z,1749340034.570 [DAT](INFO): Ping request sent.
2025-06-07T23:47:14.570Z,1749340034.570 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:14.570Z,1749340034.570 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:14.576Z,1749340034.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-06-07T23:47:14.820Z,1749340034.820 [DAT](INFO): DAT read: TxSync time:23:47:14.2207

2025-06-07T23:47:14.821Z,1749340034.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250832
2025-06-07T23:47:15.014Z,1749340035.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:15.021Z,1749340035.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:15.029Z,1749340035.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 492.386139 m,
      bearing: 303.939458 deg,
      approach rate: -0.722853 m/s,
      LOS rate: -0.002778 deg/s,
      cmd heading: 303.170732 deg,
      new cmd heading: 303.166902 deg.

2025-06-07T23:47:15.030Z,1749340035.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291261 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:15.076Z,1749340035.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505115
2025-06-07T23:47:15.325Z,1749340035.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754241
2025-06-07T23:47:15.429Z,1749340035.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:15.436Z,1749340035.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 492.087769 m,
      bearing: 303.937676 deg,
      approach rate: -0.730911 m/s,
      LOS rate: -0.004369 deg/s,
      cmd heading: 303.166908 deg,
      new cmd heading: 303.161557 deg.

2025-06-07T23:47:15.437Z,1749340035.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291167 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:15.577Z,1749340035.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006174
2025-06-07T23:47:15.794Z,1749340035.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:15.797Z,1749340035.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 491.823120 m,
      bearing: 303.936167 deg,
      approach rate: -0.725384 m/s,
      LOS rate: -0.004139 deg/s,
      cmd heading: 303.161553 deg,
      new cmd heading: 303.157022 deg.

2025-06-07T23:47:15.798Z,1749340035.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291088 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:15.829Z,1749340035.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258656
2025-06-07T23:47:16.082Z,1749340036.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511645
2025-06-07T23:47:16.229Z,1749340036.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:16.234Z,1749340036.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 491.507996 m,
      bearing: 303.934290 deg,
      approach rate: -0.724512 m/s,
      LOS rate: -0.004317 deg/s,
      cmd heading: 303.157017 deg,
      new cmd heading: 303.151384 deg.

2025-06-07T23:47:16.235Z,1749340036.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290990 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:16.333Z,1749340036.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762446
2025-06-07T23:47:16.584Z,1749340036.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013967
2025-06-07T23:47:16.600Z,1749340036.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:16.602Z,1749340036.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 491.240204 m,
      bearing: 303.932617 deg,
      approach rate: -0.738956 m/s,
      LOS rate: -0.004619 deg/s,
      cmd heading: 303.151389 deg,
      new cmd heading: 303.146368 deg.

2025-06-07T23:47:16.603Z,1749340036.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290902 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:16.837Z,1749340036.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266325
2025-06-07T23:47:17.014Z,1749340037.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:17.021Z,1749340037.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 490.944092 m,
      bearing: 303.930717 deg,
      approach rate: -0.699397 m/s,
      LOS rate: -0.004491 deg/s,
      cmd heading: 303.146362 deg,
      new cmd heading: 303.140658 deg.

2025-06-07T23:47:17.022Z,1749340037.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290802 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:17.091Z,1749340037.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520048
2025-06-07T23:47:17.340Z,1749340037.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769891
2025-06-07T23:47:17.430Z,1749340037.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:17.433Z,1749340037.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:17.435Z,1749340037.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 490.629822 m,
      bearing: 303.928997 deg,
      approach rate: -0.751411 m/s,
      LOS rate: -0.004114 deg/s,
      cmd heading: 303.140652 deg,
      new cmd heading: 303.135491 deg.

2025-06-07T23:47:17.436Z,1749340037.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290712 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:17.592Z,1749340037.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021902
2025-06-07T23:47:17.801Z,1749340037.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:17.803Z,1749340037.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 490.363708 m,
      bearing: 303.927524 deg,
      approach rate: -0.723252 m/s,
      LOS rate: -0.004006 deg/s,
      cmd heading: 303.135489 deg,
      new cmd heading: 303.131067 deg.

2025-06-07T23:47:17.804Z,1749340037.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290635 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:17.846Z,1749340037.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275044
2025-06-07T23:47:18.096Z,1749340038.096 [DAT](INFO): DAT read: Rx Time:23:47:17.3050

2025-06-07T23:47:18.097Z,1749340038.097 [DAT](INFO): Rx dataTimestamp_ set to:1749340038.096376
2025-06-07T23:47:18.097Z,1749340038.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526948
2025-06-07T23:47:18.261Z,1749340038.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.47 m.
2025-06-07T23:47:18.264Z,1749340038.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.468811 m,
      nav range: 490.028259 m,
      bearing: 303.927374 deg,
      approach rate: -0.728359 m/s,
      LOS rate: -0.000327 deg/s,
      cmd heading: 303.131063 deg,
      new cmd heading: 303.130610 deg.

2025-06-07T23:47:18.265Z,1749340038.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290627 target range: 516.468811 and range: 520.00 m.
2025-06-07T23:47:18.351Z,1749340038.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780563
2025-06-07T23:47:18.606Z,1749340038.606 [DAT](INFO): DAT read: 23:47:17.3050 LVL= 31584, 24865, 30130, 32755, AGC= 73, IDX= 191, 0.20, 0.778,-0.787, 0.604, 0.107, PHS= 0.759,-0.847, 0.495, RAW= 141.2,  -5.5, CAL= 146.9, -14.9, ROT=   3.1,  14.9

2025-06-07T23:47:18.607Z,1749340038.607 [DAT](INFO): got valid direction response:
 23:47:17.3050 LVL= 31584, 24865, 30130, 32755, AGC= 73, IDX= 191, 0.20, 0.778,-0.787, 0.604, 0.107, PHS= 0.759,-0.847, 0.495, RAW= 141.2,  -5.5, CAL= 146.9, -14.9, ROT=   3.1,  14.9

2025-06-07T23:47:18.608Z,1749340038.608 [DAT](INFO): DAT read: Bearing   3.1,  14.9 (Local)

2025-06-07T23:47:18.609Z,1749340038.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  14.9 (Local)

2025-06-07T23:47:18.610Z,1749340038.610 [DAT](INFO): DAT read: Range 10 to 50 : 509.5 m  (Round-trip  679.4 ms) speed  0.5 m/s

2025-06-07T23:47:18.611Z,1749340038.611 [DAT](INFO): DAT read: user:1826>

2025-06-07T23:47:18.612Z,1749340038.612 [DAT](INFO): DAT read: Tx time:23:47:18.4214

2025-06-07T23:47:18.612Z,1749340038.612 [DAT](INFO): Ping request sent.
2025-06-07T23:47:18.612Z,1749340038.612 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:18.612Z,1749340038.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:18.613Z,1749340038.613 [DAT](INFO): direction in FSK: [0.964962,0.052260,-0.257133]
2025-06-07T23:47:18.614Z,1749340038.614 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:18.614Z,1749340038.614 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:18.622Z,1749340038.622 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:18.622Z,1749340038.622 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:18.692Z,1749340038.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 509.500000 m,
      deltaT: 15.132086 s,
      deltaX: -10.500000 m,
      approachRate: -0.693890 m/s,
      rangeRepo size: 4

2025-06-07T23:47:18.694Z,1749340038.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 505.963348 m,
      bearing: 307.313915 deg,
      lat: 36.905522 deg,
      lon: -122.116392 deg,
      deltaT: 15.132086 s,
      deltaX: -10.505463 m,
      approachRate: -0.694251 m/s,
      posRepo size: 4

2025-06-07T23:47:18.694Z,1749340038.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:18.702Z,1749340038.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 497.540527 m,
      bearing: 305.253289 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000327 deg/s,
      cmd heading: 303.130598 deg,
      new cmd heading: 303.130180 deg.

2025-06-07T23:47:18.703Z,1749340038.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290620 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:18.852Z,1749340038.852 [DAT](INFO): DAT read: TxSync time:23:47:18.4207

2025-06-07T23:47:19.131Z,1749340039.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:19.157Z,1749340039.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 497.230621 m,
      bearing: 305.253973 deg,
      approach rate: -0.712552 m/s,
      LOS rate: 0.001574 deg/s,
      cmd heading: 303.130188 deg,
      new cmd heading: 303.132242 deg.

2025-06-07T23:47:19.176Z,1749340039.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290656 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:19.507Z,1749340039.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:19.510Z,1749340039.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:19.513Z,1749340039.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 496.925781 m,
      bearing: 305.255341 deg,
      approach rate: -0.785699 m/s,
      LOS rate: 0.003529 deg/s,
      cmd heading: 303.132237 deg,
      new cmd heading: 303.136345 deg.

2025-06-07T23:47:19.514Z,1749340039.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290727 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:19.608Z,1749340039.608 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:19.608Z,1749340039.608 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:19.609Z,1749340039.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:19.860Z,1749340039.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248026
2025-06-07T23:47:19.897Z,1749340039.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:19.900Z,1749340039.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 496.645905 m,
      bearing: 305.256599 deg,
      approach rate: -0.723057 m/s,
      LOS rate: 0.003251 deg/s,
      cmd heading: 303.136336 deg,
      new cmd heading: 303.140111 deg.

2025-06-07T23:47:19.901Z,1749340039.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290793 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:20.113Z,1749340040.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500739
2025-06-07T23:47:20.302Z,1749340040.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:20.305Z,1749340040.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 496.348022 m,
      bearing: 305.258972 deg,
      approach rate: -0.735488 m/s,
      LOS rate: 0.005862 deg/s,
      cmd heading: 303.140106 deg,
      new cmd heading: 303.147229 deg.

2025-06-07T23:47:20.306Z,1749340040.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290917 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:20.365Z,1749340040.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752617
2025-06-07T23:47:20.616Z,1749340040.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004044
2025-06-07T23:47:20.687Z,1749340040.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:20.690Z,1749340040.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 496.064453 m,
      bearing: 305.261186 deg,
      approach rate: -0.736312 m/s,
      LOS rate: 0.005751 deg/s,
      cmd heading: 303.147237 deg,
      new cmd heading: 303.153881 deg.

2025-06-07T23:47:20.691Z,1749340040.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291033 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:20.868Z,1749340040.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255938
2025-06-07T23:47:21.098Z,1749340041.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:21.101Z,1749340041.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 495.761536 m,
      bearing: 305.263514 deg,
      approach rate: -0.736194 m/s,
      LOS rate: 0.005662 deg/s,
      cmd heading: 303.153876 deg,
      new cmd heading: 303.160865 deg.

2025-06-07T23:47:21.102Z,1749340041.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291155 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:21.120Z,1749340041.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508115
2025-06-07T23:47:21.372Z,1749340041.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760050
2025-06-07T23:47:21.576Z,1749340041.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:21.578Z,1749340041.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:21.581Z,1749340041.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 495.404480 m,
      bearing: 305.267220 deg,
      approach rate: -0.743988 m/s,
      LOS rate: 0.007728 deg/s,
      cmd heading: 303.160870 deg,
      new cmd heading: 303.171996 deg.

2025-06-07T23:47:21.582Z,1749340041.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291349 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:21.625Z,1749340041.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012205
2025-06-07T23:47:21.876Z,1749340041.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264052
2025-06-07T23:47:21.947Z,1749340041.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:21.960Z,1749340041.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 495.140503 m,
      bearing: 305.269964 deg,
      approach rate: -0.716873 m/s,
      LOS rate: 0.007455 deg/s,
      cmd heading: 303.171989 deg,
      new cmd heading: 303.180225 deg.

2025-06-07T23:47:21.962Z,1749340041.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291493 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:22.128Z,1749340042.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516025
2025-06-07T23:47:22.313Z,1749340042.313 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V
2025-06-07T23:47:22.336Z,1749340042.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:22.341Z,1749340042.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 494.843811 m,
      bearing: 305.273077 deg,
      approach rate: -0.763175 m/s,
      LOS rate: 0.008012 deg/s,
      cmd heading: 303.180213 deg,
      new cmd heading: 303.189557 deg.

2025-06-07T23:47:22.343Z,1749340042.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291656 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:22.380Z,1749340042.380 [DAT](INFO): DAT read: Rx Time:23:47:21.4938

2025-06-07T23:47:22.381Z,1749340042.381 [DAT](INFO): Rx dataTimestamp_ set to:1749340042.380421
2025-06-07T23:47:22.381Z,1749340042.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769103
2025-06-07T23:47:22.632Z,1749340042.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019978
2025-06-07T23:47:22.751Z,1749340042.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.96 m.
2025-06-07T23:47:22.775Z,1749340042.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 505.963348 m,
      nav range: 494.557831 m,
      bearing: 305.276115 deg,
      approach rate: -0.697916 m/s,
      LOS rate: 0.007418 deg/s,
      cmd heading: 303.189556 deg,
      new cmd heading: 303.198675 deg.

2025-06-07T23:47:22.777Z,1749340042.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291815 target range: 505.963348 and range: 509.50 m.
2025-06-07T23:47:22.890Z,1749340042.890 [DAT](INFO): DAT read: 23:47:21.4938 LVL= 21376, 32753, 25010, 31827, AGC= 70, IDX= 325, 0.20,-2.526, 1.966,-2.753, 2.870, PHS= 0.975,-0.856, 0.658, RAW= 140.7,  -9.2, CAL= 147.3, -19.0, ROT=   2.7,  19.0

2025-06-07T23:47:22.892Z,1749340042.892 [DAT](INFO): got valid direction response:
 23:47:21.4938 LVL= 21376, 32753, 25010, 31827, AGC= 70, IDX= 325, 0.20,-2.526, 1.966,-2.753, 2.870, PHS= 0.975,-0.856, 0.658, RAW= 140.7,  -9.2, CAL= 147.3, -19.0, ROT=   2.7,  19.0

2025-06-07T23:47:22.893Z,1749340042.893 [DAT](INFO): DAT read: Bearing   2.7,  19.0 (Local)

2025-06-07T23:47:22.893Z,1749340042.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  19.0 (Local)

2025-06-07T23:47:22.894Z,1749340042.894 [DAT](INFO): DAT read: Range 10 to 50 : 501.0 m  (Round-trip  668.1 ms) speed  0.6 m/s

2025-06-07T23:47:22.895Z,1749340042.895 [DAT](INFO): DAT read: user:1827>

2025-06-07T23:47:22.896Z,1749340042.896 [DAT](INFO): DAT read: Tx time:23:47:22.5715

2025-06-07T23:47:22.896Z,1749340042.896 [DAT](INFO): Ping request sent.
2025-06-07T23:47:22.897Z,1749340042.897 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:22.897Z,1749340042.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:22.898Z,1749340042.898 [DAT](INFO): direction in FSK: [0.944469,0.044540,-0.325568]
2025-06-07T23:47:22.898Z,1749340042.898 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:22.898Z,1749340042.898 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:22.910Z,1749340042.910 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:22.910Z,1749340042.910 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:23.126Z,1749340043.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 501.000000 m,
      deltaT: 4.284357 s,
      deltaX: -8.500000 m,
      approachRate: -1.983962 m/s,
      rangeRepo size: 4

2025-06-07T23:47:23.132Z,1749340043.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 497.506409 m,
      bearing: 306.893125 deg,
      lat: 36.905529 deg,
      lon: -122.116331 deg,
      deltaT: 4.284357 s,
      deltaX: -8.456940 m,
      approachRate: -1.973911 m/s,
      posRepo size: 4

2025-06-07T23:47:23.133Z,1749340043.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:23.136Z,1749340043.136 [DAT](INFO): DAT read: TxSync time:23:47:22.5708

2025-06-07T23:47:23.140Z,1749340043.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 490.317566 m,
      bearing: 305.725083 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007418 deg/s,
      cmd heading: 303.198682 deg,
      new cmd heading: 303.207146 deg.

2025-06-07T23:47:23.141Z,1749340043.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291963 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:23.564Z,1749340043.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:23.567Z,1749340043.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 490.004639 m,
      bearing: 305.727976 deg,
      approach rate: -0.763884 m/s,
      LOS rate: 0.007067 deg/s,
      cmd heading: 303.207151 deg,
      new cmd heading: 303.215836 deg.

2025-06-07T23:47:23.568Z,1749340043.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292115 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:24.023Z,1749340044.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:24.025Z,1749340044.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:24.028Z,1749340044.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 489.643707 m,
      bearing: 305.731317 deg,
      approach rate: -0.736305 m/s,
      LOS rate: 0.006821 deg/s,
      cmd heading: 303.215839 deg,
      new cmd heading: 303.225871 deg.

2025-06-07T23:47:24.029Z,1749340044.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292290 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:24.144Z,1749340044.144 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:24.144Z,1749340044.144 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:24.144Z,1749340044.144 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:24.368Z,1749340044.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:24.370Z,1749340044.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 489.410400 m,
      bearing: 305.732778 deg,
      approach rate: -0.689969 m/s,
      LOS rate: 0.004323 deg/s,
      cmd heading: 303.225866 deg,
      new cmd heading: 303.230251 deg.

2025-06-07T23:47:24.375Z,1749340044.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292367 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:24.396Z,1749340044.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499624
2025-06-07T23:47:24.648Z,1749340044.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751439
2025-06-07T23:47:24.736Z,1749340044.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:24.740Z,1749340044.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 489.122375 m,
      bearing: 305.734526 deg,
      approach rate: -0.772230 m/s,
      LOS rate: 0.004688 deg/s,
      cmd heading: 303.230264 deg,
      new cmd heading: 303.235510 deg.

2025-06-07T23:47:24.741Z,1749340044.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292458 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:24.900Z,1749340044.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003486
2025-06-07T23:47:25.150Z,1749340045.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:25.152Z,1749340045.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255667
2025-06-07T23:47:25.155Z,1749340045.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 488.818848 m,
      bearing: 305.736343 deg,
      approach rate: -0.733010 m/s,
      LOS rate: 0.004392 deg/s,
      cmd heading: 303.235510 deg,
      new cmd heading: 303.240966 deg.

2025-06-07T23:47:25.156Z,1749340045.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292553 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:25.404Z,1749340045.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507449
2025-06-07T23:47:25.547Z,1749340045.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:25.566Z,1749340045.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 488.528900 m,
      bearing: 305.736989 deg,
      approach rate: -0.731679 m/s,
      LOS rate: 0.001631 deg/s,
      cmd heading: 303.240974 deg,
      new cmd heading: 303.242913 deg.

2025-06-07T23:47:25.567Z,1749340045.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292587 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:25.657Z,1749340045.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759929
2025-06-07T23:47:25.908Z,1749340045.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011642
2025-06-07T23:47:25.970Z,1749340045.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:25.974Z,1749340045.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 488.223907 m,
      bearing: 305.737669 deg,
      approach rate: -0.721676 m/s,
      LOS rate: 0.001611 deg/s,
      cmd heading: 303.242914 deg,
      new cmd heading: 303.244956 deg.

2025-06-07T23:47:25.976Z,1749340045.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292623 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:26.160Z,1749340046.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263487
2025-06-07T23:47:26.385Z,1749340046.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:26.387Z,1749340046.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:26.390Z,1749340046.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 487.918610 m,
      bearing: 305.737679 deg,
      approach rate: -0.730643 m/s,
      LOS rate: 0.000024 deg/s,
      cmd heading: 303.244963 deg,
      new cmd heading: 303.244993 deg.

2025-06-07T23:47:26.391Z,1749340046.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292624 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:26.412Z,1749340046.412 [DAT](INFO): DAT read: Rx Time:23:47:25.6470

2025-06-07T23:47:26.413Z,1749340046.413 [DAT](INFO): Rx dataTimestamp_ set to:1749340046.412417
2025-06-07T23:47:26.413Z,1749340046.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516611
2025-06-07T23:47:26.664Z,1749340046.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767458
2025-06-07T23:47:26.753Z,1749340046.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.51 m.
2025-06-07T23:47:26.759Z,1749340046.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.506409 m,
      nav range: 487.663544 m,
      bearing: 305.737672 deg,
      approach rate: -0.698128 m/s,
      LOS rate: -0.000019 deg/s,
      cmd heading: 303.244990 deg,
      new cmd heading: 303.244970 deg.

2025-06-07T23:47:26.760Z,1749340046.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292623 target range: 497.506409 and range: 501.00 m.
2025-06-07T23:47:26.925Z,1749340046.925 [DAT](INFO): DAT read: 23:47:25.6470 LVL= 31696, 30113, 32754, 32755, AGC= 70, IDX= 470,-0.02,-1.901, 2.802,-2.128,-2.582, PHS= 0.769,-0.852, 0.451, RAW= 139.3,  -5.0, CAL= 145.0, -14.6, ROT=   5.0,  14.6

2025-06-07T23:47:26.926Z,1749340046.926 [DAT](INFO): got valid direction response:
 23:47:25.6470 LVL= 31696, 30113, 32754, 32755, AGC= 70, IDX= 470,-0.02,-1.901, 2.802,-2.128,-2.582, PHS= 0.769,-0.852, 0.451, RAW= 139.3,  -5.0, CAL= 145.0, -14.6, ROT=   5.0,  14.6

2025-06-07T23:47:26.927Z,1749340046.927 [DAT](INFO): DAT read: Bearing   5.0,  14.6 (Local)

2025-06-07T23:47:26.927Z,1749340046.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,  14.6 (Local)

2025-06-07T23:47:26.929Z,1749340046.929 [DAT](INFO): DAT read: Range 10 to 50 : 503.4 m  (Round-trip  671.3 ms) speed  0.4 m/s

2025-06-07T23:47:26.929Z,1749340046.929 [DAT](INFO): DAT read: user:1828>

2025-06-07T23:47:26.930Z,1749340046.930 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:26.931Z,1749340046.931 [DAT](INFO): direction in FSK: [0.964027,0.084341,-0.252069]
2025-06-07T23:47:26.931Z,1749340046.931 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:26.937Z,1749340046.937 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:26.938Z,1749340046.938 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:26.939Z,1749340046.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:27.165Z,1749340047.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 503.399994 m,
      deltaT: 4.033404 s,
      deltaX: 2.399994 m,
      approachRate: 0.595029 m/s,
      rangeRepo size: 4

2025-06-07T23:47:27.168Z,1749340047.168 [DAT](INFO): DAT read: Tx time:23:47:26.7715

2025-06-07T23:47:27.169Z,1749340047.169 [DAT](INFO): Ping request sent.
2025-06-07T23:47:27.169Z,1749340047.169 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:27.169Z,1749340047.169 [DAT](INFO): DAT read: TxSync time:23:47:26.7708

2025-06-07T23:47:27.170Z,1749340047.170 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:27.170Z,1749340047.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001571
2025-06-07T23:47:27.172Z,1749340047.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 499.879883 m,
      bearing: 308.815092 deg,
      lat: 36.905603 deg,
      lon: -122.116329 deg,
      deltaT: 4.033404 s,
      deltaX: 2.373474 m,
      approachRate: 0.588454 m/s,
      posRepo size: 4

2025-06-07T23:47:27.172Z,1749340047.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:27.175Z,1749340047.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 492.090485 m,
      bearing: 306.533503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000019 deg/s,
      cmd heading: 303.244963 deg,
      new cmd heading: 303.244940 deg.

2025-06-07T23:47:27.176Z,1749340047.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292623 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:27.420Z,1749340047.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251366
2025-06-07T23:47:27.570Z,1749340047.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:27.593Z,1749340047.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 491.797974 m,
      bearing: 306.532669 deg,
      approach rate: -0.721474 m/s,
      LOS rate: -0.002057 deg/s,
      cmd heading: 303.244936 deg,
      new cmd heading: 303.242434 deg.

2025-06-07T23:47:27.594Z,1749340047.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292579 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:27.674Z,1749340047.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504674
2025-06-07T23:47:27.924Z,1749340047.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755291
2025-06-07T23:47:27.984Z,1749340047.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:27.996Z,1749340047.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 491.522522 m,
      bearing: 306.531898 deg,
      approach rate: -0.701384 m/s,
      LOS rate: -0.001966 deg/s,
      cmd heading: 303.242422 deg,
      new cmd heading: 303.240106 deg.

2025-06-07T23:47:27.997Z,1749340047.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292538 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:28.176Z,1749340048.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007317
2025-06-07T23:47:28.383Z,1749340048.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:28.386Z,1749340048.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 491.214081 m,
      bearing: 306.530530 deg,
      approach rate: -0.733900 m/s,
      LOS rate: -0.003256 deg/s,
      cmd heading: 303.240100 deg,
      new cmd heading: 303.235995 deg.

2025-06-07T23:47:28.387Z,1749340048.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292467 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:28.428Z,1749340048.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259437
2025-06-07T23:47:28.680Z,1749340048.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511314
2025-06-07T23:47:28.796Z,1749340048.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:28.799Z,1749340048.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:28.801Z,1749340048.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 490.925537 m,
      bearing: 306.529249 deg,
      approach rate: -0.694499 m/s,
      LOS rate: -0.003085 deg/s,
      cmd heading: 303.236002 deg,
      new cmd heading: 303.232157 deg.

2025-06-07T23:47:28.802Z,1749340048.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292399 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:28.932Z,1749340048.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763323
2025-06-07T23:47:29.169Z,1749340049.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:29.171Z,1749340049.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 490.647491 m,
      bearing: 306.527929 deg,
      approach rate: -0.751215 m/s,
      LOS rate: -0.003569 deg/s,
      cmd heading: 303.232149 deg,
      new cmd heading: 303.228187 deg.

2025-06-07T23:47:29.173Z,1749340049.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292330 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:29.184Z,1749340049.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015407
2025-06-07T23:47:29.436Z,1749340049.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267290
2025-06-07T23:47:29.594Z,1749340049.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:29.597Z,1749340049.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 490.344818 m,
      bearing: 306.526680 deg,
      approach rate: -0.710813 m/s,
      LOS rate: -0.002936 deg/s,
      cmd heading: 303.228188 deg,
      new cmd heading: 303.224437 deg.

2025-06-07T23:47:29.598Z,1749340049.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292265 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:29.689Z,1749340049.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519953
2025-06-07T23:47:29.940Z,1749340049.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771222
2025-06-07T23:47:30.012Z,1749340050.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:47:30.017Z,1749340050.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:30.024Z,1749340050.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 490.053070 m,
      bearing: 306.525442 deg,
      approach rate: -0.690943 m/s,
      LOS rate: -0.002934 deg/s,
      cmd heading: 303.224445 deg,
      new cmd heading: 303.220729 deg.

2025-06-07T23:47:30.025Z,1749340050.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292200 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:30.193Z,1749340050.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024378
2025-06-07T23:47:30.403Z,1749340050.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:30.405Z,1749340050.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 489.759583 m,
      bearing: 306.524240 deg,
      approach rate: -0.760784 m/s,
      LOS rate: -0.003118 deg/s,
      cmd heading: 303.220729 deg,
      new cmd heading: 303.217121 deg.

2025-06-07T23:47:30.406Z,1749340050.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292137 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:30.444Z,1749340050.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275417
2025-06-07T23:47:30.696Z,1749340050.696 [DAT](INFO): DAT read: Rx Time:23:47:29.8435

2025-06-07T23:47:30.697Z,1749340050.697 [DAT](INFO): Rx dataTimestamp_ set to:1749340050.696380
2025-06-07T23:47:30.697Z,1749340050.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528384
2025-06-07T23:47:30.806Z,1749340050.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:30.808Z,1749340050.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:30.811Z,1749340050.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 489.460754 m,
      bearing: 306.523017 deg,
      approach rate: -0.736400 m/s,
      LOS rate: -0.003015 deg/s,
      cmd heading: 303.217123 deg,
      new cmd heading: 303.213452 deg.

2025-06-07T23:47:30.824Z,1749340050.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292073 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:30.949Z,1749340050.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779969
2025-06-07T23:47:31.016Z,1749340051.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:47:31.185Z,1749340051.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.88 m.
2025-06-07T23:47:31.188Z,1749340051.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.879883 m,
      nav range: 489.182434 m,
      bearing: 306.521889 deg,
      approach rate: -0.738717 m/s,
      LOS rate: -0.002995 deg/s,
      cmd heading: 303.213462 deg,
      new cmd heading: 303.210077 deg.

2025-06-07T23:47:31.189Z,1749340051.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292014 target range: 499.879883 and range: 503.40 m.
2025-06-07T23:47:31.211Z,1749340051.211 [DAT](INFO): DAT read: 23:47:29.8435 LVL= 23136, 30017, 27186, 31779, AGC= 73, IDX= 402, 0.36,-3.005, 1.365, 3.002, 2.372, PHS= 0.995,-0.960, 0.627, RAW= 139.8,  -7.4, CAL= 146.0, -17.3, ROT=   4.0,  17.3

2025-06-07T23:47:31.212Z,1749340051.212 [DAT](INFO): got valid direction response:
 23:47:29.8435 LVL= 23136, 30017, 27186, 31779, AGC= 73, IDX= 402, 0.36,-3.005, 1.365, 3.002, 2.372, PHS= 0.995,-0.960, 0.627, RAW= 139.8,  -7.4, CAL= 146.0, -17.3, ROT=   4.0,  17.3

2025-06-07T23:47:31.213Z,1749340051.213 [DAT](INFO): DAT read: Bearing   4.0,  17.3 (Local)

2025-06-07T23:47:31.213Z,1749340051.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.0,  17.3 (Local)

2025-06-07T23:47:31.215Z,1749340051.215 [DAT](INFO): DAT read: Range 10 to 50 : 500.8 m  (Round-trip  667.8 ms) speed  0.7 m/s

2025-06-07T23:47:31.215Z,1749340051.215 [DAT](INFO): DAT read: user:1829>

2025-06-07T23:47:31.216Z,1749340051.216 [DAT](INFO): DAT read: Tx time:23:47:30.9215

2025-06-07T23:47:31.216Z,1749340051.216 [DAT](INFO): Ping request sent.
2025-06-07T23:47:31.216Z,1749340051.216 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:31.217Z,1749340051.217 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:31.218Z,1749340051.218 [DAT](INFO): direction in FSK: [0.952435,0.066601,-0.297375]
2025-06-07T23:47:31.218Z,1749340051.218 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:31.218Z,1749340051.218 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:31.229Z,1749340051.229 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:31.230Z,1749340051.230 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:31.456Z,1749340051.456 [DAT](INFO): DAT read: TxSync time:23:47:30.9208

2025-06-07T23:47:31.615Z,1749340051.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 500.799988 m,
      deltaT: 4.286705 s,
      deltaX: -2.600006 m,
      approachRate: -0.606528 m/s,
      rangeRepo size: 4

2025-06-07T23:47:31.617Z,1749340051.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 497.273926 m,
      bearing: 308.007601 deg,
      lat: 36.905685 deg,
      lon: -122.116280 deg,
      deltaT: 4.286705 s,
      deltaX: -2.605957 m,
      approachRate: -0.607916 m/s,
      posRepo size: 4

2025-06-07T23:47:31.618Z,1749340051.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:31.637Z,1749340051.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 490.870270 m,
      bearing: 307.681105 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002995 deg/s,
      cmd heading: 303.210074 deg,
      new cmd heading: 303.206217 deg.

2025-06-07T23:47:31.640Z,1749340051.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291947 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:32.022Z,1749340052.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:32.029Z,1749340052.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 490.570984 m,
      bearing: 307.681578 deg,
      approach rate: -0.733724 m/s,
      LOS rate: 0.001161 deg/s,
      cmd heading: 303.206222 deg,
      new cmd heading: 303.207643 deg.

2025-06-07T23:47:32.030Z,1749340052.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291972 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:32.449Z,1749340052.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:32.452Z,1749340052.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 490.246124 m,
      bearing: 307.682837 deg,
      approach rate: -0.760703 m/s,
      LOS rate: 0.002950 deg/s,
      cmd heading: 303.207643 deg,
      new cmd heading: 303.211422 deg.

2025-06-07T23:47:32.453Z,1749340052.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292037 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:32.803Z,1749340052.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:32.806Z,1749340052.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 489.982727 m,
      bearing: 307.683888 deg,
      approach rate: -0.745180 m/s,
      LOS rate: 0.002976 deg/s,
      cmd heading: 303.211413 deg,
      new cmd heading: 303.214568 deg.

2025-06-07T23:47:32.807Z,1749340052.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292092 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:33.229Z,1749340053.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:33.232Z,1749340053.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:33.234Z,1749340053.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 489.663635 m,
      bearing: 307.685144 deg,
      approach rate: -0.743878 m/s,
      LOS rate: 0.002930 deg/s,
      cmd heading: 303.214555 deg,
      new cmd heading: 303.218325 deg.

2025-06-07T23:47:33.252Z,1749340053.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292158 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:33.472Z,1749340053.472 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:33.472Z,1749340053.472 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:33.472Z,1749340053.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:33.724Z,1749340053.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507547
2025-06-07T23:47:33.867Z,1749340053.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:33.869Z,1749340053.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 489.188751 m,
      bearing: 307.688528 deg,
      approach rate: -0.748140 m/s,
      LOS rate: 0.005336 deg/s,
      cmd heading: 303.218325 deg,
      new cmd heading: 303.228487 deg.

2025-06-07T23:47:33.870Z,1749340053.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292336 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:33.978Z,1749340053.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761282
2025-06-07T23:47:34.182Z,1749340054.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:34.189Z,1749340054.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 488.964691 m,
      bearing: 307.690128 deg,
      approach rate: -0.710648 m/s,
      LOS rate: 0.005078 deg/s,
      cmd heading: 303.228489 deg,
      new cmd heading: 303.233292 deg.

2025-06-07T23:47:34.190Z,1749340054.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292419 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:34.229Z,1749340054.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012017
2025-06-07T23:47:34.480Z,1749340054.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263560
2025-06-07T23:47:34.614Z,1749340054.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:34.617Z,1749340054.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 488.633179 m,
      bearing: 307.694157 deg,
      approach rate: -0.767729 m/s,
      LOS rate: 0.009335 deg/s,
      cmd heading: 303.233297 deg,
      new cmd heading: 303.245390 deg.

2025-06-07T23:47:34.618Z,1749340054.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292631 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:34.734Z,1749340054.734 [DAT](INFO): DAT read: Rx Time:23:47:33.9972

2025-06-07T23:47:34.735Z,1749340054.735 [DAT](INFO): Rx dataTimestamp_ set to:1749340054.734048
2025-06-07T23:47:34.735Z,1749340054.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518530
2025-06-07T23:47:34.984Z,1749340054.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767743
2025-06-07T23:47:34.999Z,1749340054.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:35.002Z,1749340055.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 488.349609 m,
      bearing: 307.697634 deg,
      approach rate: -0.735989 m/s,
      LOS rate: 0.009030 deg/s,
      cmd heading: 303.245400 deg,
      new cmd heading: 303.255837 deg.

2025-06-07T23:47:35.003Z,1749340055.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292813 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:35.242Z,1749340055.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024690
2025-06-07T23:47:35.426Z,1749340055.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:35.432Z,1749340055.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.27 m.
2025-06-07T23:47:35.441Z,1749340055.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.273926 m,
      nav range: 488.045746 m,
      bearing: 307.701391 deg,
      approach rate: -0.701049 m/s,
      LOS rate: 0.008674 deg/s,
      cmd heading: 303.255837 deg,
      new cmd heading: 303.267116 deg.

2025-06-07T23:47:35.442Z,1749340055.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293010 target range: 497.273926 and range: 500.80 m.
2025-06-07T23:47:35.497Z,1749340055.497 [DAT](INFO): DAT read: 23:47:33.9972 LVL= 21168, 25025, 22162, 26803, AGC= 71, IDX= 471, 0.40, 1.644, 0.093, 1.389, 0.766, PHS= 0.966,-0.626, 0.620, RAW= 138.1, -13.2, CAL= 144.1, -22.7, ROT=   5.9,  22.7

2025-06-07T23:47:35.498Z,1749340055.498 [DAT](INFO): got valid direction response:
 23:47:33.9972 LVL= 21168, 25025, 22162, 26803, AGC= 71, IDX= 471, 0.40, 1.644, 0.093, 1.389, 0.766, PHS= 0.966,-0.626, 0.620, RAW= 138.1, -13.2, CAL= 144.1, -22.7, ROT=   5.9,  22.7

2025-06-07T23:47:35.499Z,1749340055.499 [DAT](INFO): DAT read: Bearing   5.9,  22.7 (Local)

2025-06-07T23:47:35.500Z,1749340055.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9,  22.7 (Local)

2025-06-07T23:47:35.502Z,1749340055.502 [DAT](INFO): DAT read: Range 10 to 50 : 503.5 m  (Round-trip  671.4 ms) speed  0.5 m/s

2025-06-07T23:47:35.508Z,1749340055.508 [DAT](INFO): DAT read: user:1830>

2025-06-07T23:47:35.510Z,1749340055.510 [DAT](INFO): DAT read: Tx time:23:47:35.1216

2025-06-07T23:47:35.510Z,1749340055.510 [DAT](INFO): Ping request sent.
2025-06-07T23:47:35.510Z,1749340055.510 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:35.516Z,1749340055.516 [DAT](INFO): DAT read: TxSync time:23:47:35.1208

2025-06-07T23:47:35.517Z,1749340055.517 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:35.518Z,1749340055.518 [DAT](INFO): direction in FSK: [0.917651,0.094830,-0.385906]
2025-06-07T23:47:35.519Z,1749340055.519 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:35.519Z,1749340055.519 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:35.537Z,1749340055.537 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:35.537Z,1749340055.537 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:35.803Z,1749340055.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 503.500000 m,
      deltaT: 4.285315 s,
      deltaX: 2.700012 m,
      approachRate: 0.630062 m/s,
      rangeRepo size: 4

2025-06-07T23:47:35.805Z,1749340055.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 499.959808 m,
      bearing: 309.784004 deg,
      lat: 36.905718 deg,
      lon: -122.116268 deg,
      deltaT: 4.285315 s,
      deltaX: 2.685883 m,
      approachRate: 0.626764 m/s,
      posRepo size: 4

2025-06-07T23:47:35.806Z,1749340055.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:35.809Z,1749340055.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 489.104675 m,
      bearing: 308.113071 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008674 deg/s,
      cmd heading: 303.267120 deg,
      new cmd heading: 303.276749 deg.

2025-06-07T23:47:35.810Z,1749340055.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293178 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:36.231Z,1749340056.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:36.234Z,1749340056.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 488.781555 m,
      bearing: 308.118245 deg,
      approach rate: -0.754088 m/s,
      LOS rate: 0.012082 deg/s,
      cmd heading: 303.276737 deg,
      new cmd heading: 303.292268 deg.

2025-06-07T23:47:36.235Z,1749340056.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293448 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:36.628Z,1749340056.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:36.631Z,1749340056.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 488.496338 m,
      bearing: 308.123010 deg,
      approach rate: -0.718034 m/s,
      LOS rate: 0.012003 deg/s,
      cmd heading: 303.292255 deg,
      new cmd heading: 303.306558 deg.

2025-06-07T23:47:36.636Z,1749340056.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293698 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:37.044Z,1749340057.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:37.046Z,1749340057.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 488.204193 m,
      bearing: 308.127896 deg,
      approach rate: -0.703380 m/s,
      LOS rate: 0.011771 deg/s,
      cmd heading: 303.306571 deg,
      new cmd heading: 303.321238 deg.

2025-06-07T23:47:37.047Z,1749340057.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293954 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:37.450Z,1749340057.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:37.456Z,1749340057.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:37.459Z,1749340057.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 487.895447 m,
      bearing: 308.133013 deg,
      approach rate: -0.748266 m/s,
      LOS rate: 0.012410 deg/s,
      cmd heading: 303.321242 deg,
      new cmd heading: 303.336604 deg.

2025-06-07T23:47:37.464Z,1749340057.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294222 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:37.504Z,1749340057.504 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:37.504Z,1749340057.504 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:37.504Z,1749340057.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:37.756Z,1749340057.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246009
2025-06-07T23:47:37.836Z,1749340057.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:37.838Z,1749340057.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 487.611053 m,
      bearing: 308.137068 deg,
      approach rate: -0.748886 m/s,
      LOS rate: 0.010683 deg/s,
      cmd heading: 303.336597 deg,
      new cmd heading: 303.348768 deg.

2025-06-07T23:47:37.844Z,1749340057.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294435 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:38.008Z,1749340058.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497855
2025-06-07T23:47:38.193Z,1749340058.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:38.195Z,1749340058.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 487.337921 m,
      bearing: 308.140935 deg,
      approach rate: -0.765608 m/s,
      LOS rate: 0.010846 deg/s,
      cmd heading: 303.348754 deg,
      new cmd heading: 303.360362 deg.

2025-06-07T23:47:38.196Z,1749340058.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294637 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:38.260Z,1749340058.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749959
2025-06-07T23:47:38.512Z,1749340058.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001801
2025-06-07T23:47:38.628Z,1749340058.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:38.631Z,1749340058.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 487.020966 m,
      bearing: 308.145295 deg,
      approach rate: -0.727573 m/s,
      LOS rate: 0.010016 deg/s,
      cmd heading: 303.360366 deg,
      new cmd heading: 303.373455 deg.

2025-06-07T23:47:38.632Z,1749340058.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294866 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:38.764Z,1749340058.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253921
2025-06-07T23:47:39.016Z,1749340059.016 [DAT](INFO): DAT read: Rx Time:23:47:38.1934

2025-06-07T23:47:39.017Z,1749340059.017 [DAT](INFO): Rx dataTimestamp_ set to:1749340059.016432
2025-06-07T23:47:39.017Z,1749340059.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506945
2025-06-07T23:47:39.069Z,1749340059.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:39.076Z,1749340059.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 486.705536 m,
      bearing: 308.149631 deg,
      approach rate: -0.715286 m/s,
      LOS rate: 0.009838 deg/s,
      cmd heading: 303.373452 deg,
      new cmd heading: 303.386468 deg.

2025-06-07T23:47:39.077Z,1749340059.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295093 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:39.272Z,1749340059.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761723
2025-06-07T23:47:39.488Z,1749340059.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:39.490Z,1749340059.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.96 m.
2025-06-07T23:47:39.493Z,1749340059.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.959808 m,
      nav range: 486.418152 m,
      bearing: 308.153586 deg,
      approach rate: -0.683083 m/s,
      LOS rate: 0.009407 deg/s,
      cmd heading: 303.386457 deg,
      new cmd heading: 303.398330 deg.

2025-06-07T23:47:39.494Z,1749340059.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295300 target range: 499.959808 and range: 503.50 m.
2025-06-07T23:47:39.528Z,1749340059.528 [DAT](INFO): DAT read: 23:47:38.1934 LVL= 22496, 29937, 25586, 32755, AGC= 70, IDX= 400, 0.45,-0.439,-1.924,-0.538,-1.187, PHS= 0.836,-0.690, 0.645, RAW= 143.4, -11.0, CAL= 150.6, -20.1, ROT= 359.4,  20.1

2025-06-07T23:47:39.529Z,1749340059.529 [DAT](INFO): got valid direction response:
 23:47:38.1934 LVL= 22496, 29937, 25586, 32755, AGC= 70, IDX= 400, 0.45,-0.439,-1.924,-0.538,-1.187, PHS= 0.836,-0.690, 0.645, RAW= 143.4, -11.0, CAL= 150.6, -20.1, ROT= 359.4,  20.1

2025-06-07T23:47:39.530Z,1749340059.530 [DAT](INFO): DAT read: Bearing 359.4,  20.1 (Local)

2025-06-07T23:47:39.530Z,1749340059.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  20.1 (Local)

2025-06-07T23:47:39.533Z,1749340059.533 [DAT](INFO): DAT read: Range 10 to 50 : 500.7 m  (Round-trip  667.6 ms) speed  0.4 m/s

2025-06-07T23:47:39.534Z,1749340059.534 [DAT](INFO): DAT read: user:1831>

2025-06-07T23:47:39.539Z,1749340059.539 [DAT](INFO): DAT read: Tx time:23:47:39.2716

2025-06-07T23:47:39.540Z,1749340059.540 [DAT](INFO): Ping request sent.
2025-06-07T23:47:39.540Z,1749340059.540 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:39.541Z,1749340059.541 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:39.542Z,1749340059.542 [DAT](INFO): direction in FSK: [0.939043,-0.009834,-0.343660]
2025-06-07T23:47:39.542Z,1749340059.542 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:39.543Z,1749340059.543 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:39.557Z,1749340059.557 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:39.557Z,1749340059.557 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:39.772Z,1749340059.772 [DAT](INFO): DAT read: TxSync time:23:47:39.2708

2025-06-07T23:47:39.847Z,1749340059.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 500.700012 m,
      deltaT: 4.031222 s,
      deltaX: -2.799988 m,
      approachRate: -0.694575 m/s,
      rangeRepo size: 4

2025-06-07T23:47:39.849Z,1749340059.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 497.199890 m,
      bearing: 303.582089 deg,
      lat: 36.905718 deg,
      lon: -122.116268 deg,
      deltaT: 4.031222 s,
      deltaX: -2.759918 m,
      approachRate: -0.684636 m/s,
      posRepo size: 4

2025-06-07T23:47:39.850Z,1749340059.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:39.853Z,1749340059.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 486.137604 m,
      bearing: 308.156357 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009407 deg/s,
      cmd heading: 303.398342 deg,
      new cmd heading: 303.408403 deg.

2025-06-07T23:47:39.854Z,1749340059.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295475 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:40.228Z,1749340060.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:40.230Z,1749340060.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 485.869293 m,
      bearing: 308.159108 deg,
      approach rate: -0.703610 m/s,
      LOS rate: 0.007220 deg/s,
      cmd heading: 303.408396 deg,
      new cmd heading: 303.416655 deg.

2025-06-07T23:47:40.232Z,1749340060.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295619 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:40.661Z,1749340060.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:40.664Z,1749340060.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 485.537689 m,
      bearing: 308.161549 deg,
      approach rate: -0.765159 m/s,
      LOS rate: 0.005635 deg/s,
      cmd heading: 303.416647 deg,
      new cmd heading: 303.423972 deg.

2025-06-07T23:47:40.665Z,1749340060.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295747 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:41.047Z,1749340061.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:41.050Z,1749340061.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 485.253235 m,
      bearing: 308.163712 deg,
      approach rate: -0.736963 m/s,
      LOS rate: 0.005609 deg/s,
      cmd heading: 303.423969 deg,
      new cmd heading: 303.430463 deg.

2025-06-07T23:47:41.051Z,1749340061.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295861 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:41.559Z,1749340061.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:41.561Z,1749340061.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:41.564Z,1749340061.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 484.883911 m,
      bearing: 308.165774 deg,
      approach rate: -0.718485 m/s,
      LOS rate: 0.004015 deg/s,
      cmd heading: 303.430471 deg,
      new cmd heading: 303.436663 deg.

2025-06-07T23:47:41.565Z,1749340061.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295969 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:41.804Z,1749340061.804 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:41.804Z,1749340061.804 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:41.804Z,1749340061.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:41.998Z,1749340061.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:42.005Z,1749340062.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 484.548889 m,
      bearing: 308.167482 deg,
      approach rate: -0.766192 m/s,
      LOS rate: 0.003907 deg/s,
      cmd heading: 303.436673 deg,
      new cmd heading: 303.441798 deg.

2025-06-07T23:47:42.006Z,1749340062.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296059 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:42.056Z,1749340062.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516349
2025-06-07T23:47:42.308Z,1749340062.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768146
2025-06-07T23:47:42.529Z,1749340062.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:42.556Z,1749340062.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 484.213898 m,
      bearing: 308.169138 deg,
      approach rate: -0.664308 m/s,
      LOS rate: 0.003287 deg/s,
      cmd heading: 303.441809 deg,
      new cmd heading: 303.446782 deg.

2025-06-07T23:47:42.557Z,1749340062.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296145 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:42.560Z,1749340062.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020321
2025-06-07T23:47:42.812Z,1749340062.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272158
2025-06-07T23:47:42.930Z,1749340062.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:42.933Z,1749340062.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 483.842010 m,
      bearing: 308.169351 deg,
      approach rate: -0.869676 m/s,
      LOS rate: 0.000498 deg/s,
      cmd heading: 303.446781 deg,
      new cmd heading: 303.447421 deg.

2025-06-07T23:47:42.934Z,1749340062.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296156 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:43.064Z,1749340063.064 [DAT](INFO): DAT read: Rx Time:23:47:42.3397

2025-06-07T23:47:43.065Z,1749340063.065 [DAT](INFO): Rx dataTimestamp_ set to:1749340063.064497
2025-06-07T23:47:43.065Z,1749340063.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525409
2025-06-07T23:47:43.284Z,1749340063.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:43.286Z,1749340063.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 483.575409 m,
      bearing: 308.169480 deg,
      approach rate: -0.755333 m/s,
      LOS rate: 0.000366 deg/s,
      cmd heading: 303.447410 deg,
      new cmd heading: 303.447798 deg.

2025-06-07T23:47:43.287Z,1749340063.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296163 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:43.316Z,1749340063.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776386
2025-06-07T23:47:43.575Z,1749340063.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034778
2025-06-07T23:47:43.714Z,1749340063.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:43.716Z,1749340063.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.20 m.
2025-06-07T23:47:43.719Z,1749340063.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.199890 m,
      nav range: 483.241913 m,
      bearing: 308.169348 deg,
      approach rate: -0.770508 m/s,
      LOS rate: -0.000305 deg/s,
      cmd heading: 303.447792 deg,
      new cmd heading: 303.447396 deg.

2025-06-07T23:47:43.720Z,1749340063.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296156 target range: 497.199890 and range: 500.70 m.
2025-06-07T23:47:43.832Z,1749340063.832 [DAT](INFO): DAT read: 23:47:42.3397 LVL= 22144, 32433, 23362, 32755, AGC= 71, IDX= 410,-0.17,-0.933,-2.257,-1.129,-1.602, PHS= 0.757,-0.608, 0.469, RAW= 138.5,  -9.9, CAL= 144.9, -20.3, ROT=   5.1,  20.3

2025-06-07T23:47:43.833Z,1749340063.833 [DAT](INFO): got valid direction response:
 23:47:42.3397 LVL= 22144, 32433, 23362, 32755, AGC= 71, IDX= 410,-0.17,-0.933,-2.257,-1.129,-1.602, PHS= 0.757,-0.608, 0.469, RAW= 138.5,  -9.9, CAL= 144.9, -20.3, ROT=   5.1,  20.3

2025-06-07T23:47:43.835Z,1749340063.835 [DAT](INFO): DAT read: Bearing   5.1,  20.3 (Local)

2025-06-07T23:47:43.835Z,1749340063.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.1,  20.3 (Local)

2025-06-07T23:47:43.838Z,1749340063.838 [DAT](INFO): DAT read: Range 10 to 50 : 497.9 m  (Round-trip  663.9 ms) speed  0.7 m/s

2025-06-07T23:47:43.839Z,1749340063.839 [DAT](INFO): DAT read: user:1832>

2025-06-07T23:47:43.841Z,1749340063.841 [DAT](INFO): DAT read: Tx time:23:47:43.4216

2025-06-07T23:47:43.842Z,1749340063.842 [DAT](INFO): Ping request sent.
2025-06-07T23:47:43.842Z,1749340063.842 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:43.842Z,1749340063.842 [DAT](INFO): DAT read: TxSync time:23:47:43.4208

2025-06-07T23:47:43.843Z,1749340063.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:43.852Z,1749340063.852 [DAT](INFO): direction in FSK: [0.934176,0.083373,-0.346936]
2025-06-07T23:47:43.852Z,1749340063.852 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:43.853Z,1749340063.853 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:43.863Z,1749340063.863 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:43.863Z,1749340063.863 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:44.137Z,1749340064.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 497.899994 m,
      deltaT: 4.303004 s,
      deltaX: -2.800018 m,
      approachRate: -0.650712 m/s,
      rangeRepo size: 4

2025-06-07T23:47:44.139Z,1749340064.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 494.427063 m,
      bearing: 309.424045 deg,
      lat: 36.905767 deg,
      lon: -122.116247 deg,
      deltaT: 4.303004 s,
      deltaX: -2.772827 m,
      approachRate: -0.644393 m/s,
      posRepo size: 4

2025-06-07T23:47:44.144Z,1749340064.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:44.147Z,1749340064.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 484.942505 m,
      bearing: 308.816336 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000305 deg/s,
      cmd heading: 303.447410 deg,
      new cmd heading: 303.447026 deg.

2025-06-07T23:47:44.152Z,1749340064.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296150 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:44.570Z,1749340064.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:44.577Z,1749340064.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 484.616119 m,
      bearing: 308.816643 deg,
      approach rate: -0.752170 m/s,
      LOS rate: 0.000708 deg/s,
      cmd heading: 303.447027 deg,
      new cmd heading: 303.447949 deg.

2025-06-07T23:47:44.581Z,1749340064.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296166 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:44.940Z,1749340064.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:44.943Z,1749340064.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 484.304718 m,
      bearing: 308.817150 deg,
      approach rate: -0.841587 m/s,
      LOS rate: 0.001372 deg/s,
      cmd heading: 303.447956 deg,
      new cmd heading: 303.449479 deg.

2025-06-07T23:47:44.945Z,1749340064.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296193 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:45.306Z,1749340065.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:45.325Z,1749340065.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 484.019501 m,
      bearing: 308.817552 deg,
      approach rate: -0.779949 m/s,
      LOS rate: 0.001099 deg/s,
      cmd heading: 303.449486 deg,
      new cmd heading: 303.450692 deg.

2025-06-07T23:47:45.326Z,1749340065.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296214 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:45.729Z,1749340065.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:45.731Z,1749340065.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:45.734Z,1749340065.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 483.687225 m,
      bearing: 308.818148 deg,
      approach rate: -0.781806 m/s,
      LOS rate: 0.001404 deg/s,
      cmd heading: 303.450688 deg,
      new cmd heading: 303.452478 deg.

2025-06-07T23:47:45.735Z,1749340065.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296245 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:45.841Z,1749340065.841 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:45.841Z,1749340065.841 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:45.841Z,1749340065.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:46.092Z,1749340066.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250392
2025-06-07T23:47:46.131Z,1749340066.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:46.134Z,1749340066.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 483.373383 m,
      bearing: 308.818666 deg,
      approach rate: -0.783980 m/s,
      LOS rate: 0.001295 deg/s,
      cmd heading: 303.452491 deg,
      new cmd heading: 303.454047 deg.

2025-06-07T23:47:46.135Z,1749340066.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296272 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:46.346Z,1749340066.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503853
2025-06-07T23:47:46.596Z,1749340066.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754395
2025-06-07T23:47:46.697Z,1749340066.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:46.700Z,1749340066.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 482.941071 m,
      bearing: 308.819753 deg,
      approach rate: -0.763617 m/s,
      LOS rate: 0.001922 deg/s,
      cmd heading: 303.454049 deg,
      new cmd heading: 303.457313 deg.

2025-06-07T23:47:46.701Z,1749340066.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296329 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:46.848Z,1749340066.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006699
2025-06-07T23:47:47.100Z,1749340067.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258638
2025-06-07T23:47:47.125Z,1749340067.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:47.130Z,1749340067.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 482.614410 m,
      bearing: 308.820576 deg,
      approach rate: -0.763980 m/s,
      LOS rate: 0.001925 deg/s,
      cmd heading: 303.457300 deg,
      new cmd heading: 303.459769 deg.

2025-06-07T23:47:47.132Z,1749340067.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296372 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:47.356Z,1749340067.356 [DAT](INFO): DAT read: Rx Time:23:47:46.4854

2025-06-07T23:47:47.357Z,1749340067.357 [DAT](INFO): Rx dataTimestamp_ set to:1749340067.356470
2025-06-07T23:47:47.357Z,1749340067.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515551
2025-06-07T23:47:47.608Z,1749340067.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766219
2025-06-07T23:47:47.649Z,1749340067.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:47.652Z,1749340067.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 482.226593 m,
      bearing: 308.822749 deg,
      approach rate: -0.739250 m/s,
      LOS rate: 0.004147 deg/s,
      cmd heading: 303.459759 deg,
      new cmd heading: 303.466285 deg.

2025-06-07T23:47:47.653Z,1749340067.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296486 target range: 494.427063 and range: 497.90 m.
2025-06-07T23:47:47.861Z,1749340067.861 [DAT](INFO): DAT read: Range 10 to 50 : 494.6 m  (Round-trip  659.5 ms) speed  0.5 m/s

2025-06-07T23:47:47.862Z,1749340067.862 [DAT](INFO): DAT read: user:1833>

2025-06-07T23:47:47.863Z,1749340067.863 [DAT](INFO): DAT read: Tx time:23:47:47.5717

2025-06-07T23:47:47.863Z,1749340067.863 [DAT](INFO): Ping request sent.
2025-06-07T23:47:47.863Z,1749340067.863 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:47.864Z,1749340067.864 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:47:47.864Z,1749340067.864 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:47.864Z,1749340067.864 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:48.041Z,1749340068.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:48.044Z,1749340068.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 494.600006 m,
      deltaT: 4.035995 s,
      deltaX: -3.299988 m,
      approachRate: -0.817639 m/s,
      rangeRepo size: 4

2025-06-07T23:47:48.045Z,1749340068.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:48.048Z,1749340068.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 481.937866 m,
      bearing: 308.824348 deg,
      approach rate: -0.732062 m/s,
      LOS rate: 0.004057 deg/s,
      cmd heading: 303.466288 deg,
      new cmd heading: 303.471089 deg.

2025-06-07T23:47:48.049Z,1749340068.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296570 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:48.113Z,1749340068.113 [DAT](INFO): DAT read: TxSync time:23:47:47.5709

2025-06-07T23:47:48.113Z,1749340068.113 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:48.113Z,1749340068.113 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:48.114Z,1749340068.114 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:48.364Z,1749340068.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500807
2025-06-07T23:47:48.457Z,1749340068.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:48.478Z,1749340068.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 481.629120 m,
      bearing: 308.826139 deg,
      approach rate: -0.748026 m/s,
      LOS rate: 0.004340 deg/s,
      cmd heading: 303.471097 deg,
      new cmd heading: 303.476470 deg.

2025-06-07T23:47:48.480Z,1749340068.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296664 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:48.620Z,1749340068.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756496
2025-06-07T23:47:48.838Z,1749340068.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:48.845Z,1749340068.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 481.356812 m,
      bearing: 308.828846 deg,
      approach rate: -0.713600 m/s,
      LOS rate: 0.007099 deg/s,
      cmd heading: 303.476479 deg,
      new cmd heading: 303.484606 deg.

2025-06-07T23:47:48.846Z,1749340068.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296805 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:48.868Z,1749340068.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005015
2025-06-07T23:47:49.120Z,1749340069.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256699
2025-06-07T23:47:49.214Z,1749340069.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:49.218Z,1749340069.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 481.076477 m,
      bearing: 308.831648 deg,
      approach rate: -0.744843 m/s,
      LOS rate: 0.007448 deg/s,
      cmd heading: 303.484593 deg,
      new cmd heading: 303.493003 deg.

2025-06-07T23:47:49.219Z,1749340069.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296952 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:49.372Z,1749340069.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508797
2025-06-07T23:47:49.624Z,1749340069.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760726
2025-06-07T23:47:49.661Z,1749340069.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:49.676Z,1749340069.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 480.759003 m,
      bearing: 308.835765 deg,
      approach rate: -0.711566 m/s,
      LOS rate: 0.009234 deg/s,
      cmd heading: 303.493008 deg,
      new cmd heading: 303.505368 deg.

2025-06-07T23:47:49.677Z,1749340069.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297168 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:49.876Z,1749340069.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012812
2025-06-07T23:47:50.001Z,1749340070.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:50.004Z,1749340070.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 480.516357 m,
      bearing: 308.838856 deg,
      approach rate: -0.712412 m/s,
      LOS rate: 0.009081 deg/s,
      cmd heading: 303.505357 deg,
      new cmd heading: 303.514636 deg.

2025-06-07T23:47:50.005Z,1749340070.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297330 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:50.129Z,1749340070.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265267
2025-06-07T23:47:50.380Z,1749340070.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516706
2025-06-07T23:47:50.410Z,1749340070.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:50.412Z,1749340070.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:50.415Z,1749340070.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 480.224487 m,
      bearing: 308.842548 deg,
      approach rate: -0.709846 m/s,
      LOS rate: 0.008983 deg/s,
      cmd heading: 303.514646 deg,
      new cmd heading: 303.525727 deg.

2025-06-07T23:47:50.416Z,1749340070.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297523 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:50.635Z,1749340070.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771095
2025-06-07T23:47:50.849Z,1749340070.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:50.852Z,1749340070.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 479.910828 m,
      bearing: 308.847116 deg,
      approach rate: -0.718963 m/s,
      LOS rate: 0.010477 deg/s,
      cmd heading: 303.525738 deg,
      new cmd heading: 303.539451 deg.

2025-06-07T23:47:50.853Z,1749340070.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297763 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:50.884Z,1749340070.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020932
2025-06-07T23:47:51.136Z,1749340071.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272690
2025-06-07T23:47:51.228Z,1749340071.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:51.231Z,1749340071.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 479.638428 m,
      bearing: 308.851078 deg,
      approach rate: -0.717541 m/s,
      LOS rate: 0.010443 deg/s,
      cmd heading: 303.539453 deg,
      new cmd heading: 303.551346 deg.

2025-06-07T23:47:51.232Z,1749340071.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297970 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:51.389Z,1749340071.389 [DAT](INFO): DAT read: Rx Time:23:47:50.6321

2025-06-07T23:47:51.390Z,1749340071.390 [DAT](INFO): Rx dataTimestamp_ set to:1749340071.389234
2025-06-07T23:47:51.390Z,1749340071.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527084
2025-06-07T23:47:51.644Z,1749340071.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780154
2025-06-07T23:47:51.716Z,1749340071.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.43 m.
2025-06-07T23:47:51.719Z,1749340071.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 494.427063 m,
      nav range: 479.285126 m,
      bearing: 308.856641 deg,
      approach rate: -0.724313 m/s,
      LOS rate: 0.011414 deg/s,
      cmd heading: 303.551338 deg,
      new cmd heading: 303.568040 deg.

2025-06-07T23:47:51.721Z,1749340071.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298262 target range: 494.427063 and range: 494.60 m.
2025-06-07T23:47:51.914Z,1749340071.914 [DAT](INFO): DAT read: 23:47:50.6321 LVL= 16272, 23409, 20466, 25331, AGC= 73, IDX= 411, 0.02,-1.628, 2.990,-1.780,-2.476, PHS= 0.935,-0.771, 0.692, RAW= 142.4, -10.7, CAL= 149.6, -20.1, ROT=   0.4,  20.1

2025-06-07T23:47:51.917Z,1749340071.917 [DAT](INFO): got valid direction response:
 23:47:50.6321 LVL= 16272, 23409, 20466, 25331, AGC= 73, IDX= 411, 0.02,-1.628, 2.990,-1.780,-2.476, PHS= 0.935,-0.771, 0.692, RAW= 142.4, -10.7, CAL= 149.6, -20.1, ROT=   0.4,  20.1

2025-06-07T23:47:51.919Z,1749340071.919 [DAT](INFO): DAT read: Bearing   0.4,  20.1 (Local)

2025-06-07T23:47:51.920Z,1749340071.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  20.1 (Local)

2025-06-07T23:47:51.922Z,1749340071.922 [DAT](INFO): DAT read: Range 10 to 50 : 492.1 m  (Round-trip  656.2 ms) speed  0.6 m/s

2025-06-07T23:47:51.923Z,1749340071.923 [DAT](INFO): DAT read: user:1834>

2025-06-07T23:47:51.933Z,1749340071.933 [DAT](INFO): DAT read: Tx time:23:47:51.7217

2025-06-07T23:47:51.933Z,1749340071.933 [DAT](INFO): Ping request sent.
2025-06-07T23:47:51.933Z,1749340071.933 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:51.933Z,1749340071.933 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:51.934Z,1749340071.934 [DAT](INFO): direction in FSK: [0.939071,0.006556,-0.343660]
2025-06-07T23:47:51.935Z,1749340071.935 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:51.935Z,1749340071.935 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:51.938Z,1749340071.938 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:51.938Z,1749340071.938 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:52.144Z,1749340072.144 [DAT](INFO): DAT read: TxSync time:23:47:51.7209

2025-06-07T23:47:52.162Z,1749340072.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 492.100006 m,
      deltaT: 4.033446 s,
      deltaX: -2.500000 m,
      approachRate: -0.619817 m/s,
      rangeRepo size: 4

2025-06-07T23:47:52.165Z,1749340072.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 488.654999 m,
      bearing: 305.368482 deg,
      lat: 36.905718 deg,
      lon: -122.116280 deg,
      deltaT: 8.069441 s,
      deltaX: -5.772064 m,
      approachRate: -0.715299 m/s,
      posRepo size: 4

2025-06-07T23:47:52.166Z,1749340072.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:52.189Z,1749340072.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 477.791351 m,
      bearing: 308.127503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011414 deg/s,
      cmd heading: 303.568031 deg,
      new cmd heading: 303.583290 deg.

2025-06-07T23:47:52.190Z,1749340072.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298528 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:52.529Z,1749340072.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:52.547Z,1749340072.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:52.550Z,1749340072.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 477.520447 m,
      bearing: 308.131430 deg,
      approach rate: -0.733058 m/s,
      LOS rate: 0.010632 deg/s,
      cmd heading: 303.583303 deg,
      new cmd heading: 303.595090 deg.

2025-06-07T23:47:52.552Z,1749340072.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298734 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:52.650Z,1749340072.650 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:52.651Z,1749340072.651 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:52.652Z,1749340072.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:52.900Z,1749340072.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966982
2025-06-07T23:47:53.003Z,1749340073.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:53.006Z,1749340073.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 477.186859 m,
      bearing: 308.136643 deg,
      approach rate: -0.713347 m/s,
      LOS rate: 0.011156 deg/s,
      cmd heading: 303.595078 deg,
      new cmd heading: 303.610729 deg.

2025-06-07T23:47:53.007Z,1749340073.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299007 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:53.152Z,1749340073.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219022
2025-06-07T23:47:53.348Z,1749340073.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:53.351Z,1749340073.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 476.916565 m,
      bearing: 308.140946 deg,
      approach rate: -0.773936 m/s,
      LOS rate: 0.012326 deg/s,
      cmd heading: 303.610733 deg,
      new cmd heading: 303.623648 deg.

2025-06-07T23:47:53.352Z,1749340073.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299232 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:53.405Z,1749340073.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471531
2025-06-07T23:47:53.659Z,1749340073.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724941
2025-06-07T23:47:53.782Z,1749340073.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:53.790Z,1749340073.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 476.600952 m,
      bearing: 308.144723 deg,
      approach rate: -0.728165 m/s,
      LOS rate: 0.008721 deg/s,
      cmd heading: 303.623656 deg,
      new cmd heading: 303.634996 deg.

2025-06-07T23:47:53.796Z,1749340073.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299430 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:53.910Z,1749340073.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976162
2025-06-07T23:47:54.147Z,1749340074.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:54.150Z,1749340074.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 476.311462 m,
      bearing: 308.148168 deg,
      approach rate: -0.792215 m/s,
      LOS rate: 0.009432 deg/s,
      cmd heading: 303.634994 deg,
      new cmd heading: 303.645334 deg.

2025-06-07T23:47:54.160Z,1749340074.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226971
2025-06-07T23:47:54.163Z,1749340074.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299611 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:54.412Z,1749340074.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479023
2025-06-07T23:47:54.563Z,1749340074.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:54.565Z,1749340074.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:54.568Z,1749340074.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 475.995209 m,
      bearing: 308.151942 deg,
      approach rate: -0.756295 m/s,
      LOS rate: 0.009032 deg/s,
      cmd heading: 303.645321 deg,
      new cmd heading: 303.656652 deg.

2025-06-07T23:47:54.569Z,1749340074.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299809 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:54.672Z,1749340074.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738920
2025-06-07T23:47:54.921Z,1749340074.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988090
2025-06-07T23:47:55.046Z,1749340075.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:55.052Z,1749340075.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 475.634247 m,
      bearing: 308.155304 deg,
      approach rate: -0.752524 m/s,
      LOS rate: 0.007015 deg/s,
      cmd heading: 303.656659 deg,
      new cmd heading: 303.666754 deg.

2025-06-07T23:47:55.053Z,1749340075.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299984 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:55.173Z,1749340075.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239447
2025-06-07T23:47:55.424Z,1749340075.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491153
2025-06-07T23:47:55.426Z,1749340075.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:55.429Z,1749340075.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 475.349823 m,
      bearing: 308.157957 deg,
      approach rate: -0.746380 m/s,
      LOS rate: 0.006966 deg/s,
      cmd heading: 303.666741 deg,
      new cmd heading: 303.674704 deg.

2025-06-07T23:47:55.430Z,1749340075.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300123 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:55.678Z,1749340075.678 [DAT](INFO): DAT read: Rx Time:23:47:54.7780

2025-06-07T23:47:55.680Z,1749340075.680 [DAT](INFO): Rx dataTimestamp_ set to:1749340075.678844
2025-06-07T23:47:55.682Z,1749340075.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748157
2025-06-07T23:47:55.853Z,1749340075.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.65 m.
2025-06-07T23:47:55.856Z,1749340075.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 488.654999 m,
      nav range: 475.011536 m,
      bearing: 308.159451 deg,
      approach rate: -0.791803 m/s,
      LOS rate: 0.003498 deg/s,
      cmd heading: 303.674691 deg,
      new cmd heading: 303.679174 deg.

2025-06-07T23:47:55.857Z,1749340075.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300201 target range: 488.654999 and range: 492.10 m.
2025-06-07T23:47:55.928Z,1749340075.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.995132
2025-06-07T23:47:56.195Z,1749340076.195 [DAT](INFO): DAT read: 23:47:54.7780 LVL= 18096, 16449, 17314, 22771, AGC= 70, IDX= 401, 0.32,-1.158,-2.631,-1.361,-1.820, PHS= 0.749,-0.764, 0.456, RAW= 139.5,  -6.4, CAL= 145.4, -16.2, ROT=   4.6,  16.2

2025-06-07T23:47:56.197Z,1749340076.197 [DAT](INFO): got valid direction response:
 23:47:54.7780 LVL= 18096, 16449, 17314, 22771, AGC= 70, IDX= 401, 0.32,-1.158,-2.631,-1.361,-1.820, PHS= 0.749,-0.764, 0.456, RAW= 139.5,  -6.4, CAL= 145.4, -16.2, ROT=   4.6,  16.2

2025-06-07T23:47:56.198Z,1749340076.198 [DAT](INFO): DAT read: Bearing   4.6,  16.2 (Local)

2025-06-07T23:47:56.198Z,1749340076.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,  16.2 (Local)

2025-06-07T23:47:56.200Z,1749340076.200 [DAT](INFO): DAT read: Range 10 to 50 : 489.0 m  (Round-trip  652.1 ms) speed  0.4 m/s

2025-06-07T23:47:56.200Z,1749340076.200 [DAT](INFO): DAT read: user:1835>

2025-06-07T23:47:56.201Z,1749340076.201 [DAT](INFO): DAT read: Tx time:23:47:55.8717

2025-06-07T23:47:56.201Z,1749340076.201 [DAT](INFO): Ping request sent.
2025-06-07T23:47:56.201Z,1749340076.201 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:47:56.202Z,1749340076.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:47:56.203Z,1749340076.203 [DAT](INFO): direction in FSK: [0.957200,0.077015,-0.278991]
2025-06-07T23:47:56.223Z,1749340076.223 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:56.224Z,1749340076.224 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:56.226Z,1749340076.226 [DAT](INFO): publishing transmit ping time
2025-06-07T23:47:56.227Z,1749340076.227 [DAT](INFO): publishing direction and range info
2025-06-07T23:47:56.293Z,1749340076.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 489.000000 m,
      deltaT: 4.294565 s,
      deltaX: -3.100006 m,
      approachRate: -0.721844 m/s,
      rangeRepo size: 4

2025-06-07T23:47:56.301Z,1749340076.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 485.582764 m,
      bearing: 308.586457 deg,
      lat: 36.905757 deg,
      lon: -122.116278 deg,
      deltaT: 4.294565 s,
      deltaX: -3.072235 m,
      approachRate: -0.715378 m/s,
      posRepo size: 4

2025-06-07T23:47:56.301Z,1749340076.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:56.308Z,1749340076.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 477.276978 m,
      bearing: 308.588205 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003498 deg/s,
      cmd heading: 303.679172 deg,
      new cmd heading: 303.683784 deg.

2025-06-07T23:47:56.309Z,1749340076.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300282 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:56.440Z,1749340076.440 [DAT](INFO): DAT read: TxSync time:23:47:55.8709

2025-06-07T23:47:56.649Z,1749340076.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:56.651Z,1749340076.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:56.663Z,1749340076.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 476.993561 m,
      bearing: 308.589730 deg,
      approach rate: -0.791311 m/s,
      LOS rate: 0.004261 deg/s,
      cmd heading: 303.683789 deg,
      new cmd heading: 303.688367 deg.

2025-06-07T23:47:56.664Z,1749340076.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300362 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:56.694Z,1749340076.694 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:47:56.695Z,1749340076.695 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:47:56.695Z,1749340076.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:47:56.945Z,1749340076.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743327
2025-06-07T23:47:57.051Z,1749340077.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:57.074Z,1749340077.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 476.670929 m,
      bearing: 308.590315 deg,
      approach rate: -0.807155 m/s,
      LOS rate: 0.001465 deg/s,
      cmd heading: 303.688379 deg,
      new cmd heading: 303.690136 deg.

2025-06-07T23:47:57.075Z,1749340077.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300393 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:57.196Z,1749340077.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994670
2025-06-07T23:47:57.443Z,1749340077.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:57.446Z,1749340077.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 476.367004 m,
      bearing: 308.590916 deg,
      approach rate: -0.774826 m/s,
      LOS rate: 0.001531 deg/s,
      cmd heading: 303.690127 deg,
      new cmd heading: 303.691929 deg.

2025-06-07T23:47:57.448Z,1749340077.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246823
2025-06-07T23:47:57.449Z,1749340077.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300424 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:57.702Z,1749340077.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500668
2025-06-07T23:47:57.860Z,1749340077.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:57.863Z,1749340077.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 476.048065 m,
      bearing: 308.590538 deg,
      approach rate: -0.763741 m/s,
      LOS rate: -0.000905 deg/s,
      cmd heading: 303.691931 deg,
      new cmd heading: 303.690797 deg.

2025-06-07T23:47:57.864Z,1749340077.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300404 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:57.952Z,1749340077.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750956
2025-06-07T23:47:58.205Z,1749340078.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003190
2025-06-07T23:47:58.256Z,1749340078.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:58.258Z,1749340078.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 475.744995 m,
      bearing: 308.590053 deg,
      approach rate: -0.766300 m/s,
      LOS rate: -0.001228 deg/s,
      cmd heading: 303.690783 deg,
      new cmd heading: 303.689326 deg.

2025-06-07T23:47:58.260Z,1749340078.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300379 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:58.456Z,1749340078.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254656
2025-06-07T23:47:58.642Z,1749340078.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:58.669Z,1749340078.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 475.449677 m,
      bearing: 308.589543 deg,
      approach rate: -0.764741 m/s,
      LOS rate: -0.001320 deg/s,
      cmd heading: 303.689335 deg,
      new cmd heading: 303.687805 deg.

2025-06-07T23:47:58.670Z,1749340078.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300352 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:58.712Z,1749340078.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509538
2025-06-07T23:47:58.961Z,1749340078.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759625
2025-06-07T23:47:59.144Z,1749340079.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:47:59.146Z,1749340079.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:59.149Z,1749340079.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 475.064087 m,
      bearing: 308.588956 deg,
      approach rate: -0.764626 m/s,
      LOS rate: -0.001165 deg/s,
      cmd heading: 303.687805 deg,
      new cmd heading: 303.686043 deg.

2025-06-07T23:47:59.150Z,1749340079.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300322 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:59.213Z,1749340079.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011825
2025-06-07T23:47:59.455Z,1749340079.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:59.458Z,1749340079.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 474.828644 m,
      bearing: 308.588555 deg,
      approach rate: -0.762211 m/s,
      LOS rate: -0.001299 deg/s,
      cmd heading: 303.686057 deg,
      new cmd heading: 303.684853 deg.

2025-06-07T23:47:59.468Z,1749340079.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266685
2025-06-07T23:47:59.475Z,1749340079.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300301 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:59.723Z,1749340079.723 [DAT](INFO): DAT read: Rx Time:23:47:58.9239

2025-06-07T23:47:59.726Z,1749340079.726 [DAT](INFO): Rx dataTimestamp_ set to:1749340079.725168
2025-06-07T23:47:59.729Z,1749340079.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526821
2025-06-07T23:47:59.886Z,1749340079.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.58 m.
2025-06-07T23:47:59.905Z,1749340079.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.582764 m,
      nav range: 474.499329 m,
      bearing: 308.588130 deg,
      approach rate: -0.763892 m/s,
      LOS rate: -0.000986 deg/s,
      cmd heading: 303.684854 deg,
      new cmd heading: 303.683579 deg.

2025-06-07T23:47:59.906Z,1749340079.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300278 target range: 485.582764 and range: 489.00 m.
2025-06-07T23:47:59.973Z,1749340079.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771558
2025-06-07T23:48:00.230Z,1749340080.230 [DAT](INFO): DAT read: 23:47:58.9239 LVL= 19408, 27425, 21058, 29299, AGC= 73, IDX= 390,-0.06, 1.081,-0.752, 0.871, 0.011, PHS= 1.158,-0.715, 0.857, RAW= 141.4, -14.8, CAL= 147.6, -23.5, ROT=   2.4,  23.5

2025-06-07T23:48:00.232Z,1749340080.232 [DAT](INFO): got valid direction response:
 23:47:58.9239 LVL= 19408, 27425, 21058, 29299, AGC= 73, IDX= 390,-0.06, 1.081,-0.752, 0.871, 0.011, PHS= 1.158,-0.715, 0.857, RAW= 141.4, -14.8, CAL= 147.6, -23.5, ROT=   2.4,  23.5

2025-06-07T23:48:00.233Z,1749340080.233 [DAT](INFO): DAT read: Bearing   2.4,  23.5 (Local)

2025-06-07T23:48:00.233Z,1749340080.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  23.5 (Local)

2025-06-07T23:48:00.234Z,1749340080.234 [DAT](INFO): DAT read: Range 10 to 50 : 485.9 m  (Round-trip  647.9 ms) speed  0.4 m/s

2025-06-07T23:48:00.261Z,1749340080.261 [DAT](INFO): DAT read: user:1836>

2025-06-07T23:48:00.262Z,1749340080.262 [DAT](INFO): DAT read: Tx time:23:48:00.0218

2025-06-07T23:48:00.262Z,1749340080.262 [DAT](INFO): Ping request sent.
2025-06-07T23:48:00.262Z,1749340080.262 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:00.263Z,1749340080.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:00.264Z,1749340080.264 [DAT](INFO): direction in FSK: [0.916256,0.038402,-0.398749]
2025-06-07T23:48:00.264Z,1749340080.264 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:00.264Z,1749340080.264 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:00.291Z,1749340080.291 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:00.292Z,1749340080.292 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:00.476Z,1749340080.476 [DAT](INFO): DAT read: TxSync time:23:48:00.0210

2025-06-07T23:48:00.481Z,1749340080.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 485.899994 m,
      deltaT: 4.035950 s,
      deltaX: -3.100006 m,
      approachRate: -0.768098 m/s,
      rangeRepo size: 4

2025-06-07T23:48:00.483Z,1749340080.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 482.511902 m,
      bearing: 306.951409 deg,
      lat: 36.905608 deg,
      lon: -122.116282 deg,
      deltaT: 4.035950 s,
      deltaX: -3.070862 m,
      approachRate: -0.760877 m/s,
      posRepo size: 4

2025-06-07T23:48:00.488Z,1749340080.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:00.490Z,1749340080.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 464.213043 m,
      bearing: 306.953116 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000986 deg/s,
      cmd heading: 303.683570 deg,
      new cmd heading: 303.681813 deg.

2025-06-07T23:48:00.495Z,1749340080.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300248 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:00.882Z,1749340080.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:00.889Z,1749340080.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 463.902222 m,
      bearing: 306.952230 deg,
      approach rate: -0.773983 m/s,
      LOS rate: -0.002208 deg/s,
      cmd heading: 303.681822 deg,
      new cmd heading: 303.679162 deg.

2025-06-07T23:48:00.890Z,1749340080.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300201 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:01.136Z,1749340081.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:48:01.227Z,1749340081.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:01.229Z,1749340081.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:01.232Z,1749340081.232 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:01.232Z,1749340081.232 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:01.232Z,1749340081.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:01.235Z,1749340081.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 463.635254 m,
      bearing: 306.951563 deg,
      approach rate: -0.768615 m/s,
      LOS rate: -0.001922 deg/s,
      cmd heading: 303.679172 deg,
      new cmd heading: 303.677169 deg.

2025-06-07T23:48:01.237Z,1749340081.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300167 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:01.484Z,1749340081.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221917
2025-06-07T23:48:01.620Z,1749340081.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:01.622Z,1749340081.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 463.341858 m,
      bearing: 306.950850 deg,
      approach rate: -0.750807 m/s,
      LOS rate: -0.001825 deg/s,
      cmd heading: 303.677177 deg,
      new cmd heading: 303.675037 deg.

2025-06-07T23:48:01.624Z,1749340081.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300129 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:01.739Z,1749340081.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476315
2025-06-07T23:48:01.989Z,1749340081.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726542
2025-06-07T23:48:02.093Z,1749340082.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:02.095Z,1749340082.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 462.994293 m,
      bearing: 306.950857 deg,
      approach rate: -0.735112 m/s,
      LOS rate: 0.000014 deg/s,
      cmd heading: 303.675046 deg,
      new cmd heading: 303.675066 deg.

2025-06-07T23:48:02.097Z,1749340082.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300130 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:02.140Z,1749340082.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:48:02.242Z,1749340082.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979279
2025-06-07T23:48:02.492Z,1749340082.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229938
2025-06-07T23:48:02.529Z,1749340082.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:02.532Z,1749340082.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 462.668091 m,
      bearing: 306.950771 deg,
      approach rate: -0.747764 m/s,
      LOS rate: -0.000197 deg/s,
      cmd heading: 303.675074 deg,
      new cmd heading: 303.674816 deg.

2025-06-07T23:48:02.533Z,1749340082.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300126 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:02.749Z,1749340082.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486331
2025-06-07T23:48:02.996Z,1749340082.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734057
2025-06-07T23:48:03.005Z,1749340083.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:03.008Z,1749340083.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 462.319397 m,
      bearing: 306.952073 deg,
      approach rate: -0.732249 m/s,
      LOS rate: 0.002737 deg/s,
      cmd heading: 303.674828 deg,
      new cmd heading: 303.678738 deg.

2025-06-07T23:48:03.009Z,1749340083.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300194 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:03.249Z,1749340083.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986138
2025-06-07T23:48:03.361Z,1749340083.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:03.363Z,1749340083.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:03.366Z,1749340083.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 462.054230 m,
      bearing: 306.953050 deg,
      approach rate: -0.740254 m/s,
      LOS rate: 0.002728 deg/s,
      cmd heading: 303.678735 deg,
      new cmd heading: 303.681667 deg.

2025-06-07T23:48:03.367Z,1749340083.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300245 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:03.502Z,1749340083.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239910
2025-06-07T23:48:03.752Z,1749340083.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490216
2025-06-07T23:48:03.844Z,1749340083.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:03.851Z,1749340083.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 461.716522 m,
      bearing: 306.954243 deg,
      approach rate: -0.701857 m/s,
      LOS rate: 0.002481 deg/s,
      cmd heading: 303.681658 deg,
      new cmd heading: 303.685239 deg.

2025-06-07T23:48:03.852Z,1749340083.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300307 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:04.005Z,1749340084.005 [DAT](INFO): DAT read: Rx Time:23:48:03.0700

2025-06-07T23:48:04.005Z,1749340084.005 [DAT](INFO): Rx dataTimestamp_ set to:1749340084.005206
2025-06-07T23:48:04.006Z,1749340084.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743787
2025-06-07T23:48:04.193Z,1749340084.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.51 m.
2025-06-07T23:48:04.196Z,1749340084.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.511902 m,
      nav range: 461.444336 m,
      bearing: 306.956002 deg,
      approach rate: -0.780398 m/s,
      LOS rate: 0.005046 deg/s,
      cmd heading: 303.685237 deg,
      new cmd heading: 303.690517 deg.

2025-06-07T23:48:04.197Z,1749340084.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300399 target range: 482.511902 and range: 485.90 m.
2025-06-07T23:48:04.257Z,1749340084.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.994547
2025-06-07T23:48:04.514Z,1749340084.514 [DAT](INFO): DAT read: 23:48:03.0700 LVL= 22736, 32753, 24114, 30163, AGC= 68, IDX= 398, 0.00,-1.665, 2.897,-1.790,-2.614, PHS= 1.037,-0.725, 0.821, RAW= 143.6, -13.5, CAL= 150.3, -22.2, ROT= 359.7,  22.2

2025-06-07T23:48:04.515Z,1749340084.515 [DAT](INFO): got valid direction response:
 23:48:03.0700 LVL= 22736, 32753, 24114, 30163, AGC= 68, IDX= 398, 0.00,-1.665, 2.897,-1.790,-2.614, PHS= 1.037,-0.725, 0.821, RAW= 143.6, -13.5, CAL= 150.3, -22.2, ROT= 359.7,  22.2

2025-06-07T23:48:04.516Z,1749340084.516 [DAT](INFO): DAT read: Bearing 359.7,  22.2 (Local)

2025-06-07T23:48:04.516Z,1749340084.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,  22.2 (Local)

2025-06-07T23:48:04.518Z,1749340084.518 [DAT](INFO): DAT read: Range 10 to 50 : 483.0 m  (Round-trip  644.0 ms) speed  0.8 m/s

2025-06-07T23:48:04.519Z,1749340084.519 [DAT](INFO): DAT read: user:1837>

2025-06-07T23:48:04.519Z,1749340084.519 [DAT](INFO): DAT read: Tx time:23:48:04.1718

2025-06-07T23:48:04.520Z,1749340084.520 [DAT](INFO): Ping request sent.
2025-06-07T23:48:04.520Z,1749340084.520 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:04.520Z,1749340084.520 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:04.521Z,1749340084.521 [DAT](INFO): direction in FSK: [0.925858,-0.004848,-0.377841]
2025-06-07T23:48:04.521Z,1749340084.521 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:04.522Z,1749340084.522 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:04.526Z,1749340084.526 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:04.526Z,1749340084.526 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:04.668Z,1749340084.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 483.000000 m,
      deltaT: 4.283936 s,
      deltaX: -2.899994 m,
      approachRate: -0.676946 m/s,
      rangeRepo size: 4

2025-06-07T23:48:04.671Z,1749340084.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 479.632996 m,
      bearing: 304.493633 deg,
      lat: 36.905608 deg,
      lon: -122.116282 deg,
      deltaT: 4.283936 s,
      deltaX: -2.878906 m,
      approachRate: -0.672024 m/s,
      posRepo size: 4

2025-06-07T23:48:04.679Z,1749340084.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:04.682Z,1749340084.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 461.118225 m,
      bearing: 306.958096 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005046 deg/s,
      cmd heading: 303.690510 deg,
      new cmd heading: 303.697671 deg.

2025-06-07T23:48:04.687Z,1749340084.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300524 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:04.761Z,1749340084.761 [DAT](INFO): DAT read: TxSync time:23:48:04.1710

2025-06-07T23:48:05.060Z,1749340085.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:05.063Z,1749340085.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 460.821198 m,
      bearing: 306.960826 deg,
      approach rate: -0.754243 m/s,
      LOS rate: 0.006936 deg/s,
      cmd heading: 303.697668 deg,
      new cmd heading: 303.705863 deg.

2025-06-07T23:48:05.068Z,1749340085.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300667 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:05.493Z,1749340085.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:05.495Z,1749340085.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:05.498Z,1749340085.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 460.495636 m,
      bearing: 306.963841 deg,
      approach rate: -0.748469 m/s,
      LOS rate: 0.006937 deg/s,
      cmd heading: 303.705864 deg,
      new cmd heading: 303.714916 deg.

2025-06-07T23:48:05.499Z,1749340085.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300825 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:05.516Z,1749340085.516 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:05.516Z,1749340085.516 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:05.517Z,1749340085.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:05.768Z,1749340085.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248196
2025-06-07T23:48:05.918Z,1749340085.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:05.921Z,1749340085.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 460.191620 m,
      bearing: 306.966825 deg,
      approach rate: -0.718030 m/s,
      LOS rate: 0.007052 deg/s,
      cmd heading: 303.714907 deg,
      new cmd heading: 303.723864 deg.

2025-06-07T23:48:05.922Z,1749340085.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300982 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:06.020Z,1749340086.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500394
2025-06-07T23:48:06.272Z,1749340086.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752181
2025-06-07T23:48:06.426Z,1749340086.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:06.433Z,1749340086.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 459.832825 m,
      bearing: 306.970270 deg,
      approach rate: -0.706258 m/s,
      LOS rate: 0.006786 deg/s,
      cmd heading: 303.723868 deg,
      new cmd heading: 303.734211 deg.

2025-06-07T23:48:06.434Z,1749340086.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301162 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:06.524Z,1749340086.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004270
2025-06-07T23:48:06.776Z,1749340086.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256247
2025-06-07T23:48:06.955Z,1749340086.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:06.959Z,1749340086.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 459.451965 m,
      bearing: 306.973924 deg,
      approach rate: -0.721493 m/s,
      LOS rate: 0.006929 deg/s,
      cmd heading: 303.734223 deg,
      new cmd heading: 303.745196 deg.

2025-06-07T23:48:06.961Z,1749340086.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301354 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:07.029Z,1749340087.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508772
2025-06-07T23:48:07.280Z,1749340087.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760186
2025-06-07T23:48:07.321Z,1749340087.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:07.323Z,1749340087.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 459.186432 m,
      bearing: 306.976476 deg,
      approach rate: -0.725056 m/s,
      LOS rate: 0.006971 deg/s,
      cmd heading: 303.745206 deg,
      new cmd heading: 303.752865 deg.

2025-06-07T23:48:07.324Z,1749340087.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301487 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:07.534Z,1749340087.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013681
2025-06-07T23:48:07.704Z,1749340087.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:07.706Z,1749340087.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:07.709Z,1749340087.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 458.910828 m,
      bearing: 306.979143 deg,
      approach rate: -0.715211 m/s,
      LOS rate: 0.006926 deg/s,
      cmd heading: 303.752856 deg,
      new cmd heading: 303.760863 deg.

2025-06-07T23:48:07.710Z,1749340087.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301627 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:07.785Z,1749340087.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265128
2025-06-07T23:48:08.036Z,1749340088.036 [DAT](INFO): DAT read: Rx Time:23:48:07.2158

2025-06-07T23:48:08.037Z,1749340088.037 [DAT](INFO): Rx dataTimestamp_ set to:1749340088.036630
2025-06-07T23:48:08.037Z,1749340088.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517596
2025-06-07T23:48:08.143Z,1749340088.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:08.145Z,1749340088.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 458.589172 m,
      bearing: 306.982199 deg,
      approach rate: -0.736421 m/s,
      LOS rate: 0.007001 deg/s,
      cmd heading: 303.760861 deg,
      new cmd heading: 303.770035 deg.

2025-06-07T23:48:08.147Z,1749340088.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301787 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:08.288Z,1749340088.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768269
2025-06-07T23:48:08.530Z,1749340088.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.63 m.
2025-06-07T23:48:08.533Z,1749340088.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.632996 m,
      nav range: 458.304321 m,
      bearing: 306.984951 deg,
      approach rate: -0.735912 m/s,
      LOS rate: 0.007115 deg/s,
      cmd heading: 303.770041 deg,
      new cmd heading: 303.778302 deg.

2025-06-07T23:48:08.534Z,1749340088.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301931 target range: 479.632996 and range: 483.00 m.
2025-06-07T23:48:08.546Z,1749340088.546 [DAT](INFO): DAT read: 23:48:07.2158 LVL= 30352, 31473, 28338, 32755, AGC= 68, IDX= 404,-0.48,-0.048,-1.488,-0.213,-0.763, PHS= 0.803,-0.678, 0.546, RAW= 140.7,  -9.8, CAL= 147.5, -19.7, ROT=   2.5,  19.7

2025-06-07T23:48:08.549Z,1749340088.549 [DAT](INFO): got valid direction response:
 23:48:07.2158 LVL= 30352, 31473, 28338, 32755, AGC= 68, IDX= 404,-0.48,-0.048,-1.488,-0.213,-0.763, PHS= 0.803,-0.678, 0.546, RAW= 140.7,  -9.8, CAL= 147.5, -19.7, ROT=   2.5,  19.7

2025-06-07T23:48:08.550Z,1749340088.550 [DAT](INFO): DAT read: Bearing   2.5,  19.7 (Local)

2025-06-07T23:48:08.551Z,1749340088.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  19.7 (Local)

2025-06-07T23:48:08.554Z,1749340088.554 [DAT](INFO): DAT read: Range 10 to 50 : 479.8 m  (Round-trip  639.8 ms) speed  0.6 m/s

2025-06-07T23:48:08.599Z,1749340088.599 [DAT](INFO): DAT read: user:1838>

2025-06-07T23:48:08.600Z,1749340088.600 [DAT](INFO): DAT read: Tx time:23:48:08.3218

2025-06-07T23:48:08.600Z,1749340088.600 [DAT](INFO): Ping request sent.
2025-06-07T23:48:08.601Z,1749340088.601 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:08.601Z,1749340088.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:08.602Z,1749340088.602 [DAT](INFO): direction in FSK: [0.940574,0.041066,-0.337095]
2025-06-07T23:48:08.602Z,1749340088.602 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:08.602Z,1749340088.602 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:08.610Z,1749340088.610 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:08.610Z,1749340088.610 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:08.794Z,1749340088.794 [DAT](INFO): DAT read: TxSync time:23:48:08.3210

2025-06-07T23:48:09.037Z,1749340089.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 479.799988 m,
      deltaT: 4.032082 s,
      deltaX: -3.200012 m,
      approachRate: -0.793638 m/s,
      rangeRepo size: 4

2025-06-07T23:48:09.039Z,1749340089.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 476.424408 m,
      bearing: 306.658909 deg,
      lat: 36.905608 deg,
      lon: -122.116364 deg,
      deltaT: 4.032082 s,
      deltaX: -3.208588 m,
      approachRate: -0.795765 m/s,
      posRepo size: 4

2025-06-07T23:48:09.045Z,1749340089.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:09.052Z,1749340089.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 463.753540 m,
      bearing: 306.452144 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007115 deg/s,
      cmd heading: 303.778291 deg,
      new cmd heading: 303.789100 deg.

2025-06-07T23:48:09.053Z,1749340089.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302120 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:09.351Z,1749340089.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:09.354Z,1749340089.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 463.492188 m,
      bearing: 306.454304 deg,
      approach rate: -0.829735 m/s,
      LOS rate: 0.006859 deg/s,
      cmd heading: 303.789110 deg,
      new cmd heading: 303.795592 deg.

2025-06-07T23:48:09.371Z,1749340089.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302233 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:09.734Z,1749340089.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:09.753Z,1749340089.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:09.761Z,1749340089.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 463.215759 m,
      bearing: 306.456805 deg,
      approach rate: -0.688544 m/s,
      LOS rate: 0.006235 deg/s,
      cmd heading: 303.795585 deg,
      new cmd heading: 303.803094 deg.

2025-06-07T23:48:09.764Z,1749340089.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302364 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:09.800Z,1749340089.800 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:09.800Z,1749340089.800 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:09.800Z,1749340089.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:10.052Z,1749340090.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451411
2025-06-07T23:48:10.210Z,1749340090.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:10.213Z,1749340090.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 462.865692 m,
      bearing: 306.459908 deg,
      approach rate: -0.764674 m/s,
      LOS rate: 0.006784 deg/s,
      cmd heading: 303.803099 deg,
      new cmd heading: 303.812415 deg.

2025-06-07T23:48:10.214Z,1749340090.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302527 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:10.304Z,1749340090.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703646
2025-06-07T23:48:10.556Z,1749340090.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955402
2025-06-07T23:48:10.585Z,1749340090.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:10.588Z,1749340090.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 462.589386 m,
      bearing: 306.462409 deg,
      approach rate: -0.738396 m/s,
      LOS rate: 0.006687 deg/s,
      cmd heading: 303.812415 deg,
      new cmd heading: 303.819922 deg.

2025-06-07T23:48:10.589Z,1749340090.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302658 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:10.810Z,1749340090.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209201
2025-06-07T23:48:11.047Z,1749340091.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:11.050Z,1749340091.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 462.259430 m,
      bearing: 306.464817 deg,
      approach rate: -0.745513 m/s,
      LOS rate: 0.005444 deg/s,
      cmd heading: 303.819928 deg,
      new cmd heading: 303.827156 deg.

2025-06-07T23:48:11.055Z,1749340091.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302784 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:11.060Z,1749340091.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459610
2025-06-07T23:48:11.312Z,1749340091.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711486
2025-06-07T23:48:11.453Z,1749340091.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:11.456Z,1749340091.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 461.941559 m,
      bearing: 306.467152 deg,
      approach rate: -0.745565 m/s,
      LOS rate: 0.005480 deg/s,
      cmd heading: 303.827168 deg,
      new cmd heading: 303.834178 deg.

2025-06-07T23:48:11.457Z,1749340091.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302907 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:11.565Z,1749340091.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964073
2025-06-07T23:48:11.816Z,1749340091.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215410
2025-06-07T23:48:12.000Z,1749340092.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:12.002Z,1749340092.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:12.021Z,1749340092.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 461.532410 m,
      bearing: 306.470004 deg,
      approach rate: -0.745386 m/s,
      LOS rate: 0.005200 deg/s,
      cmd heading: 303.834190 deg,
      new cmd heading: 303.842753 deg.

2025-06-07T23:48:12.022Z,1749340092.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303056 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:12.068Z,1749340092.068 [DAT](INFO): DAT read: Rx Time:23:48:11.3622

2025-06-07T23:48:12.069Z,1749340092.069 [DAT](INFO): Rx dataTimestamp_ set to:1749340092.068571
2025-06-07T23:48:12.069Z,1749340092.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468790
2025-06-07T23:48:12.320Z,1749340092.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.719532
2025-06-07T23:48:12.331Z,1749340092.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:12.334Z,1749340092.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 461.298523 m,
      bearing: 306.471652 deg,
      approach rate: -0.747586 m/s,
      LOS rate: 0.005271 deg/s,
      cmd heading: 303.842741 deg,
      new cmd heading: 303.847689 deg.

2025-06-07T23:48:12.339Z,1749340092.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303143 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:12.572Z,1749340092.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.971469
2025-06-07T23:48:12.789Z,1749340092.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.42 m.
2025-06-07T23:48:12.791Z,1749340092.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.424408 m,
      nav range: 460.945740 m,
      bearing: 306.474176 deg,
      approach rate: -0.745372 m/s,
      LOS rate: 0.005337 deg/s,
      cmd heading: 303.847686 deg,
      new cmd heading: 303.855264 deg.

2025-06-07T23:48:12.792Z,1749340092.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303275 target range: 476.424408 and range: 479.80 m.
2025-06-07T23:48:12.831Z,1749340092.831 [DAT](INFO): DAT read: 23:48:11.3622 LVL= 15184, 18689, 16306, 16627, AGC= 71, IDX= 396, 0.40, 0.923,-0.466, 0.782, 0.064, PHS= 0.946,-0.484, 0.715, RAW= 141.3, -17.4, CAL= 147.2, -25.5, ROT=   2.8,  25.5

2025-06-07T23:48:12.832Z,1749340092.832 [DAT](INFO): got valid direction response:
 23:48:11.3622 LVL= 15184, 18689, 16306, 16627, AGC= 71, IDX= 396, 0.40, 0.923,-0.466, 0.782, 0.064, PHS= 0.946,-0.484, 0.715, RAW= 141.3, -17.4, CAL= 147.2, -25.5, ROT=   2.8,  25.5

2025-06-07T23:48:12.833Z,1749340092.833 [DAT](INFO): DAT read: Bearing   2.8,  25.5 (Local)

2025-06-07T23:48:12.833Z,1749340092.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,  25.5 (Local)

2025-06-07T23:48:12.835Z,1749340092.835 [DAT](INFO): DAT read: Range 10 to 50 : 477.0 m  (Round-trip  636.1 ms) speed  0.7 m/s

2025-06-07T23:48:12.837Z,1749340092.837 [DAT](INFO): DAT read: user:1839>

2025-06-07T23:48:12.856Z,1749340092.856 [DAT](INFO): DAT read: Tx time:23:48:12.4719

2025-06-07T23:48:12.856Z,1749340092.856 [DAT](INFO): Ping request sent.
2025-06-07T23:48:12.857Z,1749340092.857 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:12.857Z,1749340092.857 [DAT](INFO): DAT read: TxSync time:23:48:12.4711

2025-06-07T23:48:12.858Z,1749340092.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:12.859Z,1749340092.859 [DAT](INFO): direction in FSK: [0.901508,0.044091,-0.430511]
2025-06-07T23:48:12.871Z,1749340092.871 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:12.871Z,1749340092.871 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:12.874Z,1749340092.874 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:12.875Z,1749340092.875 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:13.278Z,1749340093.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 477.000000 m,
      deltaT: 4.284835 s,
      deltaX: -2.799988 m,
      approachRate: -0.653465 m/s,
      rangeRepo size: 4

2025-06-07T23:48:13.288Z,1749340093.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 473.651794 m,
      bearing: 306.895840 deg,
      lat: 36.905618 deg,
      lon: -122.116318 deg,
      deltaT: 4.284835 s,
      deltaX: -2.772614 m,
      approachRate: -0.647076 m/s,
      posRepo size: 4

2025-06-07T23:48:13.289Z,1749340093.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:13.312Z,1749340093.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 458.057953 m,
      bearing: 306.897522 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005337 deg/s,
      cmd heading: 303.855254 deg,
      new cmd heading: 303.863030 deg.

2025-06-07T23:48:13.313Z,1749340093.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303411 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:13.641Z,1749340093.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:13.644Z,1749340093.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 457.770996 m,
      bearing: 306.899549 deg,
      approach rate: -0.782417 m/s,
      LOS rate: 0.005529 deg/s,
      cmd heading: 303.863040 deg,
      new cmd heading: 303.869123 deg.

2025-06-07T23:48:13.645Z,1749340093.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303517 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:14.118Z,1749340094.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:14.121Z,1749340094.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:14.124Z,1749340094.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 457.412720 m,
      bearing: 306.901338 deg,
      approach rate: -0.746694 m/s,
      LOS rate: 0.003732 deg/s,
      cmd heading: 303.869133 deg,
      new cmd heading: 303.874505 deg.

2025-06-07T23:48:14.125Z,1749340094.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303611 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:14.337Z,1749340094.337 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:14.337Z,1749340094.337 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:14.338Z,1749340094.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:14.530Z,1749340094.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:14.533Z,1749340094.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 457.107239 m,
      bearing: 306.902977 deg,
      approach rate: -0.746508 m/s,
      LOS rate: 0.004008 deg/s,
      cmd heading: 303.874515 deg,
      new cmd heading: 303.879435 deg.

2025-06-07T23:48:14.534Z,1749340094.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303697 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:14.589Z,1749340094.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732479
2025-06-07T23:48:14.840Z,1749340094.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983508
2025-06-07T23:48:15.017Z,1749340095.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:15.019Z,1749340095.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 456.787018 m,
      bearing: 306.904662 deg,
      approach rate: -0.658170 m/s,
      LOS rate: 0.003466 deg/s,
      cmd heading: 303.879433 deg,
      new cmd heading: 303.884492 deg.

2025-06-07T23:48:15.020Z,1749340095.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303785 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:15.092Z,1749340095.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235660
2025-06-07T23:48:15.345Z,1749340095.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488194
2025-06-07T23:48:15.484Z,1749340095.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:15.486Z,1749340095.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 456.414062 m,
      bearing: 306.906187 deg,
      approach rate: -0.805970 m/s,
      LOS rate: 0.003299 deg/s,
      cmd heading: 303.884487 deg,
      new cmd heading: 303.889067 deg.

2025-06-07T23:48:15.492Z,1749340095.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303865 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:15.596Z,1749340095.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739751
2025-06-07T23:48:15.849Z,1749340095.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992061
2025-06-07T23:48:15.894Z,1749340095.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:15.913Z,1749340095.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 456.090179 m,
      bearing: 306.907492 deg,
      approach rate: -0.780236 m/s,
      LOS rate: 0.003145 deg/s,
      cmd heading: 303.889077 deg,
      new cmd heading: 303.892994 deg.

2025-06-07T23:48:15.914Z,1749340095.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303933 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:16.100Z,1749340096.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243535
2025-06-07T23:48:16.331Z,1749340096.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:16.333Z,1749340096.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:16.336Z,1749340096.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 455.765015 m,
      bearing: 306.908509 deg,
      approach rate: -0.741601 m/s,
      LOS rate: 0.002321 deg/s,
      cmd heading: 303.892984 deg,
      new cmd heading: 303.896037 deg.

2025-06-07T23:48:16.337Z,1749340096.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303987 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:16.369Z,1749340096.369 [DAT](INFO): DAT read: Rx Time:23:48:15.5083

2025-06-07T23:48:16.370Z,1749340096.370 [DAT](INFO): Rx dataTimestamp_ set to:1749340096.369347
2025-06-07T23:48:16.371Z,1749340096.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513969
2025-06-07T23:48:16.620Z,1749340096.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763601
2025-06-07T23:48:16.707Z,1749340096.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.65 m.
2025-06-07T23:48:16.709Z,1749340096.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 473.651794 m,
      nav range: 455.487335 m,
      bearing: 306.909330 deg,
      approach rate: -0.742999 m/s,
      LOS rate: 0.002198 deg/s,
      cmd heading: 303.896044 deg,
      new cmd heading: 303.898508 deg.

2025-06-07T23:48:16.710Z,1749340096.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304029 target range: 473.651794 and range: 477.00 m.
2025-06-07T23:48:16.878Z,1749340096.878 [DAT](INFO): DAT read: 23:48:15.5083 LVL= 18016, 26145, 20018, 24563, AGC= 70, IDX= 405, 0.06, 2.406, 0.958, 2.163, 1.550, PHS= 0.944,-0.544, 0.610, RAW= 137.7, -14.8, CAL= 143.5, -24.0, ROT=   6.5,  24.0

2025-06-07T23:48:16.880Z,1749340096.880 [DAT](INFO): got valid direction response:
 23:48:15.5083 LVL= 18016, 26145, 20018, 24563, AGC= 70, IDX= 405, 0.06, 2.406, 0.958, 2.163, 1.550, PHS= 0.944,-0.544, 0.610, RAW= 137.7, -14.8, CAL= 143.5, -24.0, ROT=   6.5,  24.0

2025-06-07T23:48:16.881Z,1749340096.881 [DAT](INFO): DAT read: Bearing   6.5,  24.0 (Local)

2025-06-07T23:48:16.881Z,1749340096.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  24.0 (Local)

2025-06-07T23:48:16.883Z,1749340096.883 [DAT](INFO): DAT read: Range 10 to 50 : 474.1 m  (Round-trip  632.2 ms) speed  0.6 m/s

2025-06-07T23:48:16.884Z,1749340096.884 [DAT](INFO): DAT read: user:1840>

2025-06-07T23:48:16.885Z,1749340096.885 [DAT](INFO): DAT read: Tx time:23:48:16.6219

2025-06-07T23:48:16.885Z,1749340096.885 [DAT](INFO): Ping request sent.
2025-06-07T23:48:16.885Z,1749340096.885 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:16.886Z,1749340096.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:16.887Z,1749340096.887 [DAT](INFO): direction in FSK: [0.907673,0.103416,-0.406737]
2025-06-07T23:48:16.887Z,1749340096.887 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:16.887Z,1749340096.887 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:16.890Z,1749340096.890 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:16.891Z,1749340096.891 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:17.124Z,1749340097.124 [DAT](INFO): DAT read: TxSync time:23:48:16.6211

2025-06-07T23:48:17.153Z,1749340097.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 474.100006 m,
      deltaT: 4.047539 s,
      deltaX: -2.899994 m,
      approachRate: -0.716483 m/s,
      rangeRepo size: 4

2025-06-07T23:48:17.156Z,1749340097.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 470.797089 m,
      bearing: 310.278664 deg,
      lat: 36.905618 deg,
      lon: -122.116318 deg,
      deltaT: 4.047539 s,
      deltaX: -2.854706 m,
      approachRate: -0.705294 m/s,
      posRepo size: 4

2025-06-07T23:48:17.156Z,1749340097.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:17.159Z,1749340097.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 455.163086 m,
      bearing: 306.909877 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002198 deg/s,
      cmd heading: 303.898503 deg,
      new cmd heading: 303.901444 deg.

2025-06-07T23:48:17.160Z,1749340097.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304081 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:17.518Z,1749340097.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:17.520Z,1749340097.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 454.891571 m,
      bearing: 306.910335 deg,
      approach rate: -0.744243 m/s,
      LOS rate: 0.001258 deg/s,
      cmd heading: 303.901453 deg,
      new cmd heading: 303.902830 deg.

2025-06-07T23:48:17.521Z,1749340097.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304105 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:17.914Z,1749340097.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:17.917Z,1749340097.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 454.599945 m,
      bearing: 306.910817 deg,
      approach rate: -0.734687 m/s,
      LOS rate: 0.001215 deg/s,
      cmd heading: 303.902819 deg,
      new cmd heading: 303.904267 deg.

2025-06-07T23:48:17.918Z,1749340097.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304130 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:18.333Z,1749340098.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:18.352Z,1749340098.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:18.354Z,1749340098.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 454.294434 m,
      bearing: 306.911259 deg,
      approach rate: -0.725687 m/s,
      LOS rate: 0.001049 deg/s,
      cmd heading: 303.904267 deg,
      new cmd heading: 303.905592 deg.

2025-06-07T23:48:18.360Z,1749340098.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304153 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:18.384Z,1749340098.384 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:18.384Z,1749340098.384 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:18.384Z,1749340098.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:18.636Z,1749340098.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750616
2025-06-07T23:48:18.742Z,1749340098.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:18.748Z,1749340098.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 454.000366 m,
      bearing: 306.911651 deg,
      approach rate: -0.727980 m/s,
      LOS rate: 0.000972 deg/s,
      cmd heading: 303.905579 deg,
      new cmd heading: 303.906757 deg.

2025-06-07T23:48:18.749Z,1749340098.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304173 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:18.888Z,1749340098.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002651
2025-06-07T23:48:19.141Z,1749340099.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255538
2025-06-07T23:48:19.158Z,1749340099.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:19.166Z,1749340099.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 453.710846 m,
      bearing: 306.911925 deg,
      approach rate: -0.692174 m/s,
      LOS rate: 0.000655 deg/s,
      cmd heading: 303.906754 deg,
      new cmd heading: 303.907575 deg.

2025-06-07T23:48:19.172Z,1749340099.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304188 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:19.392Z,1749340099.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506713
2025-06-07T23:48:19.542Z,1749340099.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:19.545Z,1749340099.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 453.421631 m,
      bearing: 306.912113 deg,
      approach rate: -0.753084 m/s,
      LOS rate: 0.000491 deg/s,
      cmd heading: 303.907573 deg,
      new cmd heading: 303.908139 deg.

2025-06-07T23:48:19.546Z,1749340099.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304198 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:19.644Z,1749340099.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758792
2025-06-07T23:48:19.896Z,1749340099.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010597
2025-06-07T23:48:19.937Z,1749340099.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:19.960Z,1749340099.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 453.133362 m,
      bearing: 306.912231 deg,
      approach rate: -0.729756 m/s,
      LOS rate: 0.000298 deg/s,
      cmd heading: 303.908147 deg,
      new cmd heading: 303.908500 deg.

2025-06-07T23:48:19.962Z,1749340099.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304204 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:20.148Z,1749340100.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262579
2025-06-07T23:48:20.368Z,1749340100.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:20.371Z,1749340100.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:20.374Z,1749340100.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 452.817841 m,
      bearing: 306.912901 deg,
      approach rate: -0.727242 m/s,
      LOS rate: 0.001545 deg/s,
      cmd heading: 303.908502 deg,
      new cmd heading: 303.910513 deg.

2025-06-07T23:48:20.375Z,1749340100.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304239 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:20.400Z,1749340100.400 [DAT](INFO): DAT read: Rx Time:23:48:19.6550

2025-06-07T23:48:20.401Z,1749340100.401 [DAT](INFO): Rx dataTimestamp_ set to:1749340100.400312
2025-06-07T23:48:20.401Z,1749340100.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515636
2025-06-07T23:48:20.652Z,1749340100.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766595
2025-06-07T23:48:20.753Z,1749340100.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.80 m.
2025-06-07T23:48:20.755Z,1749340100.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 470.797089 m,
      nav range: 452.542725 m,
      bearing: 306.913393 deg,
      approach rate: -0.720331 m/s,
      LOS rate: 0.001289 deg/s,
      cmd heading: 303.910524 deg,
      new cmd heading: 303.912001 deg.

2025-06-07T23:48:20.756Z,1749340100.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304265 target range: 470.797089 and range: 474.10 m.
2025-06-07T23:48:20.907Z,1749340100.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021362
2025-06-07T23:48:21.162Z,1749340101.162 [DAT](INFO): DAT read: 23:48:19.6550 LVL= 20368, 23329, 21298, 23603, AGC= 70, IDX= 403, 0.06, 1.868, 0.302, 1.720, 0.919, PHS= 1.037,-0.570, 0.798, RAW= 142.1, -16.6, CAL= 148.1, -24.8, ROT=   1.9,  24.8

2025-06-07T23:48:21.168Z,1749340101.168 [DAT](INFO): got valid direction response:
 23:48:19.6550 LVL= 20368, 23329, 21298, 23603, AGC= 70, IDX= 403, 0.06, 1.868, 0.302, 1.720, 0.919, PHS= 1.037,-0.570, 0.798, RAW= 142.1, -16.6, CAL= 148.1, -24.8, ROT=   1.9,  24.8

2025-06-07T23:48:21.169Z,1749340101.169 [DAT](INFO): DAT read: Bearing   1.9,  24.8 (Local)

2025-06-07T23:48:21.170Z,1749340101.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  24.8 (Local)

2025-06-07T23:48:21.182Z,1749340101.182 [DAT](INFO): DAT read: Range 10 to 50 : 471.6 m  (Round-trip  628.9 ms) speed  0.4 m/s

2025-06-07T23:48:21.183Z,1749340101.183 [DAT](INFO): DAT read: user:1841>

2025-06-07T23:48:21.184Z,1749340101.184 [DAT](INFO): DAT read: Tx time:23:48:20.7720

2025-06-07T23:48:21.184Z,1749340101.184 [DAT](INFO): Ping request sent.
2025-06-07T23:48:21.184Z,1749340101.184 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:21.185Z,1749340101.185 [DAT](INFO): DAT read: TxSync time:23:48:20.7712

2025-06-07T23:48:21.185Z,1749340101.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:21.186Z,1749340101.186 [DAT](INFO): direction in FSK: [0.907278,0.030098,-0.419452]
2025-06-07T23:48:21.187Z,1749340101.187 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:21.196Z,1749340101.196 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:21.199Z,1749340101.199 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:21.211Z,1749340101.211 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:21.246Z,1749340101.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 471.600006 m,
      deltaT: 4.283651 s,
      deltaX: -2.500000 m,
      approachRate: -0.583614 m/s,
      rangeRepo size: 4

2025-06-07T23:48:21.252Z,1749340101.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 468.346863 m,
      bearing: 306.815745 deg,
      lat: 36.905628 deg,
      lon: -122.116348 deg,
      deltaT: 4.283651 s,
      deltaX: -2.450226 m,
      approachRate: -0.571995 m/s,
      posRepo size: 4

2025-06-07T23:48:21.253Z,1749340101.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:21.264Z,1749340101.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 454.973480 m,
      bearing: 306.817416 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001289 deg/s,
      cmd heading: 303.911999 deg,
      new cmd heading: 303.913905 deg.

2025-06-07T23:48:21.265Z,1749340101.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304298 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:21.592Z,1749340101.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:21.594Z,1749340101.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 454.717499 m,
      bearing: 306.818644 deg,
      approach rate: -0.738678 m/s,
      LOS rate: 0.003545 deg/s,
      cmd heading: 303.913912 deg,
      new cmd heading: 303.917597 deg.

2025-06-07T23:48:21.600Z,1749340101.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304363 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:21.984Z,1749340101.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:21.987Z,1749340101.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 454.432526 m,
      bearing: 306.820022 deg,
      approach rate: -0.728455 m/s,
      LOS rate: 0.003525 deg/s,
      cmd heading: 303.917600 deg,
      new cmd heading: 303.921737 deg.

2025-06-07T23:48:21.988Z,1749340101.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304435 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:22.393Z,1749340102.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:22.396Z,1749340102.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:22.398Z,1749340102.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 454.129913 m,
      bearing: 306.823037 deg,
      approach rate: -0.734175 m/s,
      LOS rate: 0.007319 deg/s,
      cmd heading: 303.921725 deg,
      new cmd heading: 303.930775 deg.

2025-06-07T23:48:22.399Z,1749340102.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304593 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:22.416Z,1749340102.416 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:22.416Z,1749340102.416 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:22.416Z,1749340102.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:22.668Z,1749340102.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483782
2025-06-07T23:48:22.785Z,1749340102.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:22.792Z,1749340102.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 453.852783 m,
      bearing: 306.825719 deg,
      approach rate: -0.710344 m/s,
      LOS rate: 0.006880 deg/s,
      cmd heading: 303.930769 deg,
      new cmd heading: 303.938821 deg.

2025-06-07T23:48:22.793Z,1749340102.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304733 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:22.920Z,1749340102.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735751
2025-06-07T23:48:23.172Z,1749340103.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987994
2025-06-07T23:48:23.295Z,1749340103.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:23.297Z,1749340103.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 453.473480 m,
      bearing: 306.830506 deg,
      approach rate: -0.745014 m/s,
      LOS rate: 0.009410 deg/s,
      cmd heading: 303.938828 deg,
      new cmd heading: 303.953201 deg.

2025-06-07T23:48:23.298Z,1749340103.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304984 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:23.425Z,1749340103.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240576
2025-06-07T23:48:23.666Z,1749340103.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:23.669Z,1749340103.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 453.210724 m,
      bearing: 306.833791 deg,
      approach rate: -0.706435 m/s,
      LOS rate: 0.008838 deg/s,
      cmd heading: 303.953199 deg,
      new cmd heading: 303.963061 deg.

2025-06-07T23:48:23.670Z,1749340103.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305156 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:23.676Z,1749340103.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491905
2025-06-07T23:48:23.928Z,1749340103.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743811
2025-06-07T23:48:24.180Z,1749340104.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995891
2025-06-07T23:48:24.216Z,1749340104.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:24.219Z,1749340104.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 452.799683 m,
      bearing: 306.840661 deg,
      approach rate: -0.747747 m/s,
      LOS rate: 0.012508 deg/s,
      cmd heading: 303.963062 deg,
      new cmd heading: 303.983689 deg.

2025-06-07T23:48:24.240Z,1749340104.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305516 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:24.433Z,1749340104.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248449
2025-06-07T23:48:24.680Z,1749340104.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:24.682Z,1749340104.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.35 m.
2025-06-07T23:48:24.684Z,1749340104.684 [DAT](INFO): DAT read: Rx Time:23:48:23.8012

2025-06-07T23:48:24.685Z,1749340104.685 [DAT](INFO): Rx dataTimestamp_ set to:1749340104.684520
2025-06-07T23:48:24.685Z,1749340104.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501003
2025-06-07T23:48:24.688Z,1749340104.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.346863 m,
      nav range: 452.456329 m,
      bearing: 306.846418 deg,
      approach rate: -0.736639 m/s,
      LOS rate: 0.012361 deg/s,
      cmd heading: 303.983689 deg,
      new cmd heading: 304.000974 deg.

2025-06-07T23:48:24.689Z,1749340104.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305818 target range: 468.346863 and range: 471.60 m.
2025-06-07T23:48:24.936Z,1749340104.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751837
2025-06-07T23:48:25.194Z,1749340105.194 [DAT](INFO): DAT read: 23:48:23.8012 LVL= 21552, 28753, 20770, 26563, AGC= 72, IDX= 397,-0.14, 1.042,-0.386, 0.922, 0.306, PHS= 0.824,-0.644, 0.613, RAW= 142.4, -11.5, CAL= 149.4, -20.7, ROT=   0.6,  20.7

2025-06-07T23:48:25.208Z,1749340105.208 [DAT](INFO): got valid direction response:
 23:48:23.8012 LVL= 21552, 28753, 20770, 26563, AGC= 72, IDX= 397,-0.14, 1.042,-0.386, 0.922, 0.306, PHS= 0.824,-0.644, 0.613, RAW= 142.4, -11.5, CAL= 149.4, -20.7, ROT=   0.6,  20.7

2025-06-07T23:48:25.209Z,1749340105.209 [DAT](INFO): DAT read: Bearing   0.6,  20.7 (Local)

2025-06-07T23:48:25.209Z,1749340105.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  20.7 (Local)

2025-06-07T23:48:25.210Z,1749340105.210 [DAT](INFO): DAT read: Range 10 to 50 : 468.7 m  (Round-trip  625.0 ms) speed  0.5 m/s

2025-06-07T23:48:25.211Z,1749340105.211 [DAT](INFO): DAT read: user:1842>

2025-06-07T23:48:25.212Z,1749340105.212 [DAT](INFO): DAT read: Tx time:23:48:24.9220

2025-06-07T23:48:25.212Z,1749340105.212 [DAT](INFO): Ping request sent.
2025-06-07T23:48:25.213Z,1749340105.213 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:25.213Z,1749340105.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:25.214Z,1749340105.214 [DAT](INFO): direction in FSK: [0.935393,0.009796,-0.353475]
2025-06-07T23:48:25.214Z,1749340105.214 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:25.214Z,1749340105.214 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:25.221Z,1749340105.221 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:25.221Z,1749340105.221 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:25.360Z,1749340105.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 468.700012 m,
      deltaT: 4.031886 s,
      deltaX: -2.899994 m,
      approachRate: -0.719265 m/s,
      rangeRepo size: 4

2025-06-07T23:48:25.362Z,1749340105.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 465.489380 m,
      bearing: 305.332783 deg,
      lat: 36.905628 deg,
      lon: -122.116348 deg,
      deltaT: 4.031886 s,
      deltaX: -2.857483 m,
      approachRate: -0.708721 m/s,
      posRepo size: 4

2025-06-07T23:48:25.363Z,1749340105.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:25.369Z,1749340105.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 451.971191 m,
      bearing: 306.855272 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012361 deg/s,
      cmd heading: 304.000983 deg,
      new cmd heading: 304.025769 deg.

2025-06-07T23:48:25.370Z,1749340105.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306251 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:25.440Z,1749340105.440 [DAT](INFO): DAT read: TxSync time:23:48:24.9212

2025-06-07T23:48:25.810Z,1749340105.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:25.813Z,1749340105.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 451.617798 m,
      bearing: 306.861836 deg,
      approach rate: -0.769724 m/s,
      LOS rate: 0.014309 deg/s,
      cmd heading: 304.025763 deg,
      new cmd heading: 304.045472 deg.

2025-06-07T23:48:25.814Z,1749340105.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306594 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:26.251Z,1749340106.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:26.254Z,1749340106.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 451.297729 m,
      bearing: 306.867773 deg,
      approach rate: -0.725552 m/s,
      LOS rate: 0.013467 deg/s,
      cmd heading: 304.045461 deg,
      new cmd heading: 304.063283 deg.

2025-06-07T23:48:26.255Z,1749340106.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306905 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:26.620Z,1749340106.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:26.622Z,1749340106.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 451.044586 m,
      bearing: 306.872593 deg,
      approach rate: -0.727081 m/s,
      LOS rate: 0.013854 deg/s,
      cmd heading: 304.063274 deg,
      new cmd heading: 304.077745 deg.

2025-06-07T23:48:26.627Z,1749340106.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307158 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:27.004Z,1749340107.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:27.006Z,1749340107.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:27.017Z,1749340107.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 450.752869 m,
      bearing: 306.878177 deg,
      approach rate: -0.717511 m/s,
      LOS rate: 0.013743 deg/s,
      cmd heading: 304.077754 deg,
      new cmd heading: 304.094516 deg.

2025-06-07T23:48:27.018Z,1749340107.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307451 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:27.204Z,1749340107.204 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:27.205Z,1749340107.205 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:27.205Z,1749340107.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:27.412Z,1749340107.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:27.414Z,1749340107.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 450.443726 m,
      bearing: 306.883533 deg,
      approach rate: -0.762161 m/s,
      LOS rate: 0.013214 deg/s,
      cmd heading: 304.094529 deg,
      new cmd heading: 304.110608 deg.

2025-06-07T23:48:27.415Z,1749340107.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307732 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:27.458Z,1749340107.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245839
2025-06-07T23:48:27.708Z,1749340107.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495475
2025-06-07T23:48:27.791Z,1749340107.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:27.794Z,1749340107.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 450.165436 m,
      bearing: 306.888322 deg,
      approach rate: -0.732835 m/s,
      LOS rate: 0.012618 deg/s,
      cmd heading: 304.110621 deg,
      new cmd heading: 304.124996 deg.

2025-06-07T23:48:27.795Z,1749340107.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307982 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:27.961Z,1749340107.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748268
2025-06-07T23:48:28.212Z,1749340108.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999606
2025-06-07T23:48:28.264Z,1749340108.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:28.266Z,1749340108.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 449.827759 m,
      bearing: 306.892552 deg,
      approach rate: -0.740112 m/s,
      LOS rate: 0.009278 deg/s,
      cmd heading: 304.124992 deg,
      new cmd heading: 304.137691 deg.

2025-06-07T23:48:28.272Z,1749340108.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308204 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:28.467Z,1749340108.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254432
2025-06-07T23:48:28.602Z,1749340108.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:28.604Z,1749340108.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 449.564545 m,
      bearing: 306.895850 deg,
      approach rate: -0.742802 m/s,
      LOS rate: 0.009313 deg/s,
      cmd heading: 304.137696 deg,
      new cmd heading: 304.147596 deg.

2025-06-07T23:48:28.605Z,1749340108.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308377 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:28.716Z,1749340108.716 [DAT](INFO): DAT read: Rx Time:23:48:27.9470

2025-06-07T23:48:28.717Z,1749340108.717 [DAT](INFO): Rx dataTimestamp_ set to:1749340108.716447
2025-06-07T23:48:28.718Z,1749340108.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504930
2025-06-07T23:48:28.969Z,1749340108.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755971
2025-06-07T23:48:29.048Z,1749340109.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:29.050Z,1749340109.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.49 m.
2025-06-07T23:48:29.057Z,1749340109.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.489380 m,
      nav range: 449.232727 m,
      bearing: 306.900003 deg,
      approach rate: -0.739910 m/s,
      LOS rate: 0.009268 deg/s,
      cmd heading: 304.147586 deg,
      new cmd heading: 304.160055 deg.

2025-06-07T23:48:29.058Z,1749340109.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308594 target range: 465.489380 and range: 468.70 m.
2025-06-07T23:48:29.231Z,1749340109.231 [DAT](INFO): DAT read: 23:48:27.9470 LVL= 24640, 22401, 23874, 22387, AGC= 71, IDX= 400, 0.06, 0.307,-1.128, 0.135,-0.537, PHS= 0.932,-0.544, 0.669, RAW= 140.4, -15.3, CAL= 146.5, -24.0, ROT=   3.5,  24.0

2025-06-07T23:48:29.232Z,1749340109.232 [DAT](INFO): got valid direction response:
 23:48:27.9470 LVL= 24640, 22401, 23874, 22387, AGC= 71, IDX= 400, 0.06, 0.307,-1.128, 0.135,-0.537, PHS= 0.932,-0.544, 0.669, RAW= 140.4, -15.3, CAL= 146.5, -24.0, ROT=   3.5,  24.0

2025-06-07T23:48:29.233Z,1749340109.233 [DAT](INFO): DAT read: Bearing   3.5,  24.0 (Local)

2025-06-07T23:48:29.233Z,1749340109.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,  24.0 (Local)

2025-06-07T23:48:29.235Z,1749340109.235 [DAT](INFO): DAT read: Range 10 to 50 : 465.6 m  (Round-trip  620.8 ms) speed  0.4 m/s

2025-06-07T23:48:29.235Z,1749340109.235 [DAT](INFO): DAT read: user:1843>

2025-06-07T23:48:29.236Z,1749340109.236 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:29.240Z,1749340109.240 [DAT](INFO): direction in FSK: [0.911842,0.055771,-0.406737]
2025-06-07T23:48:29.241Z,1749340109.241 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:29.244Z,1749340109.244 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:29.244Z,1749340109.244 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:29.244Z,1749340109.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:29.452Z,1749340109.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 465.600006 m,
      deltaT: 4.033778 s,
      deltaX: -3.100006 m,
      approachRate: -0.768512 m/s,
      rangeRepo size: 4

2025-06-07T23:48:29.454Z,1749340109.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 462.461487 m,
      bearing: 308.151911 deg,
      lat: 36.905628 deg,
      lon: -122.116318 deg,
      deltaT: 4.033778 s,
      deltaX: -3.027893 m,
      approachRate: -0.750635 m/s,
      posRepo size: 4

2025-06-07T23:48:29.455Z,1749340109.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:29.458Z,1749340109.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 446.801697 m,
      bearing: 307.109007 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009268 deg/s,
      cmd heading: 304.160044 deg,
      new cmd heading: 304.171196 deg.

2025-06-07T23:48:29.472Z,1749340109.472 [DAT](INFO): DAT read: Tx time:23:48:29.0721

2025-06-07T23:48:29.473Z,1749340109.473 [DAT](INFO): Ping request sent.
2025-06-07T23:48:29.473Z,1749340109.473 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:29.473Z,1749340109.473 [DAT](INFO): DAT read: TxSync time:23:48:29.0713

2025-06-07T23:48:29.474Z,1749340109.474 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:29.474Z,1749340109.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001578
2025-06-07T23:48:29.475Z,1749340109.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308789 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:29.724Z,1749340109.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251343
2025-06-07T23:48:29.812Z,1749340109.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:29.815Z,1749340109.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 446.529877 m,
      bearing: 307.111549 deg,
      approach rate: -0.752720 m/s,
      LOS rate: 0.007042 deg/s,
      cmd heading: 304.171191 deg,
      new cmd heading: 304.178820 deg.

2025-06-07T23:48:29.816Z,1749340109.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308922 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:29.977Z,1749340109.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504113
2025-06-07T23:48:30.228Z,1749340110.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755419
2025-06-07T23:48:30.320Z,1749340110.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:30.323Z,1749340110.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 446.154419 m,
      bearing: 307.113866 deg,
      approach rate: -0.739428 m/s,
      LOS rate: 0.004567 deg/s,
      cmd heading: 304.178814 deg,
      new cmd heading: 304.185770 deg.

2025-06-07T23:48:30.325Z,1749340110.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309043 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:30.481Z,1749340110.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007963
2025-06-07T23:48:30.732Z,1749340110.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259293
2025-06-07T23:48:30.763Z,1749340110.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:30.769Z,1749340110.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 445.833313 m,
      bearing: 307.116027 deg,
      approach rate: -0.725693 m/s,
      LOS rate: 0.004887 deg/s,
      cmd heading: 304.185780 deg,
      new cmd heading: 304.192268 deg.

2025-06-07T23:48:30.770Z,1749340110.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309156 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:30.984Z,1749340110.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511481
2025-06-07T23:48:31.169Z,1749340111.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:31.179Z,1749340111.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:31.188Z,1749340111.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 445.541382 m,
      bearing: 307.117914 deg,
      approach rate: -0.714226 m/s,
      LOS rate: 0.004620 deg/s,
      cmd heading: 304.192256 deg,
      new cmd heading: 304.197921 deg.

2025-06-07T23:48:31.193Z,1749340111.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309255 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:31.239Z,1749340111.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765824
2025-06-07T23:48:31.488Z,1749340111.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015331
2025-06-07T23:48:31.695Z,1749340111.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:31.697Z,1749340111.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 445.139465 m,
      bearing: 307.119927 deg,
      approach rate: -0.768130 m/s,
      LOS rate: 0.003851 deg/s,
      cmd heading: 304.197911 deg,
      new cmd heading: 304.203957 deg.

2025-06-07T23:48:31.698Z,1749340111.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309361 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:31.742Z,1749340111.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268973
2025-06-07T23:48:31.993Z,1749340111.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519875
2025-06-07T23:48:32.074Z,1749340112.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:32.077Z,1749340112.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 444.859497 m,
      bearing: 307.121332 deg,
      approach rate: -0.738142 m/s,
      LOS rate: 0.003705 deg/s,
      cmd heading: 304.203949 deg,
      new cmd heading: 304.208165 deg.

2025-06-07T23:48:32.078Z,1749340112.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309434 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:32.248Z,1749340112.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773662
2025-06-07T23:48:32.312Z,1749340112.312 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:48:32.496Z,1749340112.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023483
2025-06-07T23:48:32.501Z,1749340112.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:32.503Z,1749340112.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 444.538757 m,
      bearing: 307.121588 deg,
      approach rate: -0.751617 m/s,
      LOS rate: 0.000601 deg/s,
      cmd heading: 304.208156 deg,
      new cmd heading: 304.208926 deg.

2025-06-07T23:48:32.504Z,1749340112.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309447 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:32.506Z,1749340112.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 59.017914 m.
2025-06-07T23:48:32.749Z,1749340112.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276069
2025-06-07T23:48:32.883Z,1749340112.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:32.886Z,1749340112.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 444.248383 m,
      bearing: 307.121798 deg,
      approach rate: -0.759517 m/s,
      LOS rate: 0.000549 deg/s,
      cmd heading: 304.208921 deg,
      new cmd heading: 304.209550 deg.

2025-06-07T23:48:32.887Z,1749340112.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309458 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:33.000Z,1749340113.000 [DAT](INFO): DAT read: Rx Time:23:48:32.0938

2025-06-07T23:48:33.001Z,1749340113.001 [DAT](INFO): Rx dataTimestamp_ set to:1749340113.000519
2025-06-07T23:48:33.001Z,1749340113.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528544
2025-06-07T23:48:33.255Z,1749340113.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781643
2025-06-07T23:48:33.317Z,1749340113.317 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:48:33.411Z,1749340113.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:33.413Z,1749340113.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.46 m.
2025-06-07T23:48:33.421Z,1749340113.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.461487 m,
      nav range: 443.855835 m,
      bearing: 307.122713 deg,
      approach rate: -0.739763 m/s,
      LOS rate: 0.001726 deg/s,
      cmd heading: 304.209550 deg,
      new cmd heading: 304.212297 deg.

2025-06-07T23:48:33.422Z,1749340113.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309506 target range: 462.461487 and range: 465.60 m.
2025-06-07T23:48:33.510Z,1749340113.510 [DAT](INFO): DAT read: 23:48:32.0938 LVL= 21120, 25025, 20530, 26691, AGC= 75, IDX= 416,-0.46, 1.291,-0.319, 1.085, 0.348, PHS= 1.030,-0.620, 0.734, RAW= 140.3, -14.9, CAL= 146.4, -23.7, ROT=   3.6,  23.7

2025-06-07T23:48:33.511Z,1749340113.511 [DAT](INFO): got valid direction response:
 23:48:32.0938 LVL= 21120, 25025, 20530, 26691, AGC= 75, IDX= 416,-0.46, 1.291,-0.319, 1.085, 0.348, PHS= 1.030,-0.620, 0.734, RAW= 140.3, -14.9, CAL= 146.4, -23.7, ROT=   3.6,  23.7

2025-06-07T23:48:33.512Z,1749340113.512 [DAT](INFO): DAT read: Bearing   3.6,  23.7 (Local)

2025-06-07T23:48:33.513Z,1749340113.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6,  23.7 (Local)

2025-06-07T23:48:33.514Z,1749340113.514 [DAT](INFO): DAT read: Range 10 to 50 : 463.1 m  (Round-trip  617.5 ms) speed  0.4 m/s

2025-06-07T23:48:33.515Z,1749340113.515 [DAT](INFO): DAT read: user:1844>

2025-06-07T23:48:33.516Z,1749340113.516 [DAT](INFO): DAT read: Tx time:23:48:33.2221

2025-06-07T23:48:33.516Z,1749340113.516 [DAT](INFO): Ping request sent.
2025-06-07T23:48:33.516Z,1749340113.516 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:33.516Z,1749340113.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:33.517Z,1749340113.517 [DAT](INFO): direction in FSK: [0.913856,0.057495,-0.401948]
2025-06-07T23:48:33.518Z,1749340113.518 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:33.518Z,1749340113.518 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:33.521Z,1749340113.521 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:33.521Z,1749340113.521 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:33.756Z,1749340113.756 [DAT](INFO): DAT read: TxSync time:23:48:33.2213

2025-06-07T23:48:33.884Z,1749340113.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 463.100006 m,
      deltaT: 4.282254 s,
      deltaX: -2.500000 m,
      approachRate: -0.583805 m/s,
      rangeRepo size: 4

2025-06-07T23:48:33.886Z,1749340113.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 459.979126 m,
      bearing: 308.528203 deg,
      lat: 36.905709 deg,
      lon: -122.116299 deg,
      deltaT: 4.282254 s,
      deltaX: -2.482361 m,
      approachRate: -0.579686 m/s,
      posRepo size: 4

2025-06-07T23:48:33.887Z,1749340113.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:33.893Z,1749340113.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 447.662903 m,
      bearing: 308.175587 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001726 deg/s,
      cmd heading: 304.212309 deg,
      new cmd heading: 304.214677 deg.

2025-06-07T23:48:33.894Z,1749340113.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309548 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:34.353Z,1749340114.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:34.356Z,1749340114.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 447.296631 m,
      bearing: 308.177893 deg,
      approach rate: -0.760393 m/s,
      LOS rate: 0.004792 deg/s,
      cmd heading: 304.214686 deg,
      new cmd heading: 304.221610 deg.

2025-06-07T23:48:34.357Z,1749340114.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309669 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:34.684Z,1749340114.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:34.686Z,1749340114.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 447.046814 m,
      bearing: 308.179462 deg,
      approach rate: -0.754383 m/s,
      LOS rate: 0.004742 deg/s,
      cmd heading: 304.221598 deg,
      new cmd heading: 304.226309 deg.

2025-06-07T23:48:34.688Z,1749340114.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309751 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:35.093Z,1749340115.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:35.096Z,1749340115.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 446.738007 m,
      bearing: 308.181321 deg,
      approach rate: -0.754573 m/s,
      LOS rate: 0.004544 deg/s,
      cmd heading: 304.226297 deg,
      new cmd heading: 304.231876 deg.

2025-06-07T23:48:35.097Z,1749340115.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309848 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:35.497Z,1749340115.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:35.520Z,1749340115.520 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:35.520Z,1749340115.520 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:35.520Z,1749340115.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:35.527Z,1749340115.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:35.530Z,1749340115.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 446.434540 m,
      bearing: 308.184092 deg,
      approach rate: -0.746714 m/s,
      LOS rate: 0.006824 deg/s,
      cmd heading: 304.231871 deg,
      new cmd heading: 304.240191 deg.

2025-06-07T23:48:35.531Z,1749340115.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309993 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:35.773Z,1749340115.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256493
2025-06-07T23:48:35.903Z,1749340115.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:35.906Z,1749340115.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 446.144409 m,
      bearing: 308.186610 deg,
      approach rate: -0.748711 m/s,
      LOS rate: 0.006502 deg/s,
      cmd heading: 304.240203 deg,
      new cmd heading: 304.247762 deg.

2025-06-07T23:48:35.907Z,1749340115.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310125 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:36.025Z,1749340116.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509370
2025-06-07T23:48:36.279Z,1749340116.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762189
2025-06-07T23:48:36.367Z,1749340116.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:36.386Z,1749340116.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 445.790588 m,
      bearing: 308.190996 deg,
      approach rate: -0.737455 m/s,
      LOS rate: 0.009150 deg/s,
      cmd heading: 304.247771 deg,
      new cmd heading: 304.260942 deg.

2025-06-07T23:48:36.387Z,1749340116.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310355 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:36.528Z,1749340116.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012063
2025-06-07T23:48:36.692Z,1749340116.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:36.694Z,1749340116.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 445.550598 m,
      bearing: 308.193910 deg,
      approach rate: -0.738220 m/s,
      LOS rate: 0.008967 deg/s,
      cmd heading: 304.260940 deg,
      new cmd heading: 304.269686 deg.

2025-06-07T23:48:36.696Z,1749340116.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310508 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:36.780Z,1749340116.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264318
2025-06-07T23:48:37.032Z,1749340117.032 [DAT](INFO): DAT read: Rx Time:23:48:36.2397

2025-06-07T23:48:37.033Z,1749340117.033 [DAT](INFO): Rx dataTimestamp_ set to:1749340117.032395
2025-06-07T23:48:37.033Z,1749340117.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517195
2025-06-07T23:48:37.105Z,1749340117.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.98 m.
2025-06-07T23:48:37.112Z,1749340117.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.979126 m,
      nav range: 445.251282 m,
      bearing: 308.197487 deg,
      approach rate: -0.724741 m/s,
      LOS rate: 0.008666 deg/s,
      cmd heading: 304.269683 deg,
      new cmd heading: 304.280420 deg.

2025-06-07T23:48:37.113Z,1749340117.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310695 target range: 459.979126 and range: 463.10 m.
2025-06-07T23:48:37.286Z,1749340117.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769865
2025-06-07T23:48:37.542Z,1749340117.542 [DAT](INFO): DAT read: 23:48:36.2397 LVL= 30832, 32753, 32754, 32755, AGC= 71, IDX= 405, 0.34,-2.634, 2.144,-2.810, 2.870, PHS= 0.867,-0.679, 0.601, RAW= 140.7, -11.0, CAL= 147.4, -20.7, ROT=   2.6,  20.7

2025-06-07T23:48:37.543Z,1749340117.543 [DAT](INFO): got valid direction response:
 23:48:36.2397 LVL= 30832, 32753, 32754, 32755, AGC= 71, IDX= 405, 0.34,-2.634, 2.144,-2.810, 2.870, PHS= 0.867,-0.679, 0.601, RAW= 140.7, -11.0, CAL= 147.4, -20.7, ROT=   2.6,  20.7

2025-06-07T23:48:37.544Z,1749340117.544 [DAT](INFO): DAT read: Bearing   2.6,  20.7 (Local)

2025-06-07T23:48:37.545Z,1749340117.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,  20.7 (Local)

2025-06-07T23:48:37.546Z,1749340117.546 [DAT](INFO): DAT read: Range 10 to 50 : 460.0 m  (Round-trip  613.4 ms) speed  0.6 m/s

2025-06-07T23:48:37.547Z,1749340117.547 [DAT](INFO): DAT read: user:1845>

2025-06-07T23:48:37.548Z,1749340117.548 [DAT](INFO): DAT read: Tx time:23:48:37.3221

2025-06-07T23:48:37.548Z,1749340117.548 [DAT](INFO): Ping request sent.
2025-06-07T23:48:37.548Z,1749340117.548 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:37.548Z,1749340117.548 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:37.549Z,1749340117.549 [DAT](INFO): direction in FSK: [0.934481,0.042435,-0.353475]
2025-06-07T23:48:37.550Z,1749340117.550 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:37.550Z,1749340117.550 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:37.557Z,1749340117.557 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:37.557Z,1749340117.557 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:37.624Z,1749340117.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 460.000000 m,
      deltaT: 4.032047 s,
      deltaX: -3.100006 m,
      approachRate: -0.768842 m/s,
      rangeRepo size: 4

2025-06-07T23:48:37.626Z,1749340117.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 456.870270 m,
      bearing: 308.131199 deg,
      lat: 36.905709 deg,
      lon: -122.116322 deg,
      deltaT: 4.032047 s,
      deltaX: -3.108856 m,
      approachRate: -0.771037 m/s,
      posRepo size: 4

2025-06-07T23:48:37.631Z,1749340117.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:37.634Z,1749340117.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 446.516693 m,
      bearing: 308.039021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008666 deg/s,
      cmd heading: 304.280420 deg,
      new cmd heading: 304.293912 deg.

2025-06-07T23:48:37.639Z,1749340117.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310931 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:37.789Z,1749340117.789 [DAT](INFO): DAT read: TxSync time:23:48:37.3213

2025-06-07T23:48:37.966Z,1749340117.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:37.974Z,1749340117.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:37.982Z,1749340117.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 446.244232 m,
      bearing: 308.043013 deg,
      approach rate: -0.778796 m/s,
      LOS rate: 0.011419 deg/s,
      cmd heading: 304.293916 deg,
      new cmd heading: 304.305901 deg.

2025-06-07T23:48:37.983Z,1749340117.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311140 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:38.041Z,1749340118.041 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:38.041Z,1749340118.041 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:38.041Z,1749340118.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:38.295Z,1749340118.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746234
2025-06-07T23:48:38.406Z,1749340118.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:38.409Z,1749340118.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 445.918152 m,
      bearing: 308.048855 deg,
      approach rate: -0.753638 m/s,
      LOS rate: 0.013510 deg/s,
      cmd heading: 304.305910 deg,
      new cmd heading: 304.323447 deg.

2025-06-07T23:48:38.410Z,1749340118.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311446 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:38.544Z,1749340118.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996018
2025-06-07T23:48:38.796Z,1749340118.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248003
2025-06-07T23:48:38.823Z,1749340118.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:38.826Z,1749340118.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 445.615784 m,
      bearing: 308.054244 deg,
      approach rate: -0.725552 m/s,
      LOS rate: 0.012941 deg/s,
      cmd heading: 304.323450 deg,
      new cmd heading: 304.339628 deg.

2025-06-07T23:48:38.827Z,1749340118.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311728 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:39.048Z,1749340119.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500064
2025-06-07T23:48:39.119Z,1749340119.119 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-07T23:48:39.171Z,1749340119.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:39.177Z,1749340119.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 445.369415 m,
      bearing: 308.058597 deg,
      approach rate: -0.708982 m/s,
      LOS rate: 0.012533 deg/s,
      cmd heading: 304.339624 deg,
      new cmd heading: 304.352689 deg.

2025-06-07T23:48:39.178Z,1749340119.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311956 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:39.303Z,1749340119.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754149
2025-06-07T23:48:39.552Z,1749340119.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004095
2025-06-07T23:48:39.590Z,1749340119.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:39.593Z,1749340119.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 445.064636 m,
      bearing: 308.063945 deg,
      approach rate: -0.726462 m/s,
      LOS rate: 0.012757 deg/s,
      cmd heading: 304.352683 deg,
      new cmd heading: 304.368740 deg.

2025-06-07T23:48:39.594Z,1749340119.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312237 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:39.804Z,1749340119.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256011
2025-06-07T23:48:39.969Z,1749340119.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:39.972Z,1749340119.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:39.976Z,1749340119.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 444.797058 m,
      bearing: 308.068647 deg,
      approach rate: -0.701760 m/s,
      LOS rate: 0.012339 deg/s,
      cmd heading: 304.368748 deg,
      new cmd heading: 304.382862 deg.

2025-06-07T23:48:39.978Z,1749340119.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312483 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:40.061Z,1749340120.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512185
2025-06-07T23:48:40.311Z,1749340120.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762137
2025-06-07T23:48:40.461Z,1749340120.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:40.468Z,1749340120.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 444.460846 m,
      bearing: 308.073698 deg,
      approach rate: -0.686369 m/s,
      LOS rate: 0.010319 deg/s,
      cmd heading: 304.382872 deg,
      new cmd heading: 304.398037 deg.

2025-06-07T23:48:40.469Z,1749340120.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312748 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:40.561Z,1749340120.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012323
2025-06-07T23:48:40.769Z,1749340120.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:40.788Z,1749340120.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 444.224792 m,
      bearing: 308.077135 deg,
      approach rate: -0.767294 m/s,
      LOS rate: 0.011177 deg/s,
      cmd heading: 304.398035 deg,
      new cmd heading: 304.408351 deg.

2025-06-07T23:48:40.789Z,1749340120.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312928 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:40.812Z,1749340120.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264167
2025-06-07T23:48:41.064Z,1749340121.064 [DAT](INFO): DAT read: Rx Time:23:48:40.3368

2025-06-07T23:48:41.065Z,1749340121.065 [DAT](INFO): Rx dataTimestamp_ set to:1749340121.064367
2025-06-07T23:48:41.065Z,1749340121.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517088
2025-06-07T23:48:41.192Z,1749340121.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:41.194Z,1749340121.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 443.923981 m,
      bearing: 308.081520 deg,
      approach rate: -0.711406 m/s,
      LOS rate: 0.010377 deg/s,
      cmd heading: 304.408363 deg,
      new cmd heading: 304.421526 deg.

2025-06-07T23:48:41.196Z,1749340121.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313158 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:41.318Z,1749340121.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769497
2025-06-07T23:48:41.571Z,1749340121.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022667
2025-06-07T23:48:41.664Z,1749340121.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.87 m.
2025-06-07T23:48:41.666Z,1749340121.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 456.870270 m,
      nav range: 443.587769 m,
      bearing: 308.085918 deg,
      approach rate: -0.713003 m/s,
      LOS rate: 0.009334 deg/s,
      cmd heading: 304.421531 deg,
      new cmd heading: 304.434735 deg.

2025-06-07T23:48:41.667Z,1749340121.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313388 target range: 456.870270 and range: 460.00 m.
2025-06-07T23:48:41.826Z,1749340121.826 [DAT](INFO): DAT read: 23:48:40.3368 LVL= 16064, 19745, 15218, 21363, AGC= 71, IDX= 408,-0.01,-0.577,-2.224,-0.615,-1.650, PHS= 1.160,-0.527, 1.031, RAW= 146.1, -19.9, CAL= 151.5, -27.2, ROT= 358.5,  27.2

2025-06-07T23:48:41.827Z,1749340121.827 [DAT](INFO): got valid direction response:
 23:48:40.3368 LVL= 16064, 19745, 15218, 21363, AGC= 71, IDX= 408,-0.01,-0.577,-2.224,-0.615,-1.650, PHS= 1.160,-0.527, 1.031, RAW= 146.1, -19.9, CAL= 151.5, -27.2, ROT= 358.5,  27.2

2025-06-07T23:48:41.829Z,1749340121.829 [DAT](INFO): DAT read: Bearing 358.5,  27.2 (Local)

2025-06-07T23:48:41.829Z,1749340121.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  27.2 (Local)

2025-06-07T23:48:41.830Z,1749340121.830 [DAT](INFO): DAT read: Range 10 to 50 : 457.8 m  (Round-trip  610.4 ms) speed  0.6 m/s

2025-06-07T23:48:41.832Z,1749340121.832 [DAT](INFO): DAT read: user:1846>

2025-06-07T23:48:41.832Z,1749340121.832 [DAT](INFO): DAT read: Tx time:23:48:41.4222

2025-06-07T23:48:41.833Z,1749340121.833 [DAT](INFO): Ping request sent.
2025-06-07T23:48:41.833Z,1749340121.833 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:41.833Z,1749340121.833 [DAT](INFO): DAT read: TxSync time:23:48:41.4214

2025-06-07T23:48:41.834Z,1749340121.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:41.835Z,1749340121.835 [DAT](INFO): direction in FSK: [0.889112,-0.023282,-0.457098]
2025-06-07T23:48:41.835Z,1749340121.835 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:41.836Z,1749340121.836 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:41.838Z,1749340121.838 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:41.839Z,1749340121.839 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:42.029Z,1749340122.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 457.799988 m,
      deltaT: 4.283903 s,
      deltaX: -2.200012 m,
      approachRate: -0.513553 m/s,
      rangeRepo size: 4

2025-06-07T23:48:42.037Z,1749340122.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 454.667511 m,
      bearing: 306.039594 deg,
      lat: 36.905709 deg,
      lon: -122.116299 deg,
      deltaT: 4.283903 s,
      deltaX: -2.202759 m,
      approachRate: -0.514194 m/s,
      posRepo size: 4

2025-06-07T23:48:42.037Z,1749340122.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:42.044Z,1749340122.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 441.722229 m,
      bearing: 308.254278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009334 deg/s,
      cmd heading: 304.434727 deg,
      new cmd heading: 304.444941 deg.

2025-06-07T23:48:42.045Z,1749340122.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313567 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:42.445Z,1749340122.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:42.448Z,1749340122.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:42.450Z,1749340122.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 441.401459 m,
      bearing: 308.257501 deg,
      approach rate: -0.764345 m/s,
      LOS rate: 0.007684 deg/s,
      cmd heading: 304.444945 deg,
      new cmd heading: 304.454620 deg.

2025-06-07T23:48:42.468Z,1749340122.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313735 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:42.576Z,1749340122.576 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:42.576Z,1749340122.576 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:42.577Z,1749340122.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:42.791Z,1749340122.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:42.794Z,1749340122.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 441.153320 m,
      bearing: 308.260021 deg,
      approach rate: -0.723134 m/s,
      LOS rate: 0.007348 deg/s,
      cmd heading: 304.454617 deg,
      new cmd heading: 304.462181 deg.

2025-06-07T23:48:42.795Z,1749340122.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313868 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:42.829Z,1749340122.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995720
2025-06-07T23:48:43.080Z,1749340123.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247357
2025-06-07T23:48:43.195Z,1749340123.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:43.198Z,1749340123.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 440.861389 m,
      bearing: 308.262947 deg,
      approach rate: -0.722652 m/s,
      LOS rate: 0.007250 deg/s,
      cmd heading: 304.462185 deg,
      new cmd heading: 304.470971 deg.

2025-06-07T23:48:43.199Z,1749340123.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314021 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:43.332Z,1749340123.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499231
2025-06-07T23:48:43.584Z,1749340123.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751421
2025-06-07T23:48:43.774Z,1749340123.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:43.777Z,1749340123.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 440.431580 m,
      bearing: 308.266096 deg,
      approach rate: -0.741999 m/s,
      LOS rate: 0.005441 deg/s,
      cmd heading: 304.470982 deg,
      new cmd heading: 304.480437 deg.

2025-06-07T23:48:43.778Z,1749340123.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314186 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:43.837Z,1749340123.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003925
2025-06-07T23:48:44.078Z,1749340124.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:44.088Z,1749340124.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255181
2025-06-07T23:48:44.097Z,1749340124.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 440.205780 m,
      bearing: 308.267668 deg,
      approach rate: -0.743121 m/s,
      LOS rate: 0.005177 deg/s,
      cmd heading: 304.480435 deg,
      new cmd heading: 304.485154 deg.

2025-06-07T23:48:44.098Z,1749340124.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314269 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:44.342Z,1749340124.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508213
2025-06-07T23:48:44.491Z,1749340124.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:44.493Z,1749340124.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:44.496Z,1749340124.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 439.892151 m,
      bearing: 308.269204 deg,
      approach rate: -0.755553 m/s,
      LOS rate: 0.003703 deg/s,
      cmd heading: 304.485161 deg,
      new cmd heading: 304.489773 deg.

2025-06-07T23:48:44.497Z,1749340124.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314349 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:44.592Z,1749340124.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759643
2025-06-07T23:48:44.843Z,1749340124.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:44.844Z,1749340124.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011411
2025-06-07T23:48:44.847Z,1749340124.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 439.627167 m,
      bearing: 308.270506 deg,
      approach rate: -0.757801 m/s,
      LOS rate: 0.003726 deg/s,
      cmd heading: 304.489779 deg,
      new cmd heading: 304.493688 deg.

2025-06-07T23:48:44.848Z,1749340124.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314417 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:45.096Z,1749340125.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263385
2025-06-07T23:48:45.329Z,1749340125.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:45.332Z,1749340125.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 439.275360 m,
      bearing: 308.272244 deg,
      approach rate: -0.726066 m/s,
      LOS rate: 0.003589 deg/s,
      cmd heading: 304.493685 deg,
      new cmd heading: 304.498902 deg.

2025-06-07T23:48:45.333Z,1749340125.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314508 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:45.351Z,1749340125.351 [DAT](INFO): DAT read: Rx Time:23:48:44.4337

2025-06-07T23:48:45.351Z,1749340125.351 [DAT](INFO): Rx dataTimestamp_ set to:1749340125.351167
2025-06-07T23:48:45.352Z,1749340125.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519195
2025-06-07T23:48:45.600Z,1749340125.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767433
2025-06-07T23:48:45.754Z,1749340125.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.67 m.
2025-06-07T23:48:45.763Z,1749340125.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.667511 m,
      nav range: 438.936859 m,
      bearing: 308.273827 deg,
      approach rate: -0.795296 m/s,
      LOS rate: 0.003723 deg/s,
      cmd heading: 304.498904 deg,
      new cmd heading: 304.503657 deg.

2025-06-07T23:48:45.769Z,1749340125.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314591 target range: 454.667511 and range: 457.80 m.
2025-06-07T23:48:45.858Z,1749340125.858 [DAT](INFO): DAT read: 23:48:44.4337 LVL= 17744, 22737, 19858, 28963, AGC= 70, IDX= 407, 0.25,-1.900, 3.122,-1.964,-2.475, PHS= 0.663,-0.638, 0.508, RAW= 143.8,  -8.7, CAL= 150.3, -17.8, ROT= 359.7,  17.8

2025-06-07T23:48:45.860Z,1749340125.860 [DAT](INFO): got valid direction response:
 23:48:44.4337 LVL= 17744, 22737, 19858, 28963, AGC= 70, IDX= 407, 0.25,-1.900, 3.122,-1.964,-2.475, PHS= 0.663,-0.638, 0.508, RAW= 143.8,  -8.7, CAL= 150.3, -17.8, ROT= 359.7,  17.8

2025-06-07T23:48:45.861Z,1749340125.861 [DAT](INFO): DAT read: Bearing 359.7,  17.8 (Local)

2025-06-07T23:48:45.861Z,1749340125.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,  17.8 (Local)

2025-06-07T23:48:45.862Z,1749340125.862 [DAT](INFO): DAT read: Range 10 to 50 : 455.5 m  (Round-trip  607.4 ms) speed  0.6 m/s

2025-06-07T23:48:45.863Z,1749340125.863 [DAT](INFO): DAT read: user:1847>

2025-06-07T23:48:45.864Z,1749340125.864 [DAT](INFO): DAT read: Tx time:23:48:45.5222

2025-06-07T23:48:45.864Z,1749340125.864 [DAT](INFO): Ping request sent.
2025-06-07T23:48:45.865Z,1749340125.865 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:45.865Z,1749340125.865 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:45.866Z,1749340125.866 [DAT](INFO): direction in FSK: [0.952116,-0.004985,-0.305695]
2025-06-07T23:48:45.866Z,1749340125.866 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:45.866Z,1749340125.866 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:45.870Z,1749340125.870 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:45.870Z,1749340125.870 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:46.105Z,1749340126.105 [DAT](INFO): DAT read: TxSync time:23:48:45.5214

2025-06-07T23:48:46.110Z,1749340126.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 455.500000 m,
      deltaT: 4.032286 s,
      deltaX: -2.299988 m,
      approachRate: -0.570393 m/s,
      rangeRepo size: 4

2025-06-07T23:48:46.117Z,1749340126.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 452.290070 m,
      bearing: 306.446767 deg,
      lat: 36.905709 deg,
      lon: -122.116299 deg,
      deltaT: 4.032286 s,
      deltaX: -2.377441 m,
      approachRate: -0.589601 m/s,
      posRepo size: 4

2025-06-07T23:48:46.117Z,1749340126.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:46.121Z,1749340126.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 438.661255 m,
      bearing: 308.275170 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003723 deg/s,
      cmd heading: 304.503658 deg,
      new cmd heading: 304.507642 deg.

2025-06-07T23:48:46.122Z,1749340126.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314661 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:46.525Z,1749340126.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:46.527Z,1749340126.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:46.530Z,1749340126.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 438.325073 m,
      bearing: 308.276714 deg,
      approach rate: -0.805998 m/s,
      LOS rate: 0.003704 deg/s,
      cmd heading: 304.507646 deg,
      new cmd heading: 304.512282 deg.

2025-06-07T23:48:46.531Z,1749340126.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314742 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:46.609Z,1749340126.609 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:46.609Z,1749340126.609 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:46.609Z,1749340126.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:46.860Z,1749340126.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995708
2025-06-07T23:48:46.869Z,1749340126.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:46.872Z,1749340126.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 438.056549 m,
      bearing: 308.278003 deg,
      approach rate: -0.784399 m/s,
      LOS rate: 0.003768 deg/s,
      cmd heading: 304.512291 deg,
      new cmd heading: 304.516161 deg.

2025-06-07T23:48:46.873Z,1749340126.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314810 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:47.112Z,1749340127.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247585
2025-06-07T23:48:47.270Z,1749340127.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:47.274Z,1749340127.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 437.739532 m,
      bearing: 308.279568 deg,
      approach rate: -0.790488 m/s,
      LOS rate: 0.003904 deg/s,
      cmd heading: 304.516170 deg,
      new cmd heading: 304.520868 deg.

2025-06-07T23:48:47.275Z,1749340127.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314892 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:47.364Z,1749340127.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499697
2025-06-07T23:48:47.616Z,1749340127.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751571
2025-06-07T23:48:47.717Z,1749340127.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:47.724Z,1749340127.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 437.393433 m,
      bearing: 308.281293 deg,
      approach rate: -0.774221 m/s,
      LOS rate: 0.003862 deg/s,
      cmd heading: 304.520870 deg,
      new cmd heading: 304.526049 deg.

2025-06-07T23:48:47.725Z,1749340127.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314982 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:47.868Z,1749340127.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003552
2025-06-07T23:48:48.077Z,1749340128.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:48.080Z,1749340128.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 437.109100 m,
      bearing: 308.282677 deg,
      approach rate: -0.790471 m/s,
      LOS rate: 0.003850 deg/s,
      cmd heading: 304.526061 deg,
      new cmd heading: 304.530215 deg.

2025-06-07T23:48:48.081Z,1749340128.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315055 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:48.121Z,1749340128.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256123
2025-06-07T23:48:48.372Z,1749340128.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507601
2025-06-07T23:48:48.544Z,1749340128.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:48.546Z,1749340128.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:48.549Z,1749340128.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 436.747528 m,
      bearing: 308.283674 deg,
      approach rate: -0.770764 m/s,
      LOS rate: 0.002128 deg/s,
      cmd heading: 304.530213 deg,
      new cmd heading: 304.533208 deg.

2025-06-07T23:48:48.550Z,1749340128.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315107 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:48.624Z,1749340128.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759676
2025-06-07T23:48:48.876Z,1749340128.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011690
2025-06-07T23:48:48.886Z,1749340128.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:48.888Z,1749340128.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 436.484406 m,
      bearing: 308.284403 deg,
      approach rate: -0.774945 m/s,
      LOS rate: 0.002149 deg/s,
      cmd heading: 304.533219 deg,
      new cmd heading: 304.535407 deg.

2025-06-07T23:48:48.889Z,1749340128.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315145 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:49.128Z,1749340129.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263558
2025-06-07T23:48:49.288Z,1749340129.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:49.290Z,1749340129.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 436.173950 m,
      bearing: 308.285260 deg,
      approach rate: -0.772602 m/s,
      LOS rate: 0.002135 deg/s,
      cmd heading: 304.535404 deg,
      new cmd heading: 304.537977 deg.

2025-06-07T23:48:49.307Z,1749340129.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315190 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:49.381Z,1749340129.381 [DAT](INFO): DAT read: Rx Time:23:48:48.5291

2025-06-07T23:48:49.381Z,1749340129.381 [DAT](INFO): Rx dataTimestamp_ set to:1749340129.381168
2025-06-07T23:48:49.382Z,1749340129.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517803
2025-06-07T23:48:49.632Z,1749340129.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767565
2025-06-07T23:48:49.738Z,1749340129.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.29 m.
2025-06-07T23:48:49.744Z,1749340129.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.290070 m,
      nav range: 435.842163 m,
      bearing: 308.286194 deg,
      approach rate: -0.737018 m/s,
      LOS rate: 0.002076 deg/s,
      cmd heading: 304.537972 deg,
      new cmd heading: 304.540776 deg.

2025-06-07T23:48:49.752Z,1749340129.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315239 target range: 452.290070 and range: 455.50 m.
2025-06-07T23:48:49.892Z,1749340129.892 [DAT](INFO): DAT read: 23:48:48.5291 LVL= 18032, 24049, 18034, 27283, AGC= 72, IDX= 390, 0.23,-0.044,-1.706,-0.150,-0.825, PHS= 0.868,-0.835, 0.672, RAW= 144.0,  -8.8, CAL= 150.5, -17.8, ROT= 359.5,  17.8

2025-06-07T23:48:49.893Z,1749340129.893 [DAT](INFO): got valid direction response:
 23:48:48.5291 LVL= 18032, 24049, 18034, 27283, AGC= 72, IDX= 390, 0.23,-0.044,-1.706,-0.150,-0.825, PHS= 0.868,-0.835, 0.672, RAW= 144.0,  -8.8, CAL= 150.5, -17.8, ROT= 359.5,  17.8

2025-06-07T23:48:49.894Z,1749340129.894 [DAT](INFO): DAT read: Bearing 359.5,  17.8 (Local)

2025-06-07T23:48:49.895Z,1749340129.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  17.8 (Local)

2025-06-07T23:48:49.896Z,1749340129.896 [DAT](INFO): DAT read: Range 10 to 50 : 451.9 m  (Round-trip  602.6 ms) speed  0.4 m/s

2025-06-07T23:48:49.897Z,1749340129.897 [DAT](INFO): DAT read: user:1848>

2025-06-07T23:48:49.898Z,1749340129.898 [DAT](INFO): DAT read: Tx time:23:48:49.6223

2025-06-07T23:48:49.898Z,1749340129.898 [DAT](INFO): Ping request sent.
2025-06-07T23:48:49.898Z,1749340129.898 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:48:49.898Z,1749340129.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:48:49.902Z,1749340129.902 [DAT](INFO): direction in FSK: [0.952093,-0.008309,-0.305695]
2025-06-07T23:48:49.903Z,1749340129.903 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:49.939Z,1749340129.939 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:49.955Z,1749340129.955 [DAT](INFO): publishing transmit ping time
2025-06-07T23:48:49.956Z,1749340129.956 [DAT](INFO): publishing direction and range info
2025-06-07T23:48:50.131Z,1749340130.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 451.899994 m,
      deltaT: 4.032085 s,
      deltaX: -3.600006 m,
      approachRate: -0.892840 m/s,
      rangeRepo size: 4

2025-06-07T23:48:50.136Z,1749340130.136 [DAT](INFO): DAT read: TxSync time:23:48:49.6215

2025-06-07T23:48:50.143Z,1749340130.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 448.705780 m,
      bearing: 306.205544 deg,
      lat: 36.905599 deg,
      lon: -122.116322 deg,
      deltaT: 4.032085 s,
      deltaX: -3.584290 m,
      approachRate: -0.888942 m/s,
      posRepo size: 4

2025-06-07T23:48:50.144Z,1749340130.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:50.147Z,1749340130.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 429.758820 m,
      bearing: 306.842538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002076 deg/s,
      cmd heading: 304.540786 deg,
      new cmd heading: 304.543231 deg.

2025-06-07T23:48:50.152Z,1749340130.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315282 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:50.559Z,1749340130.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:50.561Z,1749340130.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:50.564Z,1749340130.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 429.422913 m,
      bearing: 306.842179 deg,
      approach rate: -0.779215 m/s,
      LOS rate: -0.000833 deg/s,
      cmd heading: 304.543218 deg,
      new cmd heading: 304.542140 deg.

2025-06-07T23:48:50.565Z,1749340130.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315263 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:50.641Z,1749340130.641 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:50.641Z,1749340130.641 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:50.641Z,1749340130.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:48:50.892Z,1749340130.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994099
2025-06-07T23:48:50.914Z,1749340130.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:50.917Z,1749340130.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 429.157196 m,
      bearing: 306.841953 deg,
      approach rate: -0.752214 m/s,
      LOS rate: -0.000639 deg/s,
      cmd heading: 304.542152 deg,
      new cmd heading: 304.541475 deg.

2025-06-07T23:48:50.918Z,1749340130.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315251 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:51.145Z,1749340131.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246453
2025-06-07T23:48:51.308Z,1749340131.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:51.310Z,1749340131.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 428.862091 m,
      bearing: 306.841711 deg,
      approach rate: -0.751049 m/s,
      LOS rate: -0.000616 deg/s,
      cmd heading: 304.541469 deg,
      new cmd heading: 304.540743 deg.

2025-06-07T23:48:51.311Z,1749340131.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315238 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:51.397Z,1749340131.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498989
2025-06-07T23:48:51.648Z,1749340131.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749952
2025-06-07T23:48:51.738Z,1749340131.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:51.741Z,1749340131.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 428.541046 m,
      bearing: 306.842119 deg,
      approach rate: -0.745072 m/s,
      LOS rate: 0.000947 deg/s,
      cmd heading: 304.540732 deg,
      new cmd heading: 304.541956 deg.

2025-06-07T23:48:51.742Z,1749340131.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315260 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:51.903Z,1749340131.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005260
2025-06-07T23:48:52.116Z,1749340132.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:52.119Z,1749340132.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 428.259399 m,
      bearing: 306.842457 deg,
      approach rate: -0.745399 m/s,
      LOS rate: 0.000894 deg/s,
      cmd heading: 304.541961 deg,
      new cmd heading: 304.542975 deg.

2025-06-07T23:48:52.120Z,1749340132.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315278 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:52.154Z,1749340132.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256206
2025-06-07T23:48:52.404Z,1749340132.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506061
2025-06-07T23:48:52.588Z,1749340132.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:52.590Z,1749340132.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:52.593Z,1749340132.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 427.913513 m,
      bearing: 306.842662 deg,
      approach rate: -0.729332 m/s,
      LOS rate: 0.000434 deg/s,
      cmd heading: 304.542972 deg,
      new cmd heading: 304.543590 deg.

2025-06-07T23:48:52.594Z,1749340132.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315289 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:52.658Z,1749340132.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760212
2025-06-07T23:48:52.908Z,1749340132.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010091
2025-06-07T23:48:52.933Z,1749340132.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:52.936Z,1749340132.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 427.663055 m,
      bearing: 306.842812 deg,
      approach rate: -0.731422 m/s,
      LOS rate: 0.000436 deg/s,
      cmd heading: 304.543600 deg,
      new cmd heading: 304.544048 deg.

2025-06-07T23:48:52.937Z,1749340132.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315296 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:53.161Z,1749340133.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262447
2025-06-07T23:48:53.328Z,1749340133.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:53.330Z,1749340133.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 427.374969 m,
      bearing: 306.842786 deg,
      approach rate: -0.730167 m/s,
      LOS rate: -0.000065 deg/s,
      cmd heading: 304.544038 deg,
      new cmd heading: 304.543961 deg.

2025-06-07T23:48:53.331Z,1749340133.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315295 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:53.413Z,1749340133.413 [DAT](INFO): DAT read: Rx Time:23:48:52.6258

2025-06-07T23:48:53.414Z,1749340133.414 [DAT](INFO): Rx dataTimestamp_ set to:1749340133.413632
2025-06-07T23:48:53.414Z,1749340133.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516387
2025-06-07T23:48:53.665Z,1749340133.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766888
2025-06-07T23:48:53.803Z,1749340133.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:53.806Z,1749340133.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 427.042786 m,
      bearing: 306.843010 deg,
      approach rate: -0.704193 m/s,
      LOS rate: 0.000475 deg/s,
      cmd heading: 304.543956 deg,
      new cmd heading: 304.544628 deg.

2025-06-07T23:48:53.811Z,1749340133.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315307 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:53.922Z,1749340133.922 [DAT](INFO): DAT read: 23:48:52.6258 LVL= 26928, 32753, 26546, 32755, AGC= 68, IDX= 395, 0.06, 1.050,-0.465, 0.955, 0.333, PHS= 0.805,-0.750, 0.619, RAW= 143.7,  -9.2, CAL= 150.4, -18.3, ROT= 359.6,  18.3

2025-06-07T23:48:53.924Z,1749340133.924 [DAT](INFO): got valid direction response:
 23:48:52.6258 LVL= 26928, 32753, 26546, 32755, AGC= 68, IDX= 395, 0.06, 1.050,-0.465, 0.955, 0.333, PHS= 0.805,-0.750, 0.619, RAW= 143.7,  -9.2, CAL= 150.4, -18.3, ROT= 359.6,  18.3

2025-06-07T23:48:53.925Z,1749340133.925 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:48:53.926Z,1749340133.926 [DAT](INFO): Received a bad header
2025-06-07T23:48:53.939Z,1749340133.939 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:48:53.940Z,1749340133.940 [DAT](INFO): direction in FSK: [0.949402,-0.006628,-0.313992]
2025-06-07T23:48:53.945Z,1749340133.945 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:53.945Z,1749340133.945 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:53.945Z,1749340133.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:54.140Z,1749340134.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:54.143Z,1749340134.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 426.776093 m,
      bearing: 306.843123 deg,
      approach rate: -0.782181 m/s,
      LOS rate: 0.000332 deg/s,
      cmd heading: 304.544639 deg,
      new cmd heading: 304.544978 deg.

2025-06-07T23:48:54.144Z,1749340134.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315312 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:54.168Z,1749340134.168 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:54.168Z,1749340134.168 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:54.168Z,1749340134.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:54.420Z,1749340134.420 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:54.420Z,1749340134.420 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:54.420Z,1749340134.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:54.618Z,1749340134.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:54.625Z,1749340134.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:54.632Z,1749340134.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 426.415955 m,
      bearing: 306.843238 deg,
      approach rate: -0.743086 m/s,
      LOS rate: 0.000238 deg/s,
      cmd heading: 304.544966 deg,
      new cmd heading: 304.545312 deg.

2025-06-07T23:48:54.633Z,1749340134.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315319 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:54.672Z,1749340134.672 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:54.672Z,1749340134.672 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:54.672Z,1749340134.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:54.924Z,1749340134.924 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:54.924Z,1749340134.924 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:54.924Z,1749340134.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:54.986Z,1749340134.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:54.993Z,1749340134.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 426.146240 m,
      bearing: 306.843305 deg,
      approach rate: -0.747543 m/s,
      LOS rate: 0.000185 deg/s,
      cmd heading: 304.545322 deg,
      new cmd heading: 304.545522 deg.

2025-06-07T23:48:54.994Z,1749340134.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315322 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:55.176Z,1749340135.176 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:55.176Z,1749340135.176 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:55.176Z,1749340135.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:55.352Z,1749340135.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:55.355Z,1749340135.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 425.869659 m,
      bearing: 306.843382 deg,
      approach rate: -0.754272 m/s,
      LOS rate: 0.000209 deg/s,
      cmd heading: 304.545513 deg,
      new cmd heading: 304.545743 deg.

2025-06-07T23:48:55.356Z,1749340135.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315326 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:55.429Z,1749340135.429 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:55.429Z,1749340135.429 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:55.429Z,1749340135.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:55.680Z,1749340135.680 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:55.680Z,1749340135.680 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:55.680Z,1749340135.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:55.781Z,1749340135.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:55.784Z,1749340135.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 425.549866 m,
      bearing: 306.843845 deg,
      approach rate: -0.746374 m/s,
      LOS rate: 0.001082 deg/s,
      cmd heading: 304.545731 deg,
      new cmd heading: 304.547122 deg.

2025-06-07T23:48:55.785Z,1749340135.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315350 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:55.932Z,1749340135.932 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:55.932Z,1749340135.932 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:55.932Z,1749340135.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:56.161Z,1749340136.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:56.164Z,1749340136.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 425.268768 m,
      bearing: 306.844266 deg,
      approach rate: -0.738952 m/s,
      LOS rate: 0.001109 deg/s,
      cmd heading: 304.547125 deg,
      new cmd heading: 304.548391 deg.

2025-06-07T23:48:56.165Z,1749340136.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315372 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:56.184Z,1749340136.184 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:56.184Z,1749340136.184 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:56.184Z,1749340136.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:56.436Z,1749340136.436 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:56.436Z,1749340136.436 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:56.436Z,1749340136.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:56.626Z,1749340136.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:56.629Z,1749340136.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:56.632Z,1749340136.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 424.932220 m,
      bearing: 306.844790 deg,
      approach rate: -0.718993 m/s,
      LOS rate: 0.001119 deg/s,
      cmd heading: 304.548382 deg,
      new cmd heading: 304.549952 deg.

2025-06-07T23:48:56.633Z,1749340136.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315399 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:56.688Z,1749340136.688 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:56.688Z,1749340136.688 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:56.688Z,1749340136.688 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:56.940Z,1749340136.940 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:56.940Z,1749340136.940 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:56.940Z,1749340136.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:57.038Z,1749340137.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:57.051Z,1749340137.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 424.635345 m,
      bearing: 306.845697 deg,
      approach rate: -0.727182 m/s,
      LOS rate: 0.002225 deg/s,
      cmd heading: 304.549939 deg,
      new cmd heading: 304.552664 deg.

2025-06-07T23:48:57.053Z,1749340137.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315447 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:57.192Z,1749340137.192 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:57.192Z,1749340137.192 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:57.192Z,1749340137.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:57.388Z,1749340137.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:57.391Z,1749340137.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 424.379547 m,
      bearing: 306.846507 deg,
      approach rate: -0.730135 m/s,
      LOS rate: 0.002311 deg/s,
      cmd heading: 304.552671 deg,
      new cmd heading: 304.555100 deg.

2025-06-07T23:48:57.396Z,1749340137.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315489 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:57.445Z,1749340137.445 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:57.445Z,1749340137.445 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:57.445Z,1749340137.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:57.696Z,1749340137.696 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:57.696Z,1749340137.696 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:57.696Z,1749340137.696 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:57.795Z,1749340137.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:57.798Z,1749340137.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 424.067505 m,
      bearing: 306.847363 deg,
      approach rate: -0.765787 m/s,
      LOS rate: 0.002104 deg/s,
      cmd heading: 304.555102 deg,
      new cmd heading: 304.557674 deg.

2025-06-07T23:48:57.799Z,1749340137.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315534 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:57.948Z,1749340137.948 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:57.949Z,1749340137.949 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:57.949Z,1749340137.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:58.193Z,1749340138.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:58.196Z,1749340138.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 423.774384 m,
      bearing: 306.848203 deg,
      approach rate: -0.736643 m/s,
      LOS rate: 0.002112 deg/s,
      cmd heading: 304.557671 deg,
      new cmd heading: 304.560192 deg.

2025-06-07T23:48:58.197Z,1749340138.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315578 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:58.200Z,1749340138.200 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:58.200Z,1749340138.200 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:58.200Z,1749340138.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:58.452Z,1749340138.452 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:58.452Z,1749340138.452 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:58.452Z,1749340138.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:58.704Z,1749340138.704 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:58.704Z,1749340138.704 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:58.704Z,1749340138.704 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:58.715Z,1749340138.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:48:58.718Z,1749340138.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:58.721Z,1749340138.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 423.386566 m,
      bearing: 306.848600 deg,
      approach rate: -0.739599 m/s,
      LOS rate: 0.000757 deg/s,
      cmd heading: 304.560184 deg,
      new cmd heading: 304.561375 deg.

2025-06-07T23:48:58.722Z,1749340138.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315599 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:58.956Z,1749340138.956 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:58.957Z,1749340138.957 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:58.957Z,1749340138.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:59.029Z,1749340139.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:59.054Z,1749340139.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 423.161469 m,
      bearing: 306.848849 deg,
      approach rate: -0.721624 m/s,
      LOS rate: 0.000800 deg/s,
      cmd heading: 304.561386 deg,
      new cmd heading: 304.562135 deg.

2025-06-07T23:48:59.064Z,1749340139.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315612 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:59.208Z,1749340139.208 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:59.208Z,1749340139.208 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:59.208Z,1749340139.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:59.423Z,1749340139.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:59.448Z,1749340139.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 422.864410 m,
      bearing: 306.849210 deg,
      approach rate: -0.755496 m/s,
      LOS rate: 0.000919 deg/s,
      cmd heading: 304.562124 deg,
      new cmd heading: 304.563208 deg.

2025-06-07T23:48:59.449Z,1749340139.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315631 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:59.460Z,1749340139.460 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:59.460Z,1749340139.460 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:59.460Z,1749340139.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:59.712Z,1749340139.712 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:48:59.712Z,1749340139.712 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:48:59.712Z,1749340139.712 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:48:59.837Z,1749340139.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:48:59.856Z,1749340139.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 422.560883 m,
      bearing: 306.849501 deg,
      approach rate: -0.731664 m/s,
      LOS rate: 0.000702 deg/s,
      cmd heading: 304.563217 deg,
      new cmd heading: 304.564090 deg.

2025-06-07T23:48:59.857Z,1749340139.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315646 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:48:59.964Z,1749340139.964 [DAT](INFO): Reached modem response timeout
2025-06-07T23:48:59.965Z,1749340139.965 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:48:59.965Z,1749340139.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:00.216Z,1749340140.216 [DAT](INFO): Reached modem response timeout
2025-06-07T23:49:00.217Z,1749340140.217 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:49:00.217Z,1749340140.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:00.287Z,1749340140.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:00.294Z,1749340140.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 422.237793 m,
      bearing: 306.849870 deg,
      approach rate: -0.719176 m/s,
      LOS rate: 0.000820 deg/s,
      cmd heading: 304.564091 deg,
      new cmd heading: 304.565197 deg.

2025-06-07T23:49:00.295Z,1749340140.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315665 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:00.468Z,1749340140.468 [DAT](INFO): Reached modem response timeout
2025-06-07T23:49:00.468Z,1749340140.468 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:49:00.468Z,1749340140.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:00.720Z,1749340140.720 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:49:00.721Z,1749340140.721 [DAT](INFO): response not received
2025-06-07T23:49:00.721Z,1749340140.721 [DAT](INFO): DAT read: user:1850>

2025-06-07T23:49:00.721Z,1749340140.721 [DAT](ERROR): No response from remote modem.
2025-06-07T23:49:00.722Z,1749340140.722 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:49:00.722Z,1749340140.722 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:00.736Z,1749340140.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:00.743Z,1749340140.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:00.745Z,1749340140.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 421.899719 m,
      bearing: 306.850119 deg,
      approach rate: -0.741689 m/s,
      LOS rate: 0.000548 deg/s,
      cmd heading: 304.565184 deg,
      new cmd heading: 304.565934 deg.

2025-06-07T23:49:00.746Z,1749340140.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315678 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:00.974Z,1749340140.974 [DAT](INFO): DAT read: Tx time:23:49:00.5724

2025-06-07T23:49:00.975Z,1749340140.975 [DAT](INFO): Ping request sent.
2025-06-07T23:49:00.975Z,1749340140.975 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:00.977Z,1749340140.977 [DAT](INFO): DAT read: TxSync time:23:49:00.5716

2025-06-07T23:49:00.979Z,1749340140.979 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:00.982Z,1749340140.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006183
2025-06-07T23:49:01.196Z,1749340141.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:01.198Z,1749340141.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 421.562439 m,
      bearing: 306.850425 deg,
      approach rate: -0.744182 m/s,
      LOS rate: 0.000676 deg/s,
      cmd heading: 304.565922 deg,
      new cmd heading: 304.566840 deg.

2025-06-07T23:49:01.200Z,1749340141.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315694 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:01.224Z,1749340141.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249104
2025-06-07T23:49:01.476Z,1749340141.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501040
2025-06-07T23:49:01.593Z,1749340141.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:01.595Z,1749340141.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 421.269501 m,
      bearing: 306.850878 deg,
      approach rate: -0.738237 m/s,
      LOS rate: 0.001141 deg/s,
      cmd heading: 304.566850 deg,
      new cmd heading: 304.568209 deg.

2025-06-07T23:49:01.596Z,1749340141.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315718 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:01.728Z,1749340141.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753222
2025-06-07T23:49:01.980Z,1749340141.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005237
2025-06-07T23:49:02.032Z,1749340142.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:02.035Z,1749340142.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 420.946594 m,
      bearing: 306.851547 deg,
      approach rate: -0.734693 m/s,
      LOS rate: 0.001523 deg/s,
      cmd heading: 304.568216 deg,
      new cmd heading: 304.570225 deg.

2025-06-07T23:49:02.052Z,1749340142.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315753 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:02.232Z,1749340142.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256943
2025-06-07T23:49:02.416Z,1749340142.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:02.418Z,1749340142.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 420.676819 m,
      bearing: 306.852135 deg,
      approach rate: -0.704450 m/s,
      LOS rate: 0.001536 deg/s,
      cmd heading: 304.570238 deg,
      new cmd heading: 304.572002 deg.

2025-06-07T23:49:02.420Z,1749340142.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315784 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:02.485Z,1749340142.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510422
2025-06-07T23:49:02.736Z,1749340142.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761099
2025-06-07T23:49:02.822Z,1749340142.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:02.825Z,1749340142.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:02.843Z,1749340142.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 420.356873 m,
      bearing: 306.852024 deg,
      approach rate: -0.781332 m/s,
      LOS rate: -0.000270 deg/s,
      cmd heading: 304.572014 deg,
      new cmd heading: 304.571682 deg.

2025-06-07T23:49:02.844Z,1749340142.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315779 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:02.988Z,1749340142.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013153
2025-06-07T23:49:03.212Z,1749340143.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:03.214Z,1749340143.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 420.064484 m,
      bearing: 306.851905 deg,
      approach rate: -0.755150 m/s,
      LOS rate: -0.000308 deg/s,
      cmd heading: 304.571686 deg,
      new cmd heading: 304.571328 deg.

2025-06-07T23:49:03.216Z,1749340143.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315773 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:03.240Z,1749340143.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265049
2025-06-07T23:49:03.448Z,1749340143.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:49:03.492Z,1749340143.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517092
2025-06-07T23:49:03.608Z,1749340143.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:03.610Z,1749340143.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 419.765472 m,
      bearing: 306.851783 deg,
      approach rate: -0.754831 m/s,
      LOS rate: -0.000307 deg/s,
      cmd heading: 304.571331 deg,
      new cmd heading: 304.570966 deg.

2025-06-07T23:49:03.612Z,1749340143.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315766 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:03.746Z,1749340143.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770750
2025-06-07T23:49:03.996Z,1749340143.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021123
2025-06-07T23:49:04.083Z,1749340144.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:04.086Z,1749340144.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 419.435272 m,
      bearing: 306.851972 deg,
      approach rate: -0.701040 m/s,
      LOS rate: 0.000401 deg/s,
      cmd heading: 304.570976 deg,
      new cmd heading: 304.571542 deg.

2025-06-07T23:49:04.087Z,1749340144.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315776 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:04.248Z,1749340144.248 [DAT](INFO): DAT read: Rx Time:23:49:03.5645

2025-06-07T23:49:04.249Z,1749340144.249 [DAT](INFO): Rx dataTimestamp_ set to:1749340144.248432
2025-06-07T23:49:04.249Z,1749340144.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274200
2025-06-07T23:49:04.435Z,1749340144.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:04.438Z,1749340144.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 419.147705 m,
      bearing: 306.852151 deg,
      approach rate: -0.844645 m/s,
      LOS rate: 0.000527 deg/s,
      cmd heading: 304.571550 deg,
      new cmd heading: 304.572088 deg.

2025-06-07T23:49:04.443Z,1749340144.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315786 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:04.452Z,1749340144.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:49:04.502Z,1749340144.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526174
2025-06-07T23:49:04.752Z,1749340144.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777160
2025-06-07T23:49:04.896Z,1749340144.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:04.898Z,1749340144.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.71 m.
2025-06-07T23:49:04.901Z,1749340144.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.705780 m,
      nav range: 418.779358 m,
      bearing: 306.851857 deg,
      approach rate: -0.769376 m/s,
      LOS rate: -0.000614 deg/s,
      cmd heading: 304.572096 deg,
      new cmd heading: 304.571214 deg.

2025-06-07T23:49:04.902Z,1749340144.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315771 target range: 448.705780 and range: 451.90 m.
2025-06-07T23:49:05.013Z,1749340145.013 [DAT](INFO): DAT read: 23:49:03.5645 LVL= 21600, 26689, 22450, 32755, AGC= 73, IDX= 321,-0.22, 0.231,-1.148, 0.134,-0.404, PHS= 0.723,-0.697, 0.535, RAW= 143.0,  -8.4, CAL= 149.5, -17.7, ROT=   0.5,  17.7

2025-06-07T23:49:05.014Z,1749340145.014 [DAT](INFO): got valid direction response:
 23:49:03.5645 LVL= 21600, 26689, 22450, 32755, AGC= 73, IDX= 321,-0.22, 0.231,-1.148, 0.134,-0.404, PHS= 0.723,-0.697, 0.535, RAW= 143.0,  -8.4, CAL= 149.5, -17.7, ROT=   0.5,  17.7

2025-06-07T23:49:05.015Z,1749340145.015 [DAT](INFO): DAT read: Bearing   0.5,  17.7 (Local)

2025-06-07T23:49:05.015Z,1749340145.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  17.7 (Local)

2025-06-07T23:49:05.017Z,1749340145.017 [DAT](INFO): DAT read: Range 10 to 50 : 440.9 m  (Round-trip  587.9 ms) speed  0.4 m/s

2025-06-07T23:49:05.018Z,1749340145.018 [DAT](INFO): DAT read: user:1851>

2025-06-07T23:49:05.018Z,1749340145.018 [DAT](INFO): DAT read: Tx time:23:49:04.6724

2025-06-07T23:49:05.019Z,1749340145.019 [DAT](INFO): Ping request sent.
2025-06-07T23:49:05.019Z,1749340145.019 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:05.019Z,1749340145.019 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:05.020Z,1749340145.020 [DAT](INFO): direction in FSK: [0.952625,0.008313,-0.304033]
2025-06-07T23:49:05.020Z,1749340145.020 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:05.021Z,1749340145.021 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:05.024Z,1749340145.024 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:05.024Z,1749340145.024 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:05.252Z,1749340145.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 440.899994 m,
      deltaT: 15.120283 s,
      deltaX: -11.000000 m,
      approachRate: -0.727500 m/s,
      rangeRepo size: 4

2025-06-07T23:49:05.254Z,1749340145.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 437.783630 m,
      bearing: 306.658685 deg,
      lat: 36.905567 deg,
      lon: -122.116322 deg,
      deltaT: 15.120283 s,
      deltaX: -10.922150 m,
      approachRate: -0.722351 m/s,
      posRepo size: 4

2025-06-07T23:49:05.255Z,1749340145.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:05.256Z,1749340145.256 [DAT](INFO): DAT read: TxSync time:23:49:04.6716

2025-06-07T23:49:05.261Z,1749340145.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 416.389648 m,
      bearing: 306.458423 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000614 deg/s,
      cmd heading: 304.571222 deg,
      new cmd heading: 304.570579 deg.

2025-06-07T23:49:05.262Z,1749340145.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315759 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:05.644Z,1749340145.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:05.651Z,1749340145.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 416.083771 m,
      bearing: 306.458017 deg,
      approach rate: -0.769763 m/s,
      LOS rate: -0.001021 deg/s,
      cmd heading: 304.570566 deg,
      new cmd heading: 304.569349 deg.

2025-06-07T23:49:05.652Z,1749340145.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315738 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:06.098Z,1749340146.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:06.105Z,1749340146.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 415.749512 m,
      bearing: 306.456853 deg,
      approach rate: -0.737366 m/s,
      LOS rate: -0.002570 deg/s,
      cmd heading: 304.569337 deg,
      new cmd heading: 304.565842 deg.

2025-06-07T23:49:06.106Z,1749340146.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315677 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:06.438Z,1749340146.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:06.441Z,1749340146.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 415.465515 m,
      bearing: 306.455854 deg,
      approach rate: -0.834143 m/s,
      LOS rate: -0.002939 deg/s,
      cmd heading: 304.565840 deg,
      new cmd heading: 304.562838 deg.

2025-06-07T23:49:06.442Z,1749340146.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315624 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:06.865Z,1749340146.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:06.868Z,1749340146.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 415.140533 m,
      bearing: 306.454423 deg,
      approach rate: -0.760696 m/s,
      LOS rate: -0.003351 deg/s,
      cmd heading: 304.562834 deg,
      new cmd heading: 304.558539 deg.

2025-06-07T23:49:06.869Z,1749340146.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315549 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:07.253Z,1749340147.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:07.256Z,1749340147.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:07.258Z,1749340147.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 414.852814 m,
      bearing: 306.453123 deg,
      approach rate: -0.737611 m/s,
      LOS rate: -0.003336 deg/s,
      cmd heading: 304.558545 deg,
      new cmd heading: 304.554641 deg.

2025-06-07T23:49:07.260Z,1749340147.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315481 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:07.272Z,1749340147.272 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:07.272Z,1749340147.272 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:07.272Z,1749340147.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:07.524Z,1749340147.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505371
2025-06-07T23:49:07.655Z,1749340147.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:07.658Z,1749340147.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 414.539490 m,
      bearing: 306.451721 deg,
      approach rate: -0.783531 m/s,
      LOS rate: -0.003507 deg/s,
      cmd heading: 304.554638 deg,
      new cmd heading: 304.550431 deg.

2025-06-07T23:49:07.659Z,1749340147.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315408 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:07.780Z,1749340147.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759929
2025-06-07T23:49:08.028Z,1749340148.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009359
2025-06-07T23:49:08.089Z,1749340148.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:08.092Z,1749340148.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 414.216278 m,
      bearing: 306.450610 deg,
      approach rate: -0.745380 m/s,
      LOS rate: -0.002565 deg/s,
      cmd heading: 304.550431 deg,
      new cmd heading: 304.547094 deg.

2025-06-07T23:49:08.093Z,1749340148.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315350 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:08.281Z,1749340148.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261791
2025-06-07T23:49:08.467Z,1749340148.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:08.470Z,1749340148.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 413.927063 m,
      bearing: 306.449625 deg,
      approach rate: -0.765271 m/s,
      LOS rate: -0.002609 deg/s,
      cmd heading: 304.547098 deg,
      new cmd heading: 304.544139 deg.

2025-06-07T23:49:08.472Z,1749340148.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315298 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:08.534Z,1749340148.534 [DAT](INFO): DAT read: Rx Time:23:49:07.6611

2025-06-07T23:49:08.535Z,1749340148.535 [DAT](INFO): Rx dataTimestamp_ set to:1749340148.533964
2025-06-07T23:49:08.536Z,1749340148.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517620
2025-06-07T23:49:08.787Z,1749340148.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767498
2025-06-07T23:49:08.952Z,1749340148.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.78 m.
2025-06-07T23:49:08.960Z,1749340148.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.783630 m,
      nav range: 413.622833 m,
      bearing: 306.448088 deg,
      approach rate: -0.633174 m/s,
      LOS rate: -0.003200 deg/s,
      cmd heading: 304.544147 deg,
      new cmd heading: 304.539534 deg.

2025-06-07T23:49:08.962Z,1749340148.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315217 target range: 437.783630 and range: 440.90 m.
2025-06-07T23:49:09.046Z,1749340149.046 [DAT](INFO): DAT read: 23:49:07.6611 LVL= 20160, 23985, 21458, 27635, AGC= 73, IDX= 414,-0.36, 2.393, 1.123, 2.316, 1.795, PHS= 0.687,-0.625, 0.519, RAW= 143.2,  -9.4, CAL= 150.1, -18.6, ROT= 359.9,  18.6

2025-06-07T23:49:09.072Z,1749340149.072 [DAT](INFO): got valid direction response:
 23:49:07.6611 LVL= 20160, 23985, 21458, 27635, AGC= 73, IDX= 414,-0.36, 2.393, 1.123, 2.316, 1.795, PHS= 0.687,-0.625, 0.519, RAW= 143.2,  -9.4, CAL= 150.1, -18.6, ROT= 359.9,  18.6

2025-06-07T23:49:09.074Z,1749340149.074 [DAT](INFO): DAT read: Bearing 359.9,  18.6 (Local)

2025-06-07T23:49:09.074Z,1749340149.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  18.6 (Local)

2025-06-07T23:49:09.089Z,1749340149.089 [DAT](INFO): DAT read: Range 10 to 50 : 438.3 m  (Round-trip  584.5 ms) speed  0.4 m/s

2025-06-07T23:49:09.090Z,1749340149.090 [DAT](INFO): DAT read: user:1852>

2025-06-07T23:49:09.091Z,1749340149.091 [DAT](INFO): DAT read: Tx time:23:49:08.7740

2025-06-07T23:49:09.095Z,1749340149.095 [DAT](INFO): Ping request sent.
2025-06-07T23:49:09.096Z,1749340149.096 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:09.096Z,1749340149.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:09.097Z,1749340149.097 [DAT](INFO): direction in FSK: [0.947767,-0.001654,-0.318959]
2025-06-07T23:49:09.097Z,1749340149.097 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:09.097Z,1749340149.097 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:09.105Z,1749340149.105 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:09.105Z,1749340149.105 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:09.288Z,1749340149.288 [DAT](INFO): DAT read: TxSync time:23:49:08.7732

2025-06-07T23:49:09.300Z,1749340149.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 438.299988 m,
      deltaT: 4.032097 s,
      deltaX: -2.600006 m,
      approachRate: -0.644827 m/s,
      rangeRepo size: 4

2025-06-07T23:49:09.302Z,1749340149.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 435.202057 m,
      bearing: 305.990718 deg,
      lat: 36.905567 deg,
      lon: -122.116306 deg,
      deltaT: 4.032097 s,
      deltaX: -2.581573 m,
      approachRate: -0.640256 m/s,
      posRepo size: 4

2025-06-07T23:49:09.303Z,1749340149.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:09.317Z,1749340149.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 412.150360 m,
      bearing: 306.563447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003200 deg/s,
      cmd heading: 304.539530 deg,
      new cmd heading: 304.536151 deg.

2025-06-07T23:49:09.318Z,1749340149.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315158 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:09.678Z,1749340149.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:09.681Z,1749340149.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:09.684Z,1749340149.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 411.857269 m,
      bearing: 306.562042 deg,
      approach rate: -0.768366 m/s,
      LOS rate: -0.003685 deg/s,
      cmd heading: 304.536142 deg,
      new cmd heading: 304.531925 deg.

2025-06-07T23:49:09.685Z,1749340149.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315085 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:09.794Z,1749340149.794 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:09.794Z,1749340149.794 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:09.796Z,1749340149.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:10.044Z,1749340150.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948567
2025-06-07T23:49:10.112Z,1749340150.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:10.115Z,1749340150.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 411.539276 m,
      bearing: 306.560594 deg,
      approach rate: -0.738487 m/s,
      LOS rate: -0.003367 deg/s,
      cmd heading: 304.531934 deg,
      new cmd heading: 304.527585 deg.

2025-06-07T23:49:10.116Z,1749340150.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315009 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:10.296Z,1749340150.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200764
2025-06-07T23:49:10.493Z,1749340150.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:10.495Z,1749340150.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 411.257904 m,
      bearing: 306.559298 deg,
      approach rate: -0.738021 m/s,
      LOS rate: -0.003400 deg/s,
      cmd heading: 304.527590 deg,
      new cmd heading: 304.523702 deg.

2025-06-07T23:49:10.496Z,1749340150.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314941 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:10.549Z,1749340150.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453119
2025-06-07T23:49:10.802Z,1749340150.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706589
2025-06-07T23:49:10.911Z,1749340150.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:10.913Z,1749340150.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 410.951843 m,
      bearing: 306.557924 deg,
      approach rate: -0.732140 m/s,
      LOS rate: -0.003291 deg/s,
      cmd heading: 304.523711 deg,
      new cmd heading: 304.519584 deg.

2025-06-07T23:49:10.914Z,1749340150.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314869 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:11.052Z,1749340151.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956664
2025-06-07T23:49:11.293Z,1749340151.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:11.296Z,1749340151.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 410.671387 m,
      bearing: 306.556619 deg,
      approach rate: -0.732787 m/s,
      LOS rate: -0.003410 deg/s,
      cmd heading: 304.519586 deg,
      new cmd heading: 304.515670 deg.

2025-06-07T23:49:11.297Z,1749340151.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314801 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:11.304Z,1749340151.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208701
2025-06-07T23:49:11.556Z,1749340151.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460618
2025-06-07T23:49:11.702Z,1749340151.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:11.735Z,1749340151.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:11.738Z,1749340151.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 410.375061 m,
      bearing: 306.555211 deg,
      approach rate: -0.677112 m/s,
      LOS rate: -0.003220 deg/s,
      cmd heading: 304.515679 deg,
      new cmd heading: 304.511451 deg.

2025-06-07T23:49:11.739Z,1749340151.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314727 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:11.811Z,1749340151.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714611
2025-06-07T23:49:12.060Z,1749340152.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964566
2025-06-07T23:49:12.200Z,1749340152.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:12.203Z,1749340152.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 410.005615 m,
      bearing: 306.554968 deg,
      approach rate: -0.787140 m/s,
      LOS rate: -0.000518 deg/s,
      cmd heading: 304.511444 deg,
      new cmd heading: 304.510714 deg.

2025-06-07T23:49:12.206Z,1749340152.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314714 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:12.313Z,1749340152.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217124
2025-06-07T23:49:12.527Z,1749340152.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:12.529Z,1749340152.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 409.764465 m,
      bearing: 306.554806 deg,
      approach rate: -0.738763 m/s,
      LOS rate: -0.000499 deg/s,
      cmd heading: 304.510706 deg,
      new cmd heading: 304.510218 deg.

2025-06-07T23:49:12.530Z,1749340152.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314706 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:12.566Z,1749340152.566 [DAT](INFO): DAT read: Rx Time:23:49:11.7616

2025-06-07T23:49:12.566Z,1749340152.566 [DAT](INFO): Rx dataTimestamp_ set to:1749340152.566105
2025-06-07T23:49:12.567Z,1749340152.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471416
2025-06-07T23:49:12.820Z,1749340152.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722813
2025-06-07T23:49:12.972Z,1749340152.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.20 m.
2025-06-07T23:49:12.976Z,1749340152.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 435.202057 m,
      nav range: 409.445038 m,
      bearing: 306.556103 deg,
      approach rate: -0.718257 m/s,
      LOS rate: 0.002920 deg/s,
      cmd heading: 304.510214 deg,
      new cmd heading: 304.514110 deg.

2025-06-07T23:49:12.978Z,1749340152.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314774 target range: 435.202057 and range: 438.30 m.
2025-06-07T23:49:13.075Z,1749340153.075 [DAT](INFO): DAT read: 23:49:11.7616 LVL= 22176, 20833, 19394, 24419, AGC= 70, IDX= 433, 0.08, 3.131, 1.526, 2.999, 2.397, PHS= 0.822,-0.824, 0.598, RAW= 142.8,  -7.8, CAL= 149.2, -17.0, ROT=   0.8,  17.0

2025-06-07T23:49:13.076Z,1749340153.076 [DAT](INFO): got valid direction response:
 23:49:11.7616 LVL= 22176, 20833, 19394, 24419, AGC= 70, IDX= 433, 0.08, 3.131, 1.526, 2.999, 2.397, PHS= 0.822,-0.824, 0.598, RAW= 142.8,  -7.8, CAL= 149.2, -17.0, ROT=   0.8,  17.0

2025-06-07T23:49:13.077Z,1749340153.077 [DAT](INFO): DAT read: Bearing   0.8,  17.0 (Local)

2025-06-07T23:49:13.077Z,1749340153.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  17.0 (Local)

2025-06-07T23:49:13.080Z,1749340153.080 [DAT](INFO): DAT read: Range 10 to 50 : 437.4 m  (Round-trip  583.3 ms) speed  0.3 m/s

2025-06-07T23:49:13.081Z,1749340153.081 [DAT](INFO): DAT read: user:1853>

2025-06-07T23:49:13.082Z,1749340153.082 [DAT](INFO): DAT read: Tx time:23:49:12.8725

2025-06-07T23:49:13.082Z,1749340153.082 [DAT](INFO): Ping request sent.
2025-06-07T23:49:13.082Z,1749340153.082 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:13.083Z,1749340153.083 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:13.089Z,1749340153.089 [DAT](INFO): direction in FSK: [0.956212,0.013352,-0.292372]
2025-06-07T23:49:13.089Z,1749340153.089 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:13.090Z,1749340153.090 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:13.103Z,1749340153.103 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:13.104Z,1749340153.104 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:13.320Z,1749340153.320 [DAT](INFO): DAT read: TxSync time:23:49:12.8717

2025-06-07T23:49:13.348Z,1749340153.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 437.399994 m,
      deltaT: 4.031941 s,
      deltaX: -0.899994 m,
      approachRate: -0.223216 m/s,
      rangeRepo size: 4

2025-06-07T23:49:13.350Z,1749340153.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 434.307526 m,
      bearing: 306.844830 deg,
      lat: 36.905567 deg,
      lon: -122.116317 deg,
      deltaT: 4.031941 s,
      deltaX: -0.894531 m,
      approachRate: -0.221861 m/s,
      posRepo size: 4

2025-06-07T23:49:13.351Z,1749340153.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:13.357Z,1749340153.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 410.002808 m,
      bearing: 306.476139 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002920 deg/s,
      cmd heading: 304.514121 deg,
      new cmd heading: 304.517377 deg.

2025-06-07T23:49:13.358Z,1749340153.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314831 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:13.729Z,1749340153.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:13.731Z,1749340153.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:13.734Z,1749340153.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 409.708405 m,
      bearing: 306.477394 deg,
      approach rate: -0.758353 m/s,
      LOS rate: 0.003235 deg/s,
      cmd heading: 304.517373 deg,
      new cmd heading: 304.521140 deg.

2025-06-07T23:49:13.735Z,1749340153.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314897 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:13.828Z,1749340153.828 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:13.828Z,1749340153.828 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:13.829Z,1749340153.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:14.076Z,1749340154.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994061
2025-06-07T23:49:14.161Z,1749340154.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:14.168Z,1749340154.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 409.402252 m,
      bearing: 306.479345 deg,
      approach rate: -0.711650 m/s,
      LOS rate: 0.004540 deg/s,
      cmd heading: 304.521143 deg,
      new cmd heading: 304.527002 deg.

2025-06-07T23:49:14.169Z,1749340154.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314999 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:14.328Z,1749340154.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245938
2025-06-07T23:49:14.580Z,1749340154.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498037
2025-06-07T23:49:14.588Z,1749340154.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:14.590Z,1749340154.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 409.089417 m,
      bearing: 306.481346 deg,
      approach rate: -0.735293 m/s,
      LOS rate: 0.004706 deg/s,
      cmd heading: 304.526989 deg,
      new cmd heading: 304.532996 deg.

2025-06-07T23:49:14.592Z,1749340154.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315104 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:14.836Z,1749340154.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753153
2025-06-07T23:49:15.029Z,1749340155.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:15.032Z,1749340155.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 408.763947 m,
      bearing: 306.484135 deg,
      approach rate: -0.735492 m/s,
      LOS rate: 0.006308 deg/s,
      cmd heading: 304.533000 deg,
      new cmd heading: 304.541374 deg.

2025-06-07T23:49:15.033Z,1749340155.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315250 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:15.086Z,1749340155.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003049
2025-06-07T23:49:15.336Z,1749340155.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253924
2025-06-07T23:49:15.451Z,1749340155.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:15.454Z,1749340155.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 408.454712 m,
      bearing: 306.486676 deg,
      approach rate: -0.732829 m/s,
      LOS rate: 0.006027 deg/s,
      cmd heading: 304.541387 deg,
      new cmd heading: 304.549017 deg.

2025-06-07T23:49:15.487Z,1749340155.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315383 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:15.590Z,1749340155.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507397
2025-06-07T23:49:15.842Z,1749340155.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759322
2025-06-07T23:49:15.921Z,1749340155.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:15.928Z,1749340155.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:15.930Z,1749340155.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 408.120941 m,
      bearing: 306.489416 deg,
      approach rate: -0.707233 m/s,
      LOS rate: 0.005810 deg/s,
      cmd heading: 304.549010 deg,
      new cmd heading: 304.557236 deg.

2025-06-07T23:49:15.935Z,1749340155.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315526 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:16.092Z,1749340156.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010155
2025-06-07T23:49:16.296Z,1749340156.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:16.299Z,1749340156.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 407.852936 m,
      bearing: 306.491975 deg,
      approach rate: -0.718737 m/s,
      LOS rate: 0.006867 deg/s,
      cmd heading: 304.557234 deg,
      new cmd heading: 304.564916 deg.

2025-06-07T23:49:16.308Z,1749340156.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315660 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:16.347Z,1749340156.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264576
2025-06-07T23:49:16.596Z,1749340156.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513916
2025-06-07T23:49:16.686Z,1749340156.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:16.693Z,1749340156.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 407.569946 m,
      bearing: 306.494694 deg,
      approach rate: -0.726656 m/s,
      LOS rate: 0.006988 deg/s,
      cmd heading: 304.564911 deg,
      new cmd heading: 304.573074 deg.

2025-06-07T23:49:16.694Z,1749340156.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315803 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:16.851Z,1749340156.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768384
2025-06-07T23:49:17.090Z,1749340157.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:17.093Z,1749340157.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 407.255219 m,
      bearing: 306.497649 deg,
      approach rate: -0.777793 m/s,
      LOS rate: 0.007308 deg/s,
      cmd heading: 304.573080 deg,
      new cmd heading: 304.581950 deg.

2025-06-07T23:49:17.094Z,1749340157.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315958 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:17.100Z,1749340157.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018118
2025-06-07T23:49:17.352Z,1749340157.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270078
2025-06-07T23:49:17.479Z,1749340157.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:17.482Z,1749340157.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 406.966187 m,
      bearing: 306.500385 deg,
      approach rate: -0.744203 m/s,
      LOS rate: 0.007049 deg/s,
      cmd heading: 304.581959 deg,
      new cmd heading: 304.590172 deg.

2025-06-07T23:49:17.483Z,1749340157.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316102 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:17.604Z,1749340157.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521886
2025-06-07T23:49:17.858Z,1749340157.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775486
2025-06-07T23:49:17.956Z,1749340157.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:17.964Z,1749340157.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:17.972Z,1749340157.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 406.637482 m,
      bearing: 306.503508 deg,
      approach rate: -0.683733 m/s,
      LOS rate: 0.006502 deg/s,
      cmd heading: 304.590182 deg,
      new cmd heading: 304.599560 deg.

2025-06-07T23:49:17.974Z,1749340157.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316265 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:18.108Z,1749340158.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025919
2025-06-07T23:49:18.325Z,1749340158.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:18.327Z,1749340158.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 406.337158 m,
      bearing: 306.505581 deg,
      approach rate: -0.822466 m/s,
      LOS rate: 0.005679 deg/s,
      cmd heading: 304.599553 deg,
      new cmd heading: 304.605775 deg.

2025-06-07T23:49:18.329Z,1749340158.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316374 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:18.361Z,1749340158.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278421
2025-06-07T23:49:18.612Z,1749340158.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530013
2025-06-07T23:49:18.704Z,1749340158.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:18.707Z,1749340158.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 406.054352 m,
      bearing: 306.507530 deg,
      approach rate: -0.745343 m/s,
      LOS rate: 0.005141 deg/s,
      cmd heading: 304.605782 deg,
      new cmd heading: 304.611634 deg.

2025-06-07T23:49:18.708Z,1749340158.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316476 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:18.864Z,1749340158.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782074
2025-06-07T23:49:19.116Z,1749340159.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034282
2025-06-07T23:49:19.144Z,1749340159.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:19.147Z,1749340159.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 405.734161 m,
      bearing: 306.509314 deg,
      approach rate: -0.727661 m/s,
      LOS rate: 0.004058 deg/s,
      cmd heading: 304.611629 deg,
      new cmd heading: 304.616987 deg.

2025-06-07T23:49:19.148Z,1749340159.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316569 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:19.369Z,1749340159.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.286723
2025-06-07T23:49:19.518Z,1749340159.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:19.521Z,1749340159.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 405.469849 m,
      bearing: 306.510791 deg,
      approach rate: -0.706273 m/s,
      LOS rate: 0.003948 deg/s,
      cmd heading: 304.616984 deg,
      new cmd heading: 304.621416 deg.

2025-06-07T23:49:19.522Z,1749340159.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316647 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:19.622Z,1749340159.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539554
2025-06-07T23:49:19.872Z,1749340159.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789944
2025-06-07T23:49:19.942Z,1749340159.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:19.960Z,1749340159.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 405.171173 m,
      bearing: 306.512452 deg,
      approach rate: -0.707864 m/s,
      LOS rate: 0.003940 deg/s,
      cmd heading: 304.621410 deg,
      new cmd heading: 304.626398 deg.

2025-06-07T23:49:19.968Z,1749340159.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316734 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:20.124Z,1749340160.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041979
2025-06-07T23:49:20.331Z,1749340160.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:20.333Z,1749340160.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:20.336Z,1749340160.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 404.852936 m,
      bearing: 306.513130 deg,
      approach rate: -0.809830 m/s,
      LOS rate: 0.001727 deg/s,
      cmd heading: 304.626410 deg,
      new cmd heading: 304.628446 deg.

2025-06-07T23:49:20.337Z,1749340160.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316770 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:20.377Z,1749340160.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294691
2025-06-07T23:49:20.628Z,1749340160.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.545889
2025-06-07T23:49:20.736Z,1749340160.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:20.738Z,1749340160.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 404.558044 m,
      bearing: 306.513748 deg,
      approach rate: -0.732407 m/s,
      LOS rate: 0.001535 deg/s,
      cmd heading: 304.628459 deg,
      new cmd heading: 304.630313 deg.

2025-06-07T23:49:20.740Z,1749340160.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316802 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:20.880Z,1749340160.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.797984
2025-06-07T23:49:21.132Z,1749340161.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050004
2025-06-07T23:49:21.161Z,1749340161.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:21.164Z,1749340161.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 404.239746 m,
      bearing: 306.513489 deg,
      approach rate: -0.748918 m/s,
      LOS rate: -0.000609 deg/s,
      cmd heading: 304.630317 deg,
      new cmd heading: 304.629539 deg.

2025-06-07T23:49:21.165Z,1749340161.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316789 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:21.385Z,1749340161.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.302314
2025-06-07T23:49:21.531Z,1749340161.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:21.534Z,1749340161.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 403.965790 m,
      bearing: 306.513253 deg,
      approach rate: -0.739747 m/s,
      LOS rate: -0.000637 deg/s,
      cmd heading: 304.629552 deg,
      new cmd heading: 304.628844 deg.

2025-06-07T23:49:21.535Z,1749340161.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316776 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:21.636Z,1749340161.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554016
2025-06-07T23:49:21.888Z,1749340161.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806294
2025-06-07T23:49:22.036Z,1749340162.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:22.055Z,1749340162.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 403.583252 m,
      bearing: 306.512181 deg,
      approach rate: -0.757085 m/s,
      LOS rate: -0.002124 deg/s,
      cmd heading: 304.628841 deg,
      new cmd heading: 304.625621 deg.

2025-06-07T23:49:22.056Z,1749340162.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316720 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:22.140Z,1749340162.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.058221
2025-06-07T23:49:22.393Z,1749340162.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310692
2025-06-07T23:49:22.475Z,1749340162.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:22.477Z,1749340162.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:22.500Z,1749340162.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 403.248779 m,
      bearing: 306.511234 deg,
      approach rate: -0.759144 m/s,
      LOS rate: -0.002151 deg/s,
      cmd heading: 304.625617 deg,
      new cmd heading: 304.622774 deg.

2025-06-07T23:49:22.501Z,1749340162.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316670 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:22.645Z,1749340162.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562541
2025-06-07T23:49:22.896Z,1749340162.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.814061
2025-06-07T23:49:22.928Z,1749340162.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:22.935Z,1749340162.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 402.907135 m,
      bearing: 306.510264 deg,
      approach rate: -0.757945 m/s,
      LOS rate: -0.002154 deg/s,
      cmd heading: 304.622776 deg,
      new cmd heading: 304.619863 deg.

2025-06-07T23:49:22.938Z,1749340162.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316619 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:23.148Z,1749340163.148 [DAT](INFO): Reached modem response timeout
2025-06-07T23:49:23.148Z,1749340163.148 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:49:23.148Z,1749340163.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:23.346Z,1749340163.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:23.349Z,1749340163.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 402.590851 m,
      bearing: 306.508719 deg,
      approach rate: -0.756134 m/s,
      LOS rate: -0.003697 deg/s,
      cmd heading: 304.619853 deg,
      new cmd heading: 304.615214 deg.

2025-06-07T23:49:23.350Z,1749340163.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316538 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:23.400Z,1749340163.400 [DAT](INFO): Reached modem response timeout
2025-06-07T23:49:23.401Z,1749340163.401 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:49:23.401Z,1749340163.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:23.652Z,1749340163.652 [DAT](INFO): Reached modem response timeout
2025-06-07T23:49:23.652Z,1749340163.652 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:49:23.652Z,1749340163.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:23.758Z,1749340163.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:23.761Z,1749340163.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 402.291107 m,
      bearing: 306.507252 deg,
      approach rate: -0.755305 m/s,
      LOS rate: -0.003698 deg/s,
      cmd heading: 304.615208 deg,
      new cmd heading: 304.610806 deg.

2025-06-07T23:49:23.762Z,1749340163.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316462 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:23.904Z,1749340163.904 [DAT](INFO): Reached modem response timeout
2025-06-07T23:49:23.904Z,1749340163.904 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:49:23.904Z,1749340163.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:24.156Z,1749340164.156 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:49:24.157Z,1749340164.157 [DAT](INFO): response not received
2025-06-07T23:49:24.157Z,1749340164.157 [DAT](INFO): DAT read: user:1854>

2025-06-07T23:49:24.158Z,1749340164.158 [DAT](INFO): DAT read: Tx time:23:49:23.8226

2025-06-07T23:49:24.158Z,1749340164.158 [DAT](INFO): Ping request sent.
2025-06-07T23:49:24.158Z,1749340164.158 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:24.158Z,1749340164.158 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:24.159Z,1749340164.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-06-07T23:49:24.161Z,1749340164.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:24.164Z,1749340164.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 401.980469 m,
      bearing: 306.505504 deg,
      approach rate: -0.742998 m/s,
      LOS rate: -0.004186 deg/s,
      cmd heading: 304.610810 deg,
      new cmd heading: 304.605559 deg.

2025-06-07T23:49:24.165Z,1749340164.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316370 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:24.408Z,1749340164.408 [DAT](INFO): DAT read: TxSync time:23:49:23.8218

2025-06-07T23:49:24.409Z,1749340164.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250891
2025-06-07T23:49:24.525Z,1749340164.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:24.528Z,1749340164.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:24.530Z,1749340164.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 401.702271 m,
      bearing: 306.503940 deg,
      approach rate: -0.759480 m/s,
      LOS rate: -0.004272 deg/s,
      cmd heading: 304.605564 deg,
      new cmd heading: 304.600869 deg.

2025-06-07T23:49:24.532Z,1749340164.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316288 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:24.661Z,1749340164.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502269
2025-06-07T23:49:24.912Z,1749340164.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753985
2025-06-07T23:49:24.958Z,1749340164.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:24.979Z,1749340164.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 401.399445 m,
      bearing: 306.502328 deg,
      approach rate: -0.703916 m/s,
      LOS rate: -0.003751 deg/s,
      cmd heading: 304.600865 deg,
      new cmd heading: 304.596024 deg.

2025-06-07T23:49:24.987Z,1749340164.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316204 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:25.164Z,1749340165.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006020
2025-06-07T23:49:25.416Z,1749340165.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258089
2025-06-07T23:49:25.417Z,1749340165.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:25.420Z,1749340165.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 401.038300 m,
      bearing: 306.501128 deg,
      approach rate: -0.785462 m/s,
      LOS rate: -0.002611 deg/s,
      cmd heading: 304.596029 deg,
      new cmd heading: 304.592427 deg.

2025-06-07T23:49:25.421Z,1749340165.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316141 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:25.668Z,1749340165.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509932
2025-06-07T23:49:25.783Z,1749340165.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:25.793Z,1749340165.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 400.770752 m,
      bearing: 306.500268 deg,
      approach rate: -0.732463 m/s,
      LOS rate: -0.002357 deg/s,
      cmd heading: 304.592423 deg,
      new cmd heading: 304.589839 deg.

2025-06-07T23:49:25.794Z,1749340165.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316095 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:25.920Z,1749340165.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761901
2025-06-07T23:49:26.172Z,1749340166.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014178
2025-06-07T23:49:26.186Z,1749340166.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:26.189Z,1749340166.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 400.466522 m,
      bearing: 306.498731 deg,
      approach rate: -0.753628 m/s,
      LOS rate: -0.003811 deg/s,
      cmd heading: 304.589827 deg,
      new cmd heading: 304.585212 deg.

2025-06-07T23:49:26.190Z,1749340166.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316015 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:26.425Z,1749340166.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266448
2025-06-07T23:49:26.565Z,1749340166.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:26.567Z,1749340166.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:26.570Z,1749340166.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 400.184967 m,
      bearing: 306.497272 deg,
      approach rate: -0.739532 m/s,
      LOS rate: -0.003835 deg/s,
      cmd heading: 304.585210 deg,
      new cmd heading: 304.580830 deg.

2025-06-07T23:49:26.571Z,1749340166.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315938 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:26.677Z,1749340166.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518322
2025-06-07T23:49:26.928Z,1749340166.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769900
2025-06-07T23:49:27.068Z,1749340167.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:27.070Z,1749340167.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 399.813934 m,
      bearing: 306.495307 deg,
      approach rate: -0.740791 m/s,
      LOS rate: -0.003926 deg/s,
      cmd heading: 304.580839 deg,
      new cmd heading: 304.574940 deg.

2025-06-07T23:49:27.072Z,1749340167.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315835 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:27.180Z,1749340167.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022017
2025-06-07T23:49:27.386Z,1749340167.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:27.389Z,1749340167.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 399.577667 m,
      bearing: 306.494320 deg,
      approach rate: -0.741691 m/s,
      LOS rate: -0.003100 deg/s,
      cmd heading: 304.574937 deg,
      new cmd heading: 304.571975 deg.

2025-06-07T23:49:27.390Z,1749340167.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315784 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:27.433Z,1749340167.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274558
2025-06-07T23:49:27.684Z,1749340167.684 [DAT](INFO): DAT read: Rx Time:23:49:26.7925

2025-06-07T23:49:27.685Z,1749340167.685 [DAT](INFO): Rx dataTimestamp_ set to:1749340167.684402
2025-06-07T23:49:27.685Z,1749340167.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527055
2025-06-07T23:49:27.785Z,1749340167.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:27.788Z,1749340167.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 399.288269 m,
      bearing: 306.493070 deg,
      approach rate: -0.726980 m/s,
      LOS rate: -0.003144 deg/s,
      cmd heading: 304.571987 deg,
      new cmd heading: 304.568232 deg.

2025-06-07T23:49:27.789Z,1749340167.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315719 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:27.936Z,1749340167.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777848
2025-06-07T23:49:28.180Z,1749340168.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.31 m.
2025-06-07T23:49:28.183Z,1749340168.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.307526 m,
      nav range: 398.989807 m,
      bearing: 306.492346 deg,
      approach rate: -0.754500 m/s,
      LOS rate: -0.001830 deg/s,
      cmd heading: 304.568244 deg,
      new cmd heading: 304.566072 deg.

2025-06-07T23:49:28.184Z,1749340168.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315681 target range: 434.307526 and range: 437.40 m.
2025-06-07T23:49:28.194Z,1749340168.194 [DAT](INFO): DAT read: 23:49:26.7925 LVL= 20624, 27889, 22578, 32099, AGC= 75, IDX= 220, 0.22, 2.613, 0.829, 2.456, 1.754, PHS= 0.947,-0.878, 0.699, RAW= 142.8,  -9.0, CAL= 149.5, -18.3, ROT=   0.5,  18.3

2025-06-07T23:49:28.195Z,1749340168.195 [DAT](INFO): got valid direction response:
 23:49:26.7925 LVL= 20624, 27889, 22578, 32099, AGC= 75, IDX= 220, 0.22, 2.613, 0.829, 2.456, 1.754, PHS= 0.947,-0.878, 0.699, RAW= 142.8,  -9.0, CAL= 149.5, -18.3, ROT=   0.5,  18.3

2025-06-07T23:49:28.196Z,1749340168.196 [DAT](INFO): DAT read: Bearing   0.5,  18.3 (Local)

2025-06-07T23:49:28.197Z,1749340168.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  18.3 (Local)

2025-06-07T23:49:28.198Z,1749340168.198 [DAT](INFO): DAT read: Range 10 to 50 : 424.3 m  (Round-trip  565.8 ms) speed  0.4 m/s

2025-06-07T23:49:28.199Z,1749340168.199 [DAT](INFO): DAT read: user:1855>

2025-06-07T23:49:28.200Z,1749340168.200 [DAT](INFO): DAT read: Tx time:23:49:27.8726

2025-06-07T23:49:28.200Z,1749340168.200 [DAT](INFO): Ping request sent.
2025-06-07T23:49:28.200Z,1749340168.200 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:28.200Z,1749340168.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:28.201Z,1749340168.201 [DAT](INFO): direction in FSK: [0.949389,0.008285,-0.313992]
2025-06-07T23:49:28.202Z,1749340168.202 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:28.202Z,1749340168.202 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:28.220Z,1749340168.220 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:28.221Z,1749340168.221 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:28.442Z,1749340168.442 [DAT](INFO): DAT read: TxSync time:23:49:27.8718

2025-06-07T23:49:28.603Z,1749340168.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 424.299988 m,
      deltaT: 15.119496 s,
      deltaX: -13.100006 m,
      approachRate: -0.866431 m/s,
      rangeRepo size: 4

2025-06-07T23:49:28.617Z,1749340168.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 421.293457 m,
      bearing: 306.532824 deg,
      lat: 36.905567 deg,
      lon: -122.116317 deg,
      deltaT: 15.119496 s,
      deltaX: -13.014069 m,
      approachRate: -0.860748 m/s,
      posRepo size: 4

2025-06-07T23:49:28.619Z,1749340168.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:28.626Z,1749340168.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 398.701782 m,
      bearing: 306.491624 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001830 deg/s,
      cmd heading: 304.566085 deg,
      new cmd heading: 304.563776 deg.

2025-06-07T23:49:28.627Z,1749340168.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315640 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:29.132Z,1749340169.132 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -726.24,     +      -68.56,  12.04,  0.00
2025-06-07T23:49:29.145Z,1749340169.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:29.148Z,1749340169.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:29.150Z,1749340169.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 398.274628 m,
      bearing: 306.490513 deg,
      approach rate: -0.781148 m/s,
      LOS rate: -0.002034 deg/s,
      cmd heading: 304.563763 deg,
      new cmd heading: 304.560426 deg.

2025-06-07T23:49:29.152Z,1749340169.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315582 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:29.196Z,1749340169.196 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:29.196Z,1749340169.196 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:29.196Z,1749340169.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:29.448Z,1749340169.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247883
2025-06-07T23:49:29.608Z,1749340169.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:29.610Z,1749340169.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 397.950928 m,
      bearing: 306.489746 deg,
      approach rate: -0.703826 m/s,
      LOS rate: -0.001669 deg/s,
      cmd heading: 304.560430 deg,
      new cmd heading: 304.558127 deg.

2025-06-07T23:49:29.612Z,1749340169.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315542 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:29.700Z,1749340169.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500085
2025-06-07T23:49:29.953Z,1749340169.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752770
2025-06-07T23:49:30.022Z,1749340170.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:30.025Z,1749340170.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 397.627838 m,
      bearing: 306.489003 deg,
      approach rate: -0.778897 m/s,
      LOS rate: -0.001793 deg/s,
      cmd heading: 304.558135 deg,
      new cmd heading: 304.555904 deg.

2025-06-07T23:49:30.026Z,1749340170.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315503 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:30.205Z,1749340170.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004297
2025-06-07T23:49:30.426Z,1749340170.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:30.429Z,1749340170.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 397.329285 m,
      bearing: 306.490040 deg,
      approach rate: -0.738833 m/s,
      LOS rate: 0.002567 deg/s,
      cmd heading: 304.555895 deg,
      new cmd heading: 304.559007 deg.

2025-06-07T23:49:30.430Z,1749340170.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315557 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:30.456Z,1749340170.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256013
2025-06-07T23:49:30.708Z,1749340170.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507945
2025-06-07T23:49:30.813Z,1749340170.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:30.816Z,1749340170.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 397.043793 m,
      bearing: 306.491035 deg,
      approach rate: -0.738281 m/s,
      LOS rate: 0.002575 deg/s,
      cmd heading: 304.559009 deg,
      new cmd heading: 304.561997 deg.

2025-06-07T23:49:30.817Z,1749340170.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315609 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:30.961Z,1749340170.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760321
2025-06-07T23:49:31.212Z,1749340171.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012009
2025-06-07T23:49:31.254Z,1749340171.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:31.260Z,1749340171.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:31.263Z,1749340171.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 396.718170 m,
      bearing: 306.492562 deg,
      approach rate: -0.728443 m/s,
      LOS rate: 0.003419 deg/s,
      cmd heading: 304.561987 deg,
      new cmd heading: 304.566572 deg.

2025-06-07T23:49:31.268Z,1749340171.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315690 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:31.464Z,1749340171.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264058
2025-06-07T23:49:31.625Z,1749340171.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:31.627Z,1749340171.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 396.435333 m,
      bearing: 306.493900 deg,
      approach rate: -0.775865 m/s,
      LOS rate: 0.003675 deg/s,
      cmd heading: 304.566577 deg,
      new cmd heading: 304.570596 deg.

2025-06-07T23:49:31.628Z,1749340171.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315760 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:31.717Z,1749340171.717 [DAT](INFO): DAT read: Rx Time:23:49:30.8402

2025-06-07T23:49:31.718Z,1749340171.718 [DAT](INFO): Rx dataTimestamp_ set to:1749340171.717241
2025-06-07T23:49:31.718Z,1749340171.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518224
2025-06-07T23:49:31.969Z,1749340171.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768428
2025-06-07T23:49:32.065Z,1749340172.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.29 m.
2025-06-07T23:49:32.078Z,1749340172.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.293457 m,
      nav range: 396.118500 m,
      bearing: 306.495402 deg,
      approach rate: -0.722973 m/s,
      LOS rate: 0.003430 deg/s,
      cmd heading: 304.570593 deg,
      new cmd heading: 304.575103 deg.

2025-06-07T23:49:32.083Z,1749340172.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315838 target range: 421.293457 and range: 424.30 m.
2025-06-07T23:49:32.226Z,1749340172.226 [DAT](INFO): DAT read: 23:49:30.8402 LVL= 30560, 22513, 29554, 32755, AGC= 70, IDX= 420, 0.10, 0.666,-1.027, 0.526,-0.136, PHS= 0.889,-0.844, 0.659, RAW= 143.0,  -8.7, CAL= 149.6, -17.9, ROT=   0.4,  17.9

2025-06-07T23:49:32.227Z,1749340172.227 [DAT](INFO): got valid direction response:
 23:49:30.8402 LVL= 30560, 22513, 29554, 32755, AGC= 70, IDX= 420, 0.10, 0.666,-1.027, 0.526,-0.136, PHS= 0.889,-0.844, 0.659, RAW= 143.0,  -8.7, CAL= 149.6, -17.9, ROT=   0.4,  17.9

2025-06-07T23:49:32.228Z,1749340172.228 [DAT](INFO): DAT read: Bearing   0.4,  17.9 (Local)

2025-06-07T23:49:32.229Z,1749340172.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  17.9 (Local)

2025-06-07T23:49:32.230Z,1749340172.230 [DAT](INFO): DAT read: Range 10 to 50 : 422.4 m  (Round-trip  563.3 ms) speed  0.0 m/s

2025-06-07T23:49:32.231Z,1749340172.231 [DAT](INFO): DAT read: user:1856>

2025-06-07T23:49:32.232Z,1749340172.232 [DAT](INFO): DAT read: Tx time:23:49:31.9227

2025-06-07T23:49:32.232Z,1749340172.232 [DAT](INFO): Ping request sent.
2025-06-07T23:49:32.232Z,1749340172.232 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:32.232Z,1749340172.232 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:32.233Z,1749340172.233 [DAT](INFO): direction in FSK: [0.951571,0.006643,-0.307357]
2025-06-07T23:49:32.233Z,1749340172.233 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:32.234Z,1749340172.234 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:32.242Z,1749340172.242 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:32.242Z,1749340172.242 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:32.472Z,1749340172.472 [DAT](INFO): DAT read: TxSync time:23:49:31.9219

2025-06-07T23:49:32.515Z,1749340172.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 422.399994 m,
      deltaT: 4.031921 s,
      deltaX: -1.899994 m,
      approachRate: -0.471238 m/s,
      rangeRepo size: 4

2025-06-07T23:49:32.521Z,1749340172.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 419.406921 m,
      bearing: 306.232914 deg,
      lat: 36.905576 deg,
      lon: -122.116317 deg,
      deltaT: 4.031921 s,
      deltaX: -1.886536 m,
      approachRate: -0.467900 m/s,
      posRepo size: 4

2025-06-07T23:49:32.521Z,1749340172.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:32.528Z,1749340172.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 396.363464 m,
      bearing: 306.610361 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003430 deg/s,
      cmd heading: 304.575101 deg,
      new cmd heading: 304.579743 deg.

2025-06-07T23:49:32.529Z,1749340172.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315919 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:32.859Z,1749340172.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:32.862Z,1749340172.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 396.084564 m,
      bearing: 306.612314 deg,
      approach rate: -0.808387 m/s,
      LOS rate: 0.005664 deg/s,
      cmd heading: 304.579746 deg,
      new cmd heading: 304.585608 deg.

2025-06-07T23:49:32.863Z,1749340172.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316022 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:33.266Z,1749340173.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:33.268Z,1749340173.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:33.271Z,1749340173.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 395.780792 m,
      bearing: 306.615080 deg,
      approach rate: -0.742178 m/s,
      LOS rate: 0.006763 deg/s,
      cmd heading: 304.585620 deg,
      new cmd heading: 304.593924 deg.

2025-06-07T23:49:33.272Z,1749340173.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316167 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:33.483Z,1749340173.483 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:33.483Z,1749340173.483 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:33.484Z,1749340173.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:33.651Z,1749340173.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:33.654Z,1749340173.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 395.495636 m,
      bearing: 306.617701 deg,
      approach rate: -0.745187 m/s,
      LOS rate: 0.006855 deg/s,
      cmd heading: 304.593925 deg,
      new cmd heading: 304.601795 deg.

2025-06-07T23:49:33.655Z,1749340173.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316304 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:33.732Z,1749340173.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500256
2025-06-07T23:49:33.984Z,1749340173.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752303
2025-06-07T23:49:34.052Z,1749340174.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:34.055Z,1749340174.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 395.197174 m,
      bearing: 306.620448 deg,
      approach rate: -0.743447 m/s,
      LOS rate: 0.006848 deg/s,
      cmd heading: 304.601794 deg,
      new cmd heading: 304.610041 deg.

2025-06-07T23:49:34.056Z,1749340174.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316448 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:34.237Z,1749340174.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005395
2025-06-07T23:49:34.488Z,1749340174.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256423
2025-06-07T23:49:34.502Z,1749340174.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:34.513Z,1749340174.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 394.871490 m,
      bearing: 306.623133 deg,
      approach rate: -0.724124 m/s,
      LOS rate: 0.005974 deg/s,
      cmd heading: 304.610045 deg,
      new cmd heading: 304.618105 deg.

2025-06-07T23:49:34.514Z,1749340174.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316589 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:34.572Z,1749340174.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:49:34.741Z,1749340174.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508386
2025-06-07T23:49:34.867Z,1749340174.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:34.870Z,1749340174.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 394.596497 m,
      bearing: 306.625387 deg,
      approach rate: -0.753918 m/s,
      LOS rate: 0.006183 deg/s,
      cmd heading: 304.618104 deg,
      new cmd heading: 304.624869 deg.

2025-06-07T23:49:34.871Z,1749340174.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316707 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:34.992Z,1749340174.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760158
2025-06-07T23:49:35.244Z,1749340175.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011997
2025-06-07T23:49:35.307Z,1749340175.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:35.310Z,1749340175.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:35.312Z,1749340175.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 394.275452 m,
      bearing: 306.627283 deg,
      approach rate: -0.725116 m/s,
      LOS rate: 0.004287 deg/s,
      cmd heading: 304.624880 deg,
      new cmd heading: 304.630574 deg.

2025-06-07T23:49:35.313Z,1749340175.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316806 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:35.496Z,1749340175.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264118
2025-06-07T23:49:35.575Z,1749340175.575 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:49:35.677Z,1749340175.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:35.680Z,1749340175.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 394.008789 m,
      bearing: 306.628874 deg,
      approach rate: -0.726320 m/s,
      LOS rate: 0.004335 deg/s,
      cmd heading: 304.630562 deg,
      new cmd heading: 304.635337 deg.

2025-06-07T23:49:35.681Z,1749340175.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316890 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:35.750Z,1749340175.750 [DAT](INFO): DAT read: Rx Time:23:49:34.8849

2025-06-07T23:49:35.751Z,1749340175.751 [DAT](INFO): Rx dataTimestamp_ set to:1749340175.750479
2025-06-07T23:49:35.751Z,1749340175.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519411
2025-06-07T23:49:36.004Z,1749340176.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772106
2025-06-07T23:49:36.076Z,1749340176.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.41 m.
2025-06-07T23:49:36.079Z,1749340176.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 419.406921 m,
      nav range: 393.718903 m,
      bearing: 306.630631 deg,
      approach rate: -0.725358 m/s,
      LOS rate: 0.004401 deg/s,
      cmd heading: 304.635344 deg,
      new cmd heading: 304.640620 deg.

2025-06-07T23:49:36.080Z,1749340176.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316982 target range: 419.406921 and range: 422.40 m.
2025-06-07T23:49:36.264Z,1749340176.264 [DAT](INFO): DAT read: 23:49:34.8849 LVL= 22512, 30705, 22130, 32755, AGC= 72, IDX= 382,-0.13, 2.071, 0.485, 1.965, 1.295, PHS= 0.864,-0.763, 0.667, RAW= 143.6, -10.0, CAL= 150.6, -19.1, ROT= 359.4,  19.1

2025-06-07T23:49:36.265Z,1749340176.265 [DAT](INFO): got valid direction response:
 23:49:34.8849 LVL= 22512, 30705, 22130, 32755, AGC= 72, IDX= 382,-0.13, 2.071, 0.485, 1.965, 1.295, PHS= 0.864,-0.763, 0.667, RAW= 143.6, -10.0, CAL= 150.6, -19.1, ROT= 359.4,  19.1

2025-06-07T23:49:36.266Z,1749340176.266 [DAT](INFO): DAT read: Bearing 359.4,  19.1 (Local)

2025-06-07T23:49:36.267Z,1749340176.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  19.1 (Local)

2025-06-07T23:49:36.268Z,1749340176.268 [DAT](INFO): DAT read: Range 10 to 50 : 418.5 m  (Round-trip  558.1 ms) speed  0.4 m/s

2025-06-07T23:49:36.269Z,1749340176.269 [DAT](INFO): DAT read: user:1857>

2025-06-07T23:49:36.270Z,1749340176.270 [DAT](INFO): DAT read: Tx time:23:49:35.9727

2025-06-07T23:49:36.270Z,1749340176.270 [DAT](INFO): Ping request sent.
2025-06-07T23:49:36.270Z,1749340176.270 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:36.270Z,1749340176.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:36.277Z,1749340176.277 [DAT](INFO): direction in FSK: [0.944897,-0.009895,-0.327218]
2025-06-07T23:49:36.278Z,1749340176.278 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:36.278Z,1749340176.278 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:36.281Z,1749340176.281 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:36.281Z,1749340176.281 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:36.510Z,1749340176.510 [DAT](INFO): DAT read: TxSync time:23:49:35.9719

2025-06-07T23:49:36.611Z,1749340176.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 418.500000 m,
      deltaT: 4.036035 s,
      deltaX: -3.899994 m,
      approachRate: -0.966293 m/s,
      rangeRepo size: 4

2025-06-07T23:49:36.617Z,1749340176.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 415.535736 m,
      bearing: 305.282171 deg,
      lat: 36.905576 deg,
      lon: -122.116326 deg,
      deltaT: 4.036035 s,
      deltaX: -3.871185 m,
      approachRate: -0.959156 m/s,
      posRepo size: 4

2025-06-07T23:49:36.618Z,1749340176.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:36.624Z,1749340176.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 393.986511 m,
      bearing: 306.563062 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004401 deg/s,
      cmd heading: 304.640616 deg,
      new cmd heading: 304.647661 deg.

2025-06-07T23:49:36.625Z,1749340176.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317105 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:36.954Z,1749340176.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:36.959Z,1749340176.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 393.723755 m,
      bearing: 306.564929 deg,
      approach rate: -0.763951 m/s,
      LOS rate: 0.005432 deg/s,
      cmd heading: 304.647665 deg,
      new cmd heading: 304.653270 deg.

2025-06-07T23:49:36.961Z,1749340176.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317203 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:37.382Z,1749340177.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:37.384Z,1749340177.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:37.387Z,1749340177.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 393.402466 m,
      bearing: 306.566896 deg,
      approach rate: -0.746448 m/s,
      LOS rate: 0.004574 deg/s,
      cmd heading: 304.653266 deg,
      new cmd heading: 304.659172 deg.

2025-06-07T23:49:37.388Z,1749340177.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317306 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:37.516Z,1749340177.516 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:37.516Z,1749340177.516 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:37.516Z,1749340177.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:37.768Z,1749340177.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498054
2025-06-07T23:49:37.778Z,1749340177.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:37.781Z,1749340177.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 393.111176 m,
      bearing: 306.568668 deg,
      approach rate: -0.739984 m/s,
      LOS rate: 0.004505 deg/s,
      cmd heading: 304.659167 deg,
      new cmd heading: 304.664488 deg.

2025-06-07T23:49:37.782Z,1749340177.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317399 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:38.020Z,1749340178.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750164
2025-06-07T23:49:38.244Z,1749340178.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:38.246Z,1749340178.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 392.809753 m,
      bearing: 306.570477 deg,
      approach rate: -0.647230 m/s,
      LOS rate: 0.003888 deg/s,
      cmd heading: 304.664495 deg,
      new cmd heading: 304.669926 deg.

2025-06-07T23:49:38.252Z,1749340178.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317493 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:38.272Z,1749340178.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002074
2025-06-07T23:49:38.524Z,1749340178.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254189
2025-06-07T23:49:38.651Z,1749340178.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:38.653Z,1749340178.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 392.467621 m,
      bearing: 306.572130 deg,
      approach rate: -0.840837 m/s,
      LOS rate: 0.004066 deg/s,
      cmd heading: 304.669932 deg,
      new cmd heading: 304.674895 deg.

2025-06-07T23:49:38.654Z,1749340178.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317580 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:38.776Z,1749340178.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505870
2025-06-07T23:49:39.028Z,1749340179.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757937
2025-06-07T23:49:39.057Z,1749340179.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:39.060Z,1749340179.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 392.166504 m,
      bearing: 306.573553 deg,
      approach rate: -0.740790 m/s,
      LOS rate: 0.003504 deg/s,
      cmd heading: 304.674904 deg,
      new cmd heading: 304.679177 deg.

2025-06-07T23:49:39.061Z,1749340179.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317655 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:39.280Z,1749340179.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010049
2025-06-07T23:49:39.440Z,1749340179.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:39.442Z,1749340179.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:39.449Z,1749340179.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 391.883972 m,
      bearing: 306.574326 deg,
      approach rate: -0.734285 m/s,
      LOS rate: 0.002010 deg/s,
      cmd heading: 304.679166 deg,
      new cmd heading: 304.681486 deg.

2025-06-07T23:49:39.452Z,1749340179.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317695 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:39.533Z,1749340179.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263182
2025-06-07T23:49:39.784Z,1749340179.784 [DAT](INFO): DAT read: Rx Time:23:49:38.9316

2025-06-07T23:49:39.785Z,1749340179.785 [DAT](INFO): Rx dataTimestamp_ set to:1749340179.784255
2025-06-07T23:49:39.785Z,1749340179.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514883
2025-06-07T23:49:39.809Z,1749340179.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.54 m.
2025-06-07T23:49:39.812Z,1749340179.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.535736 m,
      nav range: 391.608093 m,
      bearing: 306.575061 deg,
      approach rate: -0.751188 m/s,
      LOS rate: 0.002004 deg/s,
      cmd heading: 304.681488 deg,
      new cmd heading: 304.683697 deg.

2025-06-07T23:49:39.813Z,1749340179.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317734 target range: 415.535736 and range: 418.50 m.
2025-06-07T23:49:40.036Z,1749340180.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766025
2025-06-07T23:49:40.294Z,1749340180.294 [DAT](INFO): DAT read: 23:49:38.9316 LVL= 23824, 32753, 25138, 32755, AGC= 67, IDX= 412, 0.22,-1.316,-2.807,-1.408,-2.213, PHS= 0.984,-0.547, 0.802, RAW= 143.7, -16.8, CAL= 149.8, -24.8, ROT=   0.2,  24.8

2025-06-07T23:49:40.295Z,1749340180.295 [DAT](INFO): got valid direction response:
 23:49:38.9316 LVL= 23824, 32753, 25138, 32755, AGC= 67, IDX= 412, 0.22,-1.316,-2.807,-1.408,-2.213, PHS= 0.984,-0.547, 0.802, RAW= 143.7, -16.8, CAL= 149.8, -24.8, ROT=   0.2,  24.8

2025-06-07T23:49:40.296Z,1749340180.296 [DAT](INFO): DAT read: Bearing   0.2,  24.8 (Local)

2025-06-07T23:49:40.297Z,1749340180.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  24.8 (Local)

2025-06-07T23:49:40.298Z,1749340180.298 [DAT](INFO): DAT read: Range 10 to 50 : 416.0 m  (Round-trip  554.7 ms) speed  0.8 m/s

2025-06-07T23:49:40.299Z,1749340180.299 [DAT](INFO): DAT read: user:1858>

2025-06-07T23:49:40.300Z,1749340180.300 [DAT](INFO): DAT read: Tx time:23:49:40.0227

2025-06-07T23:49:40.300Z,1749340180.300 [DAT](INFO): Ping request sent.
2025-06-07T23:49:40.300Z,1749340180.300 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:40.300Z,1749340180.300 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:40.301Z,1749340180.301 [DAT](INFO): direction in FSK: [0.907772,0.003169,-0.419452]
2025-06-07T23:49:40.301Z,1749340180.301 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:40.302Z,1749340180.302 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:40.309Z,1749340180.309 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:40.309Z,1749340180.309 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:40.347Z,1749340180.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 416.000000 m,
      deltaT: 4.031918 s,
      deltaX: -2.500000 m,
      approachRate: -0.620052 m/s,
      rangeRepo size: 4

2025-06-07T23:49:40.361Z,1749340180.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 413.054077 m,
      bearing: 306.742561 deg,
      lat: 36.905576 deg,
      lon: -122.116326 deg,
      deltaT: 4.031918 s,
      deltaX: -2.481659 m,
      approachRate: -0.615503 m/s,
      posRepo size: 4

2025-06-07T23:49:40.362Z,1749340180.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:40.369Z,1749340180.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 391.257721 m,
      bearing: 306.575978 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002004 deg/s,
      cmd heading: 304.683701 deg,
      new cmd heading: 304.686930 deg.

2025-06-07T23:49:40.370Z,1749340180.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317790 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:40.540Z,1749340180.540 [DAT](INFO): DAT read: TxSync time:23:49:40.0219

2025-06-07T23:49:40.685Z,1749340180.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:40.687Z,1749340180.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 390.954926 m,
      bearing: 306.575720 deg,
      approach rate: -0.894466 m/s,
      LOS rate: -0.000764 deg/s,
      cmd heading: 304.686925 deg,
      new cmd heading: 304.686150 deg.

2025-06-07T23:49:40.688Z,1749340180.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317777 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:41.059Z,1749340181.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:41.062Z,1749340181.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 390.674591 m,
      bearing: 306.575418 deg,
      approach rate: -0.749387 m/s,
      LOS rate: -0.000807 deg/s,
      cmd heading: 304.686160 deg,
      new cmd heading: 304.685255 deg.

2025-06-07T23:49:41.063Z,1749340181.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317761 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:41.494Z,1749340181.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:41.496Z,1749340181.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:41.499Z,1749340181.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 390.347351 m,
      bearing: 306.574810 deg,
      approach rate: -0.748134 m/s,
      LOS rate: -0.001392 deg/s,
      cmd heading: 304.685259 deg,
      new cmd heading: 304.683432 deg.

2025-06-07T23:49:41.500Z,1749340181.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317729 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:41.549Z,1749340181.549 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:41.549Z,1749340181.549 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:41.549Z,1749340181.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:41.800Z,1749340181.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500134
2025-06-07T23:49:41.942Z,1749340181.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:41.947Z,1749340181.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 390.013580 m,
      bearing: 306.574262 deg,
      approach rate: -0.749385 m/s,
      LOS rate: -0.001232 deg/s,
      cmd heading: 304.683428 deg,
      new cmd heading: 304.681782 deg.

2025-06-07T23:49:41.949Z,1749340181.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317700 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:42.053Z,1749340182.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752924
2025-06-07T23:49:42.304Z,1749340182.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004170
2025-06-07T23:49:42.371Z,1749340182.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:42.390Z,1749340182.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 389.691071 m,
      bearing: 306.572968 deg,
      approach rate: -0.751092 m/s,
      LOS rate: -0.003016 deg/s,
      cmd heading: 304.681789 deg,
      new cmd heading: 304.677904 deg.

2025-06-07T23:49:42.391Z,1749340182.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317633 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:42.556Z,1749340182.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256167
2025-06-07T23:49:42.808Z,1749340182.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508232
2025-06-07T23:49:42.812Z,1749340182.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:42.814Z,1749340182.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 389.361053 m,
      bearing: 306.571647 deg,
      approach rate: -0.748357 m/s,
      LOS rate: -0.002998 deg/s,
      cmd heading: 304.677909 deg,
      new cmd heading: 304.673943 deg.

2025-06-07T23:49:42.816Z,1749340182.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317564 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:43.060Z,1749340183.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760161
2025-06-07T23:49:43.205Z,1749340183.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:43.208Z,1749340183.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 389.064941 m,
      bearing: 306.570457 deg,
      approach rate: -0.752929 m/s,
      LOS rate: -0.003027 deg/s,
      cmd heading: 304.673948 deg,
      new cmd heading: 304.670377 deg.

2025-06-07T23:49:43.209Z,1749340183.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317501 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:43.313Z,1749340183.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012842
2025-06-07T23:49:43.564Z,1749340183.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264012
2025-06-07T23:49:43.646Z,1749340183.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:43.648Z,1749340183.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:43.651Z,1749340183.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 388.731537 m,
      bearing: 306.568342 deg,
      approach rate: -0.752387 m/s,
      LOS rate: -0.004777 deg/s,
      cmd heading: 304.670369 deg,
      new cmd heading: 304.664018 deg.

2025-06-07T23:49:43.652Z,1749340183.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317390 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:43.816Z,1749340183.816 [DAT](INFO): DAT read: Rx Time:23:49:42.9787

2025-06-07T23:49:43.817Z,1749340183.817 [DAT](INFO): Rx dataTimestamp_ set to:1749340183.816434
2025-06-07T23:49:43.817Z,1749340183.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517271
2025-06-07T23:49:44.026Z,1749340184.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:44.029Z,1749340184.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 388.446838 m,
      bearing: 306.566518 deg,
      approach rate: -0.753372 m/s,
      LOS rate: -0.004831 deg/s,
      cmd heading: 304.664030 deg,
      new cmd heading: 304.658554 deg.

2025-06-07T23:49:44.030Z,1749340184.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317295 target range: 413.054077 and range: 416.00 m.
2025-06-07T23:49:44.069Z,1749340184.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768558
2025-06-07T23:49:44.326Z,1749340184.326 [DAT](INFO): DAT read: Range 10 to 50 : 413.7 m  (Round-trip  551.7 ms) speed  0.4 m/s

2025-06-07T23:49:44.329Z,1749340184.329 [DAT](INFO): DAT read: user:1859>

2025-06-07T23:49:44.330Z,1749340184.330 [DAT](INFO): DAT read: Tx time:23:49:44.0728

2025-06-07T23:49:44.330Z,1749340184.330 [DAT](INFO): Ping request sent.
2025-06-07T23:49:44.330Z,1749340184.330 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:44.330Z,1749340184.330 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:49:44.331Z,1749340184.331 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:44.331Z,1749340184.331 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:44.508Z,1749340184.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 413.700012 m,
      deltaT: 4.033454 s,
      deltaX: -2.299988 m,
      approachRate: -0.570228 m/s,
      rangeRepo size: 4

2025-06-07T23:49:44.509Z,1749340184.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:44.516Z,1749340184.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 388.097260 m,
      bearing: 306.563957 deg,
      approach rate: -0.725665 m/s,
      LOS rate: -0.005321 deg/s,
      cmd heading: 304.658566 deg,
      new cmd heading: 304.650876 deg.

2025-06-07T23:49:44.517Z,1749340184.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317161 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:44.573Z,1749340184.573 [DAT](INFO): DAT read: TxSync time:23:49:44.0720

2025-06-07T23:49:44.850Z,1749340184.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:44.853Z,1749340184.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 387.847015 m,
      bearing: 306.562114 deg,
      approach rate: -0.731216 m/s,
      LOS rate: -0.005389 deg/s,
      cmd heading: 304.650889 deg,
      new cmd heading: 304.645356 deg.

2025-06-07T23:49:44.854Z,1749340184.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317064 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:45.231Z,1749340185.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:45.234Z,1749340185.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 387.548798 m,
      bearing: 306.559889 deg,
      approach rate: -0.782405 m/s,
      LOS rate: -0.005843 deg/s,
      cmd heading: 304.645343 deg,
      new cmd heading: 304.638662 deg.

2025-06-07T23:49:45.235Z,1749340185.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316947 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:45.654Z,1749340185.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:45.657Z,1749340185.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:45.660Z,1749340185.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 387.231659 m,
      bearing: 306.557428 deg,
      approach rate: -0.744899 m/s,
      LOS rate: -0.005784 deg/s,
      cmd heading: 304.638649 deg,
      new cmd heading: 304.631261 deg.

2025-06-07T23:49:45.661Z,1749340185.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316819 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:45.832Z,1749340185.832 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:45.832Z,1749340185.832 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:45.832Z,1749340185.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:46.042Z,1749340186.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:46.045Z,1749340186.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 386.951141 m,
      bearing: 306.555205 deg,
      approach rate: -0.727544 m/s,
      LOS rate: -0.005769 deg/s,
      cmd heading: 304.631273 deg,
      new cmd heading: 304.624600 deg.

2025-06-07T23:49:46.046Z,1749340186.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316702 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:46.085Z,1749340186.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754290
2025-06-07T23:49:46.338Z,1749340186.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007638
2025-06-07T23:49:46.470Z,1749340186.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:46.472Z,1749340186.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 386.623657 m,
      bearing: 306.552130 deg,
      approach rate: -0.766751 m/s,
      LOS rate: -0.007206 deg/s,
      cmd heading: 304.624606 deg,
      new cmd heading: 304.615373 deg.

2025-06-07T23:49:46.473Z,1749340186.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316541 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:46.588Z,1749340186.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258153
2025-06-07T23:49:46.840Z,1749340186.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510129
2025-06-07T23:49:46.849Z,1749340186.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:46.852Z,1749340186.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 386.341492 m,
      bearing: 306.549443 deg,
      approach rate: -0.743415 m/s,
      LOS rate: -0.007084 deg/s,
      cmd heading: 304.615372 deg,
      new cmd heading: 304.607306 deg.

2025-06-07T23:49:46.853Z,1749340186.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316401 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:47.092Z,1749340187.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762072
2025-06-07T23:49:47.246Z,1749340187.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:47.249Z,1749340187.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 386.044037 m,
      bearing: 306.546569 deg,
      approach rate: -0.749874 m/s,
      LOS rate: -0.007251 deg/s,
      cmd heading: 304.607312 deg,
      new cmd heading: 304.598683 deg.

2025-06-07T23:49:47.250Z,1749340187.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316250 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:47.347Z,1749340187.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015898
2025-06-07T23:49:47.596Z,1749340187.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265951
2025-06-07T23:49:47.679Z,1749340187.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:47.681Z,1749340187.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:47.684Z,1749340187.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 385.724243 m,
      bearing: 306.545686 deg,
      approach rate: -0.734472 m/s,
      LOS rate: -0.002031 deg/s,
      cmd heading: 304.598679 deg,
      new cmd heading: 304.596027 deg.

2025-06-07T23:49:47.685Z,1749340187.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316204 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:47.849Z,1749340187.849 [DAT](INFO): DAT read: Rx Time:23:49:47.0237

2025-06-07T23:49:47.850Z,1749340187.850 [DAT](INFO): Rx dataTimestamp_ set to:1749340187.849295
2025-06-07T23:49:47.850Z,1749340187.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519958
2025-06-07T23:49:48.079Z,1749340188.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.05 m.
2025-06-07T23:49:48.082Z,1749340188.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.054077 m,
      nav range: 385.445374 m,
      bearing: 306.544920 deg,
      approach rate: -0.701158 m/s,
      LOS rate: -0.001927 deg/s,
      cmd heading: 304.596029 deg,
      new cmd heading: 304.593729 deg.

2025-06-07T23:49:48.083Z,1749340188.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316164 target range: 413.054077 and range: 413.70 m.
2025-06-07T23:49:48.101Z,1749340188.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771208
2025-06-07T23:49:48.376Z,1749340188.376 [DAT](INFO): DAT read: 23:49:47.0237 LVL= 24160, 32753, 22770, 32755, AGC= 69, IDX= 393, 0.11,-2.773, 1.898,-2.926, 2.664, PHS= 0.934,-0.720, 0.690, RAW= 142.2, -11.7, CAL= 149.1, -20.9, ROT=   0.9,  20.9

2025-06-07T23:49:48.379Z,1749340188.379 [DAT](INFO): got valid direction response:
 23:49:47.0237 LVL= 24160, 32753, 22770, 32755, AGC= 69, IDX= 393, 0.11,-2.773, 1.898,-2.926, 2.664, PHS= 0.934,-0.720, 0.690, RAW= 142.2, -11.7, CAL= 149.1, -20.9, ROT=   0.9,  20.9

2025-06-07T23:49:48.382Z,1749340188.382 [DAT](INFO): DAT read: Bearing   0.9,  20.9 (Local)

2025-06-07T23:49:48.385Z,1749340188.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  20.9 (Local)

2025-06-07T23:49:48.389Z,1749340188.389 [DAT](INFO): DAT read: Range 10 to 50 : 410.0 m  (Round-trip  546.7 ms) speed  0.4 m/s

2025-06-07T23:49:48.390Z,1749340188.390 [DAT](INFO): DAT read: user:1860>

2025-06-07T23:49:48.391Z,1749340188.391 [DAT](INFO): DAT read: Tx time:23:49:48.1228

2025-06-07T23:49:48.391Z,1749340188.391 [DAT](INFO): Ping request sent.
2025-06-07T23:49:48.391Z,1749340188.391 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:48.392Z,1749340188.392 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:48.393Z,1749340188.393 [DAT](INFO): direction in FSK: [0.934089,0.014674,-0.356738]
2025-06-07T23:49:48.393Z,1749340188.393 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:48.393Z,1749340188.393 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:48.396Z,1749340188.396 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:48.397Z,1749340188.397 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:48.573Z,1749340188.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 410.000000 m,
      deltaT: 4.031505 s,
      deltaX: -3.700012 m,
      approachRate: -0.917774 m/s,
      rangeRepo size: 4

2025-06-07T23:49:48.575Z,1749340188.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 407.102203 m,
      bearing: 307.373846 deg,
      lat: 36.905576 deg,
      lon: -122.116380 deg,
      deltaT: 8.064959 s,
      deltaX: -5.951874 m,
      approachRate: -0.737992 m/s,
      posRepo size: 4

2025-06-07T23:49:48.584Z,1749340188.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:48.586Z,1749340188.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 388.965790 m,
      bearing: 306.123600 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001927 deg/s,
      cmd heading: 304.593734 deg,
      new cmd heading: 304.590914 deg.

2025-06-07T23:49:48.592Z,1749340188.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316114 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:48.604Z,1749340188.604 [DAT](INFO): DAT read: TxSync time:23:49:48.1220

2025-06-07T23:49:48.878Z,1749340188.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:48.881Z,1749340188.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 388.727875 m,
      bearing: 306.123916 deg,
      approach rate: -0.764948 m/s,
      LOS rate: 0.001016 deg/s,
      cmd heading: 304.590920 deg,
      new cmd heading: 304.591868 deg.

2025-06-07T23:49:48.882Z,1749340188.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316131 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:49.277Z,1749340189.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:49.280Z,1749340189.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 388.437683 m,
      bearing: 306.124381 deg,
      approach rate: -0.727135 m/s,
      LOS rate: 0.001168 deg/s,
      cmd heading: 304.591876 deg,
      new cmd heading: 304.593274 deg.

2025-06-07T23:49:49.281Z,1749340189.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316155 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:49.705Z,1749340189.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:49.708Z,1749340189.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:49.710Z,1749340189.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 388.123596 m,
      bearing: 306.125965 deg,
      approach rate: -0.729615 m/s,
      LOS rate: 0.003681 deg/s,
      cmd heading: 304.593270 deg,
      new cmd heading: 304.598024 deg.

2025-06-07T23:49:49.712Z,1749340189.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316238 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:49.864Z,1749340189.864 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:49.864Z,1749340189.864 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:49.864Z,1749340189.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:50.093Z,1749340190.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:50.095Z,1749340190.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 387.841827 m,
      bearing: 306.127406 deg,
      approach rate: -0.731295 m/s,
      LOS rate: 0.003744 deg/s,
      cmd heading: 304.598023 deg,
      new cmd heading: 304.602351 deg.

2025-06-07T23:49:50.096Z,1749340190.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316314 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:50.116Z,1749340190.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724560
2025-06-07T23:49:50.371Z,1749340190.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978937
2025-06-07T23:49:50.513Z,1749340190.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:50.516Z,1749340190.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 387.534515 m,
      bearing: 306.129992 deg,
      approach rate: -0.730822 m/s,
      LOS rate: 0.006155 deg/s,
      cmd heading: 304.602340 deg,
      new cmd heading: 304.610105 deg.

2025-06-07T23:49:50.517Z,1749340190.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316449 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:50.621Z,1749340190.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229466
2025-06-07T23:49:50.872Z,1749340190.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480756
2025-06-07T23:49:50.905Z,1749340190.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:50.907Z,1749340190.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 387.248199 m,
      bearing: 306.132394 deg,
      approach rate: -0.731387 m/s,
      LOS rate: 0.006139 deg/s,
      cmd heading: 304.610099 deg,
      new cmd heading: 304.617309 deg.

2025-06-07T23:49:50.908Z,1749340190.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316575 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:51.125Z,1749340191.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733778
2025-06-07T23:49:51.329Z,1749340191.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:51.334Z,1749340191.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 386.938141 m,
      bearing: 306.135012 deg,
      approach rate: -0.730905 m/s,
      LOS rate: 0.006176 deg/s,
      cmd heading: 304.617312 deg,
      new cmd heading: 304.625172 deg.

2025-06-07T23:49:51.337Z,1749340191.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316712 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:51.379Z,1749340191.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987089
2025-06-07T23:49:51.628Z,1749340191.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236546
2025-06-07T23:49:51.867Z,1749340191.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:51.873Z,1749340191.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:51.880Z,1749340191.880 [DAT](INFO): DAT read: Rx Time:23:49:51.0703

2025-06-07T23:49:51.881Z,1749340191.881 [DAT](INFO): Rx dataTimestamp_ set to:1749340191.880651
2025-06-07T23:49:51.881Z,1749340191.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490042
2025-06-07T23:49:51.884Z,1749340191.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 386.544220 m,
      bearing: 306.138335 deg,
      approach rate: -0.723623 m/s,
      LOS rate: 0.006112 deg/s,
      cmd heading: 304.625180 deg,
      new cmd heading: 304.635161 deg.

2025-06-07T23:49:51.885Z,1749340191.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316886 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:52.133Z,1749340192.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741250
2025-06-07T23:49:52.361Z,1749340192.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.10 m.
2025-06-07T23:49:52.369Z,1749340192.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.102203 m,
      nav range: 386.211945 m,
      bearing: 306.141198 deg,
      approach rate: -0.681224 m/s,
      LOS rate: 0.005873 deg/s,
      cmd heading: 304.635152 deg,
      new cmd heading: 304.643747 deg.

2025-06-07T23:49:52.370Z,1749340192.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317037 target range: 407.102203 and range: 410.00 m.
2025-06-07T23:49:52.406Z,1749340192.406 [DAT](INFO): DAT read: 23:49:51.0703 LVL= 23840, 27777, 24146, 32755, AGC= 69, IDX= 407,-0.13,-1.817, 3.005,-1.975,-2.644, PHS= 0.916,-0.587, 0.666, RAW= 141.1, -14.2, CAL= 147.4, -23.0, ROT=   2.6,  23.0

2025-06-07T23:49:52.418Z,1749340192.418 [DAT](INFO): got valid direction response:
 23:49:51.0703 LVL= 23840, 27777, 24146, 32755, AGC= 69, IDX= 407,-0.13,-1.817, 3.005,-1.975,-2.644, PHS= 0.916,-0.587, 0.666, RAW= 141.1, -14.2, CAL= 147.4, -23.0, ROT=   2.6,  23.0

2025-06-07T23:49:52.430Z,1749340192.430 [DAT](INFO): DAT read: Bearing   2.6,  23.0 (Local)

2025-06-07T23:49:52.431Z,1749340192.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,  23.0 (Local)

2025-06-07T23:49:52.450Z,1749340192.450 [DAT](INFO): DAT read: Range 10 to 50 : 407.4 m  (Round-trip  543.3 ms) speed  0.8 m/s

2025-06-07T23:49:52.451Z,1749340192.451 [DAT](INFO): DAT read: user:1861>

2025-06-07T23:49:52.462Z,1749340192.462 [DAT](INFO): DAT read: Tx time:23:49:52.1728

2025-06-07T23:49:52.488Z,1749340192.488 [DAT](INFO): Ping request sent.
2025-06-07T23:49:52.488Z,1749340192.488 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:49:52.488Z,1749340192.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:49:52.490Z,1749340192.490 [DAT](INFO): direction in FSK: [0.919557,0.041757,-0.390731]
2025-06-07T23:49:52.490Z,1749340192.490 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:52.491Z,1749340192.491 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:52.525Z,1749340192.525 [DAT](INFO): publishing transmit ping time
2025-06-07T23:49:52.526Z,1749340192.526 [DAT](INFO): publishing direction and range info
2025-06-07T23:49:52.637Z,1749340192.637 [DAT](INFO): DAT read: TxSync time:23:49:52.1721

2025-06-07T23:49:52.802Z,1749340192.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 407.399994 m,
      deltaT: 4.032462 s,
      deltaX: -2.600006 m,
      approachRate: -0.644769 m/s,
      rangeRepo size: 4

2025-06-07T23:49:52.808Z,1749340192.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 404.503540 m,
      bearing: 308.462305 deg,
      lat: 36.905584 deg,
      lon: -122.116380 deg,
      deltaT: 4.032462 s,
      deltaX: -2.598663 m,
      approachRate: -0.644436 m/s,
      posRepo size: 4

2025-06-07T23:49:52.809Z,1749340192.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:52.816Z,1749340192.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 386.397797 m,
      bearing: 306.251409 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005873 deg/s,
      cmd heading: 304.643758 deg,
      new cmd heading: 304.651519 deg.

2025-06-07T23:49:52.817Z,1749340192.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317172 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:53.142Z,1749340193.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:53.145Z,1749340193.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 386.142670 m,
      bearing: 306.253728 deg,
      approach rate: -0.749364 m/s,
      LOS rate: 0.006817 deg/s,
      cmd heading: 304.651517 deg,
      new cmd heading: 304.658481 deg.

2025-06-07T23:49:53.146Z,1749340193.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317294 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:53.570Z,1749340193.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:53.572Z,1749340193.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 385.827423 m,
      bearing: 306.256162 deg,
      approach rate: -0.736798 m/s,
      LOS rate: 0.005693 deg/s,
      cmd heading: 304.658484 deg,
      new cmd heading: 304.665792 deg.

2025-06-07T23:49:53.573Z,1749340193.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317421 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:53.931Z,1749340193.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:53.933Z,1749340193.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:53.936Z,1749340193.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 385.559601 m,
      bearing: 306.258282 deg,
      approach rate: -0.737065 m/s,
      LOS rate: 0.005837 deg/s,
      cmd heading: 304.665779 deg,
      new cmd heading: 304.672142 deg.

2025-06-07T23:49:53.937Z,1749340193.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317532 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:54.148Z,1749340194.148 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:49:54.148Z,1749340194.148 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:49:54.148Z,1749340194.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:49:54.331Z,1749340194.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:54.334Z,1749340194.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 385.266266 m,
      bearing: 306.260621 deg,
      approach rate: -0.736965 m/s,
      LOS rate: 0.005883 deg/s,
      cmd heading: 304.672145 deg,
      new cmd heading: 304.679170 deg.

2025-06-07T23:49:54.335Z,1749340194.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317655 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:54.402Z,1749340194.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.913471
2025-06-07T23:49:54.652Z,1749340194.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.164254
2025-06-07T23:49:54.779Z,1749340194.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:54.782Z,1749340194.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 384.934265 m,
      bearing: 306.261950 deg,
      approach rate: -0.741609 m/s,
      LOS rate: 0.002971 deg/s,
      cmd heading: 304.679166 deg,
      new cmd heading: 304.683156 deg.

2025-06-07T23:49:54.783Z,1749340194.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317724 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:54.904Z,1749340194.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.416406
2025-06-07T23:49:55.144Z,1749340195.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:55.147Z,1749340195.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 384.672668 m,
      bearing: 306.263092 deg,
      approach rate: -0.715688 m/s,
      LOS rate: 0.003126 deg/s,
      cmd heading: 304.683155 deg,
      new cmd heading: 304.686583 deg.

2025-06-07T23:49:55.148Z,1749340195.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317784 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:55.156Z,1749340195.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.668442
2025-06-07T23:49:55.408Z,1749340195.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.920293
2025-06-07T23:49:55.563Z,1749340195.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:55.566Z,1749340195.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 384.351624 m,
      bearing: 306.263154 deg,
      approach rate: -0.767213 m/s,
      LOS rate: 0.000148 deg/s,
      cmd heading: 304.686570 deg,
      new cmd heading: 304.686756 deg.

2025-06-07T23:49:55.567Z,1749340195.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317787 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:55.661Z,1749340195.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.173068
2025-06-07T23:49:55.912Z,1749340195.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.424380
2025-06-07T23:49:55.949Z,1749340195.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:55.952Z,1749340195.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:55.957Z,1749340195.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 384.065704 m,
      bearing: 306.263329 deg,
      approach rate: -0.734278 m/s,
      LOS rate: 0.000451 deg/s,
      cmd heading: 304.686761 deg,
      new cmd heading: 304.687288 deg.

2025-06-07T23:49:55.958Z,1749340195.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317796 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:56.164Z,1749340196.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.676285
2025-06-07T23:49:56.349Z,1749340196.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:56.352Z,1749340196.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 383.766632 m,
      bearing: 306.263672 deg,
      approach rate: -0.752870 m/s,
      LOS rate: 0.000863 deg/s,
      cmd heading: 304.687280 deg,
      new cmd heading: 304.688309 deg.

2025-06-07T23:49:56.353Z,1749340196.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317814 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:56.416Z,1749340196.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.928597
2025-06-07T23:49:56.668Z,1749340196.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.180372
2025-06-07T23:49:56.774Z,1749340196.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:56.797Z,1749340196.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 383.446808 m,
      bearing: 306.262706 deg,
      approach rate: -0.752795 m/s,
      LOS rate: -0.002274 deg/s,
      cmd heading: 304.688318 deg,
      new cmd heading: 304.685420 deg.

2025-06-07T23:49:56.798Z,1749340196.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317764 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:56.920Z,1749340196.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.432319
2025-06-07T23:49:57.163Z,1749340197.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:57.170Z,1749340197.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 383.163544 m,
      bearing: 306.261995 deg,
      approach rate: -0.728787 m/s,
      LOS rate: -0.001833 deg/s,
      cmd heading: 304.685422 deg,
      new cmd heading: 304.683286 deg.

2025-06-07T23:49:57.171Z,1749340197.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317727 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:57.172Z,1749340197.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.684461
2025-06-07T23:49:57.429Z,1749340197.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.940162
2025-06-07T23:49:57.576Z,1749340197.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:57.579Z,1749340197.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 382.845215 m,
      bearing: 306.260649 deg,
      approach rate: -0.770065 m/s,
      LOS rate: -0.003258 deg/s,
      cmd heading: 304.683291 deg,
      new cmd heading: 304.679251 deg.

2025-06-07T23:49:57.580Z,1749340197.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317656 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:57.676Z,1749340197.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.188449
2025-06-07T23:49:57.929Z,1749340197.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.440686
2025-06-07T23:49:58.011Z,1749340198.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:49:58.014Z,1749340198.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:58.021Z,1749340198.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 382.543701 m,
      bearing: 306.259489 deg,
      approach rate: -0.689322 m/s,
      LOS rate: -0.002653 deg/s,
      cmd heading: 304.679248 deg,
      new cmd heading: 304.675767 deg.

2025-06-07T23:49:58.022Z,1749340198.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317595 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:58.181Z,1749340198.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.693572
2025-06-07T23:49:58.432Z,1749340198.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.944377
2025-06-07T23:49:58.438Z,1749340198.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:58.440Z,1749340198.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 382.200531 m,
      bearing: 306.258281 deg,
      approach rate: -0.809562 m/s,
      LOS rate: -0.002853 deg/s,
      cmd heading: 304.675778 deg,
      new cmd heading: 304.672151 deg.

2025-06-07T23:49:58.441Z,1749340198.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317532 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:58.684Z,1749340198.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.196619
2025-06-07T23:49:58.875Z,1749340198.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:58.877Z,1749340198.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 381.875305 m,
      bearing: 306.256969 deg,
      approach rate: -0.744105 m/s,
      LOS rate: -0.003006 deg/s,
      cmd heading: 304.672145 deg,
      new cmd heading: 304.668203 deg.

2025-06-07T23:49:58.878Z,1749340198.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317463 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:58.936Z,1749340198.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.448609
2025-06-07T23:49:59.188Z,1749340199.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.700243
2025-06-07T23:49:59.300Z,1749340199.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:59.302Z,1749340199.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 381.560272 m,
      bearing: 306.255726 deg,
      approach rate: -0.741633 m/s,
      LOS rate: -0.002928 deg/s,
      cmd heading: 304.668210 deg,
      new cmd heading: 304.664479 deg.

2025-06-07T23:49:59.304Z,1749340199.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317398 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:59.443Z,1749340199.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.955399
2025-06-07T23:49:59.692Z,1749340199.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.204458
2025-06-07T23:49:59.768Z,1749340199.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:49:59.771Z,1749340199.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 381.225433 m,
      bearing: 306.254396 deg,
      approach rate: -0.714719 m/s,
      LOS rate: -0.002841 deg/s,
      cmd heading: 304.664467 deg,
      new cmd heading: 304.660474 deg.

2025-06-07T23:49:59.776Z,1749340199.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317328 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:49:59.945Z,1749340199.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.456748
2025-06-07T23:50:00.196Z,1749340200.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.708438
2025-06-07T23:50:00.241Z,1749340200.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:00.247Z,1749340200.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:00.253Z,1749340200.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 380.877075 m,
      bearing: 306.252978 deg,
      approach rate: -0.732954 m/s,
      LOS rate: -0.002985 deg/s,
      cmd heading: 304.660479 deg,
      new cmd heading: 304.656222 deg.

2025-06-07T23:50:00.254Z,1749340200.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317254 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:00.449Z,1749340200.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.960811
2025-06-07T23:50:00.700Z,1749340200.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.212358
2025-06-07T23:50:00.722Z,1749340200.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:00.725Z,1749340200.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 380.530823 m,
      bearing: 306.252583 deg,
      approach rate: -0.723199 m/s,
      LOS rate: -0.000827 deg/s,
      cmd heading: 304.656217 deg,
      new cmd heading: 304.655029 deg.

2025-06-07T23:50:00.726Z,1749340200.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317234 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:00.954Z,1749340200.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.466196
2025-06-07T23:50:01.153Z,1749340201.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:01.156Z,1749340201.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 380.221893 m,
      bearing: 306.252195 deg,
      approach rate: -0.716459 m/s,
      LOS rate: -0.000900 deg/s,
      cmd heading: 304.655042 deg,
      new cmd heading: 304.653877 deg.

2025-06-07T23:50:01.157Z,1749340201.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317213 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:01.205Z,1749340201.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.716898
2025-06-07T23:50:01.456Z,1749340201.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.968250
2025-06-07T23:50:01.634Z,1749340201.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:01.637Z,1749340201.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 379.877380 m,
      bearing: 306.252042 deg,
      approach rate: -0.716370 m/s,
      LOS rate: -0.000318 deg/s,
      cmd heading: 304.653867 deg,
      new cmd heading: 304.653408 deg.

2025-06-07T23:50:01.638Z,1749340201.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317205 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:01.708Z,1749340201.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.220602
2025-06-07T23:50:01.961Z,1749340201.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.473149
2025-06-07T23:50:02.081Z,1749340202.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:02.088Z,1749340202.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 379.559692 m,
      bearing: 306.251859 deg,
      approach rate: -0.710305 m/s,
      LOS rate: -0.000410 deg/s,
      cmd heading: 304.653403 deg,
      new cmd heading: 304.652852 deg.

2025-06-07T23:50:02.089Z,1749340202.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317195 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:02.212Z,1749340202.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.724333
2025-06-07T23:50:02.464Z,1749340202.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.976689
2025-06-07T23:50:02.605Z,1749340202.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:02.607Z,1749340202.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:02.614Z,1749340202.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 379.203583 m,
      bearing: 306.251611 deg,
      approach rate: -0.677630 m/s,
      LOS rate: -0.000473 deg/s,
      cmd heading: 304.652856 deg,
      new cmd heading: 304.652111 deg.

2025-06-07T23:50:02.615Z,1749340202.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317183 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:02.716Z,1749340202.716 [DAT](INFO): Reached modem response timeout
2025-06-07T23:50:02.716Z,1749340202.716 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:50:02.716Z,1749340202.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:02.968Z,1749340202.968 [DAT](INFO): Reached modem response timeout
2025-06-07T23:50:02.969Z,1749340202.969 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:50:02.969Z,1749340202.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:03.093Z,1749340203.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:03.096Z,1749340203.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 378.830811 m,
      bearing: 306.252829 deg,
      approach rate: -0.766089 m/s,
      LOS rate: 0.002507 deg/s,
      cmd heading: 304.652118 deg,
      new cmd heading: 304.655779 deg.

2025-06-07T23:50:03.097Z,1749340203.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317246 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:03.220Z,1749340203.220 [DAT](INFO): Reached modem response timeout
2025-06-07T23:50:03.221Z,1749340203.221 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:50:03.221Z,1749340203.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:03.472Z,1749340203.472 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:50:03.473Z,1749340203.473 [DAT](INFO): response not received
2025-06-07T23:50:03.473Z,1749340203.473 [DAT](INFO): DAT read: user:1862>

2025-06-07T23:50:03.474Z,1749340203.474 [DAT](INFO): DAT read: Tx time:23:50:03.1229

2025-06-07T23:50:03.474Z,1749340203.474 [DAT](INFO): Ping request sent.
2025-06-07T23:50:03.474Z,1749340203.474 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:03.474Z,1749340203.474 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:03.476Z,1749340203.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-06-07T23:50:03.640Z,1749340203.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:03.647Z,1749340203.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 378.443878 m,
      bearing: 306.254074 deg,
      approach rate: -0.707477 m/s,
      LOS rate: 0.002277 deg/s,
      cmd heading: 304.655779 deg,
      new cmd heading: 304.659516 deg.

2025-06-07T23:50:03.648Z,1749340203.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317312 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:03.724Z,1749340203.724 [DAT](INFO): DAT read: TxSync time:23:50:03.1221

2025-06-07T23:50:03.725Z,1749340203.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250919
2025-06-07T23:50:03.977Z,1749340203.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502569
2025-06-07T23:50:04.074Z,1749340204.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:04.077Z,1749340204.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 378.126465 m,
      bearing: 306.255093 deg,
      approach rate: -0.732038 m/s,
      LOS rate: 0.002354 deg/s,
      cmd heading: 304.659522 deg,
      new cmd heading: 304.662584 deg.

2025-06-07T23:50:04.078Z,1749340204.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317365 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:04.228Z,1749340204.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753908
2025-06-07T23:50:04.481Z,1749340204.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006609
2025-06-07T23:50:04.541Z,1749340204.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:04.548Z,1749340204.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 377.795807 m,
      bearing: 306.256117 deg,
      approach rate: -0.708946 m/s,
      LOS rate: 0.002197 deg/s,
      cmd heading: 304.662582 deg,
      new cmd heading: 304.665657 deg.

2025-06-07T23:50:04.549Z,1749340204.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317419 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:04.733Z,1749340204.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258558
2025-06-07T23:50:04.984Z,1749340204.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509993
2025-06-07T23:50:05.008Z,1749340205.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:05.010Z,1749340205.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:05.013Z,1749340205.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 377.454041 m,
      bearing: 306.257177 deg,
      approach rate: -0.727031 m/s,
      LOS rate: 0.002257 deg/s,
      cmd heading: 304.665670 deg,
      new cmd heading: 304.668853 deg.

2025-06-07T23:50:05.014Z,1749340205.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317475 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:05.236Z,1749340205.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761817
2025-06-07T23:50:05.421Z,1749340205.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:05.424Z,1749340205.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 377.170105 m,
      bearing: 306.258088 deg,
      approach rate: -0.691101 m/s,
      LOS rate: 0.002217 deg/s,
      cmd heading: 304.668866 deg,
      new cmd heading: 304.671599 deg.

2025-06-07T23:50:05.425Z,1749340205.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317523 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:05.489Z,1749340205.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785
2025-06-07T23:50:05.704Z,1749340205.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:50:05.741Z,1749340205.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266580
2025-06-07T23:50:05.866Z,1749340205.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:05.872Z,1749340205.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 376.840027 m,
      bearing: 306.261538 deg,
      approach rate: -0.742869 m/s,
      LOS rate: 0.007773 deg/s,
      cmd heading: 304.671598 deg,
      new cmd heading: 304.681959 deg.

2025-06-07T23:50:05.873Z,1749340205.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317703 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:05.992Z,1749340205.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517860
2025-06-07T23:50:06.244Z,1749340206.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769870
2025-06-07T23:50:06.288Z,1749340206.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:06.291Z,1749340206.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 376.513794 m,
      bearing: 306.264964 deg,
      approach rate: -0.771751 m/s,
      LOS rate: 0.008112 deg/s,
      cmd heading: 304.681953 deg,
      new cmd heading: 304.692240 deg.

2025-06-07T23:50:06.292Z,1749340206.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317883 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:06.498Z,1749340206.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023320
2025-06-07T23:50:06.708Z,1749340206.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:50:06.727Z,1749340206.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:06.730Z,1749340206.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 376.191010 m,
      bearing: 306.268126 deg,
      approach rate: -0.736315 m/s,
      LOS rate: 0.007218 deg/s,
      cmd heading: 304.692253 deg,
      new cmd heading: 304.701746 deg.

2025-06-07T23:50:06.731Z,1749340206.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318048 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:06.748Z,1749340206.748 [DAT](INFO): DAT read: Rx Time:23:50:06.0579

2025-06-07T23:50:06.749Z,1749340206.749 [DAT](INFO): Rx dataTimestamp_ set to:1749340206.748376
2025-06-07T23:50:06.749Z,1749340206.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274969
2025-06-07T23:50:07.000Z,1749340207.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525773
2025-06-07T23:50:07.062Z,1749340207.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:07.068Z,1749340207.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:07.071Z,1749340207.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 375.960785 m,
      bearing: 306.270368 deg,
      approach rate: -0.674315 m/s,
      LOS rate: 0.006570 deg/s,
      cmd heading: 304.701733 deg,
      new cmd heading: 304.708462 deg.

2025-06-07T23:50:07.076Z,1749340207.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318166 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:07.252Z,1749340207.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777929
2025-06-07T23:50:07.445Z,1749340207.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.50 m.
2025-06-07T23:50:07.447Z,1749340207.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.503540 m,
      nav range: 375.662384 m,
      bearing: 306.273264 deg,
      approach rate: -0.792742 m/s,
      LOS rate: 0.007700 deg/s,
      cmd heading: 304.708454 deg,
      new cmd heading: 304.717149 deg.

2025-06-07T23:50:07.448Z,1749340207.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318317 target range: 404.503540 and range: 407.40 m.
2025-06-07T23:50:07.511Z,1749340207.511 [DAT](INFO): DAT read: 23:50:06.0579 LVL= 22752, 26193, 22258, 31699, AGC= 69, IDX= 274,-0.30,-2.580, 2.001,-2.783, 2.868, PHS= 0.924,-0.820, 0.630, RAW= 140.9,  -9.1, CAL= 147.6, -18.8, ROT=   2.4,  18.8

2025-06-07T23:50:07.513Z,1749340207.513 [DAT](INFO): got valid direction response:
 23:50:06.0579 LVL= 22752, 26193, 22258, 31699, AGC= 69, IDX= 274,-0.30,-2.580, 2.001,-2.783, 2.868, PHS= 0.924,-0.820, 0.630, RAW= 140.9,  -9.1, CAL= 147.6, -18.8, ROT=   2.4,  18.8

2025-06-07T23:50:07.514Z,1749340207.514 [DAT](INFO): DAT read: Bearing   2.4,  18.8 (Local)

2025-06-07T23:50:07.514Z,1749340207.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  18.8 (Local)

2025-06-07T23:50:07.518Z,1749340207.518 [DAT](INFO): DAT read: Range 10 to 50 : 398.0 m  (Round-trip  530.7 ms) speed  0.4 m/s

2025-06-07T23:50:07.519Z,1749340207.519 [DAT](INFO): DAT read: user:1863>

2025-06-07T23:50:07.520Z,1749340207.520 [DAT](INFO): DAT read: Tx time:23:50:07.1730

2025-06-07T23:50:07.520Z,1749340207.520 [DAT](INFO): Ping request sent.
2025-06-07T23:50:07.520Z,1749340207.520 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:07.521Z,1749340207.521 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:07.522Z,1749340207.522 [DAT](INFO): direction in FSK: [0.945819,0.039642,-0.322266]
2025-06-07T23:50:07.523Z,1749340207.523 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:07.525Z,1749340207.525 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:07.530Z,1749340207.530 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:07.530Z,1749340207.530 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:07.756Z,1749340207.756 [DAT](INFO): DAT read: TxSync time:23:50:07.1722

2025-06-07T23:50:07.862Z,1749340207.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 398.000000 m,
      deltaT: 15.118580 s,
      deltaX: -9.399994 m,
      approachRate: -0.621751 m/s,
      rangeRepo size: 4

2025-06-07T23:50:07.864Z,1749340207.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 394.937012 m,
      bearing: 307.015330 deg,
      lat: 36.905676 deg,
      lon: -122.116386 deg,
      deltaT: 15.118580 s,
      deltaX: -9.566528 m,
      approachRate: -0.632766 m/s,
      posRepo size: 4

2025-06-07T23:50:07.865Z,1749340207.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:07.868Z,1749340207.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 381.886780 m,
      bearing: 307.463443 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007700 deg/s,
      cmd heading: 304.717142 deg,
      new cmd heading: 304.726766 deg.

2025-06-07T23:50:07.869Z,1749340207.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318485 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:08.248Z,1749340208.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:08.251Z,1749340208.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 381.611786 m,
      bearing: 307.467293 deg,
      approach rate: -0.710472 m/s,
      LOS rate: 0.009954 deg/s,
      cmd heading: 304.726759 deg,
      new cmd heading: 304.738317 deg.

2025-06-07T23:50:08.256Z,1749340208.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318687 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:08.712Z,1749340208.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:08.714Z,1749340208.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 381.269562 m,
      bearing: 307.472116 deg,
      approach rate: -0.745520 m/s,
      LOS rate: 0.010515 deg/s,
      cmd heading: 304.738315 deg,
      new cmd heading: 304.752796 deg.

2025-06-07T23:50:08.719Z,1749340208.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318940 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:09.072Z,1749340209.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:09.074Z,1749340209.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:09.077Z,1749340209.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 381.006500 m,
      bearing: 307.475640 deg,
      approach rate: -0.717217 m/s,
      LOS rate: 0.009614 deg/s,
      cmd heading: 304.752795 deg,
      new cmd heading: 304.763374 deg.

2025-06-07T23:50:09.078Z,1749340209.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319124 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:09.272Z,1749340209.272 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:09.272Z,1749340209.272 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:09.272Z,1749340209.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:09.451Z,1749340209.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:09.454Z,1749340209.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 380.740051 m,
      bearing: 307.479086 deg,
      approach rate: -0.706244 m/s,
      LOS rate: 0.009140 deg/s,
      cmd heading: 304.763369 deg,
      new cmd heading: 304.773714 deg.

2025-06-07T23:50:09.455Z,1749340209.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319305 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:09.524Z,1749340209.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004112
2025-06-07T23:50:09.776Z,1749340209.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255734
2025-06-07T23:50:09.873Z,1749340209.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:09.875Z,1749340209.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 380.447601 m,
      bearing: 307.482897 deg,
      approach rate: -0.694228 m/s,
      LOS rate: 0.009054 deg/s,
      cmd heading: 304.773723 deg,
      new cmd heading: 304.785166 deg.

2025-06-07T23:50:09.876Z,1749340209.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319505 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:10.028Z,1749340210.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507729
2025-06-07T23:50:10.265Z,1749340210.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:10.268Z,1749340210.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 380.175171 m,
      bearing: 307.486339 deg,
      approach rate: -0.694685 m/s,
      LOS rate: 0.008782 deg/s,
      cmd heading: 304.785171 deg,
      new cmd heading: 304.795503 deg.

2025-06-07T23:50:10.269Z,1749340210.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319685 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:10.280Z,1749340210.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759913
2025-06-07T23:50:10.532Z,1749340210.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011739
2025-06-07T23:50:10.744Z,1749340210.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:10.746Z,1749340210.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 379.850922 m,
      bearing: 307.490316 deg,
      approach rate: -0.683116 m/s,
      LOS rate: 0.008387 deg/s,
      cmd heading: 304.795498 deg,
      new cmd heading: 304.807441 deg.

2025-06-07T23:50:10.751Z,1749340210.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319893 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:10.786Z,1749340210.786 [DAT](INFO): DAT read: Rx Time:23:50:10.1035

2025-06-07T23:50:10.787Z,1749340210.787 [DAT](INFO): Rx dataTimestamp_ set to:1749340210.786561
2025-06-07T23:50:10.788Z,1749340210.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267330
2025-06-07T23:50:11.036Z,1749340211.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515912
2025-06-07T23:50:11.094Z,1749340211.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:11.101Z,1749340211.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:11.108Z,1749340211.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 379.609344 m,
      bearing: 307.493367 deg,
      approach rate: -0.668827 m/s,
      LOS rate: 0.008452 deg/s,
      cmd heading: 304.807437 deg,
      new cmd heading: 304.816596 deg.

2025-06-07T23:50:11.109Z,1749340211.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320053 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:11.288Z,1749340211.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767672
2025-06-07T23:50:11.481Z,1749340211.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:11.504Z,1749340211.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 379.330444 m,
      bearing: 307.496819 deg,
      approach rate: -0.733571 m/s,
      LOS rate: 0.009086 deg/s,
      cmd heading: 304.816589 deg,
      new cmd heading: 304.826952 deg.

2025-06-07T23:50:11.505Z,1749340211.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320234 target range: 394.937012 and range: 398.00 m.
2025-06-07T23:50:11.541Z,1749340211.541 [DAT](INFO): DAT read: Range 10 to 50 : 394.7 m  (Round-trip  526.3 ms) speed  0.8 m/s

2025-06-07T23:50:11.542Z,1749340211.542 [DAT](INFO): DAT read: user:1864>

2025-06-07T23:50:11.543Z,1749340211.543 [DAT](INFO): DAT read: Tx time:23:50:11.2230

2025-06-07T23:50:11.543Z,1749340211.543 [DAT](INFO): Ping request sent.
2025-06-07T23:50:11.543Z,1749340211.543 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:11.544Z,1749340211.544 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:50:11.544Z,1749340211.544 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:11.544Z,1749340211.544 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:11.792Z,1749340211.792 [DAT](INFO): DAT read: TxSync time:23:50:11.2222

2025-06-07T23:50:11.900Z,1749340211.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 394.700012 m,
      deltaT: 4.036244 s,
      deltaX: -3.299988 m,
      approachRate: -0.817589 m/s,
      rangeRepo size: 4

2025-06-07T23:50:11.901Z,1749340211.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:11.904Z,1749340211.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 379.040283 m,
      bearing: 307.500262 deg,
      approach rate: -0.692375 m/s,
      LOS rate: 0.008221 deg/s,
      cmd heading: 304.826944 deg,
      new cmd heading: 304.837280 deg.

2025-06-07T23:50:11.905Z,1749340211.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320414 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:12.328Z,1749340212.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:12.330Z,1749340212.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 378.743774 m,
      bearing: 307.503638 deg,
      approach rate: -0.692965 m/s,
      LOS rate: 0.007896 deg/s,
      cmd heading: 304.837271 deg,
      new cmd heading: 304.847407 deg.

2025-06-07T23:50:12.332Z,1749340212.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320591 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:12.794Z,1749340212.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:12.796Z,1749340212.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 378.414917 m,
      bearing: 307.507214 deg,
      approach rate: -0.705913 m/s,
      LOS rate: 0.007683 deg/s,
      cmd heading: 304.847407 deg,
      new cmd heading: 304.858144 deg.

2025-06-07T23:50:12.797Z,1749340212.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320778 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:13.204Z,1749340213.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:13.206Z,1749340213.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:13.209Z,1749340213.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 378.124054 m,
      bearing: 307.510382 deg,
      approach rate: -0.704533 m/s,
      LOS rate: 0.007680 deg/s,
      cmd heading: 304.858144 deg,
      new cmd heading: 304.867656 deg.

2025-06-07T23:50:13.210Z,1749340213.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320944 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:13.308Z,1749340213.308 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:13.308Z,1749340213.308 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:13.308Z,1749340213.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:13.560Z,1749340213.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016699
2025-06-07T23:50:13.598Z,1749340213.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:13.601Z,1749340213.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 377.848206 m,
      bearing: 307.513399 deg,
      approach rate: -0.704941 m/s,
      LOS rate: 0.007716 deg/s,
      cmd heading: 304.867652 deg,
      new cmd heading: 304.876710 deg.

2025-06-07T23:50:13.602Z,1749340213.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321103 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:13.812Z,1749340213.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268788
2025-06-07T23:50:14.045Z,1749340214.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:14.048Z,1749340214.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 377.528900 m,
      bearing: 307.516178 deg,
      approach rate: -0.713777 m/s,
      LOS rate: 0.006219 deg/s,
      cmd heading: 304.876722 deg,
      new cmd heading: 304.885068 deg.

2025-06-07T23:50:14.049Z,1749340214.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321248 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:14.064Z,1749340214.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520753
2025-06-07T23:50:14.316Z,1749340214.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772603
2025-06-07T23:50:14.392Z,1749340214.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:14.395Z,1749340214.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 377.282166 m,
      bearing: 307.518288 deg,
      approach rate: -0.710842 m/s,
      LOS rate: 0.006081 deg/s,
      cmd heading: 304.885055 deg,
      new cmd heading: 304.891388 deg.

2025-06-07T23:50:14.396Z,1749340214.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321359 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:14.568Z,1749340214.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024639
2025-06-07T23:50:14.821Z,1749340214.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277641
2025-06-07T23:50:14.877Z,1749340214.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:14.888Z,1749340214.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 376.944946 m,
      bearing: 307.520847 deg,
      approach rate: -0.695498 m/s,
      LOS rate: 0.005284 deg/s,
      cmd heading: 304.891394 deg,
      new cmd heading: 304.899079 deg.

2025-06-07T23:50:14.889Z,1749340214.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321493 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:15.072Z,1749340215.072 [DAT](INFO): DAT read: Rx Time:23:50:14.1506

2025-06-07T23:50:15.073Z,1749340215.073 [DAT](INFO): Rx dataTimestamp_ set to:1749340215.072340
2025-06-07T23:50:15.073Z,1749340215.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529687
2025-06-07T23:50:15.214Z,1749340215.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:15.217Z,1749340215.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.94 m.
2025-06-07T23:50:15.220Z,1749340215.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.937012 m,
      nav range: 376.686096 m,
      bearing: 307.522790 deg,
      approach rate: -0.762122 m/s,
      LOS rate: 0.005723 deg/s,
      cmd heading: 304.899071 deg,
      new cmd heading: 304.904903 deg.

2025-06-07T23:50:15.221Z,1749340215.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321594 target range: 394.937012 and range: 394.70 m.
2025-06-07T23:50:15.324Z,1749340215.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780791
2025-06-07T23:50:15.587Z,1749340215.587 [DAT](INFO): DAT read: 23:50:14.1506 LVL= 25920, 27121, 27410, 32755, AGC= 69, IDX= 410, 0.44, 1.544, 0.365, 1.442, 0.743, PHS= 0.889,-0.331, 0.696, RAW= 141.5, -21.3, CAL= 146.7, -28.6, ROT=   3.3,  28.6

2025-06-07T23:50:15.588Z,1749340215.588 [DAT](INFO): got valid direction response:
 23:50:14.1506 LVL= 25920, 27121, 27410, 32755, AGC= 69, IDX= 410, 0.44, 1.544, 0.365, 1.442, 0.743, PHS= 0.889,-0.331, 0.696, RAW= 141.5, -21.3, CAL= 146.7, -28.6, ROT=   3.3,  28.6

2025-06-07T23:50:15.589Z,1749340215.589 [DAT](INFO): DAT read: Bearing   3.3,  28.6 (Local)

2025-06-07T23:50:15.590Z,1749340215.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  28.6 (Local)

2025-06-07T23:50:15.591Z,1749340215.591 [DAT](INFO): DAT read: Range 10 to 50 : 392.5 m  (Round-trip  523.4 ms) speed  0.6 m/s

2025-06-07T23:50:15.592Z,1749340215.592 [DAT](INFO): DAT read: user:1865>

2025-06-07T23:50:15.593Z,1749340215.593 [DAT](INFO): DAT read: Tx time:23:50:15.2731

2025-06-07T23:50:15.593Z,1749340215.593 [DAT](INFO): Ping request sent.
2025-06-07T23:50:15.593Z,1749340215.593 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:15.593Z,1749340215.593 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:15.594Z,1749340215.594 [DAT](INFO): direction in FSK: [0.876527,0.050540,-0.478692]
2025-06-07T23:50:15.594Z,1749340215.594 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:15.595Z,1749340215.595 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:15.619Z,1749340215.619 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:15.619Z,1749340215.619 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:15.794Z,1749340215.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 392.500000 m,
      deltaT: 4.035794 s,
      deltaX: -2.200012 m,
      approachRate: -0.545125 m/s,
      rangeRepo size: 4

2025-06-07T23:50:15.801Z,1749340215.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 389.403015 m,
      bearing: 309.787640 deg,
      lat: 36.905702 deg,
      lon: -122.116321 deg,
      deltaT: 8.072038 s,
      deltaX: -5.533997 m,
      approachRate: -0.685576 m/s,
      posRepo size: 4

2025-06-07T23:50:15.801Z,1749340215.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:15.808Z,1749340215.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 373.551788 m,
      bearing: 308.424660 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005723 deg/s,
      cmd heading: 304.904890 deg,
      new cmd heading: 304.914799 deg.

2025-06-07T23:50:15.809Z,1749340215.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321767 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:15.828Z,1749340215.828 [DAT](INFO): DAT read: TxSync time:23:50:15.2723

2025-06-07T23:50:16.123Z,1749340216.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:16.145Z,1749340216.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 373.255524 m,
      bearing: 308.426493 deg,
      approach rate: -0.900848 m/s,
      LOS rate: 0.005576 deg/s,
      cmd heading: 304.914808 deg,
      new cmd heading: 304.920309 deg.

2025-06-07T23:50:16.146Z,1749340216.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321863 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:16.509Z,1749340216.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:16.512Z,1749340216.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 372.973724 m,
      bearing: 308.428185 deg,
      approach rate: -0.728593 m/s,
      LOS rate: 0.004380 deg/s,
      cmd heading: 304.920299 deg,
      new cmd heading: 304.925381 deg.

2025-06-07T23:50:16.513Z,1749340216.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321952 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:17.021Z,1749340217.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:17.040Z,1749340217.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 372.605560 m,
      bearing: 308.429767 deg,
      approach rate: -0.720328 m/s,
      LOS rate: 0.003098 deg/s,
      cmd heading: 304.925381 deg,
      new cmd heading: 304.930130 deg.

2025-06-07T23:50:17.041Z,1749340217.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322035 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:17.310Z,1749340217.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:17.312Z,1749340217.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:17.315Z,1749340217.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 372.394806 m,
      bearing: 308.430588 deg,
      approach rate: -0.723101 m/s,
      LOS rate: 0.002818 deg/s,
      cmd heading: 304.930135 deg,
      new cmd heading: 304.932599 deg.

2025-06-07T23:50:17.316Z,1749340217.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322078 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:17.340Z,1749340217.340 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:17.340Z,1749340217.340 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:17.340Z,1749340217.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:17.592Z,1749340217.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999131
2025-06-07T23:50:17.735Z,1749340217.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:17.756Z,1749340217.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 372.103729 m,
      bearing: 308.431686 deg,
      approach rate: -0.688655 m/s,
      LOS rate: 0.002599 deg/s,
      cmd heading: 304.932593 deg,
      new cmd heading: 304.935889 deg.

2025-06-07T23:50:17.764Z,1749340217.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322135 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:17.844Z,1749340217.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251358
2025-06-07T23:50:18.096Z,1749340218.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503178
2025-06-07T23:50:18.164Z,1749340218.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:18.167Z,1749340218.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 371.796661 m,
      bearing: 308.431915 deg,
      approach rate: -0.714931 m/s,
      LOS rate: 0.000534 deg/s,
      cmd heading: 304.935899 deg,
      new cmd heading: 304.936588 deg.

2025-06-07T23:50:18.172Z,1749340218.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322147 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:18.350Z,1749340218.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757336
2025-06-07T23:50:18.529Z,1749340218.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:18.531Z,1749340218.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 371.516479 m,
      bearing: 308.432137 deg,
      approach rate: -0.768803 m/s,
      LOS rate: 0.000608 deg/s,
      cmd heading: 304.936582 deg,
      new cmd heading: 304.937247 deg.

2025-06-07T23:50:18.532Z,1749340218.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322159 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:18.602Z,1749340218.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009247
2025-06-07T23:50:18.856Z,1749340218.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263097
2025-06-07T23:50:18.969Z,1749340218.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:18.973Z,1749340218.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 371.205719 m,
      bearing: 308.432284 deg,
      approach rate: -0.705379 m/s,
      LOS rate: 0.000336 deg/s,
      cmd heading: 304.937238 deg,
      new cmd heading: 304.937682 deg.

2025-06-07T23:50:18.975Z,1749340218.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322166 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:19.108Z,1749340219.108 [DAT](INFO): DAT read: Rx Time:23:50:18.1962

2025-06-07T23:50:19.109Z,1749340219.109 [DAT](INFO): Rx dataTimestamp_ set to:1749340219.108318
2025-06-07T23:50:19.109Z,1749340219.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516135
2025-06-07T23:50:19.360Z,1749340219.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767174
2025-06-07T23:50:19.472Z,1749340219.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:19.474Z,1749340219.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.40 m.
2025-06-07T23:50:19.481Z,1749340219.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 389.403015 m,
      nav range: 370.882935 m,
      bearing: 308.432466 deg,
      approach rate: -0.638891 m/s,
      LOS rate: 0.000360 deg/s,
      cmd heading: 304.937675 deg,
      new cmd heading: 304.938221 deg.

2025-06-07T23:50:19.482Z,1749340219.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322176 target range: 389.403015 and range: 392.50 m.
2025-06-07T23:50:19.619Z,1749340219.619 [DAT](INFO): DAT read: 23:50:18.1962 LVL= 24944, 32753, 25010, 32755, AGC= 68, IDX= 398, 0.16, 2.245, 0.839, 2.090, 1.419, PHS= 0.914,-0.533, 0.668, RAW= 140.9, -15.5, CAL= 147.0, -24.1, ROT=   3.0,  24.1

2025-06-07T23:50:19.620Z,1749340219.620 [DAT](INFO): got valid direction response:
 23:50:18.1962 LVL= 24944, 32753, 25010, 32755, AGC= 68, IDX= 398, 0.16, 2.245, 0.839, 2.090, 1.419, PHS= 0.914,-0.533, 0.668, RAW= 140.9, -15.5, CAL= 147.0, -24.1, ROT=   3.0,  24.1

2025-06-07T23:50:19.621Z,1749340219.621 [DAT](INFO): DAT read: Bearing   3.0,  24.1 (Local)

2025-06-07T23:50:19.621Z,1749340219.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,  24.1 (Local)

2025-06-07T23:50:19.623Z,1749340219.623 [DAT](INFO): DAT read: Range 10 to 50 : 389.2 m  (Round-trip  519.0 ms) speed  0.7 m/s

2025-06-07T23:50:19.624Z,1749340219.624 [DAT](INFO): DAT read: user:1866>

2025-06-07T23:50:19.625Z,1749340219.625 [DAT](INFO): DAT read: Tx time:23:50:19.2731

2025-06-07T23:50:19.625Z,1749340219.625 [DAT](INFO): Ping request sent.
2025-06-07T23:50:19.625Z,1749340219.625 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:19.626Z,1749340219.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:19.626Z,1749340219.626 [DAT](INFO): direction in FSK: [0.911583,0.047774,-0.408330]
2025-06-07T23:50:19.627Z,1749340219.627 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:19.627Z,1749340219.627 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:19.630Z,1749340219.630 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:19.630Z,1749340219.630 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:19.864Z,1749340219.864 [DAT](INFO): DAT read: TxSync time:23:50:19.2723

2025-06-07T23:50:19.956Z,1749340219.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 389.200012 m,
      deltaT: 4.035899 s,
      deltaX: -3.299988 m,
      approachRate: -0.817659 m/s,
      rangeRepo size: 4

2025-06-07T23:50:19.964Z,1749340219.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 386.128052 m,
      bearing: 309.344115 deg,
      lat: 36.905718 deg,
      lon: -122.116321 deg,
      deltaT: 4.035899 s,
      deltaX: -3.274963 m,
      approachRate: -0.811458 m/s,
      posRepo size: 4

2025-06-07T23:50:19.965Z,1749340219.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:19.973Z,1749340219.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 371.591461 m,
      bearing: 308.641698 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000360 deg/s,
      cmd heading: 304.938221 deg,
      new cmd heading: 304.938736 deg.

2025-06-07T23:50:19.974Z,1749340219.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322185 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:20.291Z,1749340220.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:20.294Z,1749340220.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 371.324768 m,
      bearing: 308.642538 deg,
      approach rate: -0.783663 m/s,
      LOS rate: 0.002472 deg/s,
      cmd heading: 304.938741 deg,
      new cmd heading: 304.941264 deg.

2025-06-07T23:50:20.295Z,1749340220.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322229 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:20.709Z,1749340220.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:20.717Z,1749340220.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 371.037598 m,
      bearing: 308.643435 deg,
      approach rate: -0.687476 m/s,
      LOS rate: 0.002148 deg/s,
      cmd heading: 304.941254 deg,
      new cmd heading: 304.943945 deg.

2025-06-07T23:50:20.723Z,1749340220.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322276 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:21.092Z,1749340221.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:21.094Z,1749340221.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 370.752991 m,
      bearing: 308.644476 deg,
      approach rate: -0.742639 m/s,
      LOS rate: 0.002718 deg/s,
      cmd heading: 304.943959 deg,
      new cmd heading: 304.947084 deg.

2025-06-07T23:50:21.096Z,1749340221.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322330 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:21.482Z,1749340221.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:21.484Z,1749340221.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:21.487Z,1749340221.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 370.476257 m,
      bearing: 308.645436 deg,
      approach rate: -0.705692 m/s,
      LOS rate: 0.002452 deg/s,
      cmd heading: 304.947073 deg,
      new cmd heading: 304.949958 deg.

2025-06-07T23:50:21.489Z,1749340221.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322381 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:21.628Z,1749340221.628 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:21.628Z,1749340221.628 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:21.628Z,1749340221.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:21.886Z,1749340221.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260233
2025-06-07T23:50:21.926Z,1749340221.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:21.929Z,1749340221.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 370.164734 m,
      bearing: 308.647871 deg,
      approach rate: -0.705144 m/s,
      LOS rate: 0.005515 deg/s,
      cmd heading: 304.949969 deg,
      new cmd heading: 304.957279 deg.

2025-06-07T23:50:21.930Z,1749340221.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322509 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:22.136Z,1749340222.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510836
2025-06-07T23:50:22.290Z,1749340222.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:22.298Z,1749340222.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 369.907806 m,
      bearing: 308.649866 deg,
      approach rate: -0.704610 m/s,
      LOS rate: 0.005476 deg/s,
      cmd heading: 304.957291 deg,
      new cmd heading: 304.963282 deg.

2025-06-07T23:50:22.299Z,1749340222.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322613 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:22.389Z,1749340222.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763434
2025-06-07T23:50:22.640Z,1749340222.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014830
2025-06-07T23:50:22.694Z,1749340222.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:22.718Z,1749340222.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 369.628296 m,
      bearing: 308.652034 deg,
      approach rate: -0.693311 m/s,
      LOS rate: 0.005380 deg/s,
      cmd heading: 304.963275 deg,
      new cmd heading: 304.969782 deg.

2025-06-07T23:50:22.720Z,1749340222.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322727 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:22.896Z,1749340222.896 [DAT](INFO): DAT read: Rx Time:23:50:22.1933

2025-06-07T23:50:22.897Z,1749340222.897 [DAT](INFO): Rx dataTimestamp_ set to:1749340222.896246
2025-06-07T23:50:22.899Z,1749340222.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273100
2025-06-07T23:50:23.136Z,1749340223.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:23.138Z,1749340223.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 369.329712 m,
      bearing: 308.655004 deg,
      approach rate: -0.681920 m/s,
      LOS rate: 0.006790 deg/s,
      cmd heading: 304.969777 deg,
      new cmd heading: 304.978696 deg.

2025-06-07T23:50:23.144Z,1749340223.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519002
2025-06-07T23:50:23.145Z,1749340223.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322882 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:23.397Z,1749340223.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771242
2025-06-07T23:50:23.509Z,1749340223.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:23.512Z,1749340223.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.13 m.
2025-06-07T23:50:23.514Z,1749340223.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.128052 m,
      nav range: 369.053802 m,
      bearing: 308.657733 deg,
      approach rate: -0.726188 m/s,
      LOS rate: 0.007189 deg/s,
      cmd heading: 304.978683 deg,
      new cmd heading: 304.986877 deg.

2025-06-07T23:50:23.516Z,1749340223.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323025 target range: 386.128052 and range: 389.20 m.
2025-06-07T23:50:23.654Z,1749340223.654 [DAT](INFO): DAT read: 23:50:22.1933 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 275,-0.31,-2.932, 1.710, 3.040, 2.655, PHS= 0.784,-0.898, 0.381, RAW= 136.7,  -3.6, CAL= 142.2, -13.3, ROT=   7.8,  13.3

2025-06-07T23:50:23.659Z,1749340223.659 [DAT](INFO): got valid direction response:
 23:50:22.1933 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 275,-0.31,-2.932, 1.710, 3.040, 2.655, PHS= 0.784,-0.898, 0.381, RAW= 136.7,  -3.6, CAL= 142.2, -13.3, ROT=   7.8,  13.3

2025-06-07T23:50:23.660Z,1749340223.660 [DAT](INFO): DAT read: Bearing   7.8,  13.3 (Local)

2025-06-07T23:50:23.660Z,1749340223.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.8,  13.3 (Local)

2025-06-07T23:50:23.662Z,1749340223.662 [DAT](INFO): DAT read: Range 10 to 50 : 387.0 m  (Round-trip  516.1 ms) speed  0.4 m/s

2025-06-07T23:50:23.663Z,1749340223.663 [DAT](INFO): DAT read: user:1867>

2025-06-07T23:50:23.688Z,1749340223.688 [DAT](INFO): DAT read: Tx time:23:50:23.2731

2025-06-07T23:50:23.689Z,1749340223.689 [DAT](INFO): Ping request sent.
2025-06-07T23:50:23.689Z,1749340223.689 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:23.689Z,1749340223.689 [DAT](INFO): DAT read: TxSync time:23:50:23.2723

2025-06-07T23:50:23.690Z,1749340223.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:23.691Z,1749340223.691 [DAT](INFO): direction in FSK: [0.964175,0.132076,-0.230050]
2025-06-07T23:50:23.695Z,1749340223.695 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:23.696Z,1749340223.696 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:23.699Z,1749340223.699 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:23.699Z,1749340223.699 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:23.964Z,1749340223.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 387.000000 m,
      deltaT: 4.036118 s,
      deltaX: -2.200012 m,
      approachRate: -0.545081 m/s,
      rangeRepo size: 4

2025-06-07T23:50:23.967Z,1749340223.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 383.950378 m,
      bearing: 313.407963 deg,
      lat: 36.905734 deg,
      lon: -122.116295 deg,
      deltaT: 4.036118 s,
      deltaX: -2.177673 m,
      approachRate: -0.539546 m/s,
      posRepo size: 4

2025-06-07T23:50:23.968Z,1749340223.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:23.988Z,1749340223.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 368.168335 m,
      bearing: 309.107367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007189 deg/s,
      cmd heading: 304.986880 deg,
      new cmd heading: 304.996597 deg.

2025-06-07T23:50:23.989Z,1749340223.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323195 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:24.317Z,1749340224.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:24.319Z,1749340224.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 367.913513 m,
      bearing: 309.111182 deg,
      approach rate: -0.718628 m/s,
      LOS rate: 0.010765 deg/s,
      cmd heading: 304.996606 deg,
      new cmd heading: 305.008058 deg.

2025-06-07T23:50:24.321Z,1749340224.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323395 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:24.728Z,1749340224.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:24.735Z,1749340224.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 367.640137 m,
      bearing: 309.115309 deg,
      approach rate: -0.663894 m/s,
      LOS rate: 0.010031 deg/s,
      cmd heading: 305.008053 deg,
      new cmd heading: 305.020445 deg.

2025-06-07T23:50:24.736Z,1749340224.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323611 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:25.150Z,1749340225.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:25.152Z,1749340225.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 367.333221 m,
      bearing: 309.120468 deg,
      approach rate: -0.728568 m/s,
      LOS rate: 0.012257 deg/s,
      cmd heading: 305.020457 deg,
      new cmd heading: 305.035947 deg.

2025-06-07T23:50:25.153Z,1749340225.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323882 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:25.555Z,1749340225.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:25.557Z,1749340225.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:25.560Z,1749340225.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 367.050232 m,
      bearing: 309.125119 deg,
      approach rate: -0.694364 m/s,
      LOS rate: 0.011420 deg/s,
      cmd heading: 305.035948 deg,
      new cmd heading: 305.049911 deg.

2025-06-07T23:50:25.561Z,1749340225.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324125 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:25.668Z,1749340225.668 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:25.669Z,1749340225.669 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:25.669Z,1749340225.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:25.923Z,1749340225.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233747
2025-06-07T23:50:25.993Z,1749340225.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:25.996Z,1749340225.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 366.743683 m,
      bearing: 309.130663 deg,
      approach rate: -0.702712 m/s,
      LOS rate: 0.012719 deg/s,
      cmd heading: 305.049909 deg,
      new cmd heading: 305.066554 deg.

2025-06-07T23:50:25.997Z,1749340225.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324416 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:26.172Z,1749340226.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483444
2025-06-07T23:50:26.323Z,1749340226.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:26.326Z,1749340226.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 366.512390 m,
      bearing: 309.134813 deg,
      approach rate: -0.701463 m/s,
      LOS rate: 0.012594 deg/s,
      cmd heading: 305.066547 deg,
      new cmd heading: 305.079005 deg.

2025-06-07T23:50:26.327Z,1749340226.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324633 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:26.424Z,1749340226.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735481
2025-06-07T23:50:26.676Z,1749340226.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987432
2025-06-07T23:50:26.759Z,1749340226.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:26.762Z,1749340226.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 366.206482 m,
      bearing: 309.140274 deg,
      approach rate: -0.701412 m/s,
      LOS rate: 0.012532 deg/s,
      cmd heading: 305.079005 deg,
      new cmd heading: 305.095402 deg.

2025-06-07T23:50:26.764Z,1749340226.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324919 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:26.935Z,1749340226.935 [DAT](INFO): DAT read: Rx Time:23:50:26.1625

2025-06-07T23:50:26.936Z,1749340226.936 [DAT](INFO): Rx dataTimestamp_ set to:1749340226.935388
2025-06-07T23:50:26.938Z,1749340226.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248590
2025-06-07T23:50:27.170Z,1749340227.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:27.177Z,1749340227.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 365.926056 m,
      bearing: 309.144449 deg,
      approach rate: -0.683008 m/s,
      LOS rate: 0.010177 deg/s,
      cmd heading: 305.095398 deg,
      new cmd heading: 305.107933 deg.

2025-06-07T23:50:27.178Z,1749340227.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325138 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:27.180Z,1749340227.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491538
2025-06-07T23:50:27.445Z,1749340227.445 [DAT](INFO): DAT read: 23:50:26.1625 LVL= 26160, 32753, 26866, 32755, AGC= 67, IDX= 133,-0.21,-2.940, 1.506, 2.958, 2.535, PHS= 0.897,-0.982, 0.420, RAW= 135.9,  -4.0, CAL= 141.4, -14.0, ROT=   8.6,  14.0

2025-06-07T23:50:27.446Z,1749340227.446 [DAT](INFO): got valid direction response:
 23:50:26.1625 LVL= 26160, 32753, 26866, 32755, AGC= 67, IDX= 133,-0.21,-2.940, 1.506, 2.958, 2.535, PHS= 0.897,-0.982, 0.420, RAW= 135.9,  -4.0, CAL= 141.4, -14.0, ROT=   8.6,  14.0

2025-06-07T23:50:27.447Z,1749340227.447 [DAT](INFO): DAT read: Bearing   8.6,  14.0 (Local)

2025-06-07T23:50:27.448Z,1749340227.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6,  14.0 (Local)

2025-06-07T23:50:27.449Z,1749340227.449 [DAT](INFO): DAT read: Range 10 to 50 : 363.9 m  (Round-trip  485.2 ms) speed  0.7 m/s

2025-06-07T23:50:27.450Z,1749340227.450 [DAT](INFO): DAT read: user:1868>

2025-06-07T23:50:27.450Z,1749340227.450 [DAT](INFO): DAT read: Tx time:23:50:27.2732

2025-06-07T23:50:27.451Z,1749340227.451 [DAT](INFO): Ping request sent.
2025-06-07T23:50:27.451Z,1749340227.451 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:27.454Z,1749340227.454 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:27.457Z,1749340227.457 [DAT](INFO): direction in FSK: [0.959386,0.145094,-0.241922]
2025-06-07T23:50:27.457Z,1749340227.457 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:27.457Z,1749340227.457 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:27.461Z,1749340227.461 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:27.461Z,1749340227.461 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:27.606Z,1749340227.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 363.899994 m,
 deltaT: 3.787555 s,
 deltaX: -23.100006 m,
 approachRate: -6.098923 m/s,
 rangeRepo size: 4
2025-06-07T23:50:27.619Z,1749340227.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:27.622Z,1749340227.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 365.619049 m,
      bearing: 309.149028 deg,
      approach rate: -0.704707 m/s,
      LOS rate: 0.010518 deg/s,
      cmd heading: 305.107938 deg,
      new cmd heading: 305.121685 deg.

2025-06-07T23:50:27.623Z,1749340227.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325378 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:27.685Z,1749340227.685 [DAT](INFO): DAT read: TxSync time:23:50:27.2724

2025-06-07T23:50:28.011Z,1749340228.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:28.013Z,1749340228.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:28.016Z,1749340228.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 365.306976 m,
      bearing: 309.152952 deg,
      approach rate: -0.765971 m/s,
      LOS rate: 0.009641 deg/s,
      cmd heading: 305.121680 deg,
      new cmd heading: 305.133465 deg.

2025-06-07T23:50:28.017Z,1749340228.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325583 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:28.188Z,1749340228.188 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:28.188Z,1749340228.188 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:28.188Z,1749340228.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:28.351Z,1749340228.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:28.356Z,1749340228.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 365.068604 m,
      bearing: 309.155936 deg,
      approach rate: -0.706093 m/s,
      LOS rate: 0.008844 deg/s,
      cmd heading: 305.133456 deg,
      new cmd heading: 305.142413 deg.

2025-06-07T23:50:28.358Z,1749340228.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325740 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:28.441Z,1749340228.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990515
2025-06-07T23:50:28.692Z,1749340228.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241123
2025-06-07T23:50:28.788Z,1749340228.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:28.790Z,1749340228.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 364.760193 m,
      bearing: 309.159825 deg,
      approach rate: -0.705363 m/s,
      LOS rate: 0.008902 deg/s,
      cmd heading: 305.142417 deg,
      new cmd heading: 305.154093 deg.

2025-06-07T23:50:28.800Z,1749340228.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325943 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:28.947Z,1749340228.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495714
2025-06-07T23:50:29.196Z,1749340229.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745373
2025-06-07T23:50:29.201Z,1749340229.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:29.204Z,1749340229.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 364.462616 m,
      bearing: 309.161136 deg,
      approach rate: -0.719920 m/s,
      LOS rate: 0.003174 deg/s,
      cmd heading: 305.154083 deg,
      new cmd heading: 305.158019 deg.

2025-06-07T23:50:29.205Z,1749340229.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326012 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:29.449Z,1749340229.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997646
2025-06-07T23:50:29.626Z,1749340229.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:29.629Z,1749340229.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 364.162872 m,
      bearing: 309.162407 deg,
      approach rate: -0.705621 m/s,
      LOS rate: 0.002995 deg/s,
      cmd heading: 305.158017 deg,
      new cmd heading: 305.161834 deg.

2025-06-07T23:50:29.630Z,1749340229.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326079 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:29.701Z,1749340229.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250318
2025-06-07T23:50:29.955Z,1749340229.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503335
2025-06-07T23:50:30.061Z,1749340230.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:30.068Z,1749340230.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:30.070Z,1749340230.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 363.860931 m,
      bearing: 309.163735 deg,
      approach rate: -0.690122 m/s,
      LOS rate: 0.003037 deg/s,
      cmd heading: 305.161842 deg,
      new cmd heading: 305.165828 deg.

2025-06-07T23:50:30.076Z,1749340230.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326149 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:30.205Z,1749340230.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753693
2025-06-07T23:50:30.457Z,1749340230.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005864
2025-06-07T23:50:30.527Z,1749340230.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:30.529Z,1749340230.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 363.529327 m,
      bearing: 309.165196 deg,
      approach rate: -0.715982 m/s,
      LOS rate: 0.003156 deg/s,
      cmd heading: 305.165831 deg,
      new cmd heading: 305.170216 deg.

2025-06-07T23:50:30.530Z,1749340230.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326225 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:30.708Z,1749340230.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257321
2025-06-07T23:50:30.910Z,1749340230.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:30.912Z,1749340230.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 363.259979 m,
      bearing: 309.166244 deg,
      approach rate: -0.703185 m/s,
      LOS rate: 0.002740 deg/s,
      cmd heading: 305.170229 deg,
      new cmd heading: 305.173378 deg.

2025-06-07T23:50:30.913Z,1749340230.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326280 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:30.967Z,1749340230.967 [DAT](INFO): DAT read: Rx Time:23:50:30.1586

2025-06-07T23:50:30.968Z,1749340230.968 [DAT](INFO): Rx dataTimestamp_ set to:1749340230.967475
2025-06-07T23:50:30.970Z,1749340230.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519169
2025-06-07T23:50:31.212Z,1749340231.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761241
2025-06-07T23:50:31.344Z,1749340231.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.95 m.
2025-06-07T23:50:31.346Z,1749340231.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.950378 m,
      nav range: 362.951080 m,
      bearing: 309.166011 deg,
      approach rate: -0.711445 m/s,
      LOS rate: -0.000539 deg/s,
      cmd heading: 305.173371 deg,
      new cmd heading: 305.172669 deg.

2025-06-07T23:50:31.348Z,1749340231.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326268 target range: 383.950378 and range: 387.00 m.
2025-06-07T23:50:31.473Z,1749340231.473 [DAT](INFO): DAT read: 23:50:30.1586 LVL= 32544, 32753, 32754, 32755, AGC= 68, IDX= 396, 0.13,-1.639, 3.105,-1.971,-2.295, PHS= 0.744,-0.836, 0.322, RAW= 135.0,  -3.3, CAL= 140.5, -13.2, ROT=   9.5,  13.2

2025-06-07T23:50:31.474Z,1749340231.474 [DAT](INFO): got valid direction response:
 23:50:30.1586 LVL= 32544, 32753, 32754, 32755, AGC= 68, IDX= 396, 0.13,-1.639, 3.105,-1.971,-2.295, PHS= 0.744,-0.836, 0.322, RAW= 135.0,  -3.3, CAL= 140.5, -13.2, ROT=   9.5,  13.2

2025-06-07T23:50:31.475Z,1749340231.475 [DAT](INFO): DAT read: Bearing   9.5,  13.2 (Local)

2025-06-07T23:50:31.475Z,1749340231.475 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.5,  13.2 (Local)

2025-06-07T23:50:31.477Z,1749340231.477 [DAT](INFO): DAT read: Range 10 to 50 : 360.9 m  (Round-trip  481.3 ms) speed  0.6 m/s

2025-06-07T23:50:31.478Z,1749340231.478 [DAT](INFO): DAT read: user:1869>

2025-06-07T23:50:31.478Z,1749340231.478 [DAT](INFO): DAT read: Tx time:23:50:31.2732

2025-06-07T23:50:31.479Z,1749340231.479 [DAT](INFO): Ping request sent.
2025-06-07T23:50:31.479Z,1749340231.479 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:31.480Z,1749340231.480 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:31.481Z,1749340231.481 [DAT](INFO): direction in FSK: [0.960227,0.160687,-0.228351]
2025-06-07T23:50:31.481Z,1749340231.481 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:31.482Z,1749340231.482 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:31.485Z,1749340231.485 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:31.485Z,1749340231.485 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:31.716Z,1749340231.716 [DAT](INFO): DAT read: TxSync time:23:50:31.2724

2025-06-07T23:50:31.778Z,1749340231.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 360.899994 m,
      deltaT: 7.816448 s,
      deltaX: -26.100006 m,
      approachRate: -3.339113 m/s,
      rangeRepo size: 4

2025-06-07T23:50:31.789Z,1749340231.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 358.073486 m,
      bearing: 315.888329 deg,
      lat: 36.905922 deg,
      lon: -122.116207 deg,
      deltaT: 7.816448 s,
      deltaX: -25.876892 m,
      approachRate: -3.310569 m/s,
      posRepo size: 4

2025-06-07T23:50:31.789Z,1749340231.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:31.796Z,1749340231.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 370.327332 m,
      bearing: 312.440875 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000539 deg/s,
      cmd heading: 305.172661 deg,
      new cmd heading: 305.171959 deg.

2025-06-07T23:50:31.797Z,1749340231.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326255 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:32.146Z,1749340232.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:32.148Z,1749340232.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:32.151Z,1749340232.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 370.026733 m,
      bearing: 312.443769 deg,
      approach rate: -0.811381 m/s,
      LOS rate: 0.007819 deg/s,
      cmd heading: 305.171951 deg,
      new cmd heading: 305.180640 deg.

2025-06-07T23:50:32.152Z,1749340232.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326407 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:32.221Z,1749340232.221 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:32.221Z,1749340232.221 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:32.222Z,1749340232.222 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:32.472Z,1749340232.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993396
2025-06-07T23:50:32.537Z,1749340232.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:32.539Z,1749340232.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 369.753113 m,
      bearing: 312.446469 deg,
      approach rate: -0.704556 m/s,
      LOS rate: 0.006958 deg/s,
      cmd heading: 305.180639 deg,
      new cmd heading: 305.188745 deg.

2025-06-07T23:50:32.540Z,1749340232.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326549 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:32.724Z,1749340232.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245523
2025-06-07T23:50:32.977Z,1749340232.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497936
2025-06-07T23:50:33.066Z,1749340233.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:33.069Z,1749340233.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 369.379883 m,
      bearing: 312.450164 deg,
      approach rate: -0.705373 m/s,
      LOS rate: 0.006989 deg/s,
      cmd heading: 305.188753 deg,
      new cmd heading: 305.199847 deg.

2025-06-07T23:50:33.070Z,1749340233.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326742 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:33.228Z,1749340233.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749338
2025-06-07T23:50:33.387Z,1749340233.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:33.394Z,1749340233.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 369.170410 m,
      bearing: 312.452890 deg,
      approach rate: -0.652148 m/s,
      LOS rate: 0.008492 deg/s,
      cmd heading: 305.199845 deg,
      new cmd heading: 305.208028 deg.

2025-06-07T23:50:33.395Z,1749340233.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326885 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:33.481Z,1749340233.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002777
2025-06-07T23:50:33.732Z,1749340233.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253547
2025-06-07T23:50:33.765Z,1749340233.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:33.768Z,1749340233.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 368.893555 m,
      bearing: 312.456418 deg,
      approach rate: -0.732912 m/s,
      LOS rate: 0.009347 deg/s,
      cmd heading: 305.208041 deg,
      new cmd heading: 305.218634 deg.

2025-06-07T23:50:33.769Z,1749340233.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327070 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:33.988Z,1749340233.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508796
2025-06-07T23:50:34.236Z,1749340234.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757540
2025-06-07T23:50:34.238Z,1749340234.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:34.240Z,1749340234.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:34.243Z,1749340234.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 368.577209 m,
      bearing: 312.461125 deg,
      approach rate: -0.664958 m/s,
      LOS rate: 0.009902 deg/s,
      cmd heading: 305.218642 deg,
      new cmd heading: 305.232774 deg.

2025-06-07T23:50:34.244Z,1749340234.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327317 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:34.488Z,1749340234.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009462
2025-06-07T23:50:34.563Z,1749340234.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:34.566Z,1749340234.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 368.341888 m,
      bearing: 312.464632 deg,
      approach rate: -0.728760 m/s,
      LOS rate: 0.010867 deg/s,
      cmd heading: 305.232767 deg,
      new cmd heading: 305.243293 deg.

2025-06-07T23:50:34.567Z,1749340234.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327500 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:34.743Z,1749340234.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264623
2025-06-07T23:50:34.964Z,1749340234.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:34.984Z,1749340234.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 368.069061 m,
      bearing: 312.468584 deg,
      approach rate: -0.681993 m/s,
      LOS rate: 0.009886 deg/s,
      cmd heading: 305.243285 deg,
      new cmd heading: 305.255150 deg.

2025-06-07T23:50:34.985Z,1749340234.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327707 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:34.995Z,1749340234.995 [DAT](INFO): DAT read: Rx Time:23:50:34.1547

2025-06-07T23:50:34.997Z,1749340234.997 [DAT](INFO): Rx dataTimestamp_ set to:1749340234.996578
2025-06-07T23:50:34.997Z,1749340234.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518741
2025-06-07T23:50:35.245Z,1749340235.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766158
2025-06-07T23:50:35.441Z,1749340235.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.07 m.
2025-06-07T23:50:35.448Z,1749340235.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.073486 m,
      nav range: 367.764679 m,
      bearing: 312.473343 deg,
      approach rate: -0.636967 m/s,
      LOS rate: 0.009968 deg/s,
      cmd heading: 305.255142 deg,
      new cmd heading: 305.269433 deg.

2025-06-07T23:50:35.449Z,1749340235.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327957 target range: 358.073486 and range: 360.90 m.
2025-06-07T23:50:35.502Z,1749340235.502 [DAT](INFO): DAT read: 23:50:34.1547 LVL= 24944, 32753, 25138, 32755, AGC= 67, IDX= 405,-0.14,-0.507,-2.031,-0.904,-1.199, PHS= 0.780,-0.785, 0.292, RAW= 132.3,  -4.2, CAL= 137.7, -14.6, ROT=  12.3,  14.6

2025-06-07T23:50:35.503Z,1749340235.503 [DAT](INFO): got valid direction response:
 23:50:34.1547 LVL= 24944, 32753, 25138, 32755, AGC= 67, IDX= 405,-0.14,-0.507,-2.031,-0.904,-1.199, PHS= 0.780,-0.785, 0.292, RAW= 132.3,  -4.2, CAL= 137.7, -14.6, ROT=  12.3,  14.6

2025-06-07T23:50:35.504Z,1749340235.504 [DAT](INFO): DAT read: Bearing  12.3,  14.6 (Local)

2025-06-07T23:50:35.504Z,1749340235.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.3,  14.6 (Local)

2025-06-07T23:50:35.506Z,1749340235.506 [DAT](INFO): DAT read: Range 10 to 50 : 358.0 m  (Round-trip  477.4 ms) speed  0.4 m/s

2025-06-07T23:50:35.507Z,1749340235.507 [DAT](INFO): DAT read: user:1870>

2025-06-07T23:50:35.508Z,1749340235.508 [DAT](INFO): DAT read: Tx time:23:50:35.2732

2025-06-07T23:50:35.508Z,1749340235.508 [DAT](INFO): Ping request sent.
2025-06-07T23:50:35.508Z,1749340235.508 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:35.508Z,1749340235.508 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:35.509Z,1749340235.509 [DAT](INFO): direction in FSK: [0.945496,0.206151,-0.252069]
2025-06-07T23:50:35.510Z,1749340235.510 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:35.510Z,1749340235.510 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:35.513Z,1749340235.513 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:35.513Z,1749340235.513 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:35.748Z,1749340235.748 [DAT](INFO): DAT read: TxSync time:23:50:35.2724

2025-06-07T23:50:35.821Z,1749340235.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 358.000000 m,
      deltaT: 4.031464 s,
      deltaX: -2.899994 m,
      approachRate: -0.719340 m/s,
      rangeRepo size: 4

2025-06-07T23:50:35.823Z,1749340235.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 355.201263 m,
      bearing: 318.893545 deg,
      lat: 36.905975 deg,
      lon: -122.115985 deg,
      deltaT: 4.031464 s,
      deltaX: -2.872223 m,
      approachRate: -0.712452 m/s,
      posRepo size: 4

2025-06-07T23:50:35.828Z,1749340235.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:35.830Z,1749340235.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 357.341614 m,
      bearing: 315.304672 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009968 deg/s,
      cmd heading: 305.269431 deg,
      new cmd heading: 305.280767 deg.

2025-06-07T23:50:35.836Z,1749340235.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328155 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:36.313Z,1749340236.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:36.316Z,1749340236.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:36.318Z,1749340236.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 356.979919 m,
      bearing: 315.313543 deg,
      approach rate: -0.729868 m/s,
      LOS rate: 0.017919 deg/s,
      cmd heading: 305.280769 deg,
      new cmd heading: 305.307409 deg.

2025-06-07T23:50:36.320Z,1749340236.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328619 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:36.507Z,1749340236.507 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:36.507Z,1749340236.507 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:36.507Z,1749340236.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:36.668Z,1749340236.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:36.670Z,1749340236.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 356.736206 m,
      bearing: 315.319560 deg,
      approach rate: -0.693051 m/s,
      LOS rate: 0.017122 deg/s,
      cmd heading: 305.307407 deg,
      new cmd heading: 305.325470 deg.

2025-06-07T23:50:36.700Z,1749340236.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328935 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:36.756Z,1749340236.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248293
2025-06-07T23:50:36.827Z,1749340236.827 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:50:37.008Z,1749340237.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500112
2025-06-07T23:50:37.184Z,1749340237.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:37.186Z,1749340237.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 356.399323 m,
      bearing: 315.327921 deg,
      approach rate: -0.684678 m/s,
      LOS rate: 0.017008 deg/s,
      cmd heading: 305.325466 deg,
      new cmd heading: 305.350572 deg.

2025-06-07T23:50:37.187Z,1749340237.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.329373 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:37.261Z,1749340237.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753143
2025-06-07T23:50:37.512Z,1749340237.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004197
2025-06-07T23:50:37.538Z,1749340237.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:37.541Z,1749340237.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 356.139618 m,
      bearing: 315.334346 deg,
      approach rate: -0.685213 m/s,
      LOS rate: 0.016966 deg/s,
      cmd heading: 305.350574 deg,
      new cmd heading: 305.369865 deg.

2025-06-07T23:50:37.542Z,1749340237.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.329710 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:37.766Z,1749340237.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257682
2025-06-07T23:50:37.835Z,1749340237.835 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:50:37.928Z,1749340237.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:37.930Z,1749340237.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 355.873199 m,
      bearing: 315.340928 deg,
      approach rate: -0.685326 m/s,
      LOS rate: 0.016945 deg/s,
      cmd heading: 305.369862 deg,
      new cmd heading: 305.389624 deg.

2025-06-07T23:50:37.931Z,1749340237.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330054 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:38.017Z,1749340238.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509279
2025-06-07T23:50:38.268Z,1749340238.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760184
2025-06-07T23:50:38.380Z,1749340238.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:38.382Z,1749340238.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:38.385Z,1749340238.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 355.555511 m,
      bearing: 315.348149 deg,
      approach rate: -0.698521 m/s,
      LOS rate: 0.015890 deg/s,
      cmd heading: 305.389615 deg,
      new cmd heading: 305.411296 deg.

2025-06-07T23:50:38.386Z,1749340238.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330433 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:38.521Z,1749340238.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012835
2025-06-07T23:50:38.752Z,1749340238.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:38.755Z,1749340238.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 355.305298 m,
      bearing: 315.353809 deg,
      approach rate: -0.676279 m/s,
      LOS rate: 0.015308 deg/s,
      cmd heading: 305.411308 deg,
      new cmd heading: 305.428299 deg.

2025-06-07T23:50:38.756Z,1749340238.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330729 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:38.772Z,1749340238.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264241
2025-06-07T23:50:39.024Z,1749340239.024 [DAT](INFO): DAT read: Rx Time:23:50:38.1656

2025-06-07T23:50:39.025Z,1749340239.025 [DAT](INFO): Rx dataTimestamp_ set to:1749340239.024430
2025-06-07T23:50:39.025Z,1749340239.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517283
2025-06-07T23:50:39.195Z,1749340239.195 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-07T23:50:39.195Z,1749340239.195 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-07T23:50:39.195Z,1749340239.195 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-07T23:50:39.241Z,1749340239.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.20 m.
2025-06-07T23:50:39.248Z,1749340239.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 355.201263 m,
      nav range: 354.970642 m,
      bearing: 315.361392 deg,
      approach rate: -0.683787 m/s,
      LOS rate: 0.015509 deg/s,
      cmd heading: 305.428301 deg,
      new cmd heading: 305.451072 deg.

2025-06-07T23:50:39.249Z,1749340239.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.331127 target range: 355.201263 and range: 358.00 m.
2025-06-07T23:50:39.276Z,1749340239.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768222
2025-06-07T23:50:39.503Z,1749340239.503 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-07T23:50:39.525Z,1749340239.525 [RDI_Pathfinder](INFO): Powering down
2025-06-07T23:50:39.534Z,1749340239.534 [DAT](INFO): DAT read: 23:50:38.1656 LVL= 22736, 23697, 23426, 28499, AGC= 70, IDX=  34, 0.10,-1.410, 3.071,-1.887,-2.300, PHS= 0.978,-0.865, 0.410, RAW= 132.5,  -6.5, CAL= 137.8, -17.8, ROT=  12.2,  17.8

2025-06-07T23:50:39.536Z,1749340239.536 [DAT](INFO): got valid direction response:
 23:50:38.1656 LVL= 22736, 23697, 23426, 28499, AGC= 70, IDX=  34, 0.10,-1.410, 3.071,-1.887,-2.300, PHS= 0.978,-0.865, 0.410, RAW= 132.5,  -6.5, CAL= 137.8, -17.8, ROT=  12.2,  17.8

2025-06-07T23:50:39.537Z,1749340239.537 [DAT](INFO): DAT read: Bearing  12.2,  17.8 (Local)

2025-06-07T23:50:39.537Z,1749340239.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.2,  17.8 (Local)

2025-06-07T23:50:39.539Z,1749340239.539 [DAT](INFO): DAT read: Range 10 to 50 : 366.0 m  (Round-trip  488.1 ms) speed  0.7 m/s

2025-06-07T23:50:39.544Z,1749340239.544 [DAT](INFO): DAT read: user:1871>

2025-06-07T23:50:39.545Z,1749340239.545 [DAT](INFO): DAT read: Tx time:23:50:39.2733

2025-06-07T23:50:39.545Z,1749340239.545 [DAT](INFO): Ping request sent.
2025-06-07T23:50:39.546Z,1749340239.546 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:39.546Z,1749340239.546 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:39.547Z,1749340239.547 [DAT](INFO): direction in FSK: [0.930626,0.201209,-0.305695]
2025-06-07T23:50:39.547Z,1749340239.547 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:39.547Z,1749340239.547 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:39.550Z,1749340239.550 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:39.551Z,1749340239.551 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:39.597Z,1749340239.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 366.000000 m,
      deltaT: 4.032106 s,
      deltaX: 8.000000 m,
      approachRate: 1.984075 m/s,
      rangeRepo size: 4

2025-06-07T23:50:39.599Z,1749340239.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 363.141785 m,
      bearing: 318.886084 deg,
      lat: 36.906009 deg,
      lon: -122.115921 deg,
      deltaT: 4.032106 s,
      deltaX: 7.940521 m,
      approachRate: 1.969324 m/s,
      posRepo size: 4

2025-06-07T23:50:39.604Z,1749340239.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:39.606Z,1749340239.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 353.547241 m,
      bearing: 316.455250 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015509 deg/s,
      cmd heading: 305.451059 deg,
      new cmd heading: 305.467563 deg.

2025-06-07T23:50:39.616Z,1749340239.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.331415 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:39.780Z,1749340239.780 [DAT](INFO): DAT read: TxSync time:23:50:39.2725

2025-06-07T23:50:39.974Z,1749340239.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:39.979Z,1749340239.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 353.272217 m,
      bearing: 316.462375 deg,
      approach rate: -0.727282 m/s,
      LOS rate: 0.018856 deg/s,
      cmd heading: 305.467561 deg,
      new cmd heading: 305.488953 deg.

2025-06-07T23:50:39.980Z,1749340239.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.331788 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:40.375Z,1749340240.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:40.378Z,1749340240.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 353.002777 m,
      bearing: 316.469367 deg,
      approach rate: -0.707196 m/s,
      LOS rate: 0.018366 deg/s,
      cmd heading: 305.488953 deg,
      new cmd heading: 305.509945 deg.

2025-06-07T23:50:40.385Z,1749340240.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332154 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:40.652Z,1749340240.652 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-07T23:50:40.652Z,1749340240.652 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-07T23:50:40.741Z,1749340240.741 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-07T23:50:40.768Z,1749340240.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:40.772Z,1749340240.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:40.788Z,1749340240.788 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:40.788Z,1749340240.788 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:40.789Z,1749340240.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:40.804Z,1749340240.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 352.718109 m,
      bearing: 316.476787 deg,
      approach rate: -0.684741 m/s,
      LOS rate: 0.017864 deg/s,
      cmd heading: 305.509936 deg,
      new cmd heading: 305.532215 deg.

2025-06-07T23:50:40.805Z,1749340240.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332543 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:41.040Z,1749340241.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494604
2025-06-07T23:50:41.178Z,1749340241.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:41.185Z,1749340241.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 352.433594 m,
      bearing: 316.484230 deg,
      approach rate: -0.698876 m/s,
      LOS rate: 0.018297 deg/s,
      cmd heading: 305.532202 deg,
      new cmd heading: 305.554548 deg.

2025-06-07T23:50:41.186Z,1749340241.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332933 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:41.293Z,1749340241.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747017
2025-06-07T23:50:41.544Z,1749340241.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998546
2025-06-07T23:50:41.582Z,1749340241.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:41.585Z,1749340241.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 352.156952 m,
      bearing: 316.491420 deg,
      approach rate: -0.684769 m/s,
      LOS rate: 0.017810 deg/s,
      cmd heading: 305.554550 deg,
      new cmd heading: 305.576136 deg.

2025-06-07T23:50:41.586Z,1749340241.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.333310 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:41.797Z,1749340241.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251134
2025-06-07T23:50:41.997Z,1749340241.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:42.003Z,1749340242.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 351.861542 m,
      bearing: 316.499097 deg,
      approach rate: -0.712871 m/s,
      LOS rate: 0.018541 deg/s,
      cmd heading: 305.576134 deg,
      new cmd heading: 305.599184 deg.

2025-06-07T23:50:42.004Z,1749340242.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.333712 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:42.051Z,1749340242.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505193
2025-06-07T23:50:42.300Z,1749340242.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754478
2025-06-07T23:50:42.390Z,1749340242.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:42.397Z,1749340242.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 351.594940 m,
      bearing: 316.506040 deg,
      approach rate: -0.677731 m/s,
      LOS rate: 0.017663 deg/s,
      cmd heading: 305.599193 deg,
      new cmd heading: 305.620037 deg.

2025-06-07T23:50:42.398Z,1749340242.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334076 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:42.552Z,1749340242.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006459
2025-06-07T23:50:42.787Z,1749340242.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:42.789Z,1749340242.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:42.792Z,1749340242.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 351.302094 m,
      bearing: 316.513701 deg,
      approach rate: -0.733435 m/s,
      LOS rate: 0.019205 deg/s,
      cmd heading: 305.620038 deg,
      new cmd heading: 305.643043 deg.

2025-06-07T23:50:42.793Z,1749340242.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334477 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:42.804Z,1749340242.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258673
2025-06-07T23:50:43.056Z,1749340243.056 [DAT](INFO): DAT read: Rx Time:23:50:42.1617

2025-06-07T23:50:43.057Z,1749340243.057 [DAT](INFO): Rx dataTimestamp_ set to:1749340243.056376
2025-06-07T23:50:43.057Z,1749340243.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511593
2025-06-07T23:50:43.176Z,1749340243.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.14 m.
2025-06-07T23:50:43.178Z,1749340243.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.141785 m,
      nav range: 351.031921 m,
      bearing: 316.520799 deg,
      approach rate: -0.700191 m/s,
      LOS rate: 0.018408 deg/s,
      cmd heading: 305.643042 deg,
      new cmd heading: 305.664351 deg.

2025-06-07T23:50:43.180Z,1749340243.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334849 target range: 363.141785 and range: 366.00 m.
2025-06-07T23:50:43.308Z,1749340243.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762587
2025-06-07T23:50:43.566Z,1749340243.566 [DAT](INFO): DAT read: 23:50:42.1617 LVL= 27072, 32753, 26450, 32755, AGC= 69, IDX= 394,-0.16, 2.888, 1.383, 2.730, 2.097, PHS= 0.879,-0.667, 0.630, RAW= 141.4, -11.7, CAL= 148.1, -21.1, ROT=   1.9,  21.1

2025-06-07T23:50:43.568Z,1749340243.568 [DAT](INFO): got valid direction response:
 23:50:42.1617 LVL= 27072, 32753, 26450, 32755, AGC= 69, IDX= 394,-0.16, 2.888, 1.383, 2.730, 2.097, PHS= 0.879,-0.667, 0.630, RAW= 141.4, -11.7, CAL= 148.1, -21.1, ROT=   1.9,  21.1

2025-06-07T23:50:43.568Z,1749340243.568 [DAT](INFO): DAT read: Bearing   1.9,  21.1 (Local)

2025-06-07T23:50:43.569Z,1749340243.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  21.1 (Local)

2025-06-07T23:50:43.570Z,1749340243.570 [DAT](INFO): DAT read: Range 10 to 50 : 363.1 m  (Round-trip  484.2 ms) speed  0.4 m/s

2025-06-07T23:50:43.571Z,1749340243.571 [DAT](INFO): DAT read: user:1872>

2025-06-07T23:50:43.572Z,1749340243.572 [DAT](INFO): DAT read: Tx time:23:50:43.2749

2025-06-07T23:50:43.572Z,1749340243.572 [DAT](INFO): Ping request sent.
2025-06-07T23:50:43.572Z,1749340243.572 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:43.573Z,1749340243.573 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:43.574Z,1749340243.574 [DAT](INFO): direction in FSK: [0.932441,0.030932,-0.359997]
2025-06-07T23:50:43.574Z,1749340243.574 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:43.574Z,1749340243.574 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:43.577Z,1749340243.577 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:43.578Z,1749340243.578 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:43.680Z,1749340243.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 363.100006 m,
      deltaT: 4.032001 s,
      deltaX: -2.899994 m,
      approachRate: -0.719244 m/s,
      rangeRepo size: 4

2025-06-07T23:50:43.682Z,1749340243.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 360.267120 m,
      bearing: 309.122347 deg,
      lat: 36.905975 deg,
      lon: -122.115921 deg,
      deltaT: 4.032001 s,
      deltaX: -2.874664 m,
      approachRate: -0.712962 m/s,
      posRepo size: 4

2025-06-07T23:50:43.684Z,1749340243.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:43.687Z,1749340243.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 347.925171 m,
      bearing: 316.094728 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018408 deg/s,
      cmd heading: 305.664353 deg,
      new cmd heading: 305.692073 deg.

2025-06-07T23:50:43.734Z,1749340243.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.335333 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:43.813Z,1749340243.813 [DAT](INFO): DAT read: TxSync time:23:50:43.2741

2025-06-07T23:50:44.089Z,1749340244.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:44.096Z,1749340244.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 347.623474 m,
      bearing: 316.102442 deg,
      approach rate: -0.733026 m/s,
      LOS rate: 0.018758 deg/s,
      cmd heading: 305.692083 deg,
      new cmd heading: 305.715244 deg.

2025-06-07T23:50:44.097Z,1749340244.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.335738 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:44.448Z,1749340244.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:44.450Z,1749340244.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 347.375183 m,
      bearing: 316.108805 deg,
      approach rate: -0.691085 m/s,
      LOS rate: 0.017723 deg/s,
      cmd heading: 305.715251 deg,
      new cmd heading: 305.734353 deg.

2025-06-07T23:50:44.456Z,1749340244.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.336071 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:44.846Z,1749340244.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:44.848Z,1749340244.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:44.851Z,1749340244.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 347.086792 m,
      bearing: 316.116220 deg,
      approach rate: -0.720074 m/s,
      LOS rate: 0.018531 deg/s,
      cmd heading: 305.734348 deg,
      new cmd heading: 305.756613 deg.

2025-06-07T23:50:44.852Z,1749340244.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.336460 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:45.076Z,1749340245.076 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:45.077Z,1749340245.077 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:45.077Z,1749340245.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:45.300Z,1749340245.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:45.304Z,1749340245.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 346.778809 m,
      bearing: 316.124154 deg,
      approach rate: -0.681179 m/s,
      LOS rate: 0.017562 deg/s,
      cmd heading: 305.756615 deg,
      new cmd heading: 305.780436 deg.

2025-06-07T23:50:45.305Z,1749340245.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.336875 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:45.328Z,1749340245.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755738
2025-06-07T23:50:45.582Z,1749340245.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009423
2025-06-07T23:50:45.656Z,1749340245.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:45.658Z,1749340245.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 346.520752 m,
      bearing: 316.130727 deg,
      approach rate: -0.727195 m/s,
      LOS rate: 0.018538 deg/s,
      cmd heading: 305.780438 deg,
      new cmd heading: 305.800174 deg.

2025-06-07T23:50:45.659Z,1749340245.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337220 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:45.835Z,1749340245.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262375
2025-06-07T23:50:46.051Z,1749340246.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:46.054Z,1749340246.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 346.243530 m,
      bearing: 316.137778 deg,
      approach rate: -0.700513 m/s,
      LOS rate: 0.017830 deg/s,
      cmd heading: 305.800164 deg,
      new cmd heading: 305.821332 deg.

2025-06-07T23:50:46.071Z,1749340246.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337589 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:46.084Z,1749340246.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511771
2025-06-07T23:50:46.336Z,1749340246.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763621
2025-06-07T23:50:46.467Z,1749340246.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:46.470Z,1749340246.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 345.952026 m,
      bearing: 316.145188 deg,
      approach rate: -0.700601 m/s,
      LOS rate: 0.017824 deg/s,
      cmd heading: 305.821338 deg,
      new cmd heading: 305.843586 deg.

2025-06-07T23:50:46.471Z,1749340246.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337977 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:46.588Z,1749340246.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015730
2025-06-07T23:50:46.840Z,1749340246.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267744
2025-06-07T23:50:46.865Z,1749340246.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:46.895Z,1749340246.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:46.898Z,1749340246.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 345.671875 m,
      bearing: 316.152293 deg,
      approach rate: -0.700135 m/s,
      LOS rate: 0.017770 deg/s,
      cmd heading: 305.843577 deg,
      new cmd heading: 305.864908 deg.

2025-06-07T23:50:46.903Z,1749340246.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.338350 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:47.095Z,1749340247.095 [DAT](INFO): DAT read: Rx Time:23:50:46.1747

2025-06-07T23:50:47.096Z,1749340247.096 [DAT](INFO): Rx dataTimestamp_ set to:1749340247.095271
2025-06-07T23:50:47.096Z,1749340247.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523681
2025-06-07T23:50:47.268Z,1749340247.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.27 m.
2025-06-07T23:50:47.270Z,1749340247.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.267120 m,
      nav range: 345.391144 m,
      bearing: 316.159401 deg,
      approach rate: -0.701626 m/s,
      LOS rate: 0.017780 deg/s,
      cmd heading: 305.864914 deg,
      new cmd heading: 305.886256 deg.

2025-06-07T23:50:47.271Z,1749340247.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.338722 target range: 360.267120 and range: 363.10 m.
2025-06-07T23:50:47.345Z,1749340247.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772917
2025-06-07T23:50:47.602Z,1749340247.602 [DAT](INFO): DAT read: 23:50:46.1747 LVL= 19248, 28113, 19874, 27347, AGC= 68, IDX=  47,-0.30,-1.840, 2.866,-2.005,-2.644, PHS= 0.892,-0.726, 0.636, RAW= 141.6, -10.7, CAL= 148.5, -20.2, ROT=   1.5,  20.2

2025-06-07T23:50:47.603Z,1749340247.603 [DAT](INFO): got valid direction response:
 23:50:46.1747 LVL= 19248, 28113, 19874, 27347, AGC= 68, IDX=  47,-0.30,-1.840, 2.866,-2.005,-2.644, PHS= 0.892,-0.726, 0.636, RAW= 141.6, -10.7, CAL= 148.5, -20.2, ROT=   1.5,  20.2

2025-06-07T23:50:47.604Z,1749340247.604 [DAT](INFO): DAT read: Bearing   1.5,  20.2 (Local)

2025-06-07T23:50:47.604Z,1749340247.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  20.2 (Local)

2025-06-07T23:50:47.606Z,1749340247.606 [DAT](INFO): DAT read: Range 10 to 50 : 371.7 m  (Round-trip  495.7 ms) speed  0.4 m/s

2025-06-07T23:50:47.606Z,1749340247.606 [DAT](INFO): DAT read: user:1873>

2025-06-07T23:50:47.612Z,1749340247.612 [DAT](INFO): DAT read: Tx time:23:50:47.2733

2025-06-07T23:50:47.613Z,1749340247.613 [DAT](INFO): Ping request sent.
2025-06-07T23:50:47.613Z,1749340247.613 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:47.613Z,1749340247.613 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:47.614Z,1749340247.614 [DAT](INFO): direction in FSK: [0.938171,0.024567,-0.345298]
2025-06-07T23:50:47.614Z,1749340247.614 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:47.614Z,1749340247.614 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:47.617Z,1749340247.617 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:47.618Z,1749340247.618 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:47.740Z,1749340247.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 371.700012 m,
      deltaT: 4.035801 s,
      deltaX: 8.600006 m,
      approachRate: 2.130929 m/s,
      rangeRepo size: 4

2025-06-07T23:50:47.742Z,1749340247.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.802094 m,
      bearing: 308.845784 deg,
      lat: 36.905975 deg,
      lon: -122.115921 deg,
      deltaT: 4.035801 s,
      deltaX: 8.534973 m,
      approachRate: 2.114815 m/s,
      posRepo size: 4

2025-06-07T23:50:47.747Z,1749340247.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:47.750Z,1749340247.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 345.076080 m,
      bearing: 316.167392 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017780 deg/s,
      cmd heading: 305.886252 deg,
      new cmd heading: 305.911430 deg.

2025-06-07T23:50:47.751Z,1749340247.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339162 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:47.849Z,1749340247.849 [DAT](INFO): DAT read: TxSync time:23:50:47.2725

2025-06-07T23:50:48.072Z,1749340248.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:48.074Z,1749340248.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 344.827728 m,
      bearing: 316.173709 deg,
      approach rate: -0.748434 m/s,
      LOS rate: 0.019052 deg/s,
      cmd heading: 305.911441 deg,
      new cmd heading: 305.930408 deg.

2025-06-07T23:50:48.075Z,1749340248.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339493 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:48.483Z,1749340248.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:48.486Z,1749340248.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 344.539124 m,
      bearing: 316.181062 deg,
      approach rate: -0.701033 m/s,
      LOS rate: 0.017875 deg/s,
      cmd heading: 305.930402 deg,
      new cmd heading: 305.952478 deg.

2025-06-07T23:50:48.487Z,1749340248.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339878 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:48.879Z,1749340248.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:48.882Z,1749340248.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:48.885Z,1749340248.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 344.260315 m,
      bearing: 316.188198 deg,
      approach rate: -0.698987 m/s,
      LOS rate: 0.017906 deg/s,
      cmd heading: 305.952477 deg,
      new cmd heading: 305.973904 deg.

2025-06-07T23:50:48.886Z,1749340248.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340252 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:49.108Z,1749340249.108 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:49.108Z,1749340249.108 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:49.109Z,1749340249.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:49.285Z,1749340249.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:49.288Z,1749340249.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 343.976562 m,
      bearing: 316.195331 deg,
      approach rate: -0.703339 m/s,
      LOS rate: 0.017694 deg/s,
      cmd heading: 305.973897 deg,
      new cmd heading: 305.995312 deg.

2025-06-07T23:50:49.289Z,1749340249.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340626 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:49.360Z,1749340249.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747553
2025-06-07T23:50:49.612Z,1749340249.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999455
2025-06-07T23:50:49.688Z,1749340249.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:49.690Z,1749340249.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 343.694458 m,
      bearing: 316.202319 deg,
      approach rate: -0.701676 m/s,
      LOS rate: 0.017396 deg/s,
      cmd heading: 305.995316 deg,
      new cmd heading: 306.016298 deg.

2025-06-07T23:50:49.707Z,1749340249.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340992 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:49.864Z,1749340249.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251445
2025-06-07T23:50:50.112Z,1749340250.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:50.116Z,1749340250.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503850
2025-06-07T23:50:50.115Z,1749340250.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 343.401825 m,
      bearing: 316.209535 deg,
      approach rate: -0.688646 m/s,
      LOS rate: 0.016996 deg/s,
      cmd heading: 306.016299 deg,
      new cmd heading: 306.037965 deg.

2025-06-07T23:50:50.120Z,1749340250.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.341370 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:50.368Z,1749340250.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755549
2025-06-07T23:50:50.496Z,1749340250.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:50.498Z,1749340250.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 343.127106 m,
      bearing: 316.216307 deg,
      approach rate: -0.716056 m/s,
      LOS rate: 0.017666 deg/s,
      cmd heading: 306.037964 deg,
      new cmd heading: 306.058296 deg.

2025-06-07T23:50:50.500Z,1749340250.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.341725 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:50.620Z,1749340250.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007540
2025-06-07T23:50:50.872Z,1749340250.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259542
2025-06-07T23:50:50.930Z,1749340250.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:50.935Z,1749340250.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:50.938Z,1749340250.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 342.820770 m,
      bearing: 316.223876 deg,
      approach rate: -0.697418 m/s,
      LOS rate: 0.017247 deg/s,
      cmd heading: 306.058291 deg,
      new cmd heading: 306.081018 deg.

2025-06-07T23:50:50.951Z,1749340250.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.342122 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:51.124Z,1749340251.124 [DAT](INFO): DAT read: Rx Time:23:50:50.1700

2025-06-07T23:50:51.125Z,1749340251.125 [DAT](INFO): Rx dataTimestamp_ set to:1749340251.124556
2025-06-07T23:50:51.125Z,1749340251.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512742
2025-06-07T23:50:51.324Z,1749340251.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.80 m.
2025-06-07T23:50:51.326Z,1749340251.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.802094 m,
      nav range: 342.560181 m,
      bearing: 316.230326 deg,
      approach rate: -0.678237 m/s,
      LOS rate: 0.016800 deg/s,
      cmd heading: 306.081021 deg,
      new cmd heading: 306.100386 deg.

2025-06-07T23:50:51.331Z,1749340251.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.342460 target range: 368.802094 and range: 371.70 m.
2025-06-07T23:50:51.377Z,1749340251.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764319
2025-06-07T23:50:51.639Z,1749340251.639 [DAT](INFO): DAT read: 23:50:50.1700 LVL= 31936, 32753, 30962, 32755, AGC= 70, IDX= 415,-0.32, 1.459, 0.148, 1.339, 0.885, PHS= 0.663,-0.690, 0.452, RAW= 141.7,  -6.8, CAL= 147.7, -16.2, ROT=   2.3,  16.2

2025-06-07T23:50:51.640Z,1749340251.640 [DAT](INFO): got valid direction response:
 23:50:50.1700 LVL= 31936, 32753, 30962, 32755, AGC= 70, IDX= 415,-0.32, 1.459, 0.148, 1.339, 0.885, PHS= 0.663,-0.690, 0.452, RAW= 141.7,  -6.8, CAL= 147.7, -16.2, ROT=   2.3,  16.2

2025-06-07T23:50:51.641Z,1749340251.641 [DAT](INFO): DAT read: Bearing   2.3,  16.2 (Local)

2025-06-07T23:50:51.642Z,1749340251.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  16.2 (Local)

2025-06-07T23:50:51.643Z,1749340251.643 [DAT](INFO): DAT read: Range 10 to 50 : 369.3 m  (Round-trip  492.4 ms) speed  0.4 m/s

2025-06-07T23:50:51.644Z,1749340251.644 [DAT](INFO): DAT read: user:1874>

2025-06-07T23:50:51.645Z,1749340251.645 [DAT](INFO): DAT read: Tx time:23:50:51.2734

2025-06-07T23:50:51.645Z,1749340251.645 [DAT](INFO): Ping request sent.
2025-06-07T23:50:51.645Z,1749340251.645 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:50:51.646Z,1749340251.646 [DAT](INFO): DAT read: TxSync time:23:50:51.2726

2025-06-07T23:50:51.646Z,1749340251.646 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:50:51.662Z,1749340251.662 [DAT](INFO): direction in FSK: [0.959520,0.038538,-0.278991]
2025-06-07T23:50:51.662Z,1749340251.662 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:51.662Z,1749340251.662 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:51.666Z,1749340251.666 [DAT](INFO): publishing transmit ping time
2025-06-07T23:50:51.666Z,1749340251.666 [DAT](INFO): publishing direction and range info
2025-06-07T23:50:51.745Z,1749340251.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 369.299988 m,
      deltaT: 4.032338 s,
      deltaX: -2.400024 m,
      approachRate: -0.595194 m/s,
      rangeRepo size: 4

2025-06-07T23:50:51.759Z,1749340251.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 366.420776 m,
      bearing: 309.651782 deg,
      lat: 36.905788 deg,
      lon: -122.116204 deg,
      deltaT: 4.032338 s,
      deltaX: -2.381317 m,
      approachRate: -0.590555 m/s,
      posRepo size: 4

2025-06-07T23:50:51.760Z,1749340251.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:51.763Z,1749340251.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 346.215729 m,
      bearing: 310.852313 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016800 deg/s,
      cmd heading: 306.100392 deg,
      new cmd heading: 306.121816 deg.

2025-06-07T23:50:51.768Z,1749340251.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.342834 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:52.121Z,1749340252.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:52.124Z,1749340252.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 345.922729 m,
      bearing: 310.854964 deg,
      approach rate: -0.778357 m/s,
      LOS rate: 0.007049 deg/s,
      cmd heading: 306.121811 deg,
      new cmd heading: 306.129771 deg.

2025-06-07T23:50:52.125Z,1749340252.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.342972 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:52.516Z,1749340252.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:52.518Z,1749340252.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 345.643219 m,
      bearing: 310.857570 deg,
      approach rate: -0.708412 m/s,
      LOS rate: 0.006611 deg/s,
      cmd heading: 306.129762 deg,
      new cmd heading: 306.137587 deg.

2025-06-07T23:50:52.532Z,1749340252.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343109 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:52.924Z,1749340252.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:52.926Z,1749340252.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 345.354004 m,
      bearing: 310.860377 deg,
      approach rate: -0.708182 m/s,
      LOS rate: 0.006878 deg/s,
      cmd heading: 306.137575 deg,
      new cmd heading: 306.146002 deg.

2025-06-07T23:50:52.928Z,1749340252.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343256 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:53.355Z,1749340253.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:53.358Z,1749340253.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:53.364Z,1749340253.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 345.058167 m,
      bearing: 310.863203 deg,
      approach rate: -0.682025 m/s,
      LOS rate: 0.006522 deg/s,
      cmd heading: 306.145990 deg,
      new cmd heading: 306.154477 deg.

2025-06-07T23:50:53.366Z,1749340253.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343404 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:53.396Z,1749340253.396 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:50:53.396Z,1749340253.396 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:50:53.396Z,1749340253.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:50:53.648Z,1749340253.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002988
2025-06-07T23:50:53.748Z,1749340253.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:53.751Z,1749340253.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 344.783325 m,
      bearing: 310.865771 deg,
      approach rate: -0.703979 m/s,
      LOS rate: 0.006581 deg/s,
      cmd heading: 306.154487 deg,
      new cmd heading: 306.162194 deg.

2025-06-07T23:50:53.752Z,1749340253.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343538 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:53.900Z,1749340253.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254861
2025-06-07T23:50:54.152Z,1749340254.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507013
2025-06-07T23:50:54.198Z,1749340254.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:54.205Z,1749340254.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 344.437042 m,
      bearing: 310.867413 deg,
      approach rate: -0.770269 m/s,
      LOS rate: 0.003657 deg/s,
      cmd heading: 306.162191 deg,
      new cmd heading: 306.167124 deg.

2025-06-07T23:50:54.206Z,1749340254.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343625 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:54.407Z,1749340254.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761735
2025-06-07T23:50:54.539Z,1749340254.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:54.542Z,1749340254.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 344.174194 m,
      bearing: 310.868646 deg,
      approach rate: -0.769324 m/s,
      LOS rate: 0.003610 deg/s,
      cmd heading: 306.167136 deg,
      new cmd heading: 306.170837 deg.

2025-06-07T23:50:54.543Z,1749340254.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343689 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:54.656Z,1749340254.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010913
2025-06-07T23:50:54.908Z,1749340254.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262940
2025-06-07T23:50:54.968Z,1749340254.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:54.976Z,1749340254.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 343.870819 m,
      bearing: 310.870068 deg,
      approach rate: -0.715805 m/s,
      LOS rate: 0.003359 deg/s,
      cmd heading: 306.170825 deg,
      new cmd heading: 306.175096 deg.

2025-06-07T23:50:54.978Z,1749340254.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343763 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:55.160Z,1749340255.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514916
2025-06-07T23:50:55.366Z,1749340255.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:55.368Z,1749340255.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:55.371Z,1749340255.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 343.550201 m,
      bearing: 310.871110 deg,
      approach rate: -0.790996 m/s,
      LOS rate: 0.002573 deg/s,
      cmd heading: 306.175087 deg,
      new cmd heading: 306.178215 deg.

2025-06-07T23:50:55.372Z,1749340255.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343818 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:55.414Z,1749340255.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768553
2025-06-07T23:50:55.664Z,1749340255.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018932
2025-06-07T23:50:55.800Z,1749340255.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:55.822Z,1749340255.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 343.236450 m,
      bearing: 310.872117 deg,
      approach rate: -0.726429 m/s,
      LOS rate: 0.002333 deg/s,
      cmd heading: 306.178229 deg,
      new cmd heading: 306.181252 deg.

2025-06-07T23:50:55.823Z,1749340255.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343871 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:55.916Z,1749340255.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270985
2025-06-07T23:50:56.168Z,1749340256.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523023
2025-06-07T23:50:56.187Z,1749340256.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:56.193Z,1749340256.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 342.943329 m,
      bearing: 310.872083 deg,
      approach rate: -0.758829 m/s,
      LOS rate: -0.000087 deg/s,
      cmd heading: 306.181261 deg,
      new cmd heading: 306.181161 deg.

2025-06-07T23:50:56.194Z,1749340256.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343869 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:56.421Z,1749340256.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775673
2025-06-07T23:50:56.616Z,1749340256.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:56.619Z,1749340256.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 342.606323 m,
      bearing: 310.872038 deg,
      approach rate: -0.784303 m/s,
      LOS rate: -0.000105 deg/s,
      cmd heading: 306.181152 deg,
      new cmd heading: 306.181017 deg.

2025-06-07T23:50:56.620Z,1749340256.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343867 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:56.673Z,1749340256.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027836
2025-06-07T23:50:56.924Z,1749340256.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278797
2025-06-07T23:50:57.040Z,1749340257.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:57.043Z,1749340257.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 342.297607 m,
      bearing: 310.871979 deg,
      approach rate: -0.728174 m/s,
      LOS rate: -0.000139 deg/s,
      cmd heading: 306.181015 deg,
      new cmd heading: 306.180838 deg.

2025-06-07T23:50:57.048Z,1749340257.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343864 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:57.177Z,1749340257.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531644
2025-06-07T23:50:57.429Z,1749340257.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783571
2025-06-07T23:50:57.452Z,1749340257.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:57.454Z,1749340257.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:57.457Z,1749340257.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 341.977356 m,
      bearing: 310.872013 deg,
      approach rate: -0.774154 m/s,
      LOS rate: 0.000082 deg/s,
      cmd heading: 306.180851 deg,
      new cmd heading: 306.180953 deg.

2025-06-07T23:50:57.458Z,1749340257.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343866 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:57.683Z,1749340257.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037332
2025-06-07T23:50:57.829Z,1749340257.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:57.832Z,1749340257.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 341.700806 m,
      bearing: 310.872011 deg,
      approach rate: -0.737106 m/s,
      LOS rate: -0.000006 deg/s,
      cmd heading: 306.180961 deg,
      new cmd heading: 306.180954 deg.

2025-06-07T23:50:57.833Z,1749340257.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343866 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:57.933Z,1749340257.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287876
2025-06-07T23:50:58.184Z,1749340258.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538850
2025-06-07T23:50:58.271Z,1749340258.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:58.274Z,1749340258.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 341.385986 m,
      bearing: 310.872557 deg,
      approach rate: -0.718726 m/s,
      LOS rate: 0.001249 deg/s,
      cmd heading: 306.180961 deg,
      new cmd heading: 306.182602 deg.

2025-06-07T23:50:58.284Z,1749340258.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343894 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:58.436Z,1749340258.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790858
2025-06-07T23:50:58.651Z,1749340258.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:58.654Z,1749340258.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 341.102417 m,
      bearing: 310.873051 deg,
      approach rate: -0.738879 m/s,
      LOS rate: 0.001286 deg/s,
      cmd heading: 306.182600 deg,
      new cmd heading: 306.184081 deg.

2025-06-07T23:50:58.655Z,1749340258.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343920 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:58.689Z,1749340258.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043538
2025-06-07T23:50:58.940Z,1749340258.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295278
2025-06-07T23:50:59.049Z,1749340259.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:59.052Z,1749340259.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 340.814362 m,
      bearing: 310.873429 deg,
      approach rate: -0.723352 m/s,
      LOS rate: 0.000951 deg/s,
      cmd heading: 306.184075 deg,
      new cmd heading: 306.185212 deg.

2025-06-07T23:50:59.053Z,1749340259.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343940 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:59.192Z,1749340259.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547100
2025-06-07T23:50:59.444Z,1749340259.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798949
2025-06-07T23:50:59.472Z,1749340259.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:50:59.474Z,1749340259.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:59.477Z,1749340259.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 340.511200 m,
      bearing: 310.874724 deg,
      approach rate: -0.713967 m/s,
      LOS rate: 0.003052 deg/s,
      cmd heading: 306.185223 deg,
      new cmd heading: 306.189110 deg.

2025-06-07T23:50:59.478Z,1749340259.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344008 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:59.697Z,1749340259.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051437
2025-06-07T23:50:59.844Z,1749340259.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:50:59.847Z,1749340259.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 340.246490 m,
      bearing: 310.875818 deg,
      approach rate: -0.714171 m/s,
      LOS rate: 0.002954 deg/s,
      cmd heading: 306.189102 deg,
      new cmd heading: 306.192387 deg.

2025-06-07T23:50:59.848Z,1749340259.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344065 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:50:59.950Z,1749340259.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303967
2025-06-07T23:51:00.200Z,1749340260.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554959
2025-06-07T23:51:00.290Z,1749340260.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:00.297Z,1749340260.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 339.941650 m,
      bearing: 310.878107 deg,
      approach rate: -0.683900 m/s,
      LOS rate: 0.005141 deg/s,
      cmd heading: 306.192381 deg,
      new cmd heading: 306.199255 deg.

2025-06-07T23:51:00.298Z,1749340260.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344185 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:00.452Z,1749340260.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806996
2025-06-07T23:51:00.702Z,1749340260.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:00.704Z,1749340260.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059048
2025-06-07T23:51:00.706Z,1749340260.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 339.638245 m,
      bearing: 310.880340 deg,
      approach rate: -0.736751 m/s,
      LOS rate: 0.005426 deg/s,
      cmd heading: 306.199266 deg,
      new cmd heading: 306.205969 deg.

2025-06-07T23:51:00.724Z,1749340260.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344302 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:00.957Z,1749340260.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311850
2025-06-07T23:51:01.201Z,1749340261.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:01.208Z,1749340261.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563037
2025-06-07T23:51:01.209Z,1749340261.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 339.313141 m,
      bearing: 310.882695 deg,
      approach rate: -0.651957 m/s,
      LOS rate: 0.004728 deg/s,
      cmd heading: 306.205959 deg,
      new cmd heading: 306.213032 deg.

2025-06-07T23:51:01.210Z,1749340261.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344426 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:01.460Z,1749340261.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.814865
2025-06-07T23:51:01.564Z,1749340261.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:01.566Z,1749340261.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:01.569Z,1749340261.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 339.029694 m,
      bearing: 310.884774 deg,
      approach rate: -0.775593 m/s,
      LOS rate: 0.005694 deg/s,
      cmd heading: 306.213035 deg,
      new cmd heading: 306.219278 deg.

2025-06-07T23:51:01.570Z,1749340261.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344534 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:01.712Z,1749340261.712 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:01.712Z,1749340261.712 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:01.712Z,1749340261.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:01.961Z,1749340261.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:01.964Z,1749340261.964 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:01.965Z,1749340261.965 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:01.965Z,1749340261.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:01.985Z,1749340261.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 338.756897 m,
      bearing: 310.886747 deg,
      approach rate: -0.691032 m/s,
      LOS rate: 0.005000 deg/s,
      cmd heading: 306.219264 deg,
      new cmd heading: 306.225186 deg.

2025-06-07T23:51:01.986Z,1749340261.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344638 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:02.217Z,1749340262.217 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:02.217Z,1749340262.217 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:02.218Z,1749340262.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:02.376Z,1749340262.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:02.379Z,1749340262.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 338.473755 m,
      bearing: 310.889603 deg,
      approach rate: -0.682004 m/s,
      LOS rate: 0.006885 deg/s,
      cmd heading: 306.225193 deg,
      new cmd heading: 306.233768 deg.

2025-06-07T23:51:02.387Z,1749340262.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344788 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:02.469Z,1749340262.469 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:51:02.469Z,1749340262.469 [DAT](INFO): response not received
2025-06-07T23:51:02.470Z,1749340262.470 [DAT](INFO): DAT read: user:1875>

2025-06-07T23:51:02.470Z,1749340262.470 [DAT](INFO): DAT read: Tx time:23:51:02.2235

2025-06-07T23:51:02.471Z,1749340262.471 [DAT](INFO): Ping request sent.
2025-06-07T23:51:02.471Z,1749340262.471 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:02.471Z,1749340262.471 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:02.472Z,1749340262.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000836
2025-06-07T23:51:02.720Z,1749340262.720 [DAT](INFO): DAT read: TxSync time:23:51:02.2227

2025-06-07T23:51:02.721Z,1749340262.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250399
2025-06-07T23:51:02.728Z,1749340262.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:02.731Z,1749340262.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 338.218353 m,
      bearing: 310.892159 deg,
      approach rate: -0.725181 m/s,
      LOS rate: 0.007264 deg/s,
      cmd heading: 306.233772 deg,
      new cmd heading: 306.241447 deg.

2025-06-07T23:51:02.732Z,1749340262.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344922 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:02.973Z,1749340262.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502021
2025-06-07T23:51:03.146Z,1749340263.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:03.155Z,1749340263.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 337.928467 m,
      bearing: 310.895137 deg,
      approach rate: -0.695914 m/s,
      LOS rate: 0.007155 deg/s,
      cmd heading: 306.241449 deg,
      new cmd heading: 306.250390 deg.

2025-06-07T23:51:03.159Z,1749340263.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345078 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:03.224Z,1749340263.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753450
2025-06-07T23:51:03.476Z,1749340263.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005233
2025-06-07T23:51:03.571Z,1749340263.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:03.573Z,1749340263.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:03.576Z,1749340263.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 337.628174 m,
      bearing: 310.899146 deg,
      approach rate: -0.700810 m/s,
      LOS rate: 0.009365 deg/s,
      cmd heading: 306.250383 deg,
      new cmd heading: 306.262421 deg.

2025-06-07T23:51:03.577Z,1749340263.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345288 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:03.729Z,1749340263.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257674
2025-06-07T23:51:03.970Z,1749340263.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:03.978Z,1749340263.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 337.361298 m,
      bearing: 310.902828 deg,
      approach rate: -0.672731 m/s,
      LOS rate: 0.009289 deg/s,
      cmd heading: 306.262431 deg,
      new cmd heading: 306.273486 deg.

2025-06-07T23:51:03.980Z,1749340263.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509502
2025-06-07T23:51:03.984Z,1749340263.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345481 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:04.233Z,1749340264.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761644
2025-06-07T23:51:04.336Z,1749340264.336 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  66.15,  64.89,  62I,-32768,-32768,-32768,-32768,V
2025-06-07T23:51:04.351Z,1749340264.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:04.354Z,1749340264.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 337.087585 m,
      bearing: 310.906517 deg,
      approach rate: -0.717977 m/s,
      LOS rate: 0.009685 deg/s,
      cmd heading: 306.273496 deg,
      new cmd heading: 306.284572 deg.

2025-06-07T23:51:04.355Z,1749340264.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345674 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:04.489Z,1749340264.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018042
2025-06-07T23:51:04.741Z,1749340264.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269705
2025-06-07T23:51:04.755Z,1749340264.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:04.758Z,1749340264.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 336.807068 m,
      bearing: 310.910241 deg,
      approach rate: -0.694722 m/s,
      LOS rate: 0.009229 deg/s,
      cmd heading: 306.284561 deg,
      new cmd heading: 306.295741 deg.

2025-06-07T23:51:04.759Z,1749340264.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345869 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:04.992Z,1749340264.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521363
2025-06-07T23:51:05.148Z,1749340265.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:05.154Z,1749340265.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 336.533813 m,
      bearing: 310.913838 deg,
      approach rate: -0.694696 m/s,
      LOS rate: 0.009153 deg/s,
      cmd heading: 306.295735 deg,
      new cmd heading: 306.306536 deg.

2025-06-07T23:51:05.157Z,1749340265.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346057 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:05.244Z,1749340265.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773329
2025-06-07T23:51:05.496Z,1749340265.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025346
2025-06-07T23:51:05.610Z,1749340265.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:05.616Z,1749340265.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:05.619Z,1749340265.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 336.218567 m,
      bearing: 310.917067 deg,
      approach rate: -0.673703 m/s,
      LOS rate: 0.006908 deg/s,
      cmd heading: 306.306527 deg,
      new cmd heading: 306.316224 deg.

2025-06-07T23:51:05.624Z,1749340265.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346227 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:05.748Z,1749340265.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277289
2025-06-07T23:51:05.956Z,1749340265.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:05.975Z,1749340265.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 335.969177 m,
      bearing: 310.919575 deg,
      approach rate: -0.733167 m/s,
      LOS rate: 0.007378 deg/s,
      cmd heading: 306.316226 deg,
      new cmd heading: 306.323755 deg.

2025-06-07T23:51:05.977Z,1749340265.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346358 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:06.001Z,1749340266.001 [DAT](INFO): DAT read: Rx Time:23:51:05.1073

2025-06-07T23:51:06.002Z,1749340266.002 [DAT](INFO): Rx dataTimestamp_ set to:1749340266.001301
2025-06-07T23:51:06.002Z,1749340266.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531588
2025-06-07T23:51:06.252Z,1749340266.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781313
2025-06-07T23:51:06.425Z,1749340266.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.42 m.
2025-06-07T23:51:06.444Z,1749340266.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.420776 m,
      nav range: 335.645355 m,
      bearing: 310.921980 deg,
      approach rate: -0.691441 m/s,
      LOS rate: 0.005139 deg/s,
      cmd heading: 306.323766 deg,
      new cmd heading: 306.330987 deg.

2025-06-07T23:51:06.445Z,1749340266.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346484 target range: 366.420776 and range: 369.30 m.
2025-06-07T23:51:06.517Z,1749340266.517 [DAT](INFO): DAT read: 23:51:05.1073 LVL= 20256, 29937, 25202, 32755, AGC= 70, IDX= 286, 0.27, 1.050,-0.148, 1.066, 0.406, PHS= 0.732,-0.507, 0.657, RAW= 146.9, -14.5, CAL= 153.4, -22.5, ROT= 356.6,  22.5

2025-06-07T23:51:06.519Z,1749340266.519 [DAT](INFO): got valid direction response:
 23:51:05.1073 LVL= 20256, 29937, 25202, 32755, AGC= 70, IDX= 286, 0.27, 1.050,-0.148, 1.066, 0.406, PHS= 0.732,-0.507, 0.657, RAW= 146.9, -14.5, CAL= 153.4, -22.5, ROT= 356.6,  22.5

2025-06-07T23:51:06.520Z,1749340266.520 [DAT](INFO): DAT read: Bearing 356.6,  22.5 (Local)

2025-06-07T23:51:06.520Z,1749340266.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  22.5 (Local)

2025-06-07T23:51:06.522Z,1749340266.522 [DAT](INFO): DAT read: Range 10 to 50 : 359.7 m  (Round-trip  479.6 ms) speed  0.3 m/s

2025-06-07T23:51:06.523Z,1749340266.523 [DAT](INFO): DAT read: user:1876>

2025-06-07T23:51:06.526Z,1749340266.526 [DAT](INFO): DAT read: Tx time:23:51:06.2235

2025-06-07T23:51:06.527Z,1749340266.527 [DAT](INFO): Ping request sent.
2025-06-07T23:51:06.527Z,1749340266.527 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:06.534Z,1749340266.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:51:06.537Z,1749340266.537 [DAT](INFO): direction in FSK: [0.922253,-0.054792,-0.382683]
2025-06-07T23:51:06.538Z,1749340266.538 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:06.538Z,1749340266.538 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:06.546Z,1749340266.546 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:06.546Z,1749340266.546 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:06.760Z,1749340266.760 [DAT](INFO): DAT read: TxSync time:23:51:06.2227

2025-06-07T23:51:06.794Z,1749340266.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 359.700012 m,
      deltaT: 14.878973 s,
      deltaX: -9.599976 m,
      approachRate: -0.645204 m/s,
      rangeRepo size: 4

2025-06-07T23:51:06.800Z,1749340266.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 356.900238 m,
      bearing: 305.154603 deg,
      lat: 36.905719 deg,
      lon: -122.116313 deg,
      deltaT: 14.878973 s,
      deltaX: -9.520538 m,
      approachRate: -0.639865 m/s,
      posRepo size: 4

2025-06-07T23:51:06.801Z,1749340266.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:06.808Z,1749340266.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 337.917664 m,
      bearing: 308.863605 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005139 deg/s,
      cmd heading: 306.330979 deg,
      new cmd heading: 306.336662 deg.

2025-06-07T23:51:06.809Z,1749340266.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346583 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:07.180Z,1749340267.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:07.187Z,1749340267.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 337.639282 m,
      bearing: 308.864030 deg,
      approach rate: -0.720091 m/s,
      LOS rate: 0.001101 deg/s,
      cmd heading: 306.336662 deg,
      new cmd heading: 306.337939 deg.

2025-06-07T23:51:07.188Z,1749340267.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346606 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:07.612Z,1749340267.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:07.614Z,1749340267.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 337.334595 m,
      bearing: 308.863500 deg,
      approach rate: -0.705403 m/s,
      LOS rate: -0.001228 deg/s,
      cmd heading: 306.337946 deg,
      new cmd heading: 306.336354 deg.

2025-06-07T23:51:07.616Z,1749340267.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346578 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:07.972Z,1749340267.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:51:07.994Z,1749340267.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:08.013Z,1749340268.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:08.020Z,1749340268.020 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:08.020Z,1749340268.020 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:08.020Z,1749340268.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:08.023Z,1749340268.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 337.063477 m,
      bearing: 308.863057 deg,
      approach rate: -0.676173 m/s,
      LOS rate: -0.001107 deg/s,
      cmd heading: 306.336361 deg,
      new cmd heading: 306.335029 deg.

2025-06-07T23:51:08.028Z,1749340268.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346555 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:08.272Z,1749340268.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745595
2025-06-07T23:51:08.404Z,1749340268.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:08.407Z,1749340268.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 336.790344 m,
      bearing: 308.862487 deg,
      approach rate: -0.698114 m/s,
      LOS rate: -0.001456 deg/s,
      cmd heading: 306.335022 deg,
      new cmd heading: 306.333313 deg.

2025-06-07T23:51:08.408Z,1749340268.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346525 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:08.524Z,1749340268.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997479
2025-06-07T23:51:08.776Z,1749340268.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249284
2025-06-07T23:51:08.793Z,1749340268.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:08.812Z,1749340268.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 336.502106 m,
      bearing: 308.861755 deg,
      approach rate: -0.741116 m/s,
      LOS rate: -0.001886 deg/s,
      cmd heading: 306.333301 deg,
      new cmd heading: 306.331101 deg.

2025-06-07T23:51:08.813Z,1749340268.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346486 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:08.976Z,1749340268.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:51:09.028Z,1749340269.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501376
2025-06-07T23:51:09.238Z,1749340269.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:09.258Z,1749340269.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 336.211792 m,
      bearing: 308.860918 deg,
      approach rate: -0.655133 m/s,
      LOS rate: -0.001890 deg/s,
      cmd heading: 306.331088 deg,
      new cmd heading: 306.328575 deg.

2025-06-07T23:51:09.283Z,1749340269.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755666
2025-06-07T23:51:09.285Z,1749340269.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346442 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:09.532Z,1749340269.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005653
2025-06-07T23:51:09.639Z,1749340269.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:09.641Z,1749340269.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 335.906860 m,
      bearing: 308.860037 deg,
      approach rate: -0.757716 m/s,
      LOS rate: -0.002190 deg/s,
      cmd heading: 306.328575 deg,
      new cmd heading: 306.325930 deg.

2025-06-07T23:51:09.642Z,1749340269.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346396 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:09.788Z,1749340269.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260819
2025-06-07T23:51:10.007Z,1749340270.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:10.010Z,1749340270.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:10.012Z,1749340270.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 335.645325 m,
      bearing: 308.859207 deg,
      approach rate: -0.704940 m/s,
      LOS rate: -0.002240 deg/s,
      cmd heading: 306.325925 deg,
      new cmd heading: 306.323432 deg.

2025-06-07T23:51:10.014Z,1749340270.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346353 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:10.036Z,1749340270.036 [DAT](INFO): DAT read: Rx Time:23:51:09.1041

2025-06-07T23:51:10.037Z,1749340270.037 [DAT](INFO): Rx dataTimestamp_ set to:1749340270.036517
2025-06-07T23:51:10.037Z,1749340270.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510599
2025-06-07T23:51:10.290Z,1749340270.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763206
2025-06-07T23:51:10.429Z,1749340270.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:10.432Z,1749340270.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 335.338623 m,
      bearing: 308.856888 deg,
      approach rate: -0.731459 m/s,
      LOS rate: -0.005535 deg/s,
      cmd heading: 306.323438 deg,
      new cmd heading: 306.316476 deg.

2025-06-07T23:51:10.433Z,1749340270.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346231 target range: 356.900238 and range: 359.70 m.
2025-06-07T23:51:10.542Z,1749340270.542 [DAT](INFO): DAT read: Range 10 to 50 : 357.3 m  (Round-trip  476.4 ms) speed  0.3 m/s

2025-06-07T23:51:10.543Z,1749340270.543 [DAT](INFO): DAT read: user:1877>

2025-06-07T23:51:10.544Z,1749340270.544 [DAT](INFO): DAT read: Tx time:23:51:10.2236

2025-06-07T23:51:10.545Z,1749340270.545 [DAT](INFO): Ping request sent.
2025-06-07T23:51:10.545Z,1749340270.545 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:10.545Z,1749340270.545 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:51:10.545Z,1749340270.545 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:10.546Z,1749340270.546 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:10.792Z,1749340270.792 [DAT](INFO): DAT read: TxSync time:23:51:10.2228

2025-06-07T23:51:10.831Z,1749340270.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 357.299988 m,
      deltaT: 4.033236 s,
      deltaX: -2.400024 m,
      approachRate: -0.595062 m/s,
      rangeRepo size: 4

2025-06-07T23:51:10.832Z,1749340270.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:10.835Z,1749340270.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 335.059723 m,
      bearing: 308.854782 deg,
      approach rate: -0.730861 m/s,
      LOS rate: -0.005522 deg/s,
      cmd heading: 306.316472 deg,
      new cmd heading: 306.310150 deg.

2025-06-07T23:51:10.836Z,1749340270.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346121 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:11.230Z,1749340271.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:11.233Z,1749340271.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 334.753052 m,
      bearing: 308.852584 deg,
      approach rate: -0.730714 m/s,
      LOS rate: -0.005244 deg/s,
      cmd heading: 306.310161 deg,
      new cmd heading: 306.303558 deg.

2025-06-07T23:51:11.234Z,1749340271.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346005 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:11.662Z,1749340271.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:11.669Z,1749340271.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 334.437164 m,
      bearing: 308.850330 deg,
      approach rate: -0.731113 m/s,
      LOS rate: -0.005221 deg/s,
      cmd heading: 306.303549 deg,
      new cmd heading: 306.296781 deg.

2025-06-07T23:51:11.670Z,1749340271.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345887 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:12.025Z,1749340272.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:12.033Z,1749340272.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:12.036Z,1749340272.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 334.158722 m,
      bearing: 308.848448 deg,
      approach rate: -0.753447 m/s,
      LOS rate: -0.005096 deg/s,
      cmd heading: 306.296773 deg,
      new cmd heading: 306.291123 deg.

2025-06-07T23:51:12.037Z,1749340272.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345788 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:12.069Z,1749340272.069 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:12.069Z,1749340272.069 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:12.070Z,1749340272.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:12.323Z,1749340272.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.777679
2025-06-07T23:51:12.471Z,1749340272.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:12.474Z,1749340272.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 333.842651 m,
      bearing: 308.847357 deg,
      approach rate: -0.725983 m/s,
      LOS rate: -0.002508 deg/s,
      cmd heading: 306.291118 deg,
      new cmd heading: 306.287843 deg.

2025-06-07T23:51:12.479Z,1749340272.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345731 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:12.573Z,1749340272.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027669
2025-06-07T23:51:12.824Z,1749340272.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279567
2025-06-07T23:51:12.835Z,1749340272.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:12.857Z,1749340272.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 333.551025 m,
      bearing: 308.846301 deg,
      approach rate: -0.793577 m/s,
      LOS rate: -0.002877 deg/s,
      cmd heading: 306.287840 deg,
      new cmd heading: 306.284668 deg.

2025-06-07T23:51:12.858Z,1749340272.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345676 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:13.076Z,1749340273.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531414
2025-06-07T23:51:13.238Z,1749340273.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:13.261Z,1749340273.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 333.247314 m,
      bearing: 308.845115 deg,
      approach rate: -0.752050 m/s,
      LOS rate: -0.002941 deg/s,
      cmd heading: 306.284670 deg,
      new cmd heading: 306.281107 deg.

2025-06-07T23:51:13.262Z,1749340273.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345614 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:13.331Z,1749340273.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785114
2025-06-07T23:51:13.581Z,1749340273.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035851
2025-06-07T23:51:13.816Z,1749340273.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:13.823Z,1749340273.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 332.844727 m,
      bearing: 308.843477 deg,
      approach rate: -0.696549 m/s,
      LOS rate: -0.002837 deg/s,
      cmd heading: 306.281119 deg,
      new cmd heading: 306.276200 deg.

2025-06-07T23:51:13.824Z,1749340273.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345528 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:13.832Z,1749340273.832 [DAT](INFO): DAT read: Rx Time:23:51:13.1002

2025-06-07T23:51:13.833Z,1749340273.833 [DAT](INFO): Rx dataTimestamp_ set to:1749340273.832561
2025-06-07T23:51:13.833Z,1749340273.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288482
2025-06-07T23:51:14.085Z,1749340274.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540429
2025-06-07T23:51:14.262Z,1749340274.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:14.265Z,1749340274.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.90 m.
2025-06-07T23:51:14.267Z,1749340274.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.900238 m,
      nav range: 332.504730 m,
      bearing: 308.842173 deg,
      approach rate: -0.758599 m/s,
      LOS rate: -0.002913 deg/s,
      cmd heading: 306.276201 deg,
      new cmd heading: 306.272284 deg.

2025-06-07T23:51:14.268Z,1749340274.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345460 target range: 356.900238 and range: 357.30 m.
2025-06-07T23:51:14.340Z,1749340274.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794576
2025-06-07T23:51:14.599Z,1749340274.599 [DAT](INFO): DAT read: 23:51:13.1002 LVL= 27824, 32753, 26770, 32755, AGC= 70, IDX= 402, 0.02,-2.132, 2.753,-2.256,-2.867, PHS= 0.823,-0.616, 0.608, RAW= 142.0, -12.1, CAL= 148.8, -21.3, ROT=   1.2,  21.3

2025-06-07T23:51:14.601Z,1749340274.601 [DAT](INFO): got valid direction response:
 23:51:13.1002 LVL= 27824, 32753, 26770, 32755, AGC= 70, IDX= 402, 0.02,-2.132, 2.753,-2.256,-2.867, PHS= 0.823,-0.616, 0.608, RAW= 142.0, -12.1, CAL= 148.8, -21.3, ROT=   1.2,  21.3

2025-06-07T23:51:14.602Z,1749340274.602 [DAT](INFO): DAT read: Bearing   1.2,  21.3 (Local)

2025-06-07T23:51:14.602Z,1749340274.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  21.3 (Local)

2025-06-07T23:51:14.604Z,1749340274.604 [DAT](INFO): DAT read: Range 10 to 50 : 354.3 m  (Round-trip  472.5 ms) speed  0.6 m/s

2025-06-07T23:51:14.604Z,1749340274.604 [DAT](INFO): DAT read: user:1878>

2025-06-07T23:51:14.605Z,1749340274.605 [DAT](INFO): DAT read: Tx time:23:51:14.2236

2025-06-07T23:51:14.606Z,1749340274.606 [DAT](INFO): Ping request sent.
2025-06-07T23:51:14.606Z,1749340274.606 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:14.606Z,1749340274.606 [DAT](INFO): DAT read: TxSync time:23:51:14.2228

2025-06-07T23:51:14.607Z,1749340274.607 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:51:14.608Z,1749340274.608 [DAT](INFO): direction in FSK: [0.931487,0.019512,-0.363251]
2025-06-07T23:51:14.608Z,1749340274.608 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:14.608Z,1749340274.608 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:14.615Z,1749340274.615 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:14.615Z,1749340274.615 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:14.844Z,1749340274.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 354.299988 m,
      deltaT: 4.048653 s,
      deltaX: -3.000000 m,
      approachRate: -0.740987 m/s,
      rangeRepo size: 4

2025-06-07T23:51:14.846Z,1749340274.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 351.537415 m,
      bearing: 309.421867 deg,
      lat: 36.905691 deg,
      lon: -122.116313 deg,
      deltaT: 8.081889 s,
      deltaX: -5.362823 m,
      approachRate: -0.663561 m/s,
      posRepo size: 4

2025-06-07T23:51:14.846Z,1749340274.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:14.853Z,1749340274.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 330.126038 m,
      bearing: 308.413413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002913 deg/s,
      cmd heading: 306.272294 deg,
      new cmd heading: 306.267277 deg.

2025-06-07T23:51:14.854Z,1749340274.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345372 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:15.162Z,1749340275.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:15.165Z,1749340275.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 329.882080 m,
      bearing: 308.412675 deg,
      approach rate: -0.753465 m/s,
      LOS rate: -0.002282 deg/s,
      cmd heading: 306.267267 deg,
      new cmd heading: 306.265051 deg.

2025-06-07T23:51:15.166Z,1749340275.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345334 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:15.598Z,1749340275.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:15.601Z,1749340275.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 329.577576 m,
      bearing: 308.412230 deg,
      approach rate: -0.699229 m/s,
      LOS rate: -0.001022 deg/s,
      cmd heading: 306.265054 deg,
      new cmd heading: 306.263719 deg.

2025-06-07T23:51:15.602Z,1749340275.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345310 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:15.965Z,1749340275.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:15.974Z,1749340275.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 329.333069 m,
      bearing: 308.411920 deg,
      approach rate: -0.666195 m/s,
      LOS rate: -0.000846 deg/s,
      cmd heading: 306.263715 deg,
      new cmd heading: 306.262784 deg.

2025-06-07T23:51:15.988Z,1749340275.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345294 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:16.437Z,1749340276.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:16.443Z,1749340276.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:16.446Z,1749340276.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 329.004700 m,
      bearing: 308.412350 deg,
      approach rate: -0.692747 m/s,
      LOS rate: 0.000908 deg/s,
      cmd heading: 306.262786 deg,
      new cmd heading: 306.264078 deg.

2025-06-07T23:51:16.447Z,1749340276.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345316 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:16.604Z,1749340276.604 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:16.604Z,1749340276.604 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:16.604Z,1749340276.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:16.757Z,1749340276.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:16.760Z,1749340276.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 328.774445 m,
      bearing: 308.412577 deg,
      approach rate: -0.723918 m/s,
      LOS rate: 0.000713 deg/s,
      cmd heading: 306.264070 deg,
      new cmd heading: 306.264751 deg.

2025-06-07T23:51:16.761Z,1749340276.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345328 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:16.857Z,1749340276.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250835
2025-06-07T23:51:17.108Z,1749340277.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502434
2025-06-07T23:51:17.231Z,1749340277.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:17.234Z,1749340277.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 328.464813 m,
      bearing: 308.412714 deg,
      approach rate: -0.664479 m/s,
      LOS rate: 0.000294 deg/s,
      cmd heading: 306.264753 deg,
      new cmd heading: 306.265165 deg.

2025-06-07T23:51:17.235Z,1749340277.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345335 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:17.363Z,1749340277.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756994
2025-06-07T23:51:17.597Z,1749340277.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:17.600Z,1749340277.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 328.204590 m,
      bearing: 308.413210 deg,
      approach rate: -0.695796 m/s,
      LOS rate: 0.001328 deg/s,
      cmd heading: 306.265163 deg,
      new cmd heading: 306.266654 deg.

2025-06-07T23:51:17.601Z,1749340277.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345362 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:17.612Z,1749340277.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006586
2025-06-07T23:51:17.864Z,1749340277.864 [DAT](INFO): DAT read: Rx Time:23:51:17.0969

2025-06-07T23:51:17.865Z,1749340277.865 [DAT](INFO): Rx dataTimestamp_ set to:1749340277.864383
2025-06-07T23:51:17.865Z,1749340277.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259550
2025-06-07T23:51:17.993Z,1749340277.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:17.996Z,1749340277.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 327.940125 m,
      bearing: 308.413568 deg,
      approach rate: -0.667069 m/s,
      LOS rate: 0.000903 deg/s,
      cmd heading: 306.266666 deg,
      new cmd heading: 306.267740 deg.

2025-06-07T23:51:17.997Z,1749340277.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345380 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:18.116Z,1749340278.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510477
2025-06-07T23:51:18.401Z,1749340278.401 [DAT](INFO): DAT read: 23:51:17.0969 LVL= 25520, 32753, 29250, 32755, AGC= 70, IDX= 400, 0.20,-1.881, 2.746,-1.990,-2.720, PHS= 0.927,-0.770, 0.727, RAW= 143.8, -11.0, CAL= 151.0, -20.1, ROT= 359.0,  20.1

2025-06-07T23:51:18.408Z,1749340278.408 [DAT](INFO): got valid direction response:
 23:51:17.0969 LVL= 25520, 32753, 29250, 32755, AGC= 70, IDX= 400, 0.20,-1.881, 2.746,-1.990,-2.720, PHS= 0.927,-0.770, 0.727, RAW= 143.8, -11.0, CAL= 151.0, -20.1, ROT= 359.0,  20.1

2025-06-07T23:51:18.410Z,1749340278.410 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:51:18.415Z,1749340278.415 [DAT](INFO): Received a bad header
2025-06-07T23:51:18.427Z,1749340278.427 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:51:18.428Z,1749340278.428 [DAT](INFO): direction in FSK: [0.938951,-0.016390,-0.343660]
2025-06-07T23:51:18.432Z,1749340278.432 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:18.432Z,1749340278.432 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:18.432Z,1749340278.432 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:18.514Z,1749340278.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:18.520Z,1749340278.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:18.527Z,1749340278.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 327.593872 m,
      bearing: 308.413999 deg,
      approach rate: -0.657057 m/s,
      LOS rate: 0.000819 deg/s,
      cmd heading: 306.267731 deg,
      new cmd heading: 306.269027 deg.

2025-06-07T23:51:18.528Z,1749340278.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345403 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:18.621Z,1749340278.621 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:18.621Z,1749340278.621 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:18.621Z,1749340278.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:18.814Z,1749340278.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:18.817Z,1749340278.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 327.387604 m,
      bearing: 308.414178 deg,
      approach rate: -0.702611 m/s,
      LOS rate: 0.000609 deg/s,
      cmd heading: 306.269016 deg,
      new cmd heading: 306.269552 deg.

2025-06-07T23:51:18.818Z,1749340278.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345412 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:18.873Z,1749340278.873 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:18.873Z,1749340278.873 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:18.874Z,1749340278.874 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:19.124Z,1749340279.124 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:19.124Z,1749340279.124 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:19.124Z,1749340279.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:19.259Z,1749340279.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:19.262Z,1749340279.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 327.096008 m,
      bearing: 308.414414 deg,
      approach rate: -0.661331 m/s,
      LOS rate: 0.000536 deg/s,
      cmd heading: 306.269562 deg,
      new cmd heading: 306.270271 deg.

2025-06-07T23:51:19.263Z,1749340279.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345425 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:19.376Z,1749340279.376 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:19.376Z,1749340279.376 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:19.376Z,1749340279.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:19.628Z,1749340279.628 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:19.628Z,1749340279.628 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:19.628Z,1749340279.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:19.642Z,1749340279.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:19.645Z,1749340279.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 326.827911 m,
      bearing: 308.415033 deg,
      approach rate: -0.692796 m/s,
      LOS rate: 0.001602 deg/s,
      cmd heading: 306.270272 deg,
      new cmd heading: 306.272132 deg.

2025-06-07T23:51:19.646Z,1749340279.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345457 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:19.880Z,1749340279.880 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:19.880Z,1749340279.880 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:19.880Z,1749340279.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:20.038Z,1749340280.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:20.046Z,1749340280.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 326.569641 m,
      bearing: 308.415639 deg,
      approach rate: -0.651610 m/s,
      LOS rate: 0.001529 deg/s,
      cmd heading: 306.272130 deg,
      new cmd heading: 306.273948 deg.

2025-06-07T23:51:20.047Z,1749340280.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345489 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:20.132Z,1749340280.132 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:20.132Z,1749340280.132 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:20.132Z,1749340280.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:20.386Z,1749340280.386 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:20.386Z,1749340280.386 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:20.387Z,1749340280.387 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:20.502Z,1749340280.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:20.505Z,1749340280.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 326.235992 m,
      bearing: 308.416262 deg,
      approach rate: -0.719320 m/s,
      LOS rate: 0.001345 deg/s,
      cmd heading: 306.273961 deg,
      new cmd heading: 306.275833 deg.

2025-06-07T23:51:20.506Z,1749340280.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345522 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:20.636Z,1749340280.636 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:20.636Z,1749340280.636 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:20.636Z,1749340280.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:20.826Z,1749340280.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:20.828Z,1749340280.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:20.831Z,1749340280.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 326.009277 m,
      bearing: 308.416714 deg,
      approach rate: -0.694855 m/s,
      LOS rate: 0.001386 deg/s,
      cmd heading: 306.275846 deg,
      new cmd heading: 306.277202 deg.

2025-06-07T23:51:20.832Z,1749340280.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345546 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:20.889Z,1749340280.889 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:20.889Z,1749340280.889 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:20.889Z,1749340280.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:21.140Z,1749340281.140 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:21.140Z,1749340281.140 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:21.140Z,1749340281.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:21.248Z,1749340281.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:21.251Z,1749340281.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 325.728180 m,
      bearing: 308.417318 deg,
      approach rate: -0.669520 m/s,
      LOS rate: 0.001441 deg/s,
      cmd heading: 306.277212 deg,
      new cmd heading: 306.279026 deg.

2025-06-07T23:51:21.256Z,1749340281.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345577 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:21.394Z,1749340281.394 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:21.394Z,1749340281.394 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:21.395Z,1749340281.395 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:21.644Z,1749340281.644 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:21.644Z,1749340281.644 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:21.644Z,1749340281.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:21.657Z,1749340281.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:21.690Z,1749340281.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 325.424469 m,
      bearing: 308.418073 deg,
      approach rate: -0.743380 m/s,
      LOS rate: 0.001848 deg/s,
      cmd heading: 306.279015 deg,
      new cmd heading: 306.281279 deg.

2025-06-07T23:51:21.696Z,1749340281.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345617 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:21.900Z,1749340281.900 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:21.900Z,1749340281.900 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:21.901Z,1749340281.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:22.060Z,1749340282.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:22.062Z,1749340282.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 325.135925 m,
      bearing: 308.418862 deg,
      approach rate: -0.716329 m/s,
      LOS rate: 0.001962 deg/s,
      cmd heading: 306.281283 deg,
      new cmd heading: 306.283653 deg.

2025-06-07T23:51:22.063Z,1749340282.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345658 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:22.149Z,1749340282.149 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:22.149Z,1749340282.149 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:22.149Z,1749340282.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:22.400Z,1749340282.400 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:22.400Z,1749340282.400 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:22.401Z,1749340282.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:22.652Z,1749340282.652 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:22.652Z,1749340282.652 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:22.652Z,1749340282.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:22.695Z,1749340282.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:22.717Z,1749340282.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 324.710510 m,
      bearing: 308.419711 deg,
      approach rate: -0.669762 m/s,
      LOS rate: 0.001338 deg/s,
      cmd heading: 306.283659 deg,
      new cmd heading: 306.286209 deg.

2025-06-07T23:51:22.718Z,1749340282.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345703 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:22.904Z,1749340282.904 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:22.904Z,1749340282.904 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:22.904Z,1749340282.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:23.048Z,1749340283.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:23.050Z,1749340283.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:23.053Z,1749340283.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 324.423798 m,
      bearing: 308.420359 deg,
      approach rate: -0.806582 m/s,
      LOS rate: 0.001824 deg/s,
      cmd heading: 306.286200 deg,
      new cmd heading: 306.288146 deg.

2025-06-07T23:51:23.054Z,1749340283.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345737 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:23.157Z,1749340283.157 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:23.157Z,1749340283.157 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:23.157Z,1749340283.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:23.408Z,1749340283.408 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:23.408Z,1749340283.408 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:23.408Z,1749340283.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:23.432Z,1749340283.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:23.435Z,1749340283.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 324.131927 m,
      bearing: 308.421084 deg,
      approach rate: -0.764016 m/s,
      LOS rate: 0.001899 deg/s,
      cmd heading: 306.288140 deg,
      new cmd heading: 306.290317 deg.

2025-06-07T23:51:23.436Z,1749340283.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345775 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:23.660Z,1749340283.660 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:23.660Z,1749340283.660 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:23.660Z,1749340283.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:23.854Z,1749340283.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:23.857Z,1749340283.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 323.816864 m,
      bearing: 308.420009 deg,
      approach rate: -0.746676 m/s,
      LOS rate: -0.002550 deg/s,
      cmd heading: 306.290326 deg,
      new cmd heading: 306.287098 deg.

2025-06-07T23:51:23.858Z,1749340283.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345718 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:23.912Z,1749340283.912 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:23.912Z,1749340283.912 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:23.912Z,1749340283.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:24.164Z,1749340284.164 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:24.164Z,1749340284.164 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:24.164Z,1749340284.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:24.273Z,1749340284.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:24.276Z,1749340284.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 323.510773 m,
      bearing: 308.419029 deg,
      approach rate: -0.730124 m/s,
      LOS rate: -0.002338 deg/s,
      cmd heading: 306.287102 deg,
      new cmd heading: 306.284161 deg.

2025-06-07T23:51:24.277Z,1749340284.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345667 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:24.420Z,1749340284.420 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:24.420Z,1749340284.420 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:24.420Z,1749340284.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:51:24.672Z,1749340284.672 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:24.672Z,1749340284.672 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:24.672Z,1749340284.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:24.739Z,1749340284.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:24.758Z,1749340284.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 323.172882 m,
      bearing: 308.416966 deg,
      approach rate: -0.727949 m/s,
      LOS rate: -0.004451 deg/s,
      cmd heading: 306.284151 deg,
      new cmd heading: 306.277953 deg.

2025-06-07T23:51:24.759Z,1749340284.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345559 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:24.924Z,1749340284.924 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:24.924Z,1749340284.924 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:24.924Z,1749340284.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:25.176Z,1749340285.176 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:25.176Z,1749340285.176 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:25.176Z,1749340285.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:25.186Z,1749340285.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:25.188Z,1749340285.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:25.191Z,1749340285.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 322.834442 m,
      bearing: 308.415026 deg,
      approach rate: -0.750936 m/s,
      LOS rate: -0.004308 deg/s,
      cmd heading: 306.277949 deg,
      new cmd heading: 306.272125 deg.

2025-06-07T23:51:25.192Z,1749340285.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345457 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:25.428Z,1749340285.428 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:51:25.428Z,1749340285.428 [DAT](INFO): response not received
2025-06-07T23:51:25.429Z,1749340285.429 [DAT](INFO): DAT read: user:1880>

2025-06-07T23:51:25.430Z,1749340285.430 [DAT](INFO): DAT read: Tx time:23:51:25.1737

2025-06-07T23:51:25.430Z,1749340285.430 [DAT](INFO): Ping request sent.
2025-06-07T23:51:25.430Z,1749340285.430 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:25.430Z,1749340285.430 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:25.431Z,1749340285.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-06-07T23:51:25.610Z,1749340285.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:25.613Z,1749340285.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 322.533508 m,
      bearing: 308.412092 deg,
      approach rate: -0.713787 m/s,
      LOS rate: -0.006966 deg/s,
      cmd heading: 306.272130 deg,
      new cmd heading: 306.263320 deg.

2025-06-07T23:51:25.614Z,1749340285.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345304 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:25.681Z,1749340285.681 [DAT](INFO): DAT read: TxSync time:23:51:25.1729

2025-06-07T23:51:25.683Z,1749340285.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252589
2025-06-07T23:51:25.932Z,1749340285.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502144
2025-06-07T23:51:26.003Z,1749340286.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:26.006Z,1749340286.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 322.256500 m,
      bearing: 308.409513 deg,
      approach rate: -0.705031 m/s,
      LOS rate: -0.006570 deg/s,
      cmd heading: 306.263333 deg,
      new cmd heading: 306.255589 deg.

2025-06-07T23:51:26.007Z,1749340286.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345169 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:26.184Z,1749340286.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754167
2025-06-07T23:51:26.396Z,1749340286.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:26.398Z,1749340286.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 321.973480 m,
      bearing: 308.406957 deg,
      approach rate: -0.720452 m/s,
      LOS rate: -0.006512 deg/s,
      cmd heading: 306.255601 deg,
      new cmd heading: 306.247926 deg.

2025-06-07T23:51:26.420Z,1749340286.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345035 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:26.436Z,1749340286.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006234
2025-06-07T23:51:26.688Z,1749340286.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258113
2025-06-07T23:51:26.834Z,1749340286.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:26.841Z,1749340286.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 321.681732 m,
      bearing: 308.403007 deg,
      approach rate: -0.665071 m/s,
      LOS rate: -0.009012 deg/s,
      cmd heading: 306.247924 deg,
      new cmd heading: 306.236064 deg.

2025-06-07T23:51:26.842Z,1749340286.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344828 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:26.941Z,1749340286.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510524
2025-06-07T23:51:27.192Z,1749340287.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762237
2025-06-07T23:51:27.197Z,1749340287.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:27.199Z,1749340287.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:27.202Z,1749340287.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 321.413391 m,
      bearing: 308.399282 deg,
      approach rate: -0.736187 m/s,
      LOS rate: -0.010228 deg/s,
      cmd heading: 306.236067 deg,
      new cmd heading: 306.224883 deg.

2025-06-07T23:51:27.203Z,1749340287.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344633 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:27.444Z,1749340287.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014117
2025-06-07T23:51:27.638Z,1749340287.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:27.648Z,1749340287.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 321.115417 m,
      bearing: 308.395863 deg,
      approach rate: -0.679237 m/s,
      LOS rate: -0.007801 deg/s,
      cmd heading: 306.224892 deg,
      new cmd heading: 306.214625 deg.

2025-06-07T23:51:27.649Z,1749340287.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344453 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:27.696Z,1749340287.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266236
2025-06-07T23:51:27.949Z,1749340287.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518979
2025-06-07T23:51:28.092Z,1749340288.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:28.098Z,1749340288.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 320.795990 m,
      bearing: 308.392036 deg,
      approach rate: -0.702866 m/s,
      LOS rate: -0.008429 deg/s,
      cmd heading: 306.214620 deg,
      new cmd heading: 306.203129 deg.

2025-06-07T23:51:28.121Z,1749340288.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344253 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:28.201Z,1749340288.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770881
2025-06-07T23:51:28.422Z,1749340288.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:28.425Z,1749340288.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 320.568848 m,
      bearing: 308.389253 deg,
      approach rate: -0.688790 m/s,
      LOS rate: -0.008447 deg/s,
      cmd heading: 306.203118 deg,
      new cmd heading: 306.194761 deg.

2025-06-07T23:51:28.426Z,1749340288.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344107 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:28.453Z,1749340288.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022822
2025-06-07T23:51:28.704Z,1749340288.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274135
2025-06-07T23:51:28.869Z,1749340288.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:28.874Z,1749340288.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 320.273773 m,
      bearing: 308.385747 deg,
      approach rate: -0.659342 m/s,
      LOS rate: -0.007840 deg/s,
      cmd heading: 306.194758 deg,
      new cmd heading: 306.184232 deg.

2025-06-07T23:51:28.875Z,1749340288.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343923 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:28.957Z,1749340288.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527092
2025-06-07T23:51:29.208Z,1749340289.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778089
2025-06-07T23:51:29.276Z,1749340289.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:29.279Z,1749340289.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:29.285Z,1749340289.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 320.000793 m,
      bearing: 308.382466 deg,
      approach rate: -0.666946 m/s,
      LOS rate: -0.008023 deg/s,
      cmd heading: 306.184239 deg,
      new cmd heading: 306.174387 deg.

2025-06-07T23:51:29.286Z,1749340289.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343751 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:29.460Z,1749340289.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030309
2025-06-07T23:51:29.651Z,1749340289.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:29.677Z,1749340289.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 319.724396 m,
      bearing: 308.380408 deg,
      approach rate: -0.743070 m/s,
      LOS rate: -0.005537 deg/s,
      cmd heading: 306.174376 deg,
      new cmd heading: 306.168198 deg.

2025-06-07T23:51:29.678Z,1749340289.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343643 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:29.712Z,1749340289.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282490
2025-06-07T23:51:29.965Z,1749340289.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534518
2025-06-07T23:51:30.045Z,1749340290.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:30.048Z,1749340290.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 319.450836 m,
      bearing: 308.378359 deg,
      approach rate: -0.693713 m/s,
      LOS rate: -0.005201 deg/s,
      cmd heading: 306.168202 deg,
      new cmd heading: 306.162050 deg.

2025-06-07T23:51:30.049Z,1749340290.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343536 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:30.216Z,1749340290.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786193
2025-06-07T23:51:30.428Z,1749340290.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:30.431Z,1749340290.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 319.184998 m,
      bearing: 308.376358 deg,
      approach rate: -0.693218 m/s,
      LOS rate: -0.005222 deg/s,
      cmd heading: 306.162055 deg,
      new cmd heading: 306.156047 deg.

2025-06-07T23:51:30.432Z,1749340290.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343431 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:30.478Z,1749340290.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047734
2025-06-07T23:51:30.728Z,1749340290.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298113
2025-06-07T23:51:30.861Z,1749340290.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:30.864Z,1749340290.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 318.883820 m,
      bearing: 308.374793 deg,
      approach rate: -0.695593 m/s,
      LOS rate: -0.003619 deg/s,
      cmd heading: 306.156044 deg,
      new cmd heading: 306.151343 deg.

2025-06-07T23:51:30.865Z,1749340290.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343349 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:30.981Z,1749340290.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550763
2025-06-07T23:51:31.232Z,1749340291.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802145
2025-06-07T23:51:31.255Z,1749340291.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:31.258Z,1749340291.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 318.609619 m,
      bearing: 308.373365 deg,
      approach rate: -0.696956 m/s,
      LOS rate: -0.003632 deg/s,
      cmd heading: 306.151345 deg,
      new cmd heading: 306.147058 deg.

2025-06-07T23:51:31.259Z,1749340291.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343274 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:31.485Z,1749340291.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054928
2025-06-07T23:51:31.681Z,1749340291.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:31.683Z,1749340291.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:31.686Z,1749340291.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 318.304810 m,
      bearing: 308.373649 deg,
      approach rate: -0.712110 m/s,
      LOS rate: 0.000664 deg/s,
      cmd heading: 306.147056 deg,
      new cmd heading: 306.147908 deg.

2025-06-07T23:51:31.687Z,1749340291.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343289 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:31.737Z,1749340291.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307102
2025-06-07T23:51:31.988Z,1749340291.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558167
2025-06-07T23:51:32.065Z,1749340292.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:32.072Z,1749340292.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 318.043182 m,
      bearing: 308.373920 deg,
      approach rate: -0.684325 m/s,
      LOS rate: 0.000708 deg/s,
      cmd heading: 306.147903 deg,
      new cmd heading: 306.148715 deg.

2025-06-07T23:51:32.073Z,1749340292.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343303 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:32.240Z,1749340292.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810091
2025-06-07T23:51:32.467Z,1749340292.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:32.486Z,1749340292.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 317.745178 m,
      bearing: 308.374228 deg,
      approach rate: -0.741865 m/s,
      LOS rate: 0.000769 deg/s,
      cmd heading: 306.148722 deg,
      new cmd heading: 306.149649 deg.

2025-06-07T23:51:32.487Z,1749340292.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343319 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:32.492Z,1749340292.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062338
2025-06-07T23:51:32.745Z,1749340292.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314825
2025-06-07T23:51:32.882Z,1749340292.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:32.886Z,1749340292.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 317.452698 m,
      bearing: 308.375835 deg,
      approach rate: -0.704239 m/s,
      LOS rate: 0.003874 deg/s,
      cmd heading: 306.149651 deg,
      new cmd heading: 306.154478 deg.

2025-06-07T23:51:32.887Z,1749340292.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343404 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:32.997Z,1749340292.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566893
2025-06-07T23:51:33.248Z,1749340293.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817940
2025-06-07T23:51:33.285Z,1749340293.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:33.292Z,1749340293.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 317.182770 m,
      bearing: 308.377389 deg,
      approach rate: -0.669562 m/s,
      LOS rate: 0.003856 deg/s,
      cmd heading: 306.154487 deg,
      new cmd heading: 306.159150 deg.

2025-06-07T23:51:33.293Z,1749340293.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343485 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:33.503Z,1749340293.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.072993
2025-06-07T23:51:33.721Z,1749340293.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:33.723Z,1749340293.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:33.730Z,1749340293.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 316.869843 m,
      bearing: 308.380015 deg,
      approach rate: -0.715249 m/s,
      LOS rate: 0.006009 deg/s,
      cmd heading: 306.159159 deg,
      new cmd heading: 306.167046 deg.

2025-06-07T23:51:33.738Z,1749340293.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343623 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:33.753Z,1749340293.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322874
2025-06-07T23:51:34.004Z,1749340294.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574065
2025-06-07T23:51:34.077Z,1749340294.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:34.080Z,1749340294.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 316.601715 m,
      bearing: 308.382296 deg,
      approach rate: -0.756333 m/s,
      LOS rate: 0.006439 deg/s,
      cmd heading: 306.167054 deg,
      new cmd heading: 306.173902 deg.

2025-06-07T23:51:34.081Z,1749340294.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343743 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:34.257Z,1749340294.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827100
2025-06-07T23:51:34.483Z,1749340294.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:34.485Z,1749340294.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 316.310944 m,
      bearing: 308.384790 deg,
      approach rate: -0.717276 m/s,
      LOS rate: 0.006160 deg/s,
      cmd heading: 306.173912 deg,
      new cmd heading: 306.181403 deg.

2025-06-07T23:51:34.486Z,1749340294.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343874 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:34.508Z,1749340294.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078146
2025-06-07T23:51:34.760Z,1749340294.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330138
2025-06-07T23:51:34.943Z,1749340294.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:34.956Z,1749340294.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 316.001801 m,
      bearing: 308.387914 deg,
      approach rate: -0.677590 m/s,
      LOS rate: 0.006852 deg/s,
      cmd heading: 306.181398 deg,
      new cmd heading: 306.190777 deg.

2025-06-07T23:51:34.957Z,1749340294.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344037 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:35.012Z,1749340295.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582260
2025-06-07T23:51:35.264Z,1749340295.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834198
2025-06-07T23:51:35.294Z,1749340295.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:35.300Z,1749340295.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 315.743988 m,
      bearing: 308.390525 deg,
      approach rate: -0.727015 m/s,
      LOS rate: 0.007369 deg/s,
      cmd heading: 306.190769 deg,
      new cmd heading: 306.198609 deg.

2025-06-07T23:51:35.301Z,1749340295.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344174 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:35.516Z,1749340295.516 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:35.517Z,1749340295.517 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:35.517Z,1749340295.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:35.739Z,1749340295.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:35.741Z,1749340295.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:35.746Z,1749340295.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 315.430176 m,
      bearing: 308.393151 deg,
      approach rate: -0.700901 m/s,
      LOS rate: 0.005872 deg/s,
      cmd heading: 306.198610 deg,
      new cmd heading: 306.206497 deg.

2025-06-07T23:51:35.747Z,1749340295.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344312 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:35.768Z,1749340295.768 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:35.768Z,1749340295.768 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:35.768Z,1749340295.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:36.020Z,1749340296.020 [DAT](INFO): Reached modem response timeout
2025-06-07T23:51:36.020Z,1749340296.020 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:36.020Z,1749340296.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:36.117Z,1749340296.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:36.120Z,1749340296.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 315.170105 m,
      bearing: 308.395332 deg,
      approach rate: -0.691941 m/s,
      LOS rate: 0.005806 deg/s,
      cmd heading: 306.206506 deg,
      new cmd heading: 306.213052 deg.

2025-06-07T23:51:36.121Z,1749340296.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344426 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:36.273Z,1749340296.273 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:51:36.274Z,1749340296.274 [DAT](INFO): response not received
2025-06-07T23:51:36.274Z,1749340296.274 [DAT](INFO): DAT read: user:1881>

2025-06-07T23:51:36.274Z,1749340296.274 [DAT](ERROR): No response from remote modem.
2025-06-07T23:51:36.275Z,1749340296.275 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:51:36.275Z,1749340296.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:36.524Z,1749340296.524 [DAT](INFO): DAT read: Tx time:23:51:36.1238

2025-06-07T23:51:36.525Z,1749340296.525 [DAT](INFO): Ping request sent.
2025-06-07T23:51:36.525Z,1749340296.525 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:36.526Z,1749340296.526 [DAT](INFO): DAT read: TxSync time:23:51:36.1230

2025-06-07T23:51:36.526Z,1749340296.526 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:36.526Z,1749340296.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001572
2025-06-07T23:51:36.540Z,1749340296.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:36.542Z,1749340296.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 314.869843 m,
      bearing: 308.397854 deg,
      approach rate: -0.710527 m/s,
      LOS rate: 0.005976 deg/s,
      cmd heading: 306.213063 deg,
      new cmd heading: 306.220638 deg.

2025-06-07T23:51:36.544Z,1749340296.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344558 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:36.777Z,1749340296.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251771
2025-06-07T23:51:36.976Z,1749340296.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:36.980Z,1749340296.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 314.572937 m,
      bearing: 308.400227 deg,
      approach rate: -0.680433 m/s,
      LOS rate: 0.005442 deg/s,
      cmd heading: 306.220630 deg,
      new cmd heading: 306.227754 deg.

2025-06-07T23:51:36.981Z,1749340296.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344683 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:37.028Z,1749340297.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503354
2025-06-07T23:51:37.280Z,1749340297.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755233
2025-06-07T23:51:37.389Z,1749340297.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:37.392Z,1749340297.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 314.283447 m,
      bearing: 308.402533 deg,
      approach rate: -0.700230 m/s,
      LOS rate: 0.005585 deg/s,
      cmd heading: 306.227761 deg,
      new cmd heading: 306.234688 deg.

2025-06-07T23:51:37.393Z,1749340297.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344804 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:37.532Z,1749340297.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007119
2025-06-07T23:51:37.784Z,1749340297.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259287
2025-06-07T23:51:37.825Z,1749340297.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:37.827Z,1749340297.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:37.830Z,1749340297.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 313.983154 m,
      bearing: 308.404398 deg,
      approach rate: -0.686506 m/s,
      LOS rate: 0.004267 deg/s,
      cmd heading: 306.234701 deg,
      new cmd heading: 306.240300 deg.

2025-06-07T23:51:37.831Z,1749340297.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344902 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:38.036Z,1749340298.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511313
2025-06-07T23:51:38.194Z,1749340298.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:38.196Z,1749340298.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 313.731140 m,
      bearing: 308.405877 deg,
      approach rate: -0.687354 m/s,
      LOS rate: 0.004037 deg/s,
      cmd heading: 306.240301 deg,
      new cmd heading: 306.244742 deg.

2025-06-07T23:51:38.197Z,1749340298.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344979 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:38.289Z,1749340298.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763976
2025-06-07T23:51:38.540Z,1749340298.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015207
2025-06-07T23:51:38.660Z,1749340298.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:38.720Z,1749340298.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 313.449249 m,
      bearing: 308.407513 deg,
      approach rate: -0.621455 m/s,
      LOS rate: 0.003610 deg/s,
      cmd heading: 306.244755 deg,
      new cmd heading: 306.249667 deg.

2025-06-07T23:51:38.721Z,1749340298.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345065 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:38.793Z,1749340298.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267918
2025-06-07T23:51:39.044Z,1749340299.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519265
2025-06-07T23:51:39.061Z,1749340299.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:39.080Z,1749340299.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 313.134705 m,
      bearing: 308.408072 deg,
      approach rate: -0.759463 m/s,
      LOS rate: 0.001350 deg/s,
      cmd heading: 306.249672 deg,
      new cmd heading: 306.251350 deg.

2025-06-07T23:51:39.081Z,1749340299.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345094 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:39.096Z,1749340299.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:51:39.296Z,1749340299.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771246
2025-06-07T23:51:39.448Z,1749340299.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:39.455Z,1749340299.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 312.880493 m,
      bearing: 308.408534 deg,
      approach rate: -0.656624 m/s,
      LOS rate: 0.001196 deg/s,
      cmd heading: 306.251339 deg,
      new cmd heading: 306.252728 deg.

2025-06-07T23:51:39.456Z,1749340299.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345119 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:39.548Z,1749340299.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023235
2025-06-07T23:51:39.800Z,1749340299.800 [DAT](INFO): DAT read: Rx Time:23:51:38.9442

2025-06-07T23:51:39.801Z,1749340299.801 [DAT](INFO): Rx dataTimestamp_ set to:1749340299.800309
2025-06-07T23:51:39.801Z,1749340299.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276219
2025-06-07T23:51:39.889Z,1749340299.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:39.891Z,1749340299.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:39.894Z,1749340299.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 312.558929 m,
      bearing: 308.408577 deg,
      approach rate: -0.726767 m/s,
      LOS rate: 0.000096 deg/s,
      cmd heading: 306.252732 deg,
      new cmd heading: 306.252859 deg.

2025-06-07T23:51:39.895Z,1749340299.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345121 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:40.053Z,1749340300.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527414
2025-06-07T23:51:40.102Z,1749340300.102 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:51:40.254Z,1749340300.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:40.257Z,1749340300.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 312.315186 m,
      bearing: 308.408612 deg,
      approach rate: -0.670590 m/s,
      LOS rate: 0.000097 deg/s,
      cmd heading: 306.252869 deg,
      new cmd heading: 306.252975 deg.

2025-06-07T23:51:40.258Z,1749340300.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345123 target range: 351.537415 and range: 354.30 m.
2025-06-07T23:51:40.305Z,1749340300.305 [DAT](INFO): DAT read: Range 10 to 50 : 312.1 m  (Round-trip  416.2 ms) speed  0.7 m/s

2025-06-07T23:51:40.306Z,1749340300.306 [DAT](INFO): DAT read: user:1882>

2025-06-07T23:51:40.307Z,1749340300.307 [DAT](INFO): DAT read: Tx time:23:51:40.0239

2025-06-07T23:51:40.308Z,1749340300.308 [DAT](INFO): Ping request sent.
2025-06-07T23:51:40.308Z,1749340300.308 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:40.308Z,1749340300.308 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:51:40.309Z,1749340300.309 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:40.310Z,1749340300.310 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:40.556Z,1749340300.556 [DAT](INFO): DAT read: TxSync time:23:51:40.0231

2025-06-07T23:51:40.656Z,1749340300.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 312.100006 m,
      deltaT: 25.715165 s,
      deltaX: -42.199982 m,
      approachRate: -1.641054 m/s,
      rangeRepo size: 4

2025-06-07T23:51:40.657Z,1749340300.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:40.659Z,1749340300.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 312.023315 m,
      bearing: 308.408679 deg,
      approach rate: -0.728537 m/s,
      LOS rate: 0.000167 deg/s,
      cmd heading: 306.252978 deg,
      new cmd heading: 306.253179 deg.

2025-06-07T23:51:40.663Z,1749340300.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345126 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:41.111Z,1749340301.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:41.114Z,1749340301.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 311.720703 m,
      bearing: 308.407945 deg,
      approach rate: -0.669290 m/s,
      LOS rate: -0.001625 deg/s,
      cmd heading: 306.253169 deg,
      new cmd heading: 306.250966 deg.

2025-06-07T23:51:41.123Z,1749340301.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345088 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:41.517Z,1749340301.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:41.520Z,1749340301.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 311.412720 m,
      bearing: 308.407191 deg,
      approach rate: -0.751483 m/s,
      LOS rate: -0.001841 deg/s,
      cmd heading: 306.250956 deg,
      new cmd heading: 306.248693 deg.

2025-06-07T23:51:41.521Z,1749340301.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345048 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:41.918Z,1749340301.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:41.924Z,1749340301.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:41.927Z,1749340301.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 311.139069 m,
      bearing: 308.406156 deg,
      approach rate: -0.672510 m/s,
      LOS rate: -0.002545 deg/s,
      cmd heading: 306.248689 deg,
      new cmd heading: 306.245582 deg.

2025-06-07T23:51:41.932Z,1749340301.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344994 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:42.072Z,1749340302.072 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:42.072Z,1749340302.072 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:42.072Z,1749340302.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:42.300Z,1749340302.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:42.303Z,1749340302.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 310.870972 m,
      bearing: 308.405068 deg,
      approach rate: -0.712789 m/s,
      LOS rate: -0.002894 deg/s,
      cmd heading: 306.245574 deg,
      new cmd heading: 306.242309 deg.

2025-06-07T23:51:42.304Z,1749340302.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344936 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:42.324Z,1749340302.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016379
2025-06-07T23:51:42.576Z,1749340302.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268538
2025-06-07T23:51:42.680Z,1749340302.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:42.683Z,1749340302.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 310.588196 m,
      bearing: 308.403906 deg,
      approach rate: -0.743668 m/s,
      LOS rate: -0.003060 deg/s,
      cmd heading: 306.242296 deg,
      new cmd heading: 306.238805 deg.

2025-06-07T23:51:42.684Z,1749340302.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344875 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:42.828Z,1749340302.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520411
2025-06-07T23:51:43.080Z,1749340303.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772537
2025-06-07T23:51:43.100Z,1749340303.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:43.102Z,1749340303.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 310.283142 m,
      bearing: 308.402154 deg,
      approach rate: -0.727739 m/s,
      LOS rate: -0.004185 deg/s,
      cmd heading: 306.238799 deg,
      new cmd heading: 306.233536 deg.

2025-06-07T23:51:43.104Z,1749340303.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344783 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:43.332Z,1749340303.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024460
2025-06-07T23:51:43.479Z,1749340303.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:43.482Z,1749340303.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 310.006683 m,
      bearing: 308.400596 deg,
      approach rate: -0.728522 m/s,
      LOS rate: -0.004108 deg/s,
      cmd heading: 306.233526 deg,
      new cmd heading: 306.228849 deg.

2025-06-07T23:51:43.483Z,1749340303.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344702 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:43.584Z,1749340303.584 [DAT](INFO): DAT read: Rx Time:23:51:42.8404

2025-06-07T23:51:43.585Z,1749340303.585 [DAT](INFO): Rx dataTimestamp_ set to:1749340303.584430
2025-06-07T23:51:43.585Z,1749340303.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277473
2025-06-07T23:51:43.836Z,1749340303.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528338
2025-06-07T23:51:43.921Z,1749340303.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:43.932Z,1749340303.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.54 m.
2025-06-07T23:51:43.935Z,1749340303.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.537415 m,
      nav range: 309.685455 m,
      bearing: 308.399195 deg,
      approach rate: -0.722835 m/s,
      LOS rate: -0.003156 deg/s,
      cmd heading: 306.228854 deg,
      new cmd heading: 306.224647 deg.

2025-06-07T23:51:43.940Z,1749340303.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344628 target range: 351.537415 and range: 312.10 m.
2025-06-07T23:51:44.117Z,1749340304.117 [DAT](INFO): DAT read: 23:51:42.8404 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 395, 0.22,-1.556,-2.903,-1.987,-1.948, PHS= 0.480,-0.907,-0.042, RAW= 128.1,   7.8, CAL= 135.0,   2.4, ROT=  15.0,  -2.4

2025-06-07T23:51:44.118Z,1749340304.118 [DAT](INFO): got valid direction response:
 23:51:42.8404 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 395, 0.22,-1.556,-2.903,-1.987,-1.948, PHS= 0.480,-0.907,-0.042, RAW= 128.1,   7.8, CAL= 135.0,   2.4, ROT=  15.0,  -2.4

2025-06-07T23:51:44.119Z,1749340304.119 [DAT](INFO): DAT read: Bearing  15.0,  -2.4 (Local)

2025-06-07T23:51:44.119Z,1749340304.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.0,  -2.4 (Local)

2025-06-07T23:51:44.125Z,1749340304.125 [DAT](INFO): DAT read: Range 10 to 50 : 309.3 m  (Round-trip  412.4 ms) speed  0.5 m/s

2025-06-07T23:51:44.125Z,1749340304.125 [DAT](INFO): DAT read: user:1883>

2025-06-07T23:51:44.126Z,1749340304.126 [DAT](INFO): DAT read: Tx time:23:51:43.9239

2025-06-07T23:51:44.126Z,1749340304.126 [DAT](INFO): Ping request sent.
2025-06-07T23:51:44.127Z,1749340304.127 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:44.127Z,1749340304.127 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:51:44.132Z,1749340304.132 [DAT](INFO): direction in FSK: [0.965079,0.258592,0.041876]
2025-06-07T23:51:44.132Z,1749340304.132 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:44.133Z,1749340304.133 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:44.149Z,1749340304.149 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:44.149Z,1749340304.149 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:44.322Z,1749340304.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.299988 m,
      deltaT: 3.785822 s,
      deltaX: -2.800018 m,
      approachRate: -0.739606 m/s,
      rangeRepo size: 4

2025-06-07T23:51:44.332Z,1749340304.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 306.857971 m,
      bearing: 321.124108 deg,
      lat: 36.905719 deg,
      lon: -122.116313 deg,
      deltaT: 29.500987 s,
      deltaX: -44.679443 m,
      approachRate: -1.514507 m/s,
      posRepo size: 4

2025-06-07T23:51:44.333Z,1749340304.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:44.340Z,1749340304.340 [DAT](INFO): DAT read: TxSync time:23:51:43.9231

2025-06-07T23:51:44.342Z,1749340304.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 311.384766 m,
      bearing: 308.854518 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003156 deg/s,
      cmd heading: 306.224647 deg,
      new cmd heading: 306.220878 deg.

2025-06-07T23:51:44.343Z,1749340304.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344563 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:44.698Z,1749340304.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:44.717Z,1749340304.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 311.100159 m,
      bearing: 308.853752 deg,
      approach rate: -0.754711 m/s,
      LOS rate: -0.002034 deg/s,
      cmd heading: 306.220876 deg,
      new cmd heading: 306.218575 deg.

2025-06-07T23:51:44.718Z,1749340304.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344522 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:45.115Z,1749340305.115 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +36,  +11,A
2025-06-07T23:51:45.131Z,1749340305.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:45.134Z,1749340305.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 310.786804 m,
      bearing: 308.852906 deg,
      approach rate: -0.724286 m/s,
      LOS rate: -0.001956 deg/s,
      cmd heading: 306.218581 deg,
      new cmd heading: 306.216043 deg.

2025-06-07T23:51:45.135Z,1749340305.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344478 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:45.506Z,1749340305.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:45.513Z,1749340305.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 310.523804 m,
      bearing: 308.852278 deg,
      approach rate: -0.700832 m/s,
      LOS rate: -0.001676 deg/s,
      cmd heading: 306.216041 deg,
      new cmd heading: 306.214154 deg.

2025-06-07T23:51:45.514Z,1749340305.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344445 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:45.944Z,1749340305.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:45.948Z,1749340305.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:45.952Z,1749340305.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 310.201569 m,
      bearing: 308.853387 deg,
      approach rate: -0.731199 m/s,
      LOS rate: 0.002520 deg/s,
      cmd heading: 306.214155 deg,
      new cmd heading: 306.217488 deg.

2025-06-07T23:51:45.954Z,1749340305.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344503 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:46.104Z,1749340306.104 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:46.104Z,1749340306.104 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:46.104Z,1749340306.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:46.320Z,1749340306.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:46.323Z,1749340306.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 309.944489 m,
      bearing: 308.854361 deg,
      approach rate: -0.690648 m/s,
      LOS rate: 0.002617 deg/s,
      cmd heading: 306.217489 deg,
      new cmd heading: 306.220411 deg.

2025-06-07T23:51:46.332Z,1749340306.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344554 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:46.356Z,1749340306.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229825
2025-06-07T23:51:46.608Z,1749340306.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481512
2025-06-07T23:51:46.715Z,1749340306.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:46.718Z,1749340306.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 309.649475 m,
      bearing: 308.855480 deg,
      approach rate: -0.745567 m/s,
      LOS rate: 0.002831 deg/s,
      cmd heading: 306.220412 deg,
      new cmd heading: 306.223772 deg.

2025-06-07T23:51:46.719Z,1749340306.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344613 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:46.860Z,1749340306.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733722
2025-06-07T23:51:47.112Z,1749340307.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985634
2025-06-07T23:51:47.170Z,1749340307.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:47.177Z,1749340307.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 309.341339 m,
      bearing: 308.857477 deg,
      approach rate: -0.677195 m/s,
      LOS rate: 0.004392 deg/s,
      cmd heading: 306.223772 deg,
      new cmd heading: 306.229768 deg.

2025-06-07T23:51:47.178Z,1749340307.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344718 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:47.364Z,1749340307.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237495
2025-06-07T23:51:47.520Z,1749340307.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:47.522Z,1749340307.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 309.085327 m,
      bearing: 308.859100 deg,
      approach rate: -0.733036 m/s,
      LOS rate: 0.004651 deg/s,
      cmd heading: 306.229756 deg,
      new cmd heading: 306.234629 deg.

2025-06-07T23:51:47.524Z,1749340307.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344802 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:47.616Z,1749340307.616 [DAT](INFO): DAT read: Rx Time:23:51:46.7535

2025-06-07T23:51:47.617Z,1749340307.617 [DAT](INFO): Rx dataTimestamp_ set to:1749340307.616651
2025-06-07T23:51:47.617Z,1749340307.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490892
2025-06-07T23:51:47.870Z,1749340307.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743132
2025-06-07T23:51:47.962Z,1749340307.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:47.965Z,1749340307.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.86 m.
2025-06-07T23:51:47.993Z,1749340307.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.857971 m,
      nav range: 308.783142 m,
      bearing: 308.862190 deg,
      approach rate: -0.678316 m/s,
      LOS rate: 0.006943 deg/s,
      cmd heading: 306.234619 deg,
      new cmd heading: 306.243898 deg.

2025-06-07T23:51:48.001Z,1749340308.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344965 target range: 306.857971 and range: 309.30 m.
2025-06-07T23:51:48.126Z,1749340308.126 [DAT](INFO): DAT read: 23:51:46.7536 LVL= 29744, 30481, 28210, 32755, AGC= 67, IDX=  64,-0.28,-1.245,-2.646,-1.388,-1.927, PHS= 0.770,-0.672, 0.535, RAW= 141.3,  -9.5, CAL= 148.1, -19.1, ROT=   1.9,  19.1

2025-06-07T23:51:48.127Z,1749340308.127 [DAT](INFO): got valid direction response:
 23:51:46.7536 LVL= 29744, 30481, 28210, 32755, AGC= 67, IDX=  64,-0.28,-1.245,-2.646,-1.388,-1.927, PHS= 0.770,-0.672, 0.535, RAW= 141.3,  -9.5, CAL= 148.1, -19.1, ROT=   1.9,  19.1

2025-06-07T23:51:48.128Z,1749340308.128 [DAT](INFO): DAT read: Bearing   1.9,  19.1 (Local)

2025-06-07T23:51:48.129Z,1749340308.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  19.1 (Local)

2025-06-07T23:51:48.130Z,1749340308.130 [DAT](INFO): DAT read: Range 10 to 50 : 319.0 m  (Round-trip  425.4 ms) speed  0.4 m/s

2025-06-07T23:51:48.132Z,1749340308.132 [DAT](INFO): DAT read: user:1884>

2025-06-07T23:51:48.133Z,1749340308.133 [DAT](INFO): DAT read: Tx time:23:51:47.8740

2025-06-07T23:51:48.133Z,1749340308.133 [DAT](INFO): Ping request sent.
2025-06-07T23:51:48.133Z,1749340308.133 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:48.133Z,1749340308.133 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:51:48.134Z,1749340308.134 [DAT](INFO): direction in FSK: [0.944429,0.031330,-0.327218]
2025-06-07T23:51:48.135Z,1749340308.135 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:48.135Z,1749340308.135 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:48.138Z,1749340308.138 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:48.138Z,1749340308.138 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:48.372Z,1749340308.372 [DAT](INFO): DAT read: TxSync time:23:51:47.8732

2025-06-07T23:51:48.496Z,1749340308.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 319.000000 m,
      deltaT: 4.029897 s,
      deltaX: 9.700012 m,
      approachRate: 2.407012 m/s,
      rangeRepo size: 4

2025-06-07T23:51:48.498Z,1749340308.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 316.481476 m,
      bearing: 309.653116 deg,
      lat: 36.905691 deg,
      lon: -122.116210 deg,
      deltaT: 4.029897 s,
      deltaX: 9.623505 m,
      approachRate: 2.388027 m/s,
      posRepo size: 4

2025-06-07T23:51:48.499Z,1749340308.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:48.506Z,1749340308.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 299.321167 m,
      bearing: 309.494289 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006943 deg/s,
      cmd heading: 306.243908 deg,
      new cmd heading: 306.254874 deg.

2025-06-07T23:51:48.507Z,1749340308.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345156 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:48.988Z,1749340308.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:48.990Z,1749340308.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 298.988129 m,
      bearing: 309.500308 deg,
      approach rate: -0.670595 m/s,
      LOS rate: 0.012134 deg/s,
      cmd heading: 306.254863 deg,
      new cmd heading: 306.272941 deg.

2025-06-07T23:51:48.996Z,1749340308.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345471 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:49.335Z,1749340309.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:49.338Z,1749340309.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 298.732269 m,
      bearing: 309.505004 deg,
      approach rate: -0.736994 m/s,
      LOS rate: 0.013537 deg/s,
      cmd heading: 306.272950 deg,
      new cmd heading: 306.287049 deg.

2025-06-07T23:51:49.339Z,1749340309.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345717 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:49.777Z,1749340309.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:49.779Z,1749340309.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 298.441437 m,
      bearing: 309.510351 deg,
      approach rate: -0.685320 m/s,
      LOS rate: 0.012612 deg/s,
      cmd heading: 306.287047 deg,
      new cmd heading: 306.303104 deg.

2025-06-07T23:51:49.781Z,1749340309.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345998 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:50.184Z,1749340310.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:50.187Z,1749340310.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:50.193Z,1749340310.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 298.159332 m,
      bearing: 309.515780 deg,
      approach rate: -0.660482 m/s,
      LOS rate: 0.012722 deg/s,
      cmd heading: 306.303112 deg,
      new cmd heading: 306.319413 deg.

2025-06-07T23:51:50.194Z,1749340310.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346282 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:50.391Z,1749340310.391 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:50.391Z,1749340310.391 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:50.391Z,1749340310.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:50.551Z,1749340310.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:50.554Z,1749340310.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 297.891479 m,
      bearing: 309.520940 deg,
      approach rate: -0.734848 m/s,
      LOS rate: 0.014171 deg/s,
      cmd heading: 306.319422 deg,
      new cmd heading: 306.334918 deg.

2025-06-07T23:51:50.555Z,1749340310.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346553 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:50.641Z,1749340310.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507832
2025-06-07T23:51:50.894Z,1749340310.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761024
2025-06-07T23:51:50.997Z,1749340310.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:50.999Z,1749340310.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 297.578979 m,
      bearing: 309.525784 deg,
      approach rate: -0.701511 m/s,
      LOS rate: 0.010885 deg/s,
      cmd heading: 306.334913 deg,
      new cmd heading: 306.349459 deg.

2025-06-07T23:51:51.000Z,1749340311.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346807 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:51.144Z,1749340311.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011039
2025-06-07T23:51:51.362Z,1749340311.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:51.365Z,1749340311.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 297.321564 m,
      bearing: 309.529796 deg,
      approach rate: -0.704567 m/s,
      LOS rate: 0.010991 deg/s,
      cmd heading: 306.349448 deg,
      new cmd heading: 306.361495 deg.

2025-06-07T23:51:51.366Z,1749340311.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347017 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:51.397Z,1749340311.397 [DAT](INFO): DAT read: Rx Time:23:51:50.6833

2025-06-07T23:51:51.398Z,1749340311.398 [DAT](INFO): Rx dataTimestamp_ set to:1749340311.397152
2025-06-07T23:51:51.398Z,1749340311.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265283
2025-06-07T23:51:51.648Z,1749340311.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515117
2025-06-07T23:51:51.761Z,1749340311.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.48 m.
2025-06-07T23:51:51.763Z,1749340311.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.481476 m,
      nav range: 297.041229 m,
      bearing: 309.534174 deg,
      approach rate: -0.703086 m/s,
      LOS rate: 0.010989 deg/s,
      cmd heading: 306.361496 deg,
      new cmd heading: 306.374641 deg.

2025-06-07T23:51:51.764Z,1749340311.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347246 target range: 316.481476 and range: 319.00 m.
2025-06-07T23:51:51.905Z,1749340311.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770926
2025-06-07T23:51:52.158Z,1749340312.158 [DAT](INFO): DAT read: 23:51:50.6833 LVL= 23952, 32753, 28482, 32755, AGC= 71, IDX= 412,-0.24, 1.757, 0.082, 1.478, 0.868, PHS= 0.976,-0.740, 0.606, RAW= 138.2, -10.8, CAL= 144.4, -21.0, ROT=   5.6,  21.0

2025-06-07T23:51:52.159Z,1749340312.159 [DAT](INFO): got valid direction response:
 23:51:50.6833 LVL= 23952, 32753, 28482, 32755, AGC= 71, IDX= 412,-0.24, 1.757, 0.082, 1.478, 0.868, PHS= 0.976,-0.740, 0.606, RAW= 138.2, -10.8, CAL= 144.4, -21.0, ROT=   5.6,  21.0

2025-06-07T23:51:52.160Z,1749340312.160 [DAT](INFO): DAT read: Bearing   5.6,  21.0 (Local)

2025-06-07T23:51:52.161Z,1749340312.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.6,  21.0 (Local)

2025-06-07T23:51:52.162Z,1749340312.162 [DAT](INFO): DAT read: Range 10 to 50 : 303.8 m  (Round-trip  405.1 ms) speed  0.6 m/s

2025-06-07T23:51:52.163Z,1749340312.163 [DAT](INFO): DAT read: user:1885>

2025-06-07T23:51:52.164Z,1749340312.164 [DAT](INFO): DAT read: Tx time:23:51:51.7740

2025-06-07T23:51:52.164Z,1749340312.164 [DAT](INFO): Ping request sent.
2025-06-07T23:51:52.164Z,1749340312.164 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:52.165Z,1749340312.165 [DAT](INFO): DAT read: TxSync time:23:51:51.7732

2025-06-07T23:51:52.166Z,1749340312.166 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:51:52.167Z,1749340312.167 [DAT](INFO): direction in FSK: [0.929125,0.091101,-0.358368]
2025-06-07T23:51:52.167Z,1749340312.167 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:52.172Z,1749340312.172 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:52.175Z,1749340312.175 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:52.175Z,1749340312.175 [DAT](INFO): publishing direction and range info
2025-06-07T23:51:52.325Z,1749340312.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 303.799988 m,
      deltaT: 4.031992 s,
      deltaX: -15.200012 m,
      approachRate: -3.769852 m/s,
      rangeRepo size: 4

2025-06-07T23:51:52.331Z,1749340312.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 301.407684 m,
      bearing: 313.452014 deg,
      lat: 36.905689 deg,
      lon: -122.116129 deg,
      deltaT: 4.031992 s,
      deltaX: -15.073792 m,
      approachRate: -3.738547 m/s,
      posRepo size: 4

2025-06-07T23:51:52.332Z,1749340312.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:52.340Z,1749340312.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 291.029236 m,
      bearing: 310.424426 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010989 deg/s,
      cmd heading: 306.374638 deg,
      new cmd heading: 306.393229 deg.

2025-06-07T23:51:52.341Z,1749340312.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347570 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:52.621Z,1749340312.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:52.624Z,1749340312.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:52.626Z,1749340312.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 290.808350 m,
      bearing: 310.428143 deg,
      approach rate: -0.738397 m/s,
      LOS rate: 0.012434 deg/s,
      cmd heading: 306.393216 deg,
      new cmd heading: 306.404375 deg.

2025-06-07T23:51:52.628Z,1749340312.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347765 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:52.657Z,1749340312.657 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:52.657Z,1749340312.657 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:52.657Z,1749340312.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:52.912Z,1749340312.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746575
2025-06-07T23:51:53.059Z,1749340313.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:53.062Z,1749340313.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 290.510376 m,
      bearing: 310.431207 deg,
      approach rate: -0.690963 m/s,
      LOS rate: 0.007111 deg/s,
      cmd heading: 306.404363 deg,
      new cmd heading: 306.413563 deg.

2025-06-07T23:51:53.063Z,1749340313.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347926 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:53.160Z,1749340313.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995729
2025-06-07T23:51:53.412Z,1749340313.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247723
2025-06-07T23:51:53.445Z,1749340313.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:53.448Z,1749340313.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 290.246277 m,
      bearing: 310.433993 deg,
      approach rate: -0.677224 m/s,
      LOS rate: 0.007151 deg/s,
      cmd heading: 306.413570 deg,
      new cmd heading: 306.421936 deg.

2025-06-07T23:51:53.449Z,1749340313.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348072 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:53.665Z,1749340313.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500028
2025-06-07T23:51:53.824Z,1749340313.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:53.827Z,1749340313.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 289.963135 m,
      bearing: 310.437006 deg,
      approach rate: -0.746128 m/s,
      LOS rate: 0.007947 deg/s,
      cmd heading: 306.421930 deg,
      new cmd heading: 306.430977 deg.

2025-06-07T23:51:53.828Z,1749340313.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348229 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:53.921Z,1749340313.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755637
2025-06-07T23:51:54.168Z,1749340314.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003730
2025-06-07T23:51:54.273Z,1749340314.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:54.292Z,1749340314.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 289.654663 m,
      bearing: 310.439394 deg,
      approach rate: -0.687765 m/s,
      LOS rate: 0.005329 deg/s,
      cmd heading: 306.430973 deg,
      new cmd heading: 306.438144 deg.

2025-06-07T23:51:54.293Z,1749340314.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348354 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:54.420Z,1749340314.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255637
2025-06-07T23:51:54.672Z,1749340314.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507732
2025-06-07T23:51:54.703Z,1749340314.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:54.705Z,1749340314.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:54.708Z,1749340314.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 289.350220 m,
      bearing: 310.441683 deg,
      approach rate: -0.704596 m/s,
      LOS rate: 0.005305 deg/s,
      cmd heading: 306.438131 deg,
      new cmd heading: 306.445007 deg.

2025-06-07T23:51:54.709Z,1749340314.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348475 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:54.927Z,1749340314.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761976
2025-06-07T23:51:55.098Z,1749340315.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:55.105Z,1749340315.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 289.082214 m,
      bearing: 310.442459 deg,
      approach rate: -0.682415 m/s,
      LOS rate: 0.001976 deg/s,
      cmd heading: 306.445016 deg,
      new cmd heading: 306.447344 deg.

2025-06-07T23:51:55.106Z,1749340315.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348515 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:55.183Z,1749340315.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014030
2025-06-07T23:51:55.428Z,1749340315.428 [DAT](INFO): DAT read: Rx Time:23:51:54.6131

2025-06-07T23:51:55.429Z,1749340315.429 [DAT](INFO): Rx dataTimestamp_ set to:1749340315.428418
2025-06-07T23:51:55.429Z,1749340315.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264750
2025-06-07T23:51:55.504Z,1749340315.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:55.511Z,1749340315.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 288.795624 m,
      bearing: 310.443260 deg,
      approach rate: -0.704490 m/s,
      LOS rate: 0.001972 deg/s,
      cmd heading: 306.447338 deg,
      new cmd heading: 306.449745 deg.

2025-06-07T23:51:55.512Z,1749340315.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348557 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:55.680Z,1749340315.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515693
2025-06-07T23:51:55.894Z,1749340315.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:55.897Z,1749340315.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 288.523560 m,
      bearing: 310.443999 deg,
      approach rate: -0.698424 m/s,
      LOS rate: 0.001897 deg/s,
      cmd heading: 306.449742 deg,
      new cmd heading: 306.451960 deg.

2025-06-07T23:51:55.898Z,1749340315.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348596 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:55.933Z,1749340315.933 [DAT](INFO): DAT read: Range 10 to 50 : 326.2 m  (Round-trip  435.0 ms) speed  0.4 m/s

2025-06-07T23:51:55.934Z,1749340315.934 [DAT](INFO): DAT read: user:1886>

2025-06-07T23:51:55.935Z,1749340315.935 [DAT](INFO): DAT read: Tx time:23:51:55.7240

2025-06-07T23:51:55.935Z,1749340315.935 [DAT](INFO): Ping request sent.
2025-06-07T23:51:55.935Z,1749340315.935 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:51:55.935Z,1749340315.935 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:51:55.936Z,1749340315.936 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:55.936Z,1749340315.936 [DAT](INFO): publishing transmit ping time
2025-06-07T23:51:56.116Z,1749340316.116 [CTD_Seabird](ERROR): Failed to parse device response: .42
2025-06-07T23:51:56.187Z,1749340316.187 [DAT](INFO): DAT read: TxSync time:23:51:55.7232

2025-06-07T23:51:56.289Z,1749340316.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 326.200012 m,
 deltaT: 3.779999 s,
 deltaX: 22.400024 m,
 approachRate: 5.925934 m/s,
 rangeRepo size: 4
2025-06-07T23:51:56.290Z,1749340316.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:56.311Z,1749340316.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 288.250610 m,
      bearing: 310.444701 deg,
      approach rate: -0.693744 m/s,
      LOS rate: 0.001786 deg/s,
      cmd heading: 306.451955 deg,
      new cmd heading: 306.454063 deg.

2025-06-07T23:51:56.316Z,1749340316.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348632 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:56.701Z,1749340316.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:56.703Z,1749340316.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 287.958191 m,
      bearing: 310.445454 deg,
      approach rate: -0.707734 m/s,
      LOS rate: 0.001826 deg/s,
      cmd heading: 306.454059 deg,
      new cmd heading: 306.456322 deg.

2025-06-07T23:51:56.704Z,1749340316.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348672 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:57.078Z,1749340317.078 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS.00
2025-06-07T23:51:57.092Z,1749340317.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:57.094Z,1749340317.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:57.097Z,1749340317.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 287.684601 m,
      bearing: 310.446190 deg,
      approach rate: -0.695590 m/s,
      LOS rate: 0.001874 deg/s,
      cmd heading: 306.456327 deg,
      new cmd heading: 306.458538 deg.

2025-06-07T23:51:57.098Z,1749340317.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348711 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:57.192Z,1749340317.192 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:51:57.192Z,1749340317.192 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:51:57.192Z,1749340317.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:51:57.444Z,1749340317.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509087
2025-06-07T23:51:57.519Z,1749340317.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:57.522Z,1749340317.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 287.387390 m,
      bearing: 310.446947 deg,
      approach rate: -0.699186 m/s,
      LOS rate: 0.001781 deg/s,
      cmd heading: 306.458540 deg,
      new cmd heading: 306.460811 deg.

2025-06-07T23:51:57.523Z,1749340317.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348750 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:57.696Z,1749340317.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761240
2025-06-07T23:51:57.896Z,1749340317.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:57.898Z,1749340317.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 287.124634 m,
      bearing: 310.447512 deg,
      approach rate: -0.697125 m/s,
      LOS rate: 0.001500 deg/s,
      cmd heading: 306.460807 deg,
      new cmd heading: 306.462504 deg.

2025-06-07T23:51:57.901Z,1749340317.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348780 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:57.951Z,1749340317.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015053
2025-06-07T23:51:58.200Z,1749340318.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265047
2025-06-07T23:51:58.364Z,1749340318.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:58.366Z,1749340318.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 286.812561 m,
      bearing: 310.449678 deg,
      approach rate: -0.666953 m/s,
      LOS rate: 0.004635 deg/s,
      cmd heading: 306.462501 deg,
      new cmd heading: 306.469007 deg.

2025-06-07T23:51:58.372Z,1749340318.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348893 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:58.453Z,1749340318.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517762
2025-06-07T23:51:58.704Z,1749340318.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769125
2025-06-07T23:51:58.736Z,1749340318.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:58.739Z,1749340318.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 286.539612 m,
      bearing: 310.451545 deg,
      approach rate: -0.733338 m/s,
      LOS rate: 0.005021 deg/s,
      cmd heading: 306.469003 deg,
      new cmd heading: 306.474609 deg.

2025-06-07T23:51:58.740Z,1749340318.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348991 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:58.960Z,1749340318.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023669
2025-06-07T23:51:59.158Z,1749340319.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:51:59.161Z,1749340319.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:59.164Z,1749340319.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 286.238739 m,
      bearing: 310.454617 deg,
      approach rate: -0.708506 m/s,
      LOS rate: 0.007242 deg/s,
      cmd heading: 306.474604 deg,
      new cmd heading: 306.483830 deg.

2025-06-07T23:51:59.165Z,1749340319.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349152 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:59.209Z,1749340319.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273618
2025-06-07T23:51:59.460Z,1749340319.460 [DAT](INFO): DAT read: Rx Time:23:51:58.5431

2025-06-07T23:51:59.461Z,1749340319.461 [DAT](INFO): Rx dataTimestamp_ set to:1749340319.460305
2025-06-07T23:51:59.461Z,1749340319.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526081
2025-06-07T23:51:59.558Z,1749340319.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:59.561Z,1749340319.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 285.957092 m,
      bearing: 310.457519 deg,
      approach rate: -0.708527 m/s,
      LOS rate: 0.007307 deg/s,
      cmd heading: 306.483839 deg,
      new cmd heading: 306.492552 deg.

2025-06-07T23:51:59.562Z,1749340319.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349304 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:51:59.712Z,1749340319.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777310
2025-06-07T23:51:59.961Z,1749340319.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-06-07T23:51:59.974Z,1749340319.974 [DAT](INFO): DAT read: 23:51:58.5432 LVL= 31984, 28081, 32754, 32755, AGC= 68, IDX= 229,-0.08,-2.996, 1.918,-3.110, 2.644, PHS= 0.731,-0.679, 0.526, RAW= 142.3,  -8.8, CAL= 148.9, -18.2, ROT=   1.1,  18.2

2025-06-07T23:51:59.976Z,1749340319.976 [DAT](INFO): got valid direction response:
 23:51:58.5432 LVL= 31984, 28081, 32754, 32755, AGC= 68, IDX= 229,-0.08,-2.996, 1.918,-3.110, 2.644, PHS= 0.731,-0.679, 0.526, RAW= 142.3,  -8.8, CAL= 148.9, -18.2, ROT=   1.1,  18.2

2025-06-07T23:51:59.977Z,1749340319.977 [DAT](INFO): DAT read: Bearing   1.1,  18.2 (Local)

2025-06-07T23:51:59.978Z,1749340319.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  18.2 (Local)

2025-06-07T23:51:59.994Z,1749340319.994 [DAT](INFO): DAT read: Range 10 to 50 : 311.2 m  (Round-trip  415.0 ms) speed  0.4 m/s

2025-06-07T23:52:00.013Z,1749340320.013 [DAT](INFO): DAT read: user:1887>

2025-06-07T23:52:00.017Z,1749340320.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.407684 m,
      nav range: 285.686737 m,
      bearing: 310.460349 deg,
      approach rate: -0.674176 m/s,
      LOS rate: 0.007065 deg/s,
      cmd heading: 306.492554 deg,
      new cmd heading: 306.501053 deg.

2025-06-07T23:52:00.024Z,1749340320.024 [DAT](INFO): DAT read: Tx time:23:51:59.6241

2025-06-07T23:52:00.025Z,1749340320.025 [DAT](INFO): Ping request sent.
2025-06-07T23:52:00.026Z,1749340320.026 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:00.042Z,1749340320.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349452 target range: 301.407684 and range: 303.80 m.
2025-06-07T23:52:00.048Z,1749340320.048 [DAT](INFO): DAT read: TxSync time:23:51:59.6233

2025-06-07T23:52:00.049Z,1749340320.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:00.050Z,1749340320.050 [DAT](INFO): direction in FSK: [0.949797,0.018237,-0.312335]
2025-06-07T23:52:00.050Z,1749340320.050 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:00.050Z,1749340320.050 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:00.062Z,1749340320.062 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:00.062Z,1749340320.062 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:00.392Z,1749340320.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 311.200012 m,
      deltaT: 7.814039 s,
      deltaX: 7.400024 m,
      approachRate: 0.947017 m/s,
      rangeRepo size: 4

2025-06-07T23:52:00.394Z,1749340320.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 308.759796 m,
      bearing: 308.757783 deg,
      lat: 36.905689 deg,
      lon: -122.116129 deg,
      deltaT: 7.814039 s,
      deltaX: 7.352112 m,
      approachRate: 0.940885 m/s,
      posRepo size: 4

2025-06-07T23:52:00.394Z,1749340320.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:00.398Z,1749340320.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 285.361267 m,
      bearing: 310.464859 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007065 deg/s,
      cmd heading: 306.501051 deg,
      new cmd heading: 306.510191 deg.

2025-06-07T23:52:00.399Z,1749340320.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349612 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:00.761Z,1749340320.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:00.764Z,1749340320.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 285.087830 m,
      bearing: 310.468745 deg,
      approach rate: -0.738603 m/s,
      LOS rate: 0.010506 deg/s,
      cmd heading: 306.510203 deg,
      new cmd heading: 306.521872 deg.

2025-06-07T23:52:00.765Z,1749340320.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349816 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:01.200Z,1749340321.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:01.202Z,1749340321.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:01.209Z,1749340321.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 284.790039 m,
      bearing: 310.473291 deg,
      approach rate: -0.675231 m/s,
      LOS rate: 0.010319 deg/s,
      cmd heading: 306.521869 deg,
      new cmd heading: 306.535522 deg.

2025-06-07T23:52:01.210Z,1749340321.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.350054 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:01.224Z,1749340321.224 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:01.224Z,1749340321.224 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:01.225Z,1749340321.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:01.476Z,1749340321.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450847
2025-06-07T23:52:01.572Z,1749340321.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:01.579Z,1749340321.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 284.519287 m,
      bearing: 310.477519 deg,
      approach rate: -0.730341 m/s,
      LOS rate: 0.011416 deg/s,
      cmd heading: 306.535529 deg,
      new cmd heading: 306.548226 deg.

2025-06-07T23:52:01.580Z,1749340321.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.350276 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:01.728Z,1749340321.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702750
2025-06-07T23:52:01.980Z,1749340321.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954958
2025-06-07T23:52:02.054Z,1749340322.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:02.078Z,1749340322.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 284.205933 m,
      bearing: 310.482423 deg,
      approach rate: -0.671018 m/s,
      LOS rate: 0.010512 deg/s,
      cmd heading: 306.548234 deg,
      new cmd heading: 306.562961 deg.

2025-06-07T23:52:02.088Z,1749340322.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.350533 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:02.232Z,1749340322.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206874
2025-06-07T23:52:02.414Z,1749340322.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:02.420Z,1749340322.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 283.921448 m,
      bearing: 310.487872 deg,
      approach rate: -0.760478 m/s,
      LOS rate: 0.014580 deg/s,
      cmd heading: 306.562960 deg,
      new cmd heading: 306.579322 deg.

2025-06-07T23:52:02.421Z,1749340322.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.350819 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:02.485Z,1749340322.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459536
2025-06-07T23:52:02.736Z,1749340322.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710765
2025-06-07T23:52:02.776Z,1749340322.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:02.779Z,1749340322.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 283.643097 m,
      bearing: 310.493218 deg,
      approach rate: -0.767744 m/s,
      LOS rate: 0.014761 deg/s,
      cmd heading: 306.579325 deg,
      new cmd heading: 306.595380 deg.

2025-06-07T23:52:02.780Z,1749340322.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351099 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:02.989Z,1749340322.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963420
2025-06-07T23:52:03.222Z,1749340323.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:03.229Z,1749340323.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:03.235Z,1749340323.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 283.328552 m,
      bearing: 310.498241 deg,
      approach rate: -0.695122 m/s,
      LOS rate: 0.011113 deg/s,
      cmd heading: 306.595389 deg,
      new cmd heading: 306.610475 deg.

2025-06-07T23:52:03.237Z,1749340323.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351362 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:03.240Z,1749340323.240 [DAT](INFO): DAT read: Rx Time:23:52:02.4392

2025-06-07T23:52:03.241Z,1749340323.241 [DAT](INFO): Rx dataTimestamp_ set to:1749340323.240487
2025-06-07T23:52:03.241Z,1749340323.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216013
2025-06-07T23:52:03.492Z,1749340323.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466928
2025-06-07T23:52:03.596Z,1749340323.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.76 m.
2025-06-07T23:52:03.598Z,1749340323.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.759796 m,
      nav range: 283.061798 m,
      bearing: 310.502520 deg,
      approach rate: -0.726346 m/s,
      LOS rate: 0.011663 deg/s,
      cmd heading: 306.610470 deg,
      new cmd heading: 306.623320 deg.

2025-06-07T23:52:03.608Z,1749340323.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351586 target range: 308.759796 and range: 311.20 m.
2025-06-07T23:52:03.751Z,1749340323.751 [DAT](INFO): DAT read: 23:52:02.4392 LVL= 25840, 28513, 27266, 32755, AGC= 64, IDX= 397,-0.16, 1.494, 0.123, 1.135, 0.951, PHS= 0.631,-0.782, 0.180, RAW= 131.8,  -0.5, CAL= 137.5,  -9.4, ROT=  12.5,   9.4

2025-06-07T23:52:03.752Z,1749340323.752 [DAT](INFO): got valid direction response:
 23:52:02.4392 LVL= 25840, 28513, 27266, 32755, AGC= 64, IDX= 397,-0.16, 1.494, 0.123, 1.135, 0.951, PHS= 0.631,-0.782, 0.180, RAW= 131.8,  -0.5, CAL= 137.5,  -9.4, ROT=  12.5,   9.4

2025-06-07T23:52:03.753Z,1749340323.753 [DAT](INFO): DAT read: Bearing  12.5,   9.4 (Local)

2025-06-07T23:52:03.753Z,1749340323.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.5,   9.4 (Local)

2025-06-07T23:52:03.755Z,1749340323.755 [DAT](INFO): DAT read: Range 10 to 50 : 308.2 m  (Round-trip  411.0 ms) speed  0.8 m/s

2025-06-07T23:52:03.756Z,1749340323.756 [DAT](INFO): DAT read: user:1888>

2025-06-07T23:52:03.756Z,1749340323.756 [DAT](INFO): DAT read: Tx time:23:52:03.5241

2025-06-07T23:52:03.757Z,1749340323.757 [DAT](INFO): Ping request sent.
2025-06-07T23:52:03.757Z,1749340323.757 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:03.757Z,1749340323.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:03.758Z,1749340323.758 [DAT](INFO): direction in FSK: [0.963186,0.213533,-0.163326]
2025-06-07T23:52:03.758Z,1749340323.758 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:03.759Z,1749340323.759 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:03.766Z,1749340323.766 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:03.766Z,1749340323.766 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:03.996Z,1749340323.996 [DAT](INFO): DAT read: TxSync time:23:52:03.5233

2025-06-07T23:52:04.010Z,1749340324.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 308.200012 m,
      deltaT: 3.778067 s,
      deltaX: -3.000000 m,
      approachRate: -0.794057 m/s,
      rangeRepo size: 4

2025-06-07T23:52:04.012Z,1749340324.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.792938 m,
      bearing: 319.132905 deg,
      lat: 36.905689 deg,
      lon: -122.115928 deg,
      deltaT: 3.778067 s,
      deltaX: -2.966858 m,
      approachRate: -0.785285 m/s,
      posRepo size: 4

2025-06-07T23:52:04.013Z,1749340324.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:04.016Z,1749340324.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 269.421082 m,
      bearing: 312.977628 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011663 deg/s,
      cmd heading: 306.623311 deg,
      new cmd heading: 306.637764 deg.

2025-06-07T23:52:04.017Z,1749340324.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351839 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:04.415Z,1749340324.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:04.418Z,1749340324.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 269.127960 m,
      bearing: 312.985585 deg,
      approach rate: -0.722196 m/s,
      LOS rate: 0.019626 deg/s,
      cmd heading: 306.637764 deg,
      new cmd heading: 306.661661 deg.

2025-06-07T23:52:04.419Z,1749340324.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352256 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:04.795Z,1749340324.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:04.798Z,1749340324.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 268.857697 m,
      bearing: 312.993037 deg,
      approach rate: -0.711011 m/s,
      LOS rate: 0.019626 deg/s,
      cmd heading: 306.661669 deg,
      new cmd heading: 306.684050 deg.

2025-06-07T23:52:04.799Z,1749340324.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352646 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:05.222Z,1749340325.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:05.241Z,1749340325.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 268.551575 m,
      bearing: 312.999702 deg,
      approach rate: -0.716172 m/s,
      LOS rate: 0.015610 deg/s,
      cmd heading: 306.684045 deg,
      new cmd heading: 306.704062 deg.

2025-06-07T23:52:05.242Z,1749340325.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352996 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:05.607Z,1749340325.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:05.609Z,1749340325.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:05.613Z,1749340325.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 268.274567 m,
      bearing: 313.005737 deg,
      approach rate: -0.715729 m/s,
      LOS rate: 0.015609 deg/s,
      cmd heading: 306.704071 deg,
      new cmd heading: 306.722194 deg.

2025-06-07T23:52:05.614Z,1749340325.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353312 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:05.760Z,1749340325.760 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:05.760Z,1749340325.760 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:05.760Z,1749340325.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:06.008Z,1749340326.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:06.011Z,1749340326.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 267.989197 m,
      bearing: 313.011891 deg,
      approach rate: -0.717226 m/s,
      LOS rate: 0.015485 deg/s,
      cmd heading: 306.722185 deg,
      new cmd heading: 306.740668 deg.

2025-06-07T23:52:06.012Z,1749340326.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255577
2025-06-07T23:52:06.013Z,1749340326.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353635 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:06.264Z,1749340326.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507438
2025-06-07T23:52:06.451Z,1749340326.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:06.460Z,1749340326.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 267.692047 m,
      bearing: 313.016973 deg,
      approach rate: -0.695805 m/s,
      LOS rate: 0.011913 deg/s,
      cmd heading: 306.740681 deg,
      new cmd heading: 306.755944 deg.

2025-06-07T23:52:06.461Z,1749340326.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353901 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:06.517Z,1749340326.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760039
2025-06-07T23:52:06.768Z,1749340326.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011570
2025-06-07T23:52:06.824Z,1749340326.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:06.826Z,1749340326.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 267.413635 m,
      bearing: 313.021671 deg,
      approach rate: -0.716354 m/s,
      LOS rate: 0.012101 deg/s,
      cmd heading: 306.755953 deg,
      new cmd heading: 306.770062 deg.

2025-06-07T23:52:06.828Z,1749340326.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354147 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:07.020Z,1749340327.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263302
2025-06-07T23:52:07.257Z,1749340327.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:07.260Z,1749340327.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 267.103760 m,
      bearing: 313.027762 deg,
      approach rate: -0.714198 m/s,
      LOS rate: 0.014055 deg/s,
      cmd heading: 306.770051 deg,
      new cmd heading: 306.788345 deg.

2025-06-07T23:52:07.261Z,1749340327.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354467 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:07.273Z,1749340327.273 [DAT](INFO): DAT read: Rx Time:23:52:06.3357

2025-06-07T23:52:07.273Z,1749340327.273 [DAT](INFO): Rx dataTimestamp_ set to:1749340327.272722
2025-06-07T23:52:07.274Z,1749340327.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516806
2025-06-07T23:52:07.524Z,1749340327.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767396
2025-06-07T23:52:07.651Z,1749340327.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:07.653Z,1749340327.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.79 m.
2025-06-07T23:52:07.656Z,1749340327.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.792938 m,
      nav range: 266.820740 m,
      bearing: 313.033235 deg,
      approach rate: -0.713645 m/s,
      LOS rate: 0.013813 deg/s,
      cmd heading: 306.788356 deg,
      new cmd heading: 306.804790 deg.

2025-06-07T23:52:07.657Z,1749340327.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354754 target range: 305.792938 and range: 308.20 m.
2025-06-07T23:52:07.782Z,1749340327.782 [DAT](INFO): DAT read: 23:52:06.3357 LVL= 30768, 32753, 32754, 32755, AGC= 66, IDX= 408, 0.17,-2.332, 2.589,-2.485,-3.069, PHS= 0.825,-0.578, 0.581, RAW= 140.6, -12.7, CAL= 147.1, -22.0, ROT=   2.9,  22.0

2025-06-07T23:52:07.783Z,1749340327.783 [DAT](INFO): got valid direction response:
 23:52:06.3357 LVL= 30768, 32753, 32754, 32755, AGC= 66, IDX= 408, 0.17,-2.332, 2.589,-2.485,-3.069, PHS= 0.825,-0.578, 0.581, RAW= 140.6, -12.7, CAL= 147.1, -22.0, ROT=   2.9,  22.0

2025-06-07T23:52:07.784Z,1749340327.784 [DAT](INFO): DAT read: Bearing   2.9,  22.0 (Local)

2025-06-07T23:52:07.786Z,1749340327.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  22.0 (Local)

2025-06-07T23:52:07.790Z,1749340327.790 [DAT](INFO): DAT read: Range 10 to 50 : 305.6 m  (Round-trip  407.5 ms) speed  0.5 m/s

2025-06-07T23:52:07.791Z,1749340327.791 [DAT](INFO): DAT read: user:1889>

2025-06-07T23:52:07.792Z,1749340327.792 [DAT](INFO): DAT read: Tx time:23:52:07.4241

2025-06-07T23:52:07.793Z,1749340327.793 [DAT](INFO): Ping request sent.
2025-06-07T23:52:07.793Z,1749340327.793 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:07.793Z,1749340327.793 [DAT](INFO): DAT read: TxSync time:23:52:07.4233

2025-06-07T23:52:07.794Z,1749340327.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:07.795Z,1749340327.795 [DAT](INFO): direction in FSK: [0.925996,0.046909,-0.374607]
2025-06-07T23:52:07.795Z,1749340327.795 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:07.796Z,1749340327.796 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:07.799Z,1749340327.799 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:07.799Z,1749340327.799 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:08.046Z,1749340328.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.600006 m,
      deltaT: 4.031910 s,
      deltaX: -2.600006 m,
      approachRate: -0.644857 m/s,
      rangeRepo size: 4

2025-06-07T23:52:08.049Z,1749340328.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 303.215820 m,
      bearing: 310.745381 deg,
      lat: 36.905689 deg,
      lon: -122.116129 deg,
      deltaT: 4.031910 s,
      deltaX: -2.577118 m,
      approachRate: -0.639180 m/s,
      posRepo size: 4

2025-06-07T23:52:08.049Z,1749340328.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:08.052Z,1749340328.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 279.877594 m,
      bearing: 310.539866 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013813 deg/s,
      cmd heading: 306.804803 deg,
      new cmd heading: 306.821036 deg.

2025-06-07T23:52:08.053Z,1749340328.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355037 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:08.540Z,1749340328.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:08.543Z,1749340328.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 279.542267 m,
      bearing: 310.542849 deg,
      approach rate: -0.677650 m/s,
      LOS rate: 0.006036 deg/s,
      cmd heading: 306.821031 deg,
      new cmd heading: 306.829992 deg.

2025-06-07T23:52:08.544Z,1749340328.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355194 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:08.884Z,1749340328.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:08.889Z,1749340328.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 279.292572 m,
      bearing: 310.545087 deg,
      approach rate: -0.745233 m/s,
      LOS rate: 0.006684 deg/s,
      cmd heading: 306.829993 deg,
      new cmd heading: 306.836711 deg.

2025-06-07T23:52:08.890Z,1749340328.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355311 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:09.305Z,1749340329.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:09.324Z,1749340329.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 278.981079 m,
      bearing: 310.548905 deg,
      approach rate: -0.723852 m/s,
      LOS rate: 0.008883 deg/s,
      cmd heading: 306.836714 deg,
      new cmd heading: 306.848181 deg.

2025-06-07T23:52:09.325Z,1749340329.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355511 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:09.674Z,1749340329.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:09.676Z,1749340329.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:09.679Z,1749340329.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 278.715515 m,
      bearing: 310.552109 deg,
      approach rate: -0.716350 m/s,
      LOS rate: 0.008652 deg/s,
      cmd heading: 306.848188 deg,
      new cmd heading: 306.857811 deg.

2025-06-07T23:52:09.680Z,1749340329.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355679 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:09.792Z,1749340329.792 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:09.792Z,1749340329.792 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:09.792Z,1749340329.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:10.044Z,1749340330.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251472
2025-06-07T23:52:10.062Z,1749340330.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:10.064Z,1749340330.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 278.442871 m,
      bearing: 310.555317 deg,
      approach rate: -0.707261 m/s,
      LOS rate: 0.008330 deg/s,
      cmd heading: 306.857805 deg,
      new cmd heading: 306.867438 deg.

2025-06-07T23:52:10.065Z,1749340330.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355847 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:10.220Z,1749340330.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:52:10.296Z,1749340330.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503348
2025-06-07T23:52:10.496Z,1749340330.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:10.498Z,1749340330.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 278.150146 m,
      bearing: 310.558490 deg,
      approach rate: -0.673971 m/s,
      LOS rate: 0.007312 deg/s,
      cmd heading: 306.867449 deg,
      new cmd heading: 306.876977 deg.

2025-06-07T23:52:10.504Z,1749340330.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356014 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:10.549Z,1749340330.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756084
2025-06-07T23:52:10.800Z,1749340330.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007303
2025-06-07T23:52:10.868Z,1749340330.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:10.871Z,1749340330.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 277.876221 m,
      bearing: 310.561339 deg,
      approach rate: -0.735213 m/s,
      LOS rate: 0.007654 deg/s,
      cmd heading: 306.876984 deg,
      new cmd heading: 306.885539 deg.

2025-06-07T23:52:10.872Z,1749340330.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356163 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:11.052Z,1749340331.052 [DAT](INFO): DAT read: Rx Time:23:52:10.2493

2025-06-07T23:52:11.053Z,1749340331.053 [DAT](INFO): Rx dataTimestamp_ set to:1749340331.052368
2025-06-07T23:52:11.053Z,1749340331.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260461
2025-06-07T23:52:11.223Z,1749340331.223 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:52:11.287Z,1749340331.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.22 m.
2025-06-07T23:52:11.290Z,1749340331.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.215820 m,
      nav range: 277.579773 m,
      bearing: 310.565344 deg,
      approach rate: -0.708336 m/s,
      LOS rate: 0.009581 deg/s,
      cmd heading: 306.885536 deg,
      new cmd heading: 306.897565 deg.

2025-06-07T23:52:11.291Z,1749340331.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356373 target range: 303.215820 and range: 305.60 m.
2025-06-07T23:52:11.304Z,1749340331.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511343
2025-06-07T23:52:11.562Z,1749340331.562 [DAT](INFO): DAT read: 23:52:10.2493 LVL= 19872, 30193, 20978, 28003, AGC= 65, IDX=  67, 0.23,-1.666, 3.115,-1.810,-2.434, PHS= 0.856,-0.687, 0.621, RAW= 141.9, -11.0, CAL= 148.9, -20.4, ROT=   1.1,  20.4

2025-06-07T23:52:11.563Z,1749340331.563 [DAT](INFO): got valid direction response:
 23:52:10.2493 LVL= 19872, 30193, 20978, 28003, AGC= 65, IDX=  67, 0.23,-1.666, 3.115,-1.810,-2.434, PHS= 0.856,-0.687, 0.621, RAW= 141.9, -11.0, CAL= 148.9, -20.4, ROT=   1.1,  20.4

2025-06-07T23:52:11.564Z,1749340331.564 [DAT](INFO): DAT read: Bearing   1.1,  20.4 (Local)

2025-06-07T23:52:11.564Z,1749340331.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  20.4 (Local)

2025-06-07T23:52:11.566Z,1749340331.566 [DAT](INFO): DAT read: Range 10 to 50 : 315.7 m  (Round-trip  421.0 ms) speed  0.5 m/s

2025-06-07T23:52:11.567Z,1749340331.567 [DAT](INFO): DAT read: user:1890>

2025-06-07T23:52:11.567Z,1749340331.567 [DAT](INFO): DAT read: Tx time:23:52:11.3741

2025-06-07T23:52:11.568Z,1749340331.568 [DAT](INFO): Ping request sent.
2025-06-07T23:52:11.568Z,1749340331.568 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:11.568Z,1749340331.568 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:11.569Z,1749340331.569 [DAT](INFO): direction in FSK: [0.937109,0.017993,-0.348572]
2025-06-07T23:52:11.569Z,1749340331.569 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:11.570Z,1749340331.570 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:11.573Z,1749340331.573 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:11.573Z,1749340331.573 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:11.714Z,1749340331.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 315.700012 m,
      deltaT: 3.780003 s,
      deltaX: 10.100006 m,
      approachRate: 2.671957 m/s,
      rangeRepo size: 4

2025-06-07T23:52:11.716Z,1749340331.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 313.230408 m,
      bearing: 309.281175 deg,
      lat: 36.905702 deg,
      lon: -122.116129 deg,
      deltaT: 3.780003 s,
      deltaX: 10.014587 m,
      approachRate: 2.649360 m/s,
      posRepo size: 4

2025-06-07T23:52:11.717Z,1749340331.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:11.724Z,1749340331.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 278.215118 m,
      bearing: 310.777432 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009581 deg/s,
      cmd heading: 306.897557 deg,
      new cmd heading: 306.909808 deg.

2025-06-07T23:52:11.725Z,1749340331.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356586 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:11.809Z,1749340331.809 [DAT](INFO): DAT read: TxSync time:23:52:11.3733

2025-06-07T23:52:12.076Z,1749340332.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:12.081Z,1749340332.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:12.105Z,1749340332.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 277.939453 m,
      bearing: 310.781329 deg,
      approach rate: -0.751193 m/s,
      LOS rate: 0.010631 deg/s,
      cmd heading: 306.909797 deg,
      new cmd heading: 306.921500 deg.

2025-06-07T23:52:12.106Z,1749340332.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356791 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:12.312Z,1749340332.312 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:12.312Z,1749340332.312 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:12.312Z,1749340332.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:12.492Z,1749340332.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:12.494Z,1749340332.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 277.638763 m,
      bearing: 310.786254 deg,
      approach rate: -0.730569 m/s,
      LOS rate: 0.011979 deg/s,
      cmd heading: 306.921490 deg,
      new cmd heading: 306.936280 deg.

2025-06-07T23:52:12.512Z,1749340332.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357049 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:12.565Z,1749340332.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996790
2025-06-07T23:52:12.821Z,1749340332.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253395
2025-06-07T23:52:12.884Z,1749340332.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:12.887Z,1749340332.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 277.358734 m,
      bearing: 310.790917 deg,
      approach rate: -0.713900 m/s,
      LOS rate: 0.011901 deg/s,
      cmd heading: 306.936270 deg,
      new cmd heading: 306.950275 deg.

2025-06-07T23:52:12.888Z,1749340332.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357293 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:13.068Z,1749340333.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500131
2025-06-07T23:52:13.317Z,1749340333.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:13.321Z,1749340333.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752593
2025-06-07T23:52:13.322Z,1749340333.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 277.047577 m,
      bearing: 310.797135 deg,
      approach rate: -0.718034 m/s,
      LOS rate: 0.014365 deg/s,
      cmd heading: 306.950286 deg,
      new cmd heading: 306.968961 deg.

2025-06-07T23:52:13.323Z,1749340333.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357619 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:13.572Z,1749340333.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004346
2025-06-07T23:52:13.686Z,1749340333.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:13.689Z,1749340333.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 276.782806 m,
      bearing: 310.802318 deg,
      approach rate: -0.717987 m/s,
      LOS rate: 0.014067 deg/s,
      cmd heading: 306.968973 deg,
      new cmd heading: 306.984536 deg.

2025-06-07T23:52:13.690Z,1749340333.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357891 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:13.824Z,1749340333.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256128
2025-06-07T23:52:14.076Z,1749340334.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508377
2025-06-07T23:52:14.104Z,1749340334.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:14.106Z,1749340334.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:14.113Z,1749340334.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 276.493011 m,
      bearing: 310.807957 deg,
      approach rate: -0.689789 m/s,
      LOS rate: 0.013435 deg/s,
      cmd heading: 306.984546 deg,
      new cmd heading: 307.001479 deg.

2025-06-07T23:52:14.114Z,1749340334.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.358187 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:14.247Z,1749340334.247 [DockingStepper](ERROR): getADC uart error serial timeout
2025-06-07T23:52:14.252Z,1749340334.252 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-06-07T23:52:14.253Z,1749340334.253 [DockingStepper] Communications Fault, FailCount= 1
2025-06-07T23:52:14.253Z,1749340334.253 [DockingStepper](ERROR): Communications Fault
2025-06-07T23:52:14.329Z,1749340334.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760689
2025-06-07T23:52:14.431Z,1749340334.431 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-06-07T23:52:14.517Z,1749340334.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:14.520Z,1749340334.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 276.181152 m,
      bearing: 310.813402 deg,
      approach rate: -0.758560 m/s,
      LOS rate: 0.013261 deg/s,
      cmd heading: 307.001485 deg,
      new cmd heading: 307.017840 deg.

2025-06-07T23:52:14.521Z,1749340334.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.358472 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:14.566Z,1749340334.566 [DockingStepper](INFO): Stop
2025-06-07T23:52:14.566Z,1749340334.566 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-07T23:52:14.566Z,1749340334.566 [DockingStepper](INFO): Powering down
2025-06-07T23:52:14.580Z,1749340334.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012460
2025-06-07T23:52:14.832Z,1749340334.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264181
2025-06-07T23:52:14.901Z,1749340334.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:14.904Z,1749340334.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 275.901062 m,
      bearing: 310.818270 deg,
      approach rate: -0.729527 m/s,
      LOS rate: 0.012692 deg/s,
      cmd heading: 307.017850 deg,
      new cmd heading: 307.032469 deg.

2025-06-07T23:52:14.905Z,1749340334.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.358727 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:14.944Z,1749340334.944 [DockingStepper](INFO): Stopping
2025-06-07T23:52:15.086Z,1749340335.086 [DAT](INFO): DAT read: Rx Time:23:52:14.1783

2025-06-07T23:52:15.086Z,1749340335.086 [DAT](INFO): Rx dataTimestamp_ set to:1749340335.085906
2025-06-07T23:52:15.087Z,1749340335.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518819
2025-06-07T23:52:15.331Z,1749340335.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.23 m.
2025-06-07T23:52:15.334Z,1749340335.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.230408 m,
      nav range: 275.589752 m,
      bearing: 310.823977 deg,
      approach rate: -0.724966 m/s,
      LOS rate: 0.013305 deg/s,
      cmd heading: 307.032467 deg,
      new cmd heading: 307.049607 deg.

2025-06-07T23:52:15.335Z,1749340335.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359026 target range: 313.230408 and range: 315.70 m.
2025-06-07T23:52:15.336Z,1749340335.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768302
2025-06-07T23:52:15.377Z,1749340335.377 [DockingStepper](INFO): Stopping
2025-06-07T23:52:15.594Z,1749340335.594 [DAT](INFO): DAT read: 23:52:14.1783 LVL= 28320, 32753, 28738, 32755, AGC= 68, IDX= 220, 0.03,-0.641,-2.229,-1.015,-1.329, PHS= 0.776,-0.853, 0.311, RAW= 133.9,  -3.3, CAL= 139.4, -13.2, ROT=  10.6,  13.2

2025-06-07T23:52:15.596Z,1749340335.596 [DAT](INFO): got valid direction response:
 23:52:14.1783 LVL= 28320, 32753, 28738, 32755, AGC= 68, IDX= 220, 0.03,-0.641,-2.229,-1.015,-1.329, PHS= 0.776,-0.853, 0.311, RAW= 133.9,  -3.3, CAL= 139.4, -13.2, ROT=  10.6,  13.2

2025-06-07T23:52:15.597Z,1749340335.597 [DAT](INFO): DAT read: Bearing  10.6,  13.2 (Local)

2025-06-07T23:52:15.597Z,1749340335.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,  13.2 (Local)

2025-06-07T23:52:15.598Z,1749340335.598 [DAT](INFO): DAT read: Range 10 to 50 : 300.0 m  (Round-trip  400.0 ms) speed  0.4 m/s

2025-06-07T23:52:15.599Z,1749340335.599 [DAT](INFO): DAT read: user:1891>

2025-06-07T23:52:15.600Z,1749340335.600 [DAT](INFO): DAT read: Tx time:23:52:15.2742

2025-06-07T23:52:15.600Z,1749340335.600 [DAT](INFO): Ping request sent.
2025-06-07T23:52:15.600Z,1749340335.600 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:15.601Z,1749340335.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:15.602Z,1749340335.602 [DAT](INFO): direction in FSK: [0.956965,0.179091,-0.228351]
2025-06-07T23:52:15.602Z,1749340335.602 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:15.602Z,1749340335.602 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:15.605Z,1749340335.605 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:15.606Z,1749340335.606 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:15.761Z,1749340335.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.000000 m,
      deltaT: 4.032037 s,
      deltaX: -15.700012 m,
      approachRate: -3.893816 m/s,
      rangeRepo size: 4

2025-06-07T23:52:15.768Z,1749340335.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.653748 m,
      bearing: 318.228341 deg,
      lat: 36.905743 deg,
      lon: -122.116129 deg,
      deltaT: 4.032037 s,
      deltaX: -15.576660 m,
      approachRate: -3.863224 m/s,
      posRepo size: 4

2025-06-07T23:52:15.768Z,1749340335.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:15.775Z,1749340335.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 278.337982 m,
      bearing: 311.549800 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013305 deg/s,
      cmd heading: 307.049597 deg,
      new cmd heading: 307.066763 deg.

2025-06-07T23:52:15.776Z,1749340335.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359326 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:15.807Z,1749340335.807 [DockingStepper](INFO): Stopping
2025-06-07T23:52:15.840Z,1749340335.840 [DAT](INFO): DAT read: TxSync time:23:52:15.2734

2025-06-07T23:52:16.110Z,1749340336.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:16.112Z,1749340336.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:16.115Z,1749340336.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 278.069366 m,
      bearing: 311.555405 deg,
      approach rate: -0.764327 m/s,
      LOS rate: 0.015965 deg/s,
      cmd heading: 307.066754 deg,
      new cmd heading: 307.083587 deg.

2025-06-07T23:52:16.116Z,1749340336.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359620 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:16.129Z,1749340336.129 [DockingStepper](INFO): Stopping
2025-06-07T23:52:16.344Z,1749340336.344 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:16.344Z,1749340336.344 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:16.344Z,1749340336.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:16.544Z,1749340336.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:16.547Z,1749340336.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 277.758942 m,
      bearing: 311.561048 deg,
      approach rate: -0.718844 m/s,
      LOS rate: 0.013080 deg/s,
      cmd heading: 307.083584 deg,
      new cmd heading: 307.100529 deg.

2025-06-07T23:52:16.548Z,1749340336.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359915 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:16.561Z,1749340336.561 [DockingStepper](INFO): Stopping
2025-06-07T23:52:16.597Z,1749340336.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996545
2025-06-07T23:52:16.848Z,1749340336.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247611
2025-06-07T23:52:16.922Z,1749340336.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:16.925Z,1749340336.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 277.487274 m,
      bearing: 311.566014 deg,
      approach rate: -0.718013 m/s,
      LOS rate: 0.013138 deg/s,
      cmd heading: 307.100523 deg,
      new cmd heading: 307.115436 deg.

2025-06-07T23:52:16.926Z,1749340336.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360176 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:16.940Z,1749340336.940 [DockingStepper](INFO): Stopping
2025-06-07T23:52:17.100Z,1749340337.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499619
2025-06-07T23:52:17.352Z,1749340337.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751777
2025-06-07T23:52:17.354Z,1749340337.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:17.357Z,1749340337.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 277.180237 m,
      bearing: 311.570550 deg,
      approach rate: -0.711779 m/s,
      LOS rate: 0.010527 deg/s,
      cmd heading: 307.115440 deg,
      new cmd heading: 307.129063 deg.

2025-06-07T23:52:17.358Z,1749340337.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360414 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:17.370Z,1749340337.370 [DockingStepper](INFO): Stopping
2025-06-07T23:52:17.604Z,1749340337.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003805
2025-06-07T23:52:17.747Z,1749340337.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:17.772Z,1749340337.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 276.900696 m,
      bearing: 311.574561 deg,
      approach rate: -0.715535 m/s,
      LOS rate: 0.010278 deg/s,
      cmd heading: 307.129073 deg,
      new cmd heading: 307.141118 deg.

2025-06-07T23:52:17.773Z,1749340337.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360624 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:17.810Z,1749340337.810 [DockingStepper](INFO): Stopping
2025-06-07T23:52:17.856Z,1749340337.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255993
2025-06-07T23:52:18.108Z,1749340338.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507672
2025-06-07T23:52:18.133Z,1749340338.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:18.136Z,1749340338.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:18.138Z,1749340338.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 276.619049 m,
      bearing: 311.578527 deg,
      approach rate: -0.720414 m/s,
      LOS rate: 0.010155 deg/s,
      cmd heading: 307.141121 deg,
      new cmd heading: 307.153032 deg.

2025-06-07T23:52:18.139Z,1749340338.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360832 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:18.177Z,1749340338.177 [DockingStepper](INFO): Stopping
2025-06-07T23:52:18.360Z,1749340338.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759594
2025-06-07T23:52:18.569Z,1749340338.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:18.572Z,1749340338.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 276.321899 m,
      bearing: 311.582159 deg,
      approach rate: -0.684735 m/s,
      LOS rate: 0.008377 deg/s,
      cmd heading: 307.153033 deg,
      new cmd heading: 307.163940 deg.

2025-06-07T23:52:18.573Z,1749340338.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361022 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:18.612Z,1749340338.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011918
2025-06-07T23:52:18.617Z,1749340338.617 [DockingStepper](INFO): Stopping
2025-06-07T23:52:18.864Z,1749340338.864 [DAT](INFO): DAT read: Rx Time:23:52:18.0749

2025-06-07T23:52:18.865Z,1749340338.865 [DAT](INFO): Rx dataTimestamp_ set to:1749340338.864444
2025-06-07T23:52:18.865Z,1749340338.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264786
2025-06-07T23:52:18.977Z,1749340338.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.65 m.
2025-06-07T23:52:18.984Z,1749340338.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.653748 m,
      nav range: 276.029938 m,
      bearing: 311.585706 deg,
      approach rate: -0.716590 m/s,
      LOS rate: 0.008717 deg/s,
      cmd heading: 307.163934 deg,
      new cmd heading: 307.174589 deg.

2025-06-07T23:52:18.985Z,1749340338.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361208 target range: 297.653748 and range: 300.00 m.
2025-06-07T23:52:19.006Z,1749340339.006 [DockingStepper](INFO): Stopping
2025-06-07T23:52:19.116Z,1749340339.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515561
2025-06-07T23:52:19.374Z,1749340339.374 [DAT](INFO): DAT read: 23:52:18.0749 LVL= 27680, 30097, 28482, 32755, AGC= 65, IDX= 409,-0.17, 2.697, 1.285, 2.343, 2.048, PHS= 0.737,-0.717, 0.292, RAW= 132.6,  -4.9, CAL= 138.0, -15.6, ROT=  12.0,  15.6

2025-06-07T23:52:19.379Z,1749340339.379 [DAT](INFO): got valid direction response:
 23:52:18.0749 LVL= 27680, 30097, 28482, 32755, AGC= 65, IDX= 409,-0.17, 2.697, 1.285, 2.343, 2.048, PHS= 0.737,-0.717, 0.292, RAW= 132.6,  -4.9, CAL= 138.0, -15.6, ROT=  12.0,  15.6

2025-06-07T23:52:19.380Z,1749340339.380 [DAT](INFO): DAT read: Bearing  12.0,  15.6 (Local)

2025-06-07T23:52:19.381Z,1749340339.381 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.0,  15.6 (Local)

2025-06-07T23:52:19.382Z,1749340339.382 [DAT](INFO): DAT read: Range 10 to 50 : 297.3 m  (Round-trip  396.5 ms) speed  0.4 m/s

2025-06-07T23:52:19.383Z,1749340339.383 [DAT](INFO): DAT read: user:1892>

2025-06-07T23:52:19.384Z,1749340339.384 [DAT](INFO): DAT read: Tx time:23:52:19.1742

2025-06-07T23:52:19.384Z,1749340339.384 [DAT](INFO): Ping request sent.
2025-06-07T23:52:19.384Z,1749340339.384 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:19.384Z,1749340339.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:19.385Z,1749340339.385 [DAT](INFO): direction in FSK: [0.942115,0.200253,-0.268920]
2025-06-07T23:52:19.386Z,1749340339.386 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:19.386Z,1749340339.386 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:19.425Z,1749340339.425 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:19.426Z,1749340339.426 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:19.455Z,1749340339.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.299988 m,
      deltaT: 3.780081 s,
      deltaX: -2.700012 m,
      approachRate: -0.714274 m/s,
      rangeRepo size: 4

2025-06-07T23:52:19.457Z,1749340339.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.970795 m,
      bearing: 320.122583 deg,
      lat: 36.906038 deg,
      lon: -122.115971 deg,
      deltaT: 3.780081 s,
      deltaX: -2.682953 m,
      approachRate: -0.709761 m/s,
      posRepo size: 4

2025-06-07T23:52:19.458Z,1749340339.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:19.465Z,1749340339.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 288.994110 m,
      bearing: 318.326686 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008717 deg/s,
      cmd heading: 307.174589 deg,
      new cmd heading: 307.186761 deg.

2025-06-07T23:52:19.466Z,1749340339.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361421 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:19.516Z,1749340339.516 [DockingStepper](INFO): Stopping
2025-06-07T23:52:19.621Z,1749340339.621 [DAT](INFO): DAT read: TxSync time:23:52:19.1734

2025-06-07T23:52:19.756Z,1749340339.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:19.758Z,1749340339.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 288.730927 m,
      bearing: 318.335890 deg,
      approach rate: -0.840477 m/s,
      LOS rate: 0.029418 deg/s,
      cmd heading: 307.186774 deg,
      new cmd heading: 307.214410 deg.

2025-06-07T23:52:19.760Z,1749340339.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361903 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:19.796Z,1749340339.796 [DockingStepper](INFO): Stopping
2025-06-07T23:52:20.167Z,1749340340.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:20.170Z,1749340340.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:20.172Z,1749340340.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 288.451294 m,
      bearing: 318.345750 deg,
      approach rate: -0.675245 m/s,
      LOS rate: 0.023834 deg/s,
      cmd heading: 307.214423 deg,
      new cmd heading: 307.244034 deg.

2025-06-07T23:52:20.173Z,1749340340.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.362420 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:20.189Z,1749340340.189 [DockingStepper](INFO): Stopping
2025-06-07T23:52:20.376Z,1749340340.376 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:20.376Z,1749340340.376 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:20.376Z,1749340340.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:20.610Z,1749340340.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:20.613Z,1749340340.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 288.122772 m,
      bearing: 318.355940 deg,
      approach rate: -0.746355 m/s,
      LOS rate: 0.023176 deg/s,
      cmd heading: 307.244039 deg,
      new cmd heading: 307.274642 deg.

2025-06-07T23:52:20.614Z,1749340340.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.362954 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:20.628Z,1749340340.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243969
2025-06-07T23:52:20.655Z,1749340340.655 [DockingStepper](INFO): Stopping
2025-06-07T23:52:20.880Z,1749340340.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495911
2025-06-07T23:52:20.979Z,1749340340.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:20.982Z,1749340340.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 287.861969 m,
      bearing: 318.364077 deg,
      approach rate: -0.706476 m/s,
      LOS rate: 0.022063 deg/s,
      cmd heading: 307.274638 deg,
      new cmd heading: 307.299072 deg.

2025-06-07T23:52:20.983Z,1749340340.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363380 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:20.996Z,1749340340.996 [DockingStepper](INFO): Stopping
2025-06-07T23:52:21.133Z,1749340341.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748914
2025-06-07T23:52:21.384Z,1749340341.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999994
2025-06-07T23:52:21.398Z,1749340341.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:21.417Z,1749340341.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 287.557922 m,
      bearing: 318.374221 deg,
      approach rate: -0.726021 m/s,
      LOS rate: 0.024249 deg/s,
      cmd heading: 307.299063 deg,
      new cmd heading: 307.329528 deg.

2025-06-07T23:52:21.418Z,1749340341.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363912 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:21.442Z,1749340341.442 [DockingStepper](INFO): Stopping
2025-06-07T23:52:21.636Z,1749340341.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251901
2025-06-07T23:52:21.831Z,1749340341.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:21.834Z,1749340341.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 287.246613 m,
      bearing: 318.384590 deg,
      approach rate: -0.718166 m/s,
      LOS rate: 0.023944 deg/s,
      cmd heading: 307.329525 deg,
      new cmd heading: 307.360663 deg.

2025-06-07T23:52:21.835Z,1749340341.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364456 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:21.848Z,1749340341.848 [DockingStepper](INFO): Stopping
2025-06-07T23:52:21.888Z,1749340341.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504105
2025-06-07T23:52:22.140Z,1749340342.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755918
2025-06-07T23:52:22.176Z,1749340342.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:22.178Z,1749340342.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:22.197Z,1749340342.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 286.997040 m,
      bearing: 318.392916 deg,
      approach rate: -0.718871 m/s,
      LOS rate: 0.024005 deg/s,
      cmd heading: 307.360671 deg,
      new cmd heading: 307.385673 deg.

2025-06-07T23:52:22.198Z,1749340342.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364892 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:22.246Z,1749340342.246 [DockingStepper](INFO): Stopping
2025-06-07T23:52:22.393Z,1749340342.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008871
2025-06-07T23:52:22.604Z,1749340342.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:22.606Z,1749340342.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 286.688385 m,
      bearing: 318.404108 deg,
      approach rate: -0.726279 m/s,
      LOS rate: 0.026363 deg/s,
      cmd heading: 307.385669 deg,
      new cmd heading: 307.419281 deg.

2025-06-07T23:52:22.607Z,1749340342.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365479 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:22.640Z,1749340342.640 [DockingStepper](INFO): Stopping
2025-06-07T23:52:22.647Z,1749340342.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262469
2025-06-07T23:52:22.896Z,1749340342.896 [DAT](INFO): DAT read: Rx Time:23:52:21.9713

2025-06-07T23:52:22.897Z,1749340342.897 [DAT](INFO): Rx dataTimestamp_ set to:1749340342.896328
2025-06-07T23:52:22.897Z,1749340342.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512963
2025-06-07T23:52:23.009Z,1749340343.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:23.027Z,1749340343.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 286.394531 m,
      bearing: 318.414801 deg,
      approach rate: -0.725110 m/s,
      LOS rate: 0.026412 deg/s,
      cmd heading: 307.419274 deg,
      new cmd heading: 307.451385 deg.

2025-06-07T23:52:23.028Z,1749340343.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366039 target range: 294.970795 and range: 297.30 m.
2025-06-07T23:52:23.058Z,1749340343.058 [DockingStepper](INFO): Stopping
2025-06-07T23:52:23.148Z,1749340343.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763944
2025-06-07T23:52:23.401Z,1749340343.401 [DAT](INFO): DAT read: Range 10 to 50 : 294.7 m  (Round-trip  393.0 ms) speed  0.6 m/s

2025-06-07T23:52:23.402Z,1749340343.402 [DAT](INFO): DAT read: user:1893>

2025-06-07T23:52:23.403Z,1749340343.403 [DAT](INFO): DAT read: Tx time:23:52:23.0742

2025-06-07T23:52:23.403Z,1749340343.403 [DAT](INFO): Ping request sent.
2025-06-07T23:52:23.403Z,1749340343.403 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:23.404Z,1749340343.404 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:52:23.404Z,1749340343.404 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:23.404Z,1749340343.404 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:23.435Z,1749340343.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 294.700012 m,
      deltaT: 4.031956 s,
      deltaX: -2.599976 m,
      approachRate: -0.644842 m/s,
      rangeRepo size: 4

2025-06-07T23:52:23.438Z,1749340343.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:23.442Z,1749340343.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 286.087494 m,
      bearing: 318.426879 deg,
      approach rate: -0.721712 m/s,
      LOS rate: 0.028422 deg/s,
      cmd heading: 307.451376 deg,
      new cmd heading: 307.487650 deg.

2025-06-07T23:52:23.492Z,1749340343.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366672 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:23.533Z,1749340343.533 [DockingStepper](INFO): Stopping
2025-06-07T23:52:23.652Z,1749340343.652 [DAT](INFO): DAT read: TxSync time:23:52:23.0734

2025-06-07T23:52:23.801Z,1749340343.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:23.804Z,1749340343.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 285.823242 m,
      bearing: 318.437312 deg,
      approach rate: -0.720753 m/s,
      LOS rate: 0.028483 deg/s,
      cmd heading: 307.487658 deg,
      new cmd heading: 307.518987 deg.

2025-06-07T23:52:23.805Z,1749340343.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367219 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:23.818Z,1749340343.818 [DockingStepper](INFO): Stopping
2025-06-07T23:52:24.205Z,1749340344.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:24.218Z,1749340344.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:24.248Z,1749340344.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 285.542511 m,
      bearing: 318.448595 deg,
      approach rate: -0.690315 m/s,
      LOS rate: 0.027771 deg/s,
      cmd heading: 307.518995 deg,
      new cmd heading: 307.552876 deg.

2025-06-07T23:52:24.249Z,1749340344.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367810 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:24.285Z,1749340344.285 [DockingStepper](INFO): Stopping
2025-06-07T23:52:24.409Z,1749340344.409 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:24.409Z,1749340344.409 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:24.409Z,1749340344.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:24.615Z,1749340344.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:24.618Z,1749340344.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 285.243958 m,
      bearing: 318.462155 deg,
      approach rate: -0.732221 m/s,
      LOS rate: 0.033291 deg/s,
      cmd heading: 307.552873 deg,
      new cmd heading: 307.593594 deg.

2025-06-07T23:52:24.619Z,1749340344.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368521 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:24.656Z,1749340344.656 [DockingStepper](INFO): Stopping
2025-06-07T23:52:24.663Z,1749340344.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259564
2025-06-07T23:52:24.912Z,1749340344.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508863
2025-06-07T23:52:25.001Z,1749340345.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:25.004Z,1749340345.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 284.973114 m,
      bearing: 318.474582 deg,
      approach rate: -0.701113 m/s,
      LOS rate: 0.032200 deg/s,
      cmd heading: 307.593580 deg,
      new cmd heading: 307.630898 deg.

2025-06-07T23:52:25.005Z,1749340345.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.369172 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:25.042Z,1749340345.042 [DockingStepper](INFO): Stopping
2025-06-07T23:52:25.164Z,1749340345.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760868
2025-06-07T23:52:25.416Z,1749340345.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012932
2025-06-07T23:52:25.479Z,1749340345.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:25.482Z,1749340345.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 284.654358 m,
      bearing: 318.488551 deg,
      approach rate: -0.672825 m/s,
      LOS rate: 0.029519 deg/s,
      cmd heading: 307.630901 deg,
      new cmd heading: 307.672855 deg.

2025-06-07T23:52:25.487Z,1749340345.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.369905 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:25.510Z,1749340345.510 [DockingStepper](INFO): Stopping
2025-06-07T23:52:25.668Z,1749340345.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264880
2025-06-07T23:52:25.804Z,1749340345.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:25.823Z,1749340345.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 284.402893 m,
      bearing: 318.499505 deg,
      approach rate: -0.763802 m/s,
      LOS rate: 0.033301 deg/s,
      cmd heading: 307.672865 deg,
      new cmd heading: 307.705756 deg.

2025-06-07T23:52:25.824Z,1749340345.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370479 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:25.869Z,1749340345.869 [DockingStepper](INFO): Stopping
2025-06-07T23:52:25.920Z,1749340345.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516760
2025-06-07T23:52:26.172Z,1749340346.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768831
2025-06-07T23:52:26.218Z,1749340346.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:26.221Z,1749340346.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:26.223Z,1749340346.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 284.107483 m,
      bearing: 318.512352 deg,
      approach rate: -0.709677 m/s,
      LOS rate: 0.030896 deg/s,
      cmd heading: 307.705759 deg,
      new cmd heading: 307.744342 deg.

2025-06-07T23:52:26.224Z,1749340346.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371152 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:26.277Z,1749340346.277 [DockingStepper](INFO): Stopping
2025-06-07T23:52:26.427Z,1749340346.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022911
2025-06-07T23:52:26.650Z,1749340346.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:26.657Z,1749340346.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 283.817352 m,
      bearing: 318.524992 deg,
      approach rate: -0.675014 m/s,
      LOS rate: 0.029436 deg/s,
      cmd heading: 307.744336 deg,
      new cmd heading: 307.782292 deg.

2025-06-07T23:52:26.658Z,1749340346.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371814 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:26.676Z,1749340346.676 [DAT](INFO): DAT read: Rx Time:23:52:25.8684

2025-06-07T23:52:26.677Z,1749340346.677 [DAT](INFO): Rx dataTimestamp_ set to:1749340346.676488
2025-06-07T23:52:26.677Z,1749340346.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274036
2025-06-07T23:52:26.683Z,1749340346.683 [DockingStepper](INFO): Stopping
2025-06-07T23:52:26.928Z,1749340346.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524845
2025-06-07T23:52:27.018Z,1749340347.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:27.020Z,1749340347.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 283.544098 m,
      bearing: 318.536848 deg,
      approach rate: -0.744155 m/s,
      LOS rate: 0.032319 deg/s,
      cmd heading: 307.782285 deg,
      new cmd heading: 307.817888 deg.

2025-06-07T23:52:27.021Z,1749340347.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.372436 target range: 294.970795 and range: 294.70 m.
2025-06-07T23:52:27.040Z,1749340347.040 [DockingStepper](INFO): Stopping
2025-06-07T23:52:27.181Z,1749340347.181 [DAT](INFO): DAT read: Range 10 to 50 : 292.5 m  (Round-trip  390.0 ms) speed  0.5 m/s

2025-06-07T23:52:27.182Z,1749340347.182 [DAT](INFO): DAT read: user:1894>

2025-06-07T23:52:27.183Z,1749340347.183 [DAT](INFO): DAT read: Tx time:23:52:26.9743

2025-06-07T23:52:27.183Z,1749340347.183 [DAT](INFO): Ping request sent.
2025-06-07T23:52:27.183Z,1749340347.183 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:27.183Z,1749340347.183 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:52:27.184Z,1749340347.184 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:27.184Z,1749340347.184 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:27.435Z,1749340347.435 [DAT](INFO): DAT read: TxSync time:23:52:26.9735

2025-06-07T23:52:27.501Z,1749340347.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 292.500000 m,
      deltaT: 3.779918 s,
      deltaX: -2.200012 m,
      approachRate: -0.582026 m/s,
      rangeRepo size: 4

2025-06-07T23:52:27.501Z,1749340347.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:27.508Z,1749340347.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 283.221832 m,
      bearing: 318.550357 deg,
      approach rate: -0.667835 m/s,
      LOS rate: 0.028027 deg/s,
      cmd heading: 307.817884 deg,
      new cmd heading: 307.858457 deg.

2025-06-07T23:52:27.509Z,1749340347.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.373144 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:27.552Z,1749340347.552 [DockingStepper](INFO): Stopping
2025-06-07T23:52:27.843Z,1749340347.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:27.850Z,1749340347.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 282.968140 m,
      bearing: 318.561013 deg,
      approach rate: -0.740194 m/s,
      LOS rate: 0.031118 deg/s,
      cmd heading: 307.858455 deg,
      new cmd heading: 307.890452 deg.

2025-06-07T23:52:27.852Z,1749340347.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.373702 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:27.891Z,1749340347.891 [DockingStepper](INFO): Stopping
2025-06-07T23:52:28.239Z,1749340348.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:28.241Z,1749340348.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:28.244Z,1749340348.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 282.690887 m,
      bearing: 318.572776 deg,
      approach rate: -0.696418 m/s,
      LOS rate: 0.029577 deg/s,
      cmd heading: 307.890448 deg,
      new cmd heading: 307.925772 deg.

2025-06-07T23:52:28.245Z,1749340348.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374319 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:28.315Z,1749340348.315 [DockingStepper](INFO): Stopping
2025-06-07T23:52:28.442Z,1749340348.442 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:28.442Z,1749340348.442 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:28.443Z,1749340348.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:28.661Z,1749340348.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:28.664Z,1749340348.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 282.396393 m,
      bearing: 318.585340 deg,
      approach rate: -0.701609 m/s,
      LOS rate: 0.029964 deg/s,
      cmd heading: 307.925774 deg,
      new cmd heading: 307.963506 deg.

2025-06-07T23:52:28.665Z,1749340348.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374977 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:28.677Z,1749340348.677 [DockingStepper](INFO): Stopping
2025-06-07T23:52:28.693Z,1749340348.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509359
2025-06-07T23:52:28.945Z,1749340348.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761598
2025-06-07T23:52:29.056Z,1749340349.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:29.058Z,1749340349.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 282.119202 m,
      bearing: 318.597047 deg,
      approach rate: -0.701581 m/s,
      LOS rate: 0.029660 deg/s,
      cmd heading: 307.963503 deg,
      new cmd heading: 307.998659 deg.

2025-06-07T23:52:29.060Z,1749340349.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.375591 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:29.072Z,1749340349.072 [DockingStepper](INFO): Stopping
2025-06-07T23:52:29.197Z,1749340349.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013421
2025-06-07T23:52:29.451Z,1749340349.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267140
2025-06-07T23:52:29.509Z,1749340349.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:29.532Z,1749340349.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 281.803558 m,
      bearing: 318.609867 deg,
      approach rate: -0.696577 m/s,
      LOS rate: 0.028323 deg/s,
      cmd heading: 307.998665 deg,
      new cmd heading: 308.037168 deg.

2025-06-07T23:52:29.533Z,1749340349.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.376263 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:29.558Z,1749340349.558 [DockingStepper](INFO): Stopping
2025-06-07T23:52:29.700Z,1749340349.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516875
2025-06-07T23:52:29.871Z,1749340349.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:29.874Z,1749340349.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 281.565155 m,
      bearing: 318.619501 deg,
      approach rate: -0.665723 m/s,
      LOS rate: 0.026925 deg/s,
      cmd heading: 308.037160 deg,
      new cmd heading: 308.066087 deg.

2025-06-07T23:52:29.875Z,1749340349.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.376768 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:29.888Z,1749340349.888 [DockingStepper](INFO): Stopping
2025-06-07T23:52:29.953Z,1749340349.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769710
2025-06-07T23:52:30.205Z,1749340350.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021413
2025-06-07T23:52:30.249Z,1749340350.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:30.251Z,1749340350.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:30.254Z,1749340350.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 281.286865 m,
      bearing: 318.630694 deg,
      approach rate: -0.725145 m/s,
      LOS rate: 0.029194 deg/s,
      cmd heading: 308.066093 deg,
      new cmd heading: 308.099704 deg.

2025-06-07T23:52:30.255Z,1749340350.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.377354 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:30.288Z,1749340350.288 [DockingStepper](INFO): Stopping
2025-06-07T23:52:30.459Z,1749340350.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275417
2025-06-07T23:52:30.676Z,1749340350.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:30.679Z,1749340350.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 280.981598 m,
      bearing: 318.641342 deg,
      approach rate: -0.717248 m/s,
      LOS rate: 0.025047 deg/s,
      cmd heading: 308.099697 deg,
      new cmd heading: 308.131678 deg.

2025-06-07T23:52:30.680Z,1749340350.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.377913 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:30.694Z,1749340350.694 [DockingStepper](INFO): Stopping
2025-06-07T23:52:30.709Z,1749340350.709 [DAT](INFO): DAT read: Rx Time:23:52:29.7829

2025-06-07T23:52:30.709Z,1749340350.709 [DAT](INFO): Rx dataTimestamp_ set to:1749340350.709044
2025-06-07T23:52:30.710Z,1749340350.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526761
2025-06-07T23:52:30.960Z,1749340350.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776966
2025-06-07T23:52:31.091Z,1749340351.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.97 m.
2025-06-07T23:52:31.094Z,1749340351.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.970795 m,
      nav range: 280.684418 m,
      bearing: 318.651675 deg,
      approach rate: -0.717402 m/s,
      LOS rate: 0.024969 deg/s,
      cmd heading: 308.131690 deg,
      new cmd heading: 308.162720 deg.

2025-06-07T23:52:31.095Z,1749340351.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.378454 target range: 294.970795 and range: 292.50 m.
2025-06-07T23:52:31.108Z,1749340351.108 [DockingStepper](INFO): Stopping
2025-06-07T23:52:31.218Z,1749340351.218 [DAT](INFO): DAT read: 23:52:29.7829 LVL= 18192, 27425, 20466, 22003, AGC= 67, IDX=  70,-0.43, 2.537, 1.165, 2.434, 1.767, PHS= 0.858,-0.555, 0.664, RAW= 142.7, -14.5, CAL= 149.2, -23.0, ROT=   0.8,  23.0

2025-06-07T23:52:31.219Z,1749340351.219 [DAT](INFO): got valid direction response:
 23:52:29.7829 LVL= 18192, 27425, 20466, 22003, AGC= 67, IDX=  70,-0.43, 2.537, 1.165, 2.434, 1.767, PHS= 0.858,-0.555, 0.664, RAW= 142.7, -14.5, CAL= 149.2, -23.0, ROT=   0.8,  23.0

2025-06-07T23:52:31.220Z,1749340351.220 [DAT](INFO): DAT read: Bearing   0.8,  23.0 (Local)

2025-06-07T23:52:31.221Z,1749340351.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  23.0 (Local)

2025-06-07T23:52:31.222Z,1749340351.222 [DAT](INFO): DAT read: Range 10 to 50 : 303.3 m  (Round-trip  404.4 ms) speed  0.6 m/s

2025-06-07T23:52:31.223Z,1749340351.223 [DAT](INFO): DAT read: user:1895>

2025-06-07T23:52:31.224Z,1749340351.224 [DAT](INFO): DAT read: Tx time:23:52:30.8743

2025-06-07T23:52:31.224Z,1749340351.224 [DAT](INFO): Ping request sent.
2025-06-07T23:52:31.224Z,1749340351.224 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:31.224Z,1749340351.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:31.226Z,1749340351.226 [DAT](INFO): direction in FSK: [0.920415,0.012852,-0.390731]
2025-06-07T23:52:31.226Z,1749340351.226 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:31.226Z,1749340351.226 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:31.262Z,1749340351.262 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:31.263Z,1749340351.263 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:31.468Z,1749340351.468 [DAT](INFO): DAT read: TxSync time:23:52:30.8735

2025-06-07T23:52:31.550Z,1749340351.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 303.299988 m,
      deltaT: 4.032024 s,
      deltaX: 10.799988 m,
      approachRate: 2.678552 m/s,
      rangeRepo size: 4

2025-06-07T23:52:31.552Z,1749340351.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.926331 m,
      bearing: 310.254606 deg,
      lat: 36.906038 deg,
      lon: -122.115971 deg,
      deltaT: 11.843898 s,
      deltaX: 5.955536 m,
      approachRate: 0.502836 m/s,
      posRepo size: 4

2025-06-07T23:52:31.552Z,1749340351.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:31.575Z,1749340351.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 280.361115 m,
      bearing: 318.662993 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024969 deg/s,
      cmd heading: 308.162726 deg,
      new cmd heading: 308.197045 deg.

2025-06-07T23:52:31.576Z,1749340351.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379053 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:31.601Z,1749340351.601 [DockingStepper](INFO): Stopping
2025-06-07T23:52:31.866Z,1749340351.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:31.869Z,1749340351.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 280.132111 m,
      bearing: 318.671054 deg,
      approach rate: -0.720991 m/s,
      LOS rate: 0.025400 deg/s,
      cmd heading: 308.197041 deg,
      new cmd heading: 308.221244 deg.

2025-06-07T23:52:31.870Z,1749340351.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379476 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:31.883Z,1749340351.883 [DockingStepper](INFO): Stopping
2025-06-07T23:52:32.290Z,1749340352.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:32.292Z,1749340352.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:32.295Z,1749340352.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 279.832520 m,
      bearing: 318.681619 deg,
      approach rate: -0.704044 m/s,
      LOS rate: 0.024856 deg/s,
      cmd heading: 308.221248 deg,
      new cmd heading: 308.252978 deg.

2025-06-07T23:52:32.296Z,1749340352.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380029 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:32.336Z,1749340352.336 [DockingStepper](INFO): Stopping
2025-06-07T23:52:32.474Z,1749340352.474 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:32.475Z,1749340352.475 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:32.476Z,1749340352.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:32.693Z,1749340352.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:32.695Z,1749340352.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 279.542511 m,
      bearing: 318.690037 deg,
      approach rate: -0.723959 m/s,
      LOS rate: 0.021034 deg/s,
      cmd heading: 308.252967 deg,
      new cmd heading: 308.278245 deg.

2025-06-07T23:52:32.696Z,1749340352.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380470 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:32.724Z,1749340352.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500148
2025-06-07T23:52:32.735Z,1749340352.735 [DockingStepper](INFO): Stopping
2025-06-07T23:52:32.977Z,1749340352.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752655
2025-06-07T23:52:33.077Z,1749340353.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:33.080Z,1749340353.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 279.266876 m,
      bearing: 318.697910 deg,
      approach rate: -0.716165 m/s,
      LOS rate: 0.020478 deg/s,
      cmd heading: 308.278239 deg,
      new cmd heading: 308.301883 deg.

2025-06-07T23:52:33.081Z,1749340353.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380883 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:33.228Z,1749340353.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004188
2025-06-07T23:52:33.232Z,1749340353.232 [DockingStepper](INFO): Stopping
2025-06-07T23:52:33.484Z,1749340353.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258988
2025-06-07T23:52:33.558Z,1749340353.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:33.565Z,1749340353.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 278.928711 m,
      bearing: 318.707491 deg,
      approach rate: -0.703905 m/s,
      LOS rate: 0.019966 deg/s,
      cmd heading: 308.301871 deg,
      new cmd heading: 308.330647 deg.

2025-06-07T23:52:33.566Z,1749340353.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381385 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:33.732Z,1749340353.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508051
2025-06-07T23:52:33.733Z,1749340353.733 [DockingStepper](INFO): Stopping
2025-06-07T23:52:33.978Z,1749340353.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:33.984Z,1749340353.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760253
2025-06-07T23:52:33.986Z,1749340353.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 278.633942 m,
      bearing: 318.716031 deg,
      approach rate: -0.702178 m/s,
      LOS rate: 0.020366 deg/s,
      cmd heading: 308.330640 deg,
      new cmd heading: 308.356289 deg.

2025-06-07T23:52:33.991Z,1749340353.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381833 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:34.136Z,1749340354.136 [DockingStepper](INFO): Stopping
2025-06-07T23:52:34.237Z,1749340354.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012669
2025-06-07T23:52:34.343Z,1749340354.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:34.345Z,1749340354.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:34.348Z,1749340354.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 278.357697 m,
      bearing: 318.724003 deg,
      approach rate: -0.751348 m/s,
      LOS rate: 0.021703 deg/s,
      cmd heading: 308.356294 deg,
      new cmd heading: 308.380233 deg.

2025-06-07T23:52:34.349Z,1749340354.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382250 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:34.382Z,1749340354.382 [DockingStepper](INFO): Stopping
2025-06-07T23:52:34.490Z,1749340354.490 [DAT](INFO): DAT read: Rx Time:23:52:33.6791

2025-06-07T23:52:34.491Z,1749340354.491 [DAT](INFO): Rx dataTimestamp_ set to:1749340354.490045
2025-06-07T23:52:34.493Z,1749340354.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268260
2025-06-07T23:52:34.740Z,1749340354.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516290
2025-06-07T23:52:34.766Z,1749340354.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.93 m.
2025-06-07T23:52:34.769Z,1749340354.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.926331 m,
      nav range: 278.054352 m,
      bearing: 318.732637 deg,
      approach rate: -0.721627 m/s,
      LOS rate: 0.020561 deg/s,
      cmd heading: 308.380227 deg,
      new cmd heading: 308.406157 deg.

2025-06-07T23:52:34.770Z,1749340354.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382703 target range: 300.926331 and range: 303.30 m.
2025-06-07T23:52:34.812Z,1749340354.812 [DockingStepper](INFO): Stopping
2025-06-07T23:52:34.998Z,1749340354.998 [DAT](INFO): DAT read: 23:52:33.6792 LVL= 22112, 31665, 24482, 31139, AGC= 66, IDX= 403, 0.03, 2.665, 1.433, 2.562, 1.928, PHS= 0.825,-0.448, 0.630, RAW= 141.8, -16.7, CAL= 147.9, -24.9, ROT=   2.1,  24.9

2025-06-07T23:52:34.999Z,1749340354.999 [DAT](INFO): got valid direction response:
 23:52:33.6792 LVL= 22112, 31665, 24482, 31139, AGC= 66, IDX= 403, 0.03, 2.665, 1.433, 2.562, 1.928, PHS= 0.825,-0.448, 0.630, RAW= 141.8, -16.7, CAL= 147.9, -24.9, ROT=   2.1,  24.9

2025-06-07T23:52:35.000Z,1749340355.000 [DAT](INFO): DAT read: Bearing   2.1,  24.9 (Local)

2025-06-07T23:52:35.000Z,1749340355.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  24.9 (Local)

2025-06-07T23:52:35.002Z,1749340355.002 [DAT](INFO): DAT read: Range 10 to 50 : 300.5 m  (Round-trip  400.7 ms) speed  0.7 m/s

2025-06-07T23:52:35.003Z,1749340355.003 [DAT](INFO): DAT read: user:1896>

2025-06-07T23:52:35.004Z,1749340355.004 [DAT](INFO): DAT read: Tx time:23:52:34.7744

2025-06-07T23:52:35.004Z,1749340355.004 [DAT](INFO): Ping request sent.
2025-06-07T23:52:35.004Z,1749340355.004 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:35.004Z,1749340355.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:35.005Z,1749340355.005 [DAT](INFO): direction in FSK: [0.906435,0.033237,-0.421036]
2025-06-07T23:52:35.005Z,1749340355.005 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:35.006Z,1749340355.006 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:35.009Z,1749340355.009 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:35.009Z,1749340355.009 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:35.244Z,1749340355.244 [DAT](INFO): DAT read: TxSync time:23:52:34.7736

2025-06-07T23:52:35.282Z,1749340355.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.500000 m,
      deltaT: 3.779958 s,
      deltaX: -2.799988 m,
      approachRate: -0.740746 m/s,
      rangeRepo size: 4

2025-06-07T23:52:35.284Z,1749340355.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 298.147156 m,
      bearing: 312.105519 deg,
      lat: 36.906038 deg,
      lon: -122.115971 deg,
      deltaT: 3.779958 s,
      deltaX: -2.779175 m,
      approachRate: -0.735240 m/s,
      posRepo size: 4

2025-06-07T23:52:35.285Z,1749340355.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:35.288Z,1749340355.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 277.702179 m,
      bearing: 318.742685 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020561 deg/s,
      cmd heading: 308.406154 deg,
      new cmd heading: 308.437973 deg.

2025-06-07T23:52:35.289Z,1749340355.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383258 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:35.326Z,1749340355.326 [DockingStepper](INFO): Stopped
2025-06-07T23:52:35.521Z,1749340355.521 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-07T23:52:35.522Z,1749340355.522 [DockingStepper] No Fault, FailCount= 1
2025-06-07T23:52:35.651Z,1749340355.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:35.654Z,1749340355.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 277.417755 m,
      bearing: 318.751366 deg,
      approach rate: -0.770028 m/s,
      LOS rate: 0.023528 deg/s,
      cmd heading: 308.437983 deg,
      new cmd heading: 308.464054 deg.

2025-06-07T23:52:35.655Z,1749340355.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383713 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:35.668Z,1749340355.668 [DockingStepper](INFO): Start
2025-06-07T23:52:35.668Z,1749340355.668 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-07T23:52:35.784Z,1749340355.784 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-07T23:52:36.029Z,1749340356.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:36.032Z,1749340356.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 277.147186 m,
      bearing: 318.759752 deg,
      approach rate: -0.716291 m/s,
      LOS rate: 0.022221 deg/s,
      cmd heading: 308.464047 deg,
      new cmd heading: 308.489228 deg.

2025-06-07T23:52:36.033Z,1749340356.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384153 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:36.045Z,1749340356.045 [DockingStepper](INFO): Starting
2025-06-07T23:52:36.434Z,1749340356.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:36.437Z,1749340356.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:36.439Z,1749340356.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 276.869171 m,
      bearing: 318.768415 deg,
      approach rate: -0.681572 m/s,
      LOS rate: 0.021259 deg/s,
      cmd heading: 308.489237 deg,
      new cmd heading: 308.515251 deg.

2025-06-07T23:52:36.440Z,1749340356.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384607 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:36.453Z,1749340356.453 [DockingStepper](INFO): Starting
2025-06-07T23:52:36.506Z,1749340356.506 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:36.506Z,1749340356.506 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:36.506Z,1749340356.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:36.760Z,1749340356.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756135
2025-06-07T23:52:36.925Z,1749340356.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:36.936Z,1749340356.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 276.528046 m,
      bearing: 318.779285 deg,
      approach rate: -0.698241 m/s,
      LOS rate: 0.022278 deg/s,
      cmd heading: 308.515246 deg,
      new cmd heading: 308.547898 deg.

2025-06-07T23:52:36.937Z,1749340356.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.385177 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:36.989Z,1749340356.989 [DockingStepper](INFO): Starting
2025-06-07T23:52:37.013Z,1749340357.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009002
2025-06-07T23:52:37.040Z,1749340357.040 [DockingStepper](INFO): Init string: /1z16367aE13561N3m50
2025-06-07T23:52:37.264Z,1749340357.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260042
2025-06-07T23:52:37.283Z,1749340357.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:37.286Z,1749340357.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 276.249329 m,
      bearing: 318.788110 deg,
      approach rate: -0.778289 m/s,
      LOS rate: 0.024668 deg/s,
      cmd heading: 308.547894 deg,
      new cmd heading: 308.574397 deg.

2025-06-07T23:52:37.289Z,1749340357.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.385639 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:37.326Z,1749340357.326 [DockingStepper](INFO): Starting
2025-06-07T23:52:37.516Z,1749340357.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512151
2025-06-07T23:52:37.709Z,1749340357.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:37.712Z,1749340357.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 275.942444 m,
      bearing: 318.800229 deg,
      approach rate: -0.720525 m/s,
      LOS rate: 0.028485 deg/s,
      cmd heading: 308.574396 deg,
      new cmd heading: 308.610793 deg.

2025-06-07T23:52:37.713Z,1749340357.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.386274 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:37.750Z,1749340357.750 [DockingStepper](INFO): Starting
2025-06-07T23:52:37.768Z,1749340357.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764328
2025-06-07T23:52:38.020Z,1749340358.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016160
2025-06-07T23:52:38.095Z,1749340358.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:38.097Z,1749340358.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 275.665070 m,
      bearing: 318.811209 deg,
      approach rate: -0.719442 m/s,
      LOS rate: 0.028507 deg/s,
      cmd heading: 308.610787 deg,
      new cmd heading: 308.643759 deg.

2025-06-07T23:52:38.098Z,1749340358.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.386850 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:38.136Z,1749340358.136 [DockingStepper](INFO): Starting
2025-06-07T23:52:38.272Z,1749340358.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268123
2025-06-07T23:52:38.498Z,1749340358.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:38.500Z,1749340358.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:38.504Z,1749340358.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 275.372467 m,
      bearing: 318.822841 deg,
      approach rate: -0.721053 m/s,
      LOS rate: 0.028696 deg/s,
      cmd heading: 308.643763 deg,
      new cmd heading: 308.678697 deg.

2025-06-07T23:52:38.505Z,1749340358.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.387460 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:38.518Z,1749340358.518 [DockingStepper](INFO): Starting
2025-06-07T23:52:38.527Z,1749340358.527 [DAT](INFO): DAT read: Rx Time:23:52:37.5764

2025-06-07T23:52:38.527Z,1749340358.527 [DAT](INFO): Rx dataTimestamp_ set to:1749340358.527005
2025-06-07T23:52:38.528Z,1749340358.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523882
2025-06-07T23:52:38.544Z,1749340358.544 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-07T23:52:38.776Z,1749340358.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772114
2025-06-07T23:52:38.940Z,1749340358.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:38.944Z,1749340358.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 275.059906 m,
      bearing: 318.836067 deg,
      approach rate: -0.712184 m/s,
      LOS rate: 0.030170 deg/s,
      cmd heading: 308.678706 deg,
      new cmd heading: 308.718429 deg.

2025-06-07T23:52:38.946Z,1749340358.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388153 target range: 298.147156 and range: 300.50 m.
2025-06-07T23:52:38.981Z,1749340358.981 [DockingStepper](INFO): Starting
2025-06-07T23:52:39.029Z,1749340359.029 [DAT](INFO): DAT read: Range 10 to 50 : 298.4 m  (Round-trip  397.9 ms) speed  0.5 m/s

2025-06-07T23:52:39.030Z,1749340359.030 [DAT](INFO): DAT read: user:1897>

2025-06-07T23:52:39.031Z,1749340359.031 [DAT](INFO): DAT read: Tx time:23:52:38.6744

2025-06-07T23:52:39.031Z,1749340359.031 [DAT](INFO): Ping request sent.
2025-06-07T23:52:39.031Z,1749340359.031 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:39.032Z,1749340359.032 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:52:39.032Z,1749340359.032 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:39.032Z,1749340359.032 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:39.280Z,1749340359.280 [DAT](INFO): DAT read: TxSync time:23:52:38.6736

2025-06-07T23:52:39.324Z,1749340359.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 298.399994 m,
      deltaT: 4.036119 s,
      deltaX: -2.100006 m,
      approachRate: -0.520303 m/s,
      rangeRepo size: 4

2025-06-07T23:52:39.325Z,1749340359.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:39.328Z,1749340359.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 274.786530 m,
      bearing: 318.847692 deg,
      approach rate: -0.712118 m/s,
      LOS rate: 0.030313 deg/s,
      cmd heading: 308.718431 deg,
      new cmd heading: 308.753341 deg.

2025-06-07T23:52:39.329Z,1749340359.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388762 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:39.369Z,1749340359.369 [DockingStepper](INFO): Changing to mode: 1
2025-06-07T23:52:39.369Z,1749340359.369 [DockingStepper](INFO): Standby mode.
2025-06-07T23:52:39.734Z,1749340359.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:39.737Z,1749340359.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 274.492584 m,
      bearing: 318.861317 deg,
      approach rate: -0.714792 m/s,
      LOS rate: 0.033166 deg/s,
      cmd heading: 308.753347 deg,
      new cmd heading: 308.794264 deg.

2025-06-07T23:52:39.738Z,1749340359.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.389477 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:40.115Z,1749340360.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:40.118Z,1749340360.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 274.220490 m,
      bearing: 318.873998 deg,
      approach rate: -0.715182 m/s,
      LOS rate: 0.033365 deg/s,
      cmd heading: 308.794273 deg,
      new cmd heading: 308.832354 deg.

2025-06-07T23:52:40.119Z,1749340360.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.390141 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:40.521Z,1749340360.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:40.524Z,1749340360.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:40.526Z,1749340360.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 273.936981 m,
      bearing: 318.887206 deg,
      approach rate: -0.694169 m/s,
      LOS rate: 0.032373 deg/s,
      cmd heading: 308.832358 deg,
      new cmd heading: 308.872023 deg.

2025-06-07T23:52:40.527Z,1749340360.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.390834 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:40.540Z,1749340360.540 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:40.540Z,1749340360.540 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:40.540Z,1749340360.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:40.792Z,1749340360.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760857
2025-06-07T23:52:40.951Z,1749340360.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:40.956Z,1749340360.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 273.635620 m,
      bearing: 318.902203 deg,
      approach rate: -0.705298 m/s,
      LOS rate: 0.035136 deg/s,
      cmd heading: 308.872028 deg,
      new cmd heading: 308.917067 deg.

2025-06-07T23:52:40.957Z,1749340360.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391620 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:41.044Z,1749340361.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012981
2025-06-07T23:52:41.296Z,1749340361.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264830
2025-06-07T23:52:41.344Z,1749340361.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:41.364Z,1749340361.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:52:41.377Z,1749340361.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 273.359741 m,
      bearing: 318.915962 deg,
      approach rate: -0.700430 m/s,
      LOS rate: 0.034970 deg/s,
      cmd heading: 308.917080 deg,
      new cmd heading: 308.958401 deg.

2025-06-07T23:52:41.388Z,1749340361.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.392341 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:41.548Z,1749340361.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516859
2025-06-07T23:52:41.748Z,1749340361.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:41.751Z,1749340361.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 273.084015 m,
      bearing: 318.929069 deg,
      approach rate: -0.682756 m/s,
      LOS rate: 0.032487 deg/s,
      cmd heading: 308.958389 deg,
      new cmd heading: 308.997748 deg.

2025-06-07T23:52:41.752Z,1749340361.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393028 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:41.801Z,1749340361.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769281
2025-06-07T23:52:42.052Z,1749340362.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020770
2025-06-07T23:52:42.132Z,1749340362.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:42.134Z,1749340362.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 272.821106 m,
      bearing: 318.941532 deg,
      approach rate: -0.686312 m/s,
      LOS rate: 0.032567 deg/s,
      cmd heading: 308.997758 deg,
      new cmd heading: 309.035185 deg.

2025-06-07T23:52:42.135Z,1749340362.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393682 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:42.304Z,1749340362.304 [DAT](INFO): DAT read: Rx Time:23:52:41.4730

2025-06-07T23:52:42.305Z,1749340362.305 [DAT](INFO): Rx dataTimestamp_ set to:1749340362.304356
2025-06-07T23:52:42.305Z,1749340362.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273898
2025-06-07T23:52:42.368Z,1749340362.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:52:42.550Z,1749340362.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:42.552Z,1749340362.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.15 m.
2025-06-07T23:52:42.556Z,1749340362.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524939
2025-06-07T23:52:42.557Z,1749340362.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.147156 m,
      nav range: 272.533234 m,
      bearing: 318.955159 deg,
      approach rate: -0.683789 m/s,
      LOS rate: 0.032401 deg/s,
      cmd heading: 309.035187 deg,
      new cmd heading: 309.076110 deg.

2025-06-07T23:52:42.558Z,1749340362.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.394396 target range: 298.147156 and range: 298.40 m.
2025-06-07T23:52:42.815Z,1749340362.815 [DAT](INFO): DAT read: 23:52:41.4730 LVL= 20800, 29969, 22866, 28403, AGC= 66, IDX= 403, 0.07,-2.427, 2.349,-2.487, 2.836, PHS= 1.108,-0.440, 0.957, RAW= 144.9, -21.2, CAL= 150.2, -28.4, ROT= 359.8,  28.4

2025-06-07T23:52:42.820Z,1749340362.820 [DAT](INFO): got valid direction response:
 23:52:41.4730 LVL= 20800, 29969, 22866, 28403, AGC= 66, IDX= 403, 0.07,-2.427, 2.349,-2.487, 2.836, PHS= 1.108,-0.440, 0.957, RAW= 144.9, -21.2, CAL= 150.2, -28.4, ROT= 359.8,  28.4

2025-06-07T23:52:42.821Z,1749340362.821 [DAT](INFO): DAT read: Bearing 359.8,  28.4 (Local)

2025-06-07T23:52:42.821Z,1749340362.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  28.4 (Local)

2025-06-07T23:52:42.823Z,1749340362.823 [DAT](INFO): DAT read: Range 10 to 50 : 295.8 m  (Round-trip  394.5 ms) speed  0.8 m/s

2025-06-07T23:52:42.824Z,1749340362.824 [DAT](INFO): DAT read: user:1898>

2025-06-07T23:52:42.824Z,1749340362.824 [DAT](INFO): DAT read: Tx time:23:52:42.5744

2025-06-07T23:52:42.825Z,1749340362.825 [DAT](INFO): Ping request sent.
2025-06-07T23:52:42.825Z,1749340362.825 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:42.825Z,1749340362.825 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:42.826Z,1749340362.826 [DAT](INFO): direction in FSK: [0.879643,-0.003071,-0.475624]
2025-06-07T23:52:42.826Z,1749340362.826 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:42.826Z,1749340362.826 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:42.830Z,1749340362.830 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:42.830Z,1749340362.830 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:43.030Z,1749340363.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.799988 m,
      deltaT: 3.779912 s,
      deltaX: -2.600006 m,
      approachRate: -0.687848 m/s,
      rangeRepo size: 4

2025-06-07T23:52:43.036Z,1749340363.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 293.461761 m,
      bearing: 310.469018 deg,
      lat: 36.905821 deg,
      lon: -122.116208 deg,
      deltaT: 7.816031 s,
      deltaX: -4.685394 m,
      approachRate: -0.599460 m/s,
      posRepo size: 4

2025-06-07T23:52:43.037Z,1749340363.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:43.043Z,1749340363.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 269.709229 m,
      bearing: 312.198198 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032401 deg/s,
      cmd heading: 309.076114 deg,
      new cmd heading: 309.122434 deg.

2025-06-07T23:52:43.044Z,1749340363.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395204 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:43.060Z,1749340363.060 [DAT](INFO): DAT read: TxSync time:23:52:42.5736

2025-06-07T23:52:43.362Z,1749340363.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:43.365Z,1749340363.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 269.468292 m,
      bearing: 312.202321 deg,
      approach rate: -0.723789 m/s,
      LOS rate: 0.012397 deg/s,
      cmd heading: 309.122423 deg,
      new cmd heading: 309.134803 deg.

2025-06-07T23:52:43.366Z,1749340363.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395420 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:43.783Z,1749340363.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:43.790Z,1749340363.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 269.174500 m,
      bearing: 312.206296 deg,
      approach rate: -0.698122 m/s,
      LOS rate: 0.009458 deg/s,
      cmd heading: 309.134799 deg,
      new cmd heading: 309.146739 deg.

2025-06-07T23:52:43.791Z,1749340363.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395628 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:44.148Z,1749340364.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:44.150Z,1749340364.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 268.902893 m,
      bearing: 312.210013 deg,
      approach rate: -0.743665 m/s,
      LOS rate: 0.010186 deg/s,
      cmd heading: 309.146738 deg,
      new cmd heading: 309.157898 deg.

2025-06-07T23:52:44.152Z,1749340364.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395823 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:44.571Z,1749340364.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:44.572Z,1749340364.572 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:44.572Z,1749340364.572 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:44.572Z,1749340364.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:44.577Z,1749340364.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:44.584Z,1749340364.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 268.615265 m,
      bearing: 312.213863 deg,
      approach rate: -0.670312 m/s,
      LOS rate: 0.008983 deg/s,
      cmd heading: 309.157885 deg,
      new cmd heading: 309.169449 deg.

2025-06-07T23:52:44.585Z,1749340364.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396025 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:44.824Z,1749340364.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999367
2025-06-07T23:52:45.020Z,1749340365.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:45.022Z,1749340365.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 268.296570 m,
      bearing: 312.216404 deg,
      approach rate: -0.719761 m/s,
      LOS rate: 0.005746 deg/s,
      cmd heading: 309.169442 deg,
      new cmd heading: 309.177074 deg.

2025-06-07T23:52:45.028Z,1749340365.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396158 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:45.076Z,1749340365.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251554
2025-06-07T23:52:45.328Z,1749340365.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503383
2025-06-07T23:52:45.377Z,1749340365.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:45.381Z,1749340365.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 268.030884 m,
      bearing: 312.218450 deg,
      approach rate: -0.743571 m/s,
      LOS rate: 0.005730 deg/s,
      cmd heading: 309.177064 deg,
      new cmd heading: 309.183206 deg.

2025-06-07T23:52:45.382Z,1749340365.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396265 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:45.584Z,1749340365.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758822
2025-06-07T23:52:45.797Z,1749340365.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:45.800Z,1749340365.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 267.728363 m,
      bearing: 312.220021 deg,
      approach rate: -0.720502 m/s,
      LOS rate: 0.003747 deg/s,
      cmd heading: 309.183211 deg,
      new cmd heading: 309.187931 deg.

2025-06-07T23:52:45.801Z,1749340365.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396348 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:45.833Z,1749340365.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007818
2025-06-07T23:52:46.084Z,1749340366.084 [DAT](INFO): DAT read: Rx Time:23:52:45.3502

2025-06-07T23:52:46.085Z,1749340366.085 [DAT](INFO): Rx dataTimestamp_ set to:1749340366.084645
2025-06-07T23:52:46.085Z,1749340366.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260748
2025-06-07T23:52:46.183Z,1749340366.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:46.186Z,1749340366.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 267.449249 m,
      bearing: 312.221474 deg,
      approach rate: -0.723040 m/s,
      LOS rate: 0.003768 deg/s,
      cmd heading: 309.187938 deg,
      new cmd heading: 309.192302 deg.

2025-06-07T23:52:46.187Z,1749340366.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396424 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:46.336Z,1749340366.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511304
2025-06-07T23:52:46.591Z,1749340366.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765359
2025-06-07T23:52:46.623Z,1749340366.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:46.625Z,1749340366.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.46 m.
2025-06-07T23:52:46.632Z,1749340366.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.461761 m,
      nav range: 267.166138 m,
      bearing: 312.222838 deg,
      approach rate: -0.639958 m/s,
      LOS rate: 0.003085 deg/s,
      cmd heading: 309.192309 deg,
      new cmd heading: 309.196403 deg.

2025-06-07T23:52:46.633Z,1749340366.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396495 target range: 293.461761 and range: 295.80 m.
2025-06-07T23:52:46.850Z,1749340366.850 [DAT](INFO): DAT read: 23:52:45.3502 LVL= 23856, 28401, 23986, 32755, AGC= 65, IDX= 201,-0.08,-0.679,-1.969,-0.801,-1.528, PHS= 0.938,-0.394, 0.725, RAW= 141.4, -19.9, CAL= 146.9, -27.5, ROT=   3.1,  27.5

2025-06-07T23:52:46.851Z,1749340366.851 [DAT](INFO): got valid direction response:
 23:52:45.3502 LVL= 23856, 28401, 23986, 32755, AGC= 65, IDX= 201,-0.08,-0.679,-1.969,-0.801,-1.528, PHS= 0.938,-0.394, 0.725, RAW= 141.4, -19.9, CAL= 146.9, -27.5, ROT=   3.1,  27.5

2025-06-07T23:52:46.852Z,1749340366.852 [DAT](INFO): DAT read: Bearing   3.1,  27.5 (Local)

2025-06-07T23:52:46.853Z,1749340366.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  27.5 (Local)

2025-06-07T23:52:46.854Z,1749340366.854 [DAT](INFO): DAT read: Range 10 to 50 : 278.7 m  (Round-trip  371.6 ms) speed  0.6 m/s

2025-06-07T23:52:46.858Z,1749340366.858 [DAT](INFO): DAT read: user:1899>

2025-06-07T23:52:46.861Z,1749340366.861 [DAT](INFO): DAT read: Tx time:23:52:46.4745

2025-06-07T23:52:46.861Z,1749340366.861 [DAT](INFO): Ping request sent.
2025-06-07T23:52:46.862Z,1749340366.862 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:46.862Z,1749340366.862 [DAT](INFO): DAT read: TxSync time:23:52:46.4737

2025-06-07T23:52:46.863Z,1749340366.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:46.864Z,1749340366.864 [DAT](INFO): direction in FSK: [0.885713,0.047968,-0.461749]
2025-06-07T23:52:46.864Z,1749340366.864 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:46.864Z,1749340366.864 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:46.868Z,1749340366.868 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:46.868Z,1749340366.868 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:47.083Z,1749340367.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 278.700012 m,
      deltaT: 4.033644 s,
      deltaX: -17.099976 m,
      approachRate: -4.239337 m/s,
      rangeRepo size: 4

2025-06-07T23:52:47.089Z,1749340367.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 276.499939 m,
      bearing: 313.975629 deg,
      lat: 36.905799 deg,
      lon: -122.116208 deg,
      deltaT: 4.033644 s,
      deltaX: -16.961823 m,
      approachRate: -4.205087 m/s,
      posRepo size: 4

2025-06-07T23:52:47.093Z,1749340367.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:47.096Z,1749340367.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 265.172699 m,
      bearing: 311.833530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003085 deg/s,
      cmd heading: 309.196407 deg,
      new cmd heading: 309.200631 deg.

2025-06-07T23:52:47.097Z,1749340367.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396569 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:47.522Z,1749340367.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:47.525Z,1749340367.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 264.846405 m,
      bearing: 311.833682 deg,
      approach rate: -0.740996 m/s,
      LOS rate: 0.000346 deg/s,
      cmd heading: 309.200642 deg,
      new cmd heading: 309.201100 deg.

2025-06-07T23:52:47.526Z,1749340367.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396577 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:47.941Z,1749340367.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:47.960Z,1749340367.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 264.541870 m,
      bearing: 311.833962 deg,
      approach rate: -0.727752 m/s,
      LOS rate: 0.000669 deg/s,
      cmd heading: 309.201106 deg,
      new cmd heading: 309.201946 deg.

2025-06-07T23:52:47.961Z,1749340367.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396592 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:48.432Z,1749340368.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:48.435Z,1749340368.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 264.195404 m,
      bearing: 311.834085 deg,
      approach rate: -0.704596 m/s,
      LOS rate: 0.000251 deg/s,
      cmd heading: 309.201953 deg,
      new cmd heading: 309.202323 deg.

2025-06-07T23:52:48.436Z,1749340368.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396599 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:48.904Z,1749340368.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:48.906Z,1749340368.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:48.909Z,1749340368.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 263.837311 m,
      bearing: 311.835798 deg,
      approach rate: -0.756468 m/s,
      LOS rate: 0.003625 deg/s,
      cmd heading: 309.202336 deg,
      new cmd heading: 309.207483 deg.

2025-06-07T23:52:48.910Z,1749340368.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396688 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:49.109Z,1749340369.109 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:49.109Z,1749340369.109 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:49.110Z,1749340369.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:49.277Z,1749340369.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:49.286Z,1749340369.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 263.599060 m,
      bearing: 311.836872 deg,
      approach rate: -0.643305 m/s,
      LOS rate: 0.002902 deg/s,
      cmd heading: 309.207472 deg,
      new cmd heading: 309.210697 deg.

2025-06-07T23:52:49.292Z,1749340369.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396745 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:49.361Z,1749340369.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499713
2025-06-07T23:52:49.612Z,1749340369.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750533
2025-06-07T23:52:49.645Z,1749340369.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:49.647Z,1749340369.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 263.295197 m,
      bearing: 311.838159 deg,
      approach rate: -0.824497 m/s,
      LOS rate: 0.003497 deg/s,
      cmd heading: 309.210696 deg,
      new cmd heading: 309.214562 deg.

2025-06-07T23:52:49.648Z,1749340369.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396812 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:49.865Z,1749340369.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003004
2025-06-07T23:52:50.066Z,1749340370.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:50.070Z,1749340370.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 262.988586 m,
      bearing: 311.839443 deg,
      approach rate: -0.727305 m/s,
      LOS rate: 0.003049 deg/s,
      cmd heading: 309.214576 deg,
      new cmd heading: 309.218432 deg.

2025-06-07T23:52:50.071Z,1749340370.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396880 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:50.117Z,1749340370.117 [DAT](INFO): DAT read: Rx Time:23:52:49.2665

2025-06-07T23:52:50.118Z,1749340370.118 [DAT](INFO): Rx dataTimestamp_ set to:1749340370.117480
2025-06-07T23:52:50.118Z,1749340370.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256703
2025-06-07T23:52:50.368Z,1749340370.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506444
2025-06-07T23:52:50.446Z,1749340370.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:50.449Z,1749340370.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 262.712097 m,
      bearing: 311.840577 deg,
      approach rate: -0.727676 m/s,
      LOS rate: 0.002987 deg/s,
      cmd heading: 309.218428 deg,
      new cmd heading: 309.221833 deg.

2025-06-07T23:52:50.450Z,1749340370.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396939 target range: 276.499939 and range: 278.70 m.
2025-06-07T23:52:50.621Z,1749340370.621 [DAT](INFO): DAT read: Range 10 to 50 : 290.8 m  (Round-trip  387.8 ms) speed  0.8 m/s

2025-06-07T23:52:50.622Z,1749340370.622 [DAT](INFO): DAT read: user:1900>

2025-06-07T23:52:50.623Z,1749340370.623 [DAT](INFO): DAT read: Tx time:23:52:50.3745

2025-06-07T23:52:50.623Z,1749340370.623 [DAT](INFO): Ping request sent.
2025-06-07T23:52:50.623Z,1749340370.623 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:50.623Z,1749340370.623 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:52:50.624Z,1749340370.624 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:50.624Z,1749340370.624 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:50.871Z,1749340370.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 290.799988 m,
      deltaT: 3.778309 s,
      deltaX: 12.099976 m,
      approachRate: 3.202484 m/s,
      rangeRepo size: 4

2025-06-07T23:52:50.872Z,1749340370.872 [DAT](INFO): DAT read: TxSync time:23:52:50.3737

2025-06-07T23:52:50.873Z,1749340370.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:50.892Z,1749340370.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 262.410431 m,
      bearing: 311.841939 deg,
      approach rate: -0.711729 m/s,
      LOS rate: 0.003218 deg/s,
      cmd heading: 309.221843 deg,
      new cmd heading: 309.225934 deg.

2025-06-07T23:52:50.893Z,1749340370.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397011 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:51.241Z,1749340371.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:51.244Z,1749340371.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:51.246Z,1749340371.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 262.145386 m,
      bearing: 311.843212 deg,
      approach rate: -0.709897 m/s,
      LOS rate: 0.003412 deg/s,
      cmd heading: 309.225941 deg,
      new cmd heading: 309.229763 deg.

2025-06-07T23:52:51.247Z,1749340371.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397078 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:51.376Z,1749340371.376 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:51.376Z,1749340371.376 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:51.376Z,1749340371.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:51.628Z,1749340371.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005074
2025-06-07T23:52:51.647Z,1749340371.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:51.650Z,1749340371.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 261.857971 m,
      bearing: 311.844628 deg,
      approach rate: -0.712445 m/s,
      LOS rate: 0.003514 deg/s,
      cmd heading: 309.229766 deg,
      new cmd heading: 309.234018 deg.

2025-06-07T23:52:51.651Z,1749340371.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397152 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:51.881Z,1749340371.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257541
2025-06-07T23:52:52.082Z,1749340372.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:52.085Z,1749340372.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 261.546173 m,
      bearing: 311.847578 deg,
      approach rate: -0.716476 m/s,
      LOS rate: 0.006786 deg/s,
      cmd heading: 309.234028 deg,
      new cmd heading: 309.242888 deg.

2025-06-07T23:52:52.086Z,1749340372.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397306 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:52.132Z,1749340372.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509349
2025-06-07T23:52:52.384Z,1749340372.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761025
2025-06-07T23:52:52.455Z,1749340372.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:52.457Z,1749340372.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 261.279816 m,
      bearing: 311.849957 deg,
      approach rate: -0.714910 m/s,
      LOS rate: 0.006392 deg/s,
      cmd heading: 309.242880 deg,
      new cmd heading: 309.250024 deg.

2025-06-07T23:52:52.458Z,1749340372.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397431 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:52.636Z,1749340372.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013069
2025-06-07T23:52:52.880Z,1749340372.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:52.883Z,1749340372.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 260.972412 m,
      bearing: 311.853042 deg,
      approach rate: -0.723558 m/s,
      LOS rate: 0.007270 deg/s,
      cmd heading: 309.250011 deg,
      new cmd heading: 309.259276 deg.

2025-06-07T23:52:52.884Z,1749340372.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397593 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:52.888Z,1749340372.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265416
2025-06-07T23:52:53.140Z,1749340373.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517129
2025-06-07T23:52:53.266Z,1749340373.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:53.268Z,1749340373.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:53.287Z,1749340373.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 260.692047 m,
      bearing: 311.855774 deg,
      approach rate: -0.720696 m/s,
      LOS rate: 0.007032 deg/s,
      cmd heading: 309.259272 deg,
      new cmd heading: 309.267480 deg.

2025-06-07T23:52:53.288Z,1749340373.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397736 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:53.393Z,1749340373.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769508
2025-06-07T23:52:53.644Z,1749340373.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021171
2025-06-07T23:52:53.689Z,1749340373.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:53.691Z,1749340373.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 260.387512 m,
      bearing: 311.858749 deg,
      approach rate: -0.724790 m/s,
      LOS rate: 0.007089 deg/s,
      cmd heading: 309.267469 deg,
      new cmd heading: 309.276404 deg.

2025-06-07T23:52:53.692Z,1749340373.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397892 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:53.896Z,1749340373.896 [DAT](INFO): DAT read: Rx Time:23:52:53.1634

2025-06-07T23:52:53.897Z,1749340373.897 [DAT](INFO): Rx dataTimestamp_ set to:1749340373.896413
2025-06-07T23:52:53.897Z,1749340373.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274179
2025-06-07T23:52:54.103Z,1749340374.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:54.110Z,1749340374.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 260.102051 m,
      bearing: 311.861825 deg,
      approach rate: -0.689187 m/s,
      LOS rate: 0.007435 deg/s,
      cmd heading: 309.276402 deg,
      new cmd heading: 309.285641 deg.

2025-06-07T23:52:54.111Z,1749340374.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398053 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:54.148Z,1749340374.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525183
2025-06-07T23:52:54.403Z,1749340374.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778846
2025-06-07T23:52:54.485Z,1749340374.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.50 m.
2025-06-07T23:52:54.488Z,1749340374.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.499939 m,
      nav range: 259.816223 m,
      bearing: 311.864876 deg,
      approach rate: -0.747266 m/s,
      LOS rate: 0.007985 deg/s,
      cmd heading: 309.285637 deg,
      new cmd heading: 309.294800 deg.

2025-06-07T23:52:54.489Z,1749340374.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398212 target range: 276.499939 and range: 290.80 m.
2025-06-07T23:52:54.664Z,1749340374.664 [DAT](INFO): DAT read: 23:52:53.1634 LVL= 23856, 25553, 23794, 28563, AGC= 62, IDX= 416,-0.07,-1.578,-2.789,-1.520,-2.512, PHS= 1.022,-0.230, 0.989, RAW= 148.7, -27.0, CAL= 152.6, -33.0, ROT= 357.4,  33.0

2025-06-07T23:52:54.665Z,1749340374.665 [DAT](INFO): got valid direction response:
 23:52:53.1634 LVL= 23856, 25553, 23794, 28563, AGC= 62, IDX= 416,-0.07,-1.578,-2.789,-1.520,-2.512, PHS= 1.022,-0.230, 0.989, RAW= 148.7, -27.0, CAL= 152.6, -33.0, ROT= 357.4,  33.0

2025-06-07T23:52:54.666Z,1749340374.666 [DAT](INFO): DAT read: Bearing 357.4,  33.0 (Local)

2025-06-07T23:52:54.666Z,1749340374.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  33.0 (Local)

2025-06-07T23:52:54.702Z,1749340374.702 [DAT](INFO): DAT read: Range 10 to 50 : 288.6 m  (Round-trip  384.8 ms) speed  1.0 m/s

2025-06-07T23:52:54.703Z,1749340374.703 [DAT](INFO): DAT read: user:1901>

2025-06-07T23:52:54.713Z,1749340374.713 [DAT](INFO): DAT read: Tx time:23:52:54.2760

2025-06-07T23:52:54.713Z,1749340374.713 [DAT](INFO): Ping request sent.
2025-06-07T23:52:54.713Z,1749340374.713 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:54.714Z,1749340374.714 [DAT](INFO): DAT read: TxSync time:23:52:54.2752

2025-06-07T23:52:54.727Z,1749340374.727 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:52:54.728Z,1749340374.728 [DAT](INFO): direction in FSK: [0.837807,-0.038045,-0.544639]
2025-06-07T23:52:54.729Z,1749340374.729 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:54.729Z,1749340374.729 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:54.736Z,1749340374.736 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:54.736Z,1749340374.736 [DAT](INFO): publishing direction and range info
2025-06-07T23:52:54.984Z,1749340374.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.600006 m,
      deltaT: 4.032099 s,
      deltaX: -2.199982 m,
      approachRate: -0.545617 m/s,
      rangeRepo size: 4

2025-06-07T23:52:54.986Z,1749340374.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 286.326324 m,
      bearing: 309.705474 deg,
      lat: 36.905780 deg,
      lon: -122.116216 deg,
      deltaT: 7.810408 s,
      deltaX: 9.826385 m,
      approachRate: 1.258114 m/s,
      posRepo size: 4

2025-06-07T23:52:54.987Z,1749340374.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:54.993Z,1749340374.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 258.546570 m,
      bearing: 311.413465 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007985 deg/s,
      cmd heading: 309.294789 deg,
      new cmd heading: 309.306716 deg.

2025-06-07T23:52:54.994Z,1749340374.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398421 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:55.278Z,1749340375.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:55.293Z,1749340375.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:55.300Z,1749340375.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 258.318481 m,
      bearing: 311.415483 deg,
      approach rate: -0.736567 m/s,
      LOS rate: 0.006522 deg/s,
      cmd heading: 309.306728 deg,
      new cmd heading: 309.312788 deg.

2025-06-07T23:52:55.301Z,1749340375.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398527 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:55.408Z,1749340375.408 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:55.408Z,1749340375.408 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:55.408Z,1749340375.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:55.660Z,1749340375.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.947081
2025-06-07T23:52:55.687Z,1749340375.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:55.690Z,1749340375.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 258.029053 m,
      bearing: 311.418054 deg,
      approach rate: -0.734619 m/s,
      LOS rate: 0.006533 deg/s,
      cmd heading: 309.312794 deg,
      new cmd heading: 309.320515 deg.

2025-06-07T23:52:55.691Z,1749340375.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398662 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:55.913Z,1749340375.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200165
2025-06-07T23:52:56.122Z,1749340376.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:56.125Z,1749340376.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 257.716797 m,
      bearing: 311.420273 deg,
      approach rate: -0.716791 m/s,
      LOS rate: 0.005101 deg/s,
      cmd heading: 309.320525 deg,
      new cmd heading: 309.327192 deg.

2025-06-07T23:52:56.126Z,1749340376.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398778 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:56.164Z,1749340376.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451194
2025-06-07T23:52:56.416Z,1749340376.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702969
2025-06-07T23:52:56.495Z,1749340376.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:56.497Z,1749340376.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 257.450867 m,
      bearing: 311.422012 deg,
      approach rate: -0.714555 m/s,
      LOS rate: 0.004675 deg/s,
      cmd heading: 309.327192 deg,
      new cmd heading: 309.332412 deg.

2025-06-07T23:52:56.498Z,1749340376.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398869 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:56.669Z,1749340376.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956220
2025-06-07T23:52:56.920Z,1749340376.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207038
2025-06-07T23:52:56.995Z,1749340376.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:56.998Z,1749340376.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 257.105804 m,
      bearing: 311.422222 deg,
      approach rate: -0.695292 m/s,
      LOS rate: 0.000424 deg/s,
      cmd heading: 309.332410 deg,
      new cmd heading: 309.333042 deg.

2025-06-07T23:52:56.999Z,1749340376.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398880 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:57.173Z,1749340377.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459298
2025-06-07T23:52:57.340Z,1749340377.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:57.342Z,1749340377.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:57.345Z,1749340377.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 256.852020 m,
      bearing: 311.422350 deg,
      approach rate: -0.722694 m/s,
      LOS rate: 0.000364 deg/s,
      cmd heading: 309.333038 deg,
      new cmd heading: 309.333422 deg.

2025-06-07T23:52:57.346Z,1749340377.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398887 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:57.425Z,1749340377.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712175
2025-06-07T23:52:57.676Z,1749340377.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963035
2025-06-07T23:52:57.753Z,1749340377.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:57.760Z,1749340377.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 256.564789 m,
      bearing: 311.422448 deg,
      approach rate: -0.698493 m/s,
      LOS rate: 0.000240 deg/s,
      cmd heading: 309.333421 deg,
      new cmd heading: 309.333716 deg.

2025-06-07T23:52:57.761Z,1749340377.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398892 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:57.929Z,1749340377.929 [DAT](INFO): DAT read: Rx Time:23:52:57.0621

2025-06-07T23:52:57.929Z,1749340377.929 [DAT](INFO): Rx dataTimestamp_ set to:1749340377.928780
2025-06-07T23:52:57.930Z,1749340377.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216471
2025-06-07T23:52:58.180Z,1749340378.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467014
2025-06-07T23:52:58.189Z,1749340378.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:58.196Z,1749340378.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 256.265106 m,
      bearing: 311.422401 deg,
      approach rate: -0.687601 m/s,
      LOS rate: -0.000107 deg/s,
      cmd heading: 309.333721 deg,
      new cmd heading: 309.333581 deg.

2025-06-07T23:52:58.197Z,1749340378.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398890 target range: 286.326324 and range: 288.60 m.
2025-06-07T23:52:58.434Z,1749340378.434 [DAT](INFO): DAT read: Range 10 to 50 : 286.3 m  (Round-trip  381.8 ms) speed  0.6 m/s

2025-06-07T23:52:58.435Z,1749340378.435 [DAT](INFO): DAT read: user:1902>

2025-06-07T23:52:58.436Z,1749340378.436 [DAT](INFO): DAT read: Tx time:23:52:58.1761

2025-06-07T23:52:58.436Z,1749340378.436 [DAT](INFO): Ping request sent.
2025-06-07T23:52:58.436Z,1749340378.436 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:52:58.437Z,1749340378.437 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:52:58.437Z,1749340378.437 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:58.437Z,1749340378.437 [DAT](INFO): publishing transmit ping time
2025-06-07T23:52:58.578Z,1749340378.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 286.299988 m,
      deltaT: 3.781184 s,
      deltaX: -2.300018 m,
      approachRate: -0.608280 m/s,
      rangeRepo size: 4

2025-06-07T23:52:58.579Z,1749340378.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:58.585Z,1749340378.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 255.985535 m,
      bearing: 311.422324 deg,
      approach rate: -0.720289 m/s,
      LOS rate: -0.000199 deg/s,
      cmd heading: 309.333585 deg,
      new cmd heading: 309.333354 deg.

2025-06-07T23:52:58.586Z,1749340378.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398886 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:52:58.686Z,1749340378.686 [DAT](INFO): DAT read: TxSync time:23:52:58.1753

2025-06-07T23:52:58.991Z,1749340378.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:58.993Z,1749340378.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 255.685318 m,
      bearing: 311.421844 deg,
      approach rate: -0.726516 m/s,
      LOS rate: -0.001163 deg/s,
      cmd heading: 309.333366 deg,
      new cmd heading: 309.331924 deg.

2025-06-07T23:52:58.994Z,1749340378.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398860 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:52:59.370Z,1749340379.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:52:59.372Z,1749340379.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:59.375Z,1749340379.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 255.413452 m,
      bearing: 311.421408 deg,
      approach rate: -0.712446 m/s,
      LOS rate: -0.001143 deg/s,
      cmd heading: 309.331918 deg,
      new cmd heading: 309.330609 deg.

2025-06-07T23:52:59.376Z,1749340379.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398838 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:52:59.442Z,1749340379.442 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:52:59.442Z,1749340379.442 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:52:59.443Z,1749340379.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:52:59.692Z,1749340379.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255697
2025-06-07T23:52:59.784Z,1749340379.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:52:59.788Z,1749340379.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 255.119049 m,
      bearing: 311.420935 deg,
      approach rate: -0.714045 m/s,
      LOS rate: -0.001148 deg/s,
      cmd heading: 309.330607 deg,
      new cmd heading: 309.329186 deg.

2025-06-07T23:52:59.793Z,1749340379.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398813 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:52:59.945Z,1749340379.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508226
2025-06-07T23:53:00.190Z,1749340380.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:00.196Z,1749340380.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759657
2025-06-07T23:53:00.213Z,1749340380.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 254.829620 m,
      bearing: 311.419825 deg,
      approach rate: -0.714237 m/s,
      LOS rate: -0.002743 deg/s,
      cmd heading: 309.329186 deg,
      new cmd heading: 309.325851 deg.

2025-06-07T23:53:00.214Z,1749340380.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398755 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:53:00.449Z,1749340380.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012047
2025-06-07T23:53:00.596Z,1749340380.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:00.598Z,1749340380.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 254.532654 m,
      bearing: 311.418524 deg,
      approach rate: -0.730933 m/s,
      LOS rate: -0.003206 deg/s,
      cmd heading: 309.325853 deg,
      new cmd heading: 309.321945 deg.

2025-06-07T23:53:00.600Z,1749340380.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398686 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:53:00.705Z,1749340380.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268609
2025-06-07T23:53:00.957Z,1749340380.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519897
2025-06-07T23:53:01.026Z,1749340381.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:01.029Z,1749340381.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 254.224243 m,
      bearing: 311.417918 deg,
      approach rate: -0.716821 m/s,
      LOS rate: -0.001409 deg/s,
      cmd heading: 309.321946 deg,
      new cmd heading: 309.320127 deg.

2025-06-07T23:53:01.030Z,1749340381.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398654 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:53:01.208Z,1749340381.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771784
2025-06-07T23:53:01.387Z,1749340381.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:01.393Z,1749340381.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:01.400Z,1749340381.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 253.968002 m,
      bearing: 311.417267 deg,
      approach rate: -0.697465 m/s,
      LOS rate: -0.001776 deg/s,
      cmd heading: 309.320116 deg,
      new cmd heading: 309.318158 deg.

2025-06-07T23:53:01.401Z,1749340381.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398620 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:53:01.461Z,1749340381.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024762
2025-06-07T23:53:01.712Z,1749340381.712 [DAT](INFO): DAT read: Rx Time:23:53:00.9583

2025-06-07T23:53:01.713Z,1749340381.713 [DAT](INFO): Rx dataTimestamp_ set to:1749340381.712641
2025-06-07T23:53:01.713Z,1749340381.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277009
2025-06-07T23:53:01.811Z,1749340381.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:01.814Z,1749340381.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 253.663345 m,
      bearing: 311.416454 deg,
      approach rate: -0.730202 m/s,
      LOS rate: -0.001951 deg/s,
      cmd heading: 309.318149 deg,
      new cmd heading: 309.315707 deg.

2025-06-07T23:53:01.815Z,1749340381.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398578 target range: 286.326324 and range: 286.30 m.
2025-06-07T23:53:01.965Z,1749340381.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528250
2025-06-07T23:53:02.217Z,1749340382.217 [DAT](INFO): DAT read: Range 10 to 50 : 283.5 m  (Round-trip  378.1 ms) speed  0.7 m/s

2025-06-07T23:53:02.218Z,1749340382.218 [DAT](INFO): DAT read: user:1903>

2025-06-07T23:53:02.218Z,1749340382.218 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:02.227Z,1749340382.227 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:02.227Z,1749340382.227 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:02.227Z,1749340382.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:02.352Z,1749340382.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 283.500000 m,
      deltaT: 3.782741 s,
      deltaX: -2.799988 m,
      approachRate: -0.740201 m/s,
      rangeRepo size: 4

2025-06-07T23:53:02.353Z,1749340382.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:02.360Z,1749340382.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 253.283356 m,
      bearing: 311.416430 deg,
      approach rate: -0.708238 m/s,
      LOS rate: -0.000044 deg/s,
      cmd heading: 309.315717 deg,
      new cmd heading: 309.315646 deg.

2025-06-07T23:53:02.361Z,1749340382.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398576 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:02.469Z,1749340382.469 [DAT](INFO): DAT read: Tx time:23:53:02.0746

2025-06-07T23:53:02.469Z,1749340382.469 [DAT](INFO): Ping request sent.
2025-06-07T23:53:02.469Z,1749340382.469 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:02.470Z,1749340382.470 [DAT](INFO): DAT read: TxSync time:23:53:02.0738

2025-06-07T23:53:02.470Z,1749340382.470 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:02.471Z,1749340382.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001578
2025-06-07T23:53:02.681Z,1749340382.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:02.688Z,1749340382.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 253.045609 m,
      bearing: 311.416450 deg,
      approach rate: -0.712622 m/s,
      LOS rate: 0.000059 deg/s,
      cmd heading: 309.315635 deg,
      new cmd heading: 309.315694 deg.

2025-06-07T23:53:02.689Z,1749340382.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398577 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:02.723Z,1749340382.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254025
2025-06-07T23:53:02.978Z,1749340382.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508683
2025-06-07T23:53:03.114Z,1749340383.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:03.117Z,1749340383.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 252.717468 m,
      bearing: 311.417247 deg,
      approach rate: -0.756886 m/s,
      LOS rate: 0.001842 deg/s,
      cmd heading: 309.315690 deg,
      new cmd heading: 309.318086 deg.

2025-06-07T23:53:03.118Z,1749340383.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398619 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:03.229Z,1749340383.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759428
2025-06-07T23:53:03.480Z,1749340383.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010902
2025-06-07T23:53:03.485Z,1749340383.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:03.487Z,1749340383.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:03.490Z,1749340383.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 252.455750 m,
      bearing: 311.418216 deg,
      approach rate: -0.702114 m/s,
      LOS rate: 0.002601 deg/s,
      cmd heading: 309.318094 deg,
      new cmd heading: 309.321003 deg.

2025-06-07T23:53:03.491Z,1749340383.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398670 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:03.732Z,1749340383.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262718
2025-06-07T23:53:03.884Z,1749340383.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:03.887Z,1749340383.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 252.169113 m,
      bearing: 311.419279 deg,
      approach rate: -0.722290 m/s,
      LOS rate: 0.002682 deg/s,
      cmd heading: 309.320990 deg,
      new cmd heading: 309.324183 deg.

2025-06-07T23:53:03.904Z,1749340383.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398726 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:03.984Z,1749340383.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514935
2025-06-07T23:53:04.236Z,1749340384.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766877
2025-06-07T23:53:04.360Z,1749340384.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:04.363Z,1749340384.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 251.836823 m,
      bearing: 311.421238 deg,
      approach rate: -0.698195 m/s,
      LOS rate: 0.004121 deg/s,
      cmd heading: 309.324186 deg,
      new cmd heading: 309.330071 deg.

2025-06-07T23:53:04.368Z,1749340384.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398828 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:04.488Z,1749340384.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019060
2025-06-07T23:53:04.672Z,1749340384.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:04.674Z,1749340384.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 251.602356 m,
      bearing: 311.422502 deg,
      approach rate: -0.752173 m/s,
      LOS rate: 0.004057 deg/s,
      cmd heading: 309.330060 deg,
      new cmd heading: 309.333854 deg.

2025-06-07T23:53:04.676Z,1749340384.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398894 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:04.741Z,1749340384.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272102
2025-06-07T23:53:04.995Z,1749340384.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525003
2025-06-07T23:53:05.123Z,1749340385.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:05.141Z,1749340385.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 251.278458 m,
      bearing: 311.425456 deg,
      approach rate: -0.718325 m/s,
      LOS rate: 0.006560 deg/s,
      cmd heading: 309.333858 deg,
      new cmd heading: 309.342733 deg.

2025-06-07T23:53:05.142Z,1749340385.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399049 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:05.245Z,1749340385.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775366
2025-06-07T23:53:05.483Z,1749340385.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:05.486Z,1749340385.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 251.020050 m,
      bearing: 311.427805 deg,
      approach rate: -0.717570 m/s,
      LOS rate: 0.006528 deg/s,
      cmd heading: 309.342737 deg,
      new cmd heading: 309.349790 deg.

2025-06-07T23:53:05.486Z,1749340385.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399172 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:05.496Z,1749340385.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026897
2025-06-07T23:53:05.748Z,1749340385.748 [DAT](INFO): DAT read: Rx Time:23:53:04.8532

2025-06-07T23:53:05.749Z,1749340385.749 [DAT](INFO): Rx dataTimestamp_ set to:1749340385.748399
2025-06-07T23:53:05.749Z,1749340385.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279895
2025-06-07T23:53:05.909Z,1749340385.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:05.911Z,1749340385.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.33 m.
2025-06-07T23:53:05.914Z,1749340385.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.326324 m,
      nav range: 250.731934 m,
      bearing: 311.430448 deg,
      approach rate: -0.672959 m/s,
      LOS rate: 0.006181 deg/s,
      cmd heading: 309.349786 deg,
      new cmd heading: 309.357724 deg.

2025-06-07T23:53:05.915Z,1749340385.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399311 target range: 286.326324 and range: 283.50 m.
2025-06-07T23:53:06.004Z,1749340386.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533532
2025-06-07T23:53:06.258Z,1749340386.258 [DAT](INFO): DAT read: 23:53:04.8532 LVL= 23888, 26289, 27202, 30291, AGC= 61, IDX= 406, 0.06,-2.630, 2.419,-2.706, 2.772, PHS= 0.969,-0.306, 0.802, RAW= 143.1, -23.3, CAL= 147.9, -30.1, ROT=   2.1,  30.1

2025-06-07T23:53:06.259Z,1749340386.259 [DAT](INFO): got valid direction response:
 23:53:04.8532 LVL= 23888, 26289, 27202, 30291, AGC= 61, IDX= 406, 0.06,-2.630, 2.419,-2.706, 2.772, PHS= 0.969,-0.306, 0.802, RAW= 143.1, -23.3, CAL= 147.9, -30.1, ROT=   2.1,  30.1

2025-06-07T23:53:06.260Z,1749340386.260 [DAT](INFO): DAT read: Bearing   2.1,  30.1 (Local)

2025-06-07T23:53:06.260Z,1749340386.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  30.1 (Local)

2025-06-07T23:53:06.262Z,1749340386.262 [DAT](INFO): DAT read: Range 10 to 50 : 280.8 m  (Round-trip  374.5 ms) speed  0.7 m/s

2025-06-07T23:53:06.262Z,1749340386.262 [DAT](INFO): DAT read: user:1904>

2025-06-07T23:53:06.263Z,1749340386.263 [DAT](INFO): DAT read: Tx time:23:53:05.9746

2025-06-07T23:53:06.264Z,1749340386.264 [DAT](INFO): Ping request sent.
2025-06-07T23:53:06.264Z,1749340386.264 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:06.264Z,1749340386.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:53:06.265Z,1749340386.265 [DAT](INFO): direction in FSK: [0.864570,0.031702,-0.501511]
2025-06-07T23:53:06.265Z,1749340386.265 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:06.265Z,1749340386.265 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:06.269Z,1749340386.269 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:06.269Z,1749340386.269 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:06.448Z,1749340386.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 280.799988 m,
      deltaT: 4.035948 s,
      deltaX: -2.700012 m,
      approachRate: -0.668991 m/s,
      rangeRepo size: 4

2025-06-07T23:53:06.450Z,1749340386.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 278.599213 m,
      bearing: 314.055347 deg,
      lat: 36.905799 deg,
      lon: -122.116208 deg,
      deltaT: 11.599873 s,
      deltaX: -7.727112 m,
      approachRate: -0.666138 m/s,
      posRepo size: 4

2025-06-07T23:53:06.450Z,1749340386.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:06.457Z,1749340386.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 251.275406 m,
      bearing: 311.903685 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006181 deg/s,
      cmd heading: 309.357736 deg,
      new cmd heading: 309.367601 deg.

2025-06-07T23:53:06.458Z,1749340386.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399483 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:06.504Z,1749340386.504 [DAT](INFO): DAT read: TxSync time:23:53:05.9738

2025-06-07T23:53:06.757Z,1749340386.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:06.764Z,1749340386.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 251.046814 m,
      bearing: 311.906240 deg,
      approach rate: -0.727094 m/s,
      LOS rate: 0.008135 deg/s,
      cmd heading: 309.367599 deg,
      new cmd heading: 309.375272 deg.

2025-06-07T23:53:06.765Z,1749340386.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399617 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:07.204Z,1749340387.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:07.207Z,1749340387.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 250.724670 m,
      bearing: 311.910870 deg,
      approach rate: -0.721937 m/s,
      LOS rate: 0.010389 deg/s,
      cmd heading: 309.375276 deg,
      new cmd heading: 309.389184 deg.

2025-06-07T23:53:07.208Z,1749340387.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399860 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:07.599Z,1749340387.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:07.602Z,1749340387.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 250.460617 m,
      bearing: 311.914681 deg,
      approach rate: -0.695631 m/s,
      LOS rate: 0.010049 deg/s,
      cmd heading: 309.389183 deg,
      new cmd heading: 309.400626 deg.

2025-06-07T23:53:07.615Z,1749340387.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400060 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:08.109Z,1749340388.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:08.111Z,1749340388.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:08.114Z,1749340388.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 250.093170 m,
      bearing: 311.917984 deg,
      approach rate: -0.695764 m/s,
      LOS rate: 0.006264 deg/s,
      cmd heading: 309.400630 deg,
      new cmd heading: 309.410554 deg.

2025-06-07T23:53:08.115Z,1749340388.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400233 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:08.268Z,1749340388.268 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:08.269Z,1749340388.269 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:08.269Z,1749340388.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:08.520Z,1749340388.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256449
2025-06-07T23:53:08.538Z,1749340388.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:08.541Z,1749340388.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 249.794861 m,
      bearing: 311.920438 deg,
      approach rate: -0.699116 m/s,
      LOS rate: 0.005758 deg/s,
      cmd heading: 309.410547 deg,
      new cmd heading: 309.417918 deg.

2025-06-07T23:53:08.542Z,1749340388.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400362 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:08.772Z,1749340388.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508726
2025-06-07T23:53:09.027Z,1749340389.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762418
2025-06-07T23:53:09.087Z,1749340389.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:09.090Z,1749340389.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 249.439590 m,
      bearing: 311.923269 deg,
      approach rate: -0.651734 m/s,
      LOS rate: 0.005202 deg/s,
      cmd heading: 309.417924 deg,
      new cmd heading: 309.426431 deg.

2025-06-07T23:53:09.091Z,1749340389.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400510 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:09.278Z,1749340389.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014546
2025-06-07T23:53:09.451Z,1749340389.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:09.454Z,1749340389.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 249.168961 m,
      bearing: 311.923744 deg,
      approach rate: -0.743189 m/s,
      LOS rate: 0.001304 deg/s,
      cmd heading: 309.426421 deg,
      new cmd heading: 309.427845 deg.

2025-06-07T23:53:09.459Z,1749340389.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400535 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:09.529Z,1749340389.529 [DAT](INFO): DAT read: Rx Time:23:53:08.7510

2025-06-07T23:53:09.530Z,1749340389.530 [DAT](INFO): Rx dataTimestamp_ set to:1749340389.529367
2025-06-07T23:53:09.531Z,1749340389.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266809
2025-06-07T23:53:09.780Z,1749340389.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516193
2025-06-07T23:53:09.794Z,1749340389.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:09.797Z,1749340389.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 248.911026 m,
      bearing: 311.924070 deg,
      approach rate: -0.743599 m/s,
      LOS rate: 0.000942 deg/s,
      cmd heading: 309.427841 deg,
      new cmd heading: 309.428822 deg.

2025-06-07T23:53:09.798Z,1749340389.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400552 target range: 278.599213 and range: 280.80 m.
2025-06-07T23:53:10.040Z,1749340390.040 [DAT](INFO): DAT read: Range 10 to 50 : 279.1 m  (Round-trip  372.2 ms) speed  0.4 m/s

2025-06-07T23:53:10.042Z,1749340390.042 [DAT](INFO): DAT read: user:1905>

2025-06-07T23:53:10.044Z,1749340390.044 [DAT](INFO): DAT read: Tx time:23:53:09.8246

2025-06-07T23:53:10.045Z,1749340390.045 [DAT](INFO): Ping request sent.
2025-06-07T23:53:10.046Z,1749340390.046 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:10.047Z,1749340390.047 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:10.052Z,1749340390.052 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:10.056Z,1749340390.056 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:10.220Z,1749340390.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:10.223Z,1749340390.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 279.100006 m,
      deltaT: 3.783494 s,
      deltaX: -1.699982 m,
      approachRate: -0.449315 m/s,
      rangeRepo size: 4

2025-06-07T23:53:10.224Z,1749340390.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:10.226Z,1749340390.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 248.607483 m,
      bearing: 311.923293 deg,
      approach rate: -0.708883 m/s,
      LOS rate: -0.001818 deg/s,
      cmd heading: 309.428825 deg,
      new cmd heading: 309.426490 deg.

2025-06-07T23:53:10.228Z,1749340390.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400511 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:10.287Z,1749340390.287 [DAT](INFO): DAT read: TxSync time:23:53:09.8238

2025-06-07T23:53:10.287Z,1749340390.287 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:10.287Z,1749340390.287 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:10.288Z,1749340390.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:10.536Z,1749340390.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490848
2025-06-07T23:53:10.583Z,1749340390.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:10.586Z,1749340390.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 248.351089 m,
      bearing: 311.922703 deg,
      approach rate: -0.710997 m/s,
      LOS rate: -0.001636 deg/s,
      cmd heading: 309.426503 deg,
      new cmd heading: 309.424733 deg.

2025-06-07T23:53:10.587Z,1749340390.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400480 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:10.789Z,1749340390.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743741
2025-06-07T23:53:11.006Z,1749340391.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:11.009Z,1749340391.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 248.062149 m,
      bearing: 311.922206 deg,
      approach rate: -0.683373 m/s,
      LOS rate: -0.001177 deg/s,
      cmd heading: 309.424727 deg,
      new cmd heading: 309.423234 deg.

2025-06-07T23:53:11.013Z,1749340391.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400454 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:11.042Z,1749340391.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996485
2025-06-07T23:53:11.292Z,1749340391.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246898
2025-06-07T23:53:11.416Z,1749340391.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:11.418Z,1749340391.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 247.756409 m,
      bearing: 311.918881 deg,
      approach rate: -0.745406 m/s,
      LOS rate: -0.008116 deg/s,
      cmd heading: 309.423224 deg,
      new cmd heading: 309.413238 deg.

2025-06-07T23:53:11.420Z,1749340391.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400280 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:11.544Z,1749340391.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499012
2025-06-07T23:53:11.796Z,1749340391.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751045
2025-06-07T23:53:11.801Z,1749340391.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:11.804Z,1749340391.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 247.480682 m,
      bearing: 311.915777 deg,
      approach rate: -0.715734 m/s,
      LOS rate: -0.008066 deg/s,
      cmd heading: 309.413225 deg,
      new cmd heading: 309.403903 deg.

2025-06-07T23:53:11.805Z,1749340391.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400117 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:12.051Z,1749340392.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005007
2025-06-07T23:53:12.221Z,1749340392.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:12.223Z,1749340392.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:12.226Z,1749340392.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 247.170547 m,
      bearing: 311.912174 deg,
      approach rate: -0.734633 m/s,
      LOS rate: -0.008546 deg/s,
      cmd heading: 309.403908 deg,
      new cmd heading: 309.393085 deg.

2025-06-07T23:53:12.227Z,1749340392.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399928 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:12.302Z,1749340392.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256838
2025-06-07T23:53:12.492Z,1749340392.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:53:12.556Z,1749340392.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510954
2025-06-07T23:53:12.611Z,1749340392.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:12.614Z,1749340392.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 246.885559 m,
      bearing: 311.908772 deg,
      approach rate: -0.735224 m/s,
      LOS rate: -0.008786 deg/s,
      cmd heading: 309.393089 deg,
      new cmd heading: 309.382872 deg.

2025-06-07T23:53:12.615Z,1749340392.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399750 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:12.809Z,1749340392.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763609
2025-06-07T23:53:13.004Z,1749340393.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:13.007Z,1749340393.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 246.597107 m,
      bearing: 311.905299 deg,
      approach rate: -0.733225 m/s,
      LOS rate: -0.008838 deg/s,
      cmd heading: 309.382871 deg,
      new cmd heading: 309.372441 deg.

2025-06-07T23:53:13.008Z,1749340393.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399568 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:13.063Z,1749340393.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017373
2025-06-07T23:53:13.312Z,1749340393.312 [DAT](INFO): DAT read: Rx Time:23:53:12.5974

2025-06-07T23:53:13.313Z,1749340393.313 [DAT](INFO): Rx dataTimestamp_ set to:1749340393.312404
2025-06-07T23:53:13.313Z,1749340393.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268014
2025-06-07T23:53:13.429Z,1749340393.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:13.432Z,1749340393.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 246.285919 m,
      bearing: 311.900020 deg,
      approach rate: -0.733110 m/s,
      LOS rate: -0.012453 deg/s,
      cmd heading: 309.372435 deg,
      new cmd heading: 309.356577 deg.

2025-06-07T23:53:13.433Z,1749340393.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399291 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:13.496Z,1749340393.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:53:13.564Z,1749340393.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518878
2025-06-07T23:53:13.823Z,1749340393.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776840
2025-06-07T23:53:13.830Z,1749340393.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:13.833Z,1749340393.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 246.002686 m,
      bearing: 311.895243 deg,
      approach rate: -0.706059 m/s,
      LOS rate: -0.011922 deg/s,
      cmd heading: 309.356589 deg,
      new cmd heading: 309.342242 deg.

2025-06-07T23:53:13.834Z,1749340393.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399041 target range: 278.599213 and range: 279.10 m.
2025-06-07T23:53:14.076Z,1749340394.076 [DAT](INFO): DAT read: Range 10 to 50 : 276.4 m  (Round-trip  368.6 ms) speed  0.5 m/s

2025-06-07T23:53:14.079Z,1749340394.079 [DAT](INFO): DAT read: user:1906>

2025-06-07T23:53:14.082Z,1749340394.082 [DAT](INFO): DAT read: Tx time:23:53:13.6747

2025-06-07T23:53:14.100Z,1749340394.100 [DAT](INFO): Ping request sent.
2025-06-07T23:53:14.101Z,1749340394.101 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:14.102Z,1749340394.102 [DAT](INFO): DAT read: TxSync time:23:53:13.6739

2025-06-07T23:53:14.125Z,1749340394.125 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:14.125Z,1749340394.125 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:14.127Z,1749340394.127 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:14.299Z,1749340394.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:14.302Z,1749340394.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 276.399994 m,
      deltaT: 4.034673 s,
      deltaX: -2.700012 m,
      approachRate: -0.669202 m/s,
      rangeRepo size: 4

2025-06-07T23:53:14.303Z,1749340394.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:14.310Z,1749340394.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 245.650787 m,
      bearing: 311.890769 deg,
      approach rate: -0.745977 m/s,
      LOS rate: -0.009499 deg/s,
      cmd heading: 309.342245 deg,
      new cmd heading: 309.328802 deg.

2025-06-07T23:53:14.311Z,1749340394.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398806 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:14.320Z,1749340394.320 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:14.320Z,1749340394.320 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:14.320Z,1749340394.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:14.573Z,1749340394.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.472335
2025-06-07T23:53:14.620Z,1749340394.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:14.623Z,1749340394.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 245.409241 m,
      bearing: 311.887933 deg,
      approach rate: -0.758283 m/s,
      LOS rate: -0.008910 deg/s,
      cmd heading: 309.328804 deg,
      new cmd heading: 309.320289 deg.

2025-06-07T23:53:14.624Z,1749340394.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398657 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:14.824Z,1749340394.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.724014
2025-06-07T23:53:15.031Z,1749340395.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:15.034Z,1749340395.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 245.106628 m,
      bearing: 311.884426 deg,
      approach rate: -0.737047 m/s,
      LOS rate: -0.008552 deg/s,
      cmd heading: 309.320280 deg,
      new cmd heading: 309.309745 deg.

2025-06-07T23:53:15.035Z,1749340395.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398473 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:15.078Z,1749340395.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977343
2025-06-07T23:53:15.328Z,1749340395.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228159
2025-06-07T23:53:15.524Z,1749340395.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:15.526Z,1749340395.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 244.742859 m,
      bearing: 311.880667 deg,
      approach rate: -0.737735 m/s,
      LOS rate: -0.007635 deg/s,
      cmd heading: 309.309734 deg,
      new cmd heading: 309.298440 deg.

2025-06-07T23:53:15.528Z,1749340395.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398276 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:15.582Z,1749340395.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482269
2025-06-07T23:53:15.832Z,1749340395.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731892
2025-06-07T23:53:15.868Z,1749340395.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:15.871Z,1749340395.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 244.495239 m,
      bearing: 311.878051 deg,
      approach rate: -0.719389 m/s,
      LOS rate: -0.007607 deg/s,
      cmd heading: 309.298450 deg,
      new cmd heading: 309.290595 deg.

2025-06-07T23:53:15.876Z,1749340395.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398139 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:16.085Z,1749340396.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984968
2025-06-07T23:53:16.338Z,1749340396.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237386
2025-06-07T23:53:16.342Z,1749340396.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:16.347Z,1749340396.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:16.369Z,1749340396.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 244.148651 m,
      bearing: 311.876125 deg,
      approach rate: -0.725547 m/s,
      LOS rate: -0.004038 deg/s,
      cmd heading: 309.290582 deg,
      new cmd heading: 309.284795 deg.

2025-06-07T23:53:16.376Z,1749340396.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398038 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:16.589Z,1749340396.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488932
2025-06-07T23:53:16.829Z,1749340396.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:16.840Z,1749340396.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740186
2025-06-07T23:53:16.852Z,1749340396.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 243.785812 m,
      bearing: 311.874101 deg,
      approach rate: -0.751126 m/s,
      LOS rate: -0.004196 deg/s,
      cmd heading: 309.284790 deg,
      new cmd heading: 309.278709 deg.

2025-06-07T23:53:16.853Z,1749340396.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397932 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:17.092Z,1749340397.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991930
2025-06-07T23:53:17.301Z,1749340397.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:17.307Z,1749340397.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 243.452316 m,
      bearing: 311.874478 deg,
      approach rate: -0.706903 m/s,
      LOS rate: 0.000800 deg/s,
      cmd heading: 309.278697 deg,
      new cmd heading: 309.279830 deg.

2025-06-07T23:53:17.308Z,1749340397.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397951 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:17.344Z,1749340397.344 [DAT](INFO): DAT read: Rx Time:23:53:16.4433

2025-06-07T23:53:17.345Z,1749340397.345 [DAT](INFO): Rx dataTimestamp_ set to:1749340397.344440
2025-06-07T23:53:17.345Z,1749340397.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245073
2025-06-07T23:53:17.596Z,1749340397.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495924
2025-06-07T23:53:17.732Z,1749340397.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.60 m.
2025-06-07T23:53:17.735Z,1749340397.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.599213 m,
      nav range: 243.174561 m,
      bearing: 311.874803 deg,
      approach rate: -0.643263 m/s,
      LOS rate: 0.000752 deg/s,
      cmd heading: 309.279818 deg,
      new cmd heading: 309.280792 deg.

2025-06-07T23:53:17.740Z,1749340397.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397968 target range: 278.599213 and range: 276.40 m.
2025-06-07T23:53:17.854Z,1749340397.854 [DAT](INFO): DAT read: 23:53:16.4433 LVL= 24560, 32753, 23250, 32755, AGC= 68, IDX= 416, 0.23, 2.267, 0.841, 1.965, 1.344, PHS= 1.011,-0.456, 0.618, RAW= 135.0, -17.5, CAL= 140.4, -26.2, ROT=   9.6,  26.2

2025-06-07T23:53:17.855Z,1749340397.855 [DAT](INFO): got valid direction response:
 23:53:16.4433 LVL= 24560, 32753, 23250, 32755, AGC= 68, IDX= 416, 0.23, 2.267, 0.841, 1.965, 1.344, PHS= 1.011,-0.456, 0.618, RAW= 135.0, -17.5, CAL= 140.4, -26.2, ROT=   9.6,  26.2

2025-06-07T23:53:17.856Z,1749340397.856 [DAT](INFO): DAT read: Bearing   9.6,  26.2 (Local)

2025-06-07T23:53:17.856Z,1749340397.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.6,  26.2 (Local)

2025-06-07T23:53:17.858Z,1749340397.858 [DAT](INFO): DAT read: Range 10 to 50 : 273.3 m  (Round-trip  364.5 ms) speed  0.3 m/s

2025-06-07T23:53:17.859Z,1749340397.859 [DAT](INFO): DAT read: user:1907>

2025-06-07T23:53:17.869Z,1749340397.869 [DAT](INFO): DAT read: Tx time:23:53:17.5247

2025-06-07T23:53:17.870Z,1749340397.870 [DAT](INFO): Ping request sent.
2025-06-07T23:53:17.870Z,1749340397.870 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:17.870Z,1749340397.870 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:53:17.871Z,1749340397.871 [DAT](INFO): direction in FSK: [0.884693,0.149635,-0.441506]
2025-06-07T23:53:17.872Z,1749340397.872 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:17.872Z,1749340397.872 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:17.875Z,1749340397.875 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:17.884Z,1749340397.884 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:18.077Z,1749340398.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.299988 m,
      deltaT: 3.777923 s,
      deltaX: -3.100006 m,
      approachRate: -0.820558 m/s,
      rangeRepo size: 4

2025-06-07T23:53:18.080Z,1749340398.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 271.162415 m,
      bearing: 321.085176 deg,
      lat: 36.905799 deg,
      lon: -122.116125 deg,
      deltaT: 11.596090 s,
      deltaX: -7.436798 m,
      approachRate: -0.641319 m/s,
      posRepo size: 4

2025-06-07T23:53:18.080Z,1749340398.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:18.083Z,1749340398.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 237.452637 m,
      bearing: 313.062598 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000752 deg/s,
      cmd heading: 309.280801 deg,
      new cmd heading: 309.281578 deg.

2025-06-07T23:53:18.102Z,1749340398.102 [DAT](INFO): DAT read: TxSync time:23:53:17.5239

2025-06-07T23:53:18.108Z,1749340398.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397982 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:18.509Z,1749340398.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:18.516Z,1749340398.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:18.519Z,1749340398.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 237.166382 m,
      bearing: 313.066802 deg,
      approach rate: -0.658836 m/s,
      LOS rate: 0.009687 deg/s,
      cmd heading: 309.281566 deg,
      new cmd heading: 309.294192 deg.

2025-06-07T23:53:18.524Z,1749340398.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398202 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:18.605Z,1749340398.605 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:18.605Z,1749340398.605 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:18.605Z,1749340398.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:18.856Z,1749340398.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986209
2025-06-07T23:53:18.896Z,1749340398.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:18.898Z,1749340398.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 236.894196 m,
      bearing: 313.070756 deg,
      approach rate: -0.707551 m/s,
      LOS rate: 0.010291 deg/s,
      cmd heading: 309.294188 deg,
      new cmd heading: 309.306065 deg.

2025-06-07T23:53:18.900Z,1749340398.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398409 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:19.108Z,1749340399.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238195
2025-06-07T23:53:19.343Z,1749340399.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:19.346Z,1749340399.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 236.587616 m,
      bearing: 313.075555 deg,
      approach rate: -0.691872 m/s,
      LOS rate: 0.010844 deg/s,
      cmd heading: 309.306073 deg,
      new cmd heading: 309.320489 deg.

2025-06-07T23:53:19.347Z,1749340399.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398661 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:19.360Z,1749340399.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490419
2025-06-07T23:53:19.612Z,1749340399.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742165
2025-06-07T23:53:19.687Z,1749340399.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:19.690Z,1749340399.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 236.336105 m,
      bearing: 313.079420 deg,
      approach rate: -0.722595 m/s,
      LOS rate: 0.011115 deg/s,
      cmd heading: 309.320498 deg,
      new cmd heading: 309.332104 deg.

2025-06-07T23:53:19.691Z,1749340399.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398864 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:19.864Z,1749340399.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994312
2025-06-07T23:53:20.087Z,1749340400.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:20.089Z,1749340400.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 236.060074 m,
      bearing: 313.083584 deg,
      approach rate: -0.690662 m/s,
      LOS rate: 0.010430 deg/s,
      cmd heading: 309.332109 deg,
      new cmd heading: 309.344615 deg.

2025-06-07T23:53:20.090Z,1749340400.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399082 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:20.116Z,1749340400.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246221
2025-06-07T23:53:20.368Z,1749340400.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498181
2025-06-07T23:53:20.516Z,1749340400.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:20.518Z,1749340400.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:20.521Z,1749340400.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 235.765732 m,
      bearing: 313.088062 deg,
      approach rate: -0.681663 m/s,
      LOS rate: 0.010384 deg/s,
      cmd heading: 309.344622 deg,
      new cmd heading: 309.358073 deg.

2025-06-07T23:53:20.522Z,1749340400.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399317 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:20.621Z,1749340400.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750980
2025-06-07T23:53:20.872Z,1749340400.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002335
2025-06-07T23:53:20.915Z,1749340400.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:20.921Z,1749340400.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 235.508118 m,
      bearing: 313.091934 deg,
      approach rate: -0.683798 m/s,
      LOS rate: 0.010290 deg/s,
      cmd heading: 309.358064 deg,
      new cmd heading: 309.369694 deg.

2025-06-07T23:53:20.922Z,1749340400.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399520 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:21.124Z,1749340401.124 [DAT](INFO): DAT read: Rx Time:23:53:20.2931

2025-06-07T23:53:21.125Z,1749340401.125 [DAT](INFO): Rx dataTimestamp_ set to:1749340401.124421
2025-06-07T23:53:21.125Z,1749340401.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255336
2025-06-07T23:53:21.330Z,1749340401.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.16 m.
2025-06-07T23:53:21.337Z,1749340401.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.162415 m,
      nav range: 235.217972 m,
      bearing: 313.095931 deg,
      approach rate: -0.667140 m/s,
      LOS rate: 0.009202 deg/s,
      cmd heading: 309.369703 deg,
      new cmd heading: 309.381709 deg.

2025-06-07T23:53:21.338Z,1749340401.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399729 target range: 271.162415 and range: 273.30 m.
2025-06-07T23:53:21.376Z,1749340401.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506464
2025-06-07T23:53:21.634Z,1749340401.634 [DAT](INFO): DAT read: 23:53:20.2931 LVL= 27296, 27889, 27506, 32755, AGC= 66, IDX= 433, 0.12,-1.256,-2.489,-1.373,-2.035, PHS= 0.867,-0.406, 0.659, RAW= 141.2, -18.5, CAL= 146.9, -26.4, ROT=   3.1,  26.4

2025-06-07T23:53:21.635Z,1749340401.635 [DAT](INFO): got valid direction response:
 23:53:20.2931 LVL= 27296, 27889, 27506, 32755, AGC= 66, IDX= 433, 0.12,-1.256,-2.489,-1.373,-2.035, PHS= 0.867,-0.406, 0.659, RAW= 141.2, -18.5, CAL= 146.9, -26.4, ROT=   3.1,  26.4

2025-06-07T23:53:21.636Z,1749340401.636 [DAT](INFO): DAT read: Bearing   3.1,  26.4 (Local)

2025-06-07T23:53:21.636Z,1749340401.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  26.4 (Local)

2025-06-07T23:53:21.638Z,1749340401.638 [DAT](INFO): DAT read: Range 10 to 50 : 273.1 m  (Round-trip  364.2 ms) speed  1.2 m/s

2025-06-07T23:53:21.639Z,1749340401.639 [DAT](INFO): DAT read: user:1908>

2025-06-07T23:53:21.640Z,1749340401.640 [DAT](INFO): DAT read: Tx time:23:53:21.3748

2025-06-07T23:53:21.640Z,1749340401.640 [DAT](INFO): Ping request sent.
2025-06-07T23:53:21.640Z,1749340401.640 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:21.641Z,1749340401.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:53:21.642Z,1749340401.642 [DAT](INFO): direction in FSK: [0.894401,0.048439,-0.444635]
2025-06-07T23:53:21.642Z,1749340401.642 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:21.642Z,1749340401.642 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:21.645Z,1749340401.645 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:21.646Z,1749340401.646 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:21.761Z,1749340401.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.100006 m,
      deltaT: 3.779930 s,
      deltaX: -0.199982 m,
      approachRate: -0.052906 m/s,
      rangeRepo size: 4

2025-06-07T23:53:21.768Z,1749340401.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 270.964264 m,
      bearing: 314.931130 deg,
      lat: 36.905853 deg,
      lon: -122.116125 deg,
      deltaT: 3.779930 s,
      deltaX: -0.198151 m,
      approachRate: -0.052422 m/s,
      posRepo size: 4

2025-06-07T23:53:21.768Z,1749340401.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:21.771Z,1749340401.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 239.064285 m,
      bearing: 314.149906 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009202 deg/s,
      cmd heading: 309.381697 deg,
      new cmd heading: 309.393580 deg.

2025-06-07T23:53:21.788Z,1749340401.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399937 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:21.881Z,1749340401.881 [DAT](INFO): DAT read: TxSync time:23:53:21.3740

2025-06-07T23:53:22.174Z,1749340402.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:22.177Z,1749340402.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 238.762497 m,
      bearing: 314.155325 deg,
      approach rate: -0.730508 m/s,
      LOS rate: 0.013133 deg/s,
      cmd heading: 309.393581 deg,
      new cmd heading: 309.409858 deg.

2025-06-07T23:53:22.178Z,1749340402.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400221 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:22.581Z,1749340402.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:22.588Z,1749340402.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:22.590Z,1749340402.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 238.479645 m,
      bearing: 314.160522 deg,
      approach rate: -0.690335 m/s,
      LOS rate: 0.012699 deg/s,
      cmd heading: 309.409864 deg,
      new cmd heading: 309.425474 deg.

2025-06-07T23:53:22.596Z,1749340402.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400493 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:22.636Z,1749340402.636 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:22.637Z,1749340402.637 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:22.637Z,1749340402.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:22.888Z,1749340402.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247867
2025-06-07T23:53:22.973Z,1749340402.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:22.981Z,1749340402.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 238.216751 m,
      bearing: 314.165355 deg,
      approach rate: -0.675024 m/s,
      LOS rate: 0.012424 deg/s,
      cmd heading: 309.425464 deg,
      new cmd heading: 309.439981 deg.

2025-06-07T23:53:22.982Z,1749340402.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400746 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:23.141Z,1749340403.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500567
2025-06-07T23:53:23.344Z,1749340403.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:23.347Z,1749340403.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 237.937256 m,
      bearing: 314.169200 deg,
      approach rate: -0.752855 m/s,
      LOS rate: 0.010369 deg/s,
      cmd heading: 309.439972 deg,
      new cmd heading: 309.451520 deg.

2025-06-07T23:53:23.348Z,1749340403.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400948 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:23.392Z,1749340403.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751784
2025-06-07T23:53:23.644Z,1749340403.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003635
2025-06-07T23:53:23.760Z,1749340403.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:23.763Z,1749340403.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 237.643356 m,
      bearing: 314.173176 deg,
      approach rate: -0.706070 m/s,
      LOS rate: 0.009564 deg/s,
      cmd heading: 309.451528 deg,
      new cmd heading: 309.463471 deg.

2025-06-07T23:53:23.764Z,1749340403.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401156 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:23.896Z,1749340403.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255849
2025-06-07T23:53:24.148Z,1749340404.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507693
2025-06-07T23:53:24.184Z,1749340404.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:24.195Z,1749340404.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 237.367691 m,
      bearing: 314.176865 deg,
      approach rate: -0.650096 m/s,
      LOS rate: 0.008710 deg/s,
      cmd heading: 309.463468 deg,
      new cmd heading: 309.474548 deg.

2025-06-07T23:53:24.197Z,1749340404.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401350 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:24.401Z,1749340404.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760193
2025-06-07T23:53:24.602Z,1749340404.602 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +38,  +73,A
2025-06-07T23:53:24.616Z,1749340404.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:24.618Z,1749340404.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:24.621Z,1749340404.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 237.038116 m,
      bearing: 314.181287 deg,
      approach rate: -0.759998 m/s,
      LOS rate: 0.010211 deg/s,
      cmd heading: 309.474560 deg,
      new cmd heading: 309.487844 deg.

2025-06-07T23:53:24.622Z,1749340404.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401582 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:24.653Z,1749340404.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012500
2025-06-07T23:53:24.904Z,1749340404.904 [DAT](INFO): DAT read: Rx Time:23:53:24.1379

2025-06-07T23:53:24.905Z,1749340404.905 [DAT](INFO): Rx dataTimestamp_ set to:1749340404.904324
2025-06-07T23:53:24.905Z,1749340404.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264674
2025-06-07T23:53:24.994Z,1749340404.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.96 m.
2025-06-07T23:53:24.997Z,1749340404.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.964264 m,
      nav range: 236.772705 m,
      bearing: 314.184813 deg,
      approach rate: -0.706712 m/s,
      LOS rate: 0.009400 deg/s,
      cmd heading: 309.487838 deg,
      new cmd heading: 309.498428 deg.

2025-06-07T23:53:24.998Z,1749340404.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401767 target range: 270.964264 and range: 273.10 m.
2025-06-07T23:53:25.156Z,1749340405.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515656
2025-06-07T23:53:25.422Z,1749340405.422 [DAT](INFO): DAT read: 23:53:24.1379 LVL= 31920, 32753, 32754, 32755, AGC= 64, IDX= 386, 0.40,-1.283,-2.536,-1.402,-2.004, PHS= 0.809,-0.486, 0.598, RAW= 141.3, -15.2, CAL= 147.5, -23.8, ROT=   2.5,  23.8

2025-06-07T23:53:25.426Z,1749340405.426 [DAT](INFO): got valid direction response:
 23:53:24.1379 LVL= 31920, 32753, 32754, 32755, AGC= 64, IDX= 386, 0.40,-1.283,-2.536,-1.402,-2.004, PHS= 0.809,-0.486, 0.598, RAW= 141.3, -15.2, CAL= 147.5, -23.8, ROT=   2.5,  23.8

2025-06-07T23:53:25.427Z,1749340405.427 [DAT](INFO): DAT read: Bearing   2.5,  23.8 (Local)

2025-06-07T23:53:25.428Z,1749340405.428 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  23.8 (Local)

2025-06-07T23:53:25.429Z,1749340405.429 [DAT](INFO): DAT read: Range 10 to 50 : 269.2 m  (Round-trip  359.0 ms) speed  0.4 m/s

2025-06-07T23:53:25.430Z,1749340405.430 [DAT](INFO): DAT read: user:1909>

2025-06-07T23:53:25.431Z,1749340405.431 [DAT](INFO): DAT read: Tx time:23:53:25.2248

2025-06-07T23:53:25.431Z,1749340405.431 [DAT](INFO): Ping request sent.
2025-06-07T23:53:25.431Z,1749340405.431 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:25.432Z,1749340405.432 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:53:25.433Z,1749340405.433 [DAT](INFO): direction in FSK: [0.914089,0.039910,-0.403545]
2025-06-07T23:53:25.433Z,1749340405.433 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:25.433Z,1749340405.433 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:25.436Z,1749340405.436 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:25.436Z,1749340405.436 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:25.596Z,1749340405.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.200012 m,
      deltaT: 3.782170 s,
      deltaX: -3.899994 m,
      approachRate: -1.031152 m/s,
      rangeRepo size: 4

2025-06-07T23:53:25.598Z,1749340405.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.094086 m,
      bearing: 314.098622 deg,
      lat: 36.905894 deg,
      lon: -122.116133 deg,
      deltaT: 3.782170 s,
      deltaX: -3.870178 m,
      approachRate: -1.023269 m/s,
      posRepo size: 4

2025-06-07T23:53:25.599Z,1749340405.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:25.606Z,1749340405.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 240.044357 m,
      bearing: 314.847907 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009400 deg/s,
      cmd heading: 309.498438 deg,
      new cmd heading: 309.515060 deg.

2025-06-07T23:53:25.611Z,1749340405.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402057 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:25.661Z,1749340405.661 [DAT](INFO): DAT read: TxSync time:23:53:25.2240

2025-06-07T23:53:25.905Z,1749340405.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:25.909Z,1749340405.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 239.800903 m,
      bearing: 314.849269 deg,
      approach rate: -0.755311 m/s,
      LOS rate: 0.004229 deg/s,
      cmd heading: 309.515049 deg,
      new cmd heading: 309.519139 deg.

2025-06-07T23:53:25.910Z,1749340405.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402128 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:26.348Z,1749340406.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:26.350Z,1749340406.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 239.463898 m,
      bearing: 314.849817 deg,
      approach rate: -0.762135 m/s,
      LOS rate: 0.001241 deg/s,
      cmd heading: 309.519147 deg,
      new cmd heading: 309.520794 deg.

2025-06-07T23:53:26.352Z,1749340406.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402157 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:26.695Z,1749340406.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:26.697Z,1749340406.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:26.720Z,1749340406.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 239.206436 m,
      bearing: 314.850238 deg,
      approach rate: -0.737062 m/s,
      LOS rate: 0.001205 deg/s,
      cmd heading: 309.520787 deg,
      new cmd heading: 309.522050 deg.

2025-06-07T23:53:26.721Z,1749340406.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402179 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:26.920Z,1749340406.920 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:26.920Z,1749340406.920 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:26.920Z,1749340406.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:27.120Z,1749340407.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:27.122Z,1749340407.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 238.906662 m,
      bearing: 314.850654 deg,
      approach rate: -0.716959 m/s,
      LOS rate: 0.000997 deg/s,
      cmd heading: 309.522043 deg,
      new cmd heading: 309.523294 deg.

2025-06-07T23:53:27.128Z,1749340407.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402201 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:27.174Z,1749340407.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743155
2025-06-07T23:53:27.425Z,1749340407.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993218
2025-06-07T23:53:27.529Z,1749340407.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:27.547Z,1749340407.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 238.594940 m,
      bearing: 314.850981 deg,
      approach rate: -0.753811 m/s,
      LOS rate: 0.000792 deg/s,
      cmd heading: 309.523300 deg,
      new cmd heading: 309.524282 deg.

2025-06-07T23:53:27.549Z,1749340407.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402218 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:27.676Z,1749340407.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244811
2025-06-07T23:53:27.928Z,1749340407.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496919
2025-06-07T23:53:27.929Z,1749340407.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:27.932Z,1749340407.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 238.296509 m,
      bearing: 314.851295 deg,
      approach rate: -0.748847 m/s,
      LOS rate: 0.000789 deg/s,
      cmd heading: 309.524284 deg,
      new cmd heading: 309.525226 deg.

2025-06-07T23:53:27.933Z,1749340407.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402235 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:28.180Z,1749340408.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748933
2025-06-07T23:53:28.425Z,1749340408.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:28.428Z,1749340408.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 237.933167 m,
      bearing: 314.852572 deg,
      approach rate: -0.730228 m/s,
      LOS rate: 0.002571 deg/s,
      cmd heading: 309.525240 deg,
      new cmd heading: 309.529078 deg.

2025-06-07T23:53:28.429Z,1749340408.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402301 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:28.432Z,1749340408.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001012
2025-06-07T23:53:28.684Z,1749340408.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252766
2025-06-07T23:53:28.808Z,1749340408.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:28.810Z,1749340408.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:28.813Z,1749340408.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 237.652344 m,
      bearing: 314.853539 deg,
      approach rate: -0.729044 m/s,
      LOS rate: 0.002511 deg/s,
      cmd heading: 309.529065 deg,
      new cmd heading: 309.531967 deg.

2025-06-07T23:53:28.814Z,1749340408.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402352 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:28.936Z,1749340408.936 [DAT](INFO): DAT read: Rx Time:23:53:27.9845

2025-06-07T23:53:28.937Z,1749340408.937 [DAT](INFO): Rx dataTimestamp_ set to:1749340408.936403
2025-06-07T23:53:28.937Z,1749340408.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505929
2025-06-07T23:53:29.148Z,1749340409.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:29.150Z,1749340409.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 237.420349 m,
      bearing: 314.854330 deg,
      approach rate: -0.687665 m/s,
      LOS rate: 0.002347 deg/s,
      cmd heading: 309.531961 deg,
      new cmd heading: 309.534336 deg.

2025-06-07T23:53:29.152Z,1749340409.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402393 target range: 267.094086 and range: 269.20 m.
2025-06-07T23:53:29.189Z,1749340409.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757530
2025-06-07T23:53:29.444Z,1749340409.444 [DAT](INFO): DAT read: Range 10 to 50 : 266.7 m  (Round-trip  355.6 ms) speed  0.3 m/s

2025-06-07T23:53:29.445Z,1749340409.445 [DAT](INFO): DAT read: user:1910>

2025-06-07T23:53:29.445Z,1749340409.445 [DAT](INFO): DAT read: Tx time:23:53:29.0748

2025-06-07T23:53:29.446Z,1749340409.446 [DAT](INFO): Ping request sent.
2025-06-07T23:53:29.446Z,1749340409.446 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:29.446Z,1749340409.446 [DAT](INFO): DAT read: TxSync time:23:53:29.0740

2025-06-07T23:53:29.447Z,1749340409.447 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:29.448Z,1749340409.448 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:29.448Z,1749340409.448 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:29.572Z,1749340409.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 266.700012 m,
      deltaT: 4.031236 s,
      deltaX: -2.500000 m,
      approachRate: -0.620157 m/s,
      rangeRepo size: 4

2025-06-07T23:53:29.573Z,1749340409.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:29.580Z,1749340409.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 237.105148 m,
      bearing: 314.856705 deg,
      approach rate: -0.743491 m/s,
      LOS rate: 0.005611 deg/s,
      cmd heading: 309.534338 deg,
      new cmd heading: 309.541474 deg.

2025-06-07T23:53:29.584Z,1749340409.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402518 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:29.953Z,1749340409.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:29.957Z,1749340409.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 236.826401 m,
      bearing: 314.859056 deg,
      approach rate: -0.730490 m/s,
      LOS rate: 0.006168 deg/s,
      cmd heading: 309.541468 deg,
      new cmd heading: 309.548529 deg.

2025-06-07T23:53:29.959Z,1749340409.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402641 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:30.419Z,1749340410.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:30.422Z,1749340410.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 236.487885 m,
      bearing: 314.862749 deg,
      approach rate: -0.726335 m/s,
      LOS rate: 0.007934 deg/s,
      cmd heading: 309.548517 deg,
      new cmd heading: 309.559610 deg.

2025-06-07T23:53:30.423Z,1749340410.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402834 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:30.752Z,1749340410.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:30.754Z,1749340410.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 236.249176 m,
      bearing: 314.865310 deg,
      approach rate: -0.717877 m/s,
      LOS rate: 0.007710 deg/s,
      cmd heading: 309.559609 deg,
      new cmd heading: 309.567301 deg.

2025-06-07T23:53:30.755Z,1749340410.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402969 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:31.147Z,1749340411.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:31.149Z,1749340411.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:31.152Z,1749340411.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 235.963959 m,
      bearing: 314.868282 deg,
      approach rate: -0.716882 m/s,
      LOS rate: 0.007481 deg/s,
      cmd heading: 309.567314 deg,
      new cmd heading: 309.576243 deg.

2025-06-07T23:53:31.153Z,1749340411.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403125 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:31.205Z,1749340411.205 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:31.206Z,1749340411.206 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:31.206Z,1749340411.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:31.456Z,1749340411.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010400
2025-06-07T23:53:31.606Z,1749340411.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:31.613Z,1749340411.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 235.642395 m,
      bearing: 314.871348 deg,
      approach rate: -0.703347 m/s,
      LOS rate: 0.006713 deg/s,
      cmd heading: 309.576248 deg,
      new cmd heading: 309.585456 deg.

2025-06-07T23:53:31.614Z,1749340411.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403286 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:31.708Z,1749340411.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262394
2025-06-07T23:53:31.961Z,1749340411.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515116
2025-06-07T23:53:31.971Z,1749340411.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:31.976Z,1749340411.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 235.381546 m,
      bearing: 314.873716 deg,
      approach rate: -0.715949 m/s,
      LOS rate: 0.006508 deg/s,
      cmd heading: 309.585455 deg,
      new cmd heading: 309.592568 deg.

2025-06-07T23:53:31.977Z,1749340411.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403409 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:32.212Z,1749340412.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766455
2025-06-07T23:53:32.439Z,1749340412.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:32.442Z,1749340412.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 235.044098 m,
      bearing: 314.876570 deg,
      approach rate: -0.720412 m/s,
      LOS rate: 0.006102 deg/s,
      cmd heading: 309.592558 deg,
      new cmd heading: 309.601133 deg.

2025-06-07T23:53:32.444Z,1749340412.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403559 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:32.481Z,1749340412.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035519
2025-06-07T23:53:32.732Z,1749340412.732 [DAT](INFO): DAT read: Rx Time:23:53:31.8314

2025-06-07T23:53:32.733Z,1749340412.733 [DAT](INFO): Rx dataTimestamp_ set to:1749340412.732331
2025-06-07T23:53:32.733Z,1749340412.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287403
2025-06-07T23:53:32.784Z,1749340412.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:32.787Z,1749340412.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 234.799271 m,
      bearing: 314.878651 deg,
      approach rate: -0.709947 m/s,
      LOS rate: 0.006038 deg/s,
      cmd heading: 309.601137 deg,
      new cmd heading: 309.607384 deg.

2025-06-07T23:53:32.789Z,1749340412.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403668 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:32.987Z,1749340412.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541116
2025-06-07T23:53:33.166Z,1749340413.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:33.168Z,1749340413.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:33.171Z,1749340413.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 234.527542 m,
      bearing: 314.881006 deg,
      approach rate: -0.707623 m/s,
      LOS rate: 0.006140 deg/s,
      cmd heading: 309.607393 deg,
      new cmd heading: 309.614467 deg.

2025-06-07T23:53:33.172Z,1749340413.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403792 target range: 267.094086 and range: 266.70 m.
2025-06-07T23:53:33.241Z,1749340413.241 [DAT](INFO): DAT read: Range 10 to 50 : 264.3 m  (Round-trip  352.4 ms) speed  0.7 m/s

2025-06-07T23:53:33.242Z,1749340413.242 [DAT](INFO): DAT read: user:1911>

2025-06-07T23:53:33.244Z,1749340413.244 [DAT](INFO): DAT read: Tx time:23:53:32.9249

2025-06-07T23:53:33.245Z,1749340413.245 [DAT](INFO): Ping request sent.
2025-06-07T23:53:33.245Z,1749340413.245 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:33.245Z,1749340413.245 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:33.246Z,1749340413.246 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:33.248Z,1749340413.248 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:33.489Z,1749340413.489 [DAT](INFO): DAT read: TxSync time:23:53:32.9241

2025-06-07T23:53:33.622Z,1749340413.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.299988 m,
      deltaT: 3.796432 s,
      deltaX: -2.400024 m,
      approachRate: -0.632179 m/s,
      rangeRepo size: 4

2025-06-07T23:53:33.622Z,1749340413.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:33.629Z,1749340413.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 234.218826 m,
      bearing: 314.885144 deg,
      approach rate: -0.681582 m/s,
      LOS rate: 0.009149 deg/s,
      cmd heading: 309.614469 deg,
      new cmd heading: 309.626901 deg.

2025-06-07T23:53:33.630Z,1749340413.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404009 target range: 267.094086 and range: 264.30 m.
2025-06-07T23:53:33.998Z,1749340413.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:34.000Z,1749340414.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 233.941650 m,
      bearing: 314.889160 deg,
      approach rate: -0.735831 m/s,
      LOS rate: 0.010674 deg/s,
      cmd heading: 309.626900 deg,
      new cmd heading: 309.638963 deg.

2025-06-07T23:53:34.002Z,1749340414.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404220 target range: 267.094086 and range: 264.30 m.
2025-06-07T23:53:34.442Z,1749340414.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:34.445Z,1749340414.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 233.627075 m,
      bearing: 314.893691 deg,
      approach rate: -0.708354 m/s,
      LOS rate: 0.010215 deg/s,
      cmd heading: 309.638976 deg,
      new cmd heading: 309.652586 deg.

2025-06-07T23:53:34.446Z,1749340414.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404457 target range: 267.094086 and range: 264.30 m.
2025-06-07T23:53:34.809Z,1749340414.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:34.812Z,1749340414.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 233.371216 m,
      bearing: 314.896872 deg,
      approach rate: -0.697071 m/s,
      LOS rate: 0.008675 deg/s,
      cmd heading: 309.652582 deg,
      new cmd heading: 309.662135 deg.

2025-06-07T23:53:34.813Z,1749340414.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404624 target range: 267.094086 and range: 264.30 m.
2025-06-07T23:53:35.225Z,1749340415.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:35.227Z,1749340415.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:35.230Z,1749340415.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 233.079941 m,
      bearing: 314.900366 deg,
      approach rate: -0.696804 m/s,
      LOS rate: 0.008369 deg/s,
      cmd heading: 309.662144 deg,
      new cmd heading: 309.672640 deg.

2025-06-07T23:53:35.231Z,1749340415.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404807 target range: 267.094086 and range: 264.30 m.
2025-06-07T23:53:35.252Z,1749340415.252 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:35.252Z,1749340415.252 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:35.252Z,1749340415.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:35.505Z,1749340415.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259927
2025-06-07T23:53:35.714Z,1749340415.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:35.717Z,1749340415.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 232.743530 m,
      bearing: 314.905011 deg,
      approach rate: -0.690192 m/s,
      LOS rate: 0.009545 deg/s,
      cmd heading: 309.672635 deg,
      new cmd heading: 309.686592 deg.

2025-06-07T23:53:35.718Z,1749340415.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405051 target range: 267.094086 and range: 264.30 m.
2025-06-07T23:53:35.756Z,1749340415.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511366
2025-06-07T23:53:36.008Z,1749340416.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763350
2025-06-07T23:53:36.189Z,1749340416.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:36.192Z,1749340416.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 232.408203 m,
      bearing: 314.909528 deg,
      approach rate: -0.705944 m/s,
      LOS rate: 0.009523 deg/s,
      cmd heading: 309.686596 deg,
      new cmd heading: 309.700166 deg.

2025-06-07T23:53:36.193Z,1749340416.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405288 target range: 267.094086 and range: 264.30 m.
2025-06-07T23:53:36.260Z,1749340416.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015416
2025-06-07T23:53:36.512Z,1749340416.512 [DAT](INFO): DAT read: Rx Time:23:53:35.6776

2025-06-07T23:53:36.513Z,1749340416.513 [DAT](INFO): Rx dataTimestamp_ set to:1749340416.512577
2025-06-07T23:53:36.513Z,1749340416.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268575
2025-06-07T23:53:36.668Z,1749340416.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:36.670Z,1749340416.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 232.077499 m,
      bearing: 314.912773 deg,
      approach rate: -0.691039 m/s,
      LOS rate: 0.006790 deg/s,
      cmd heading: 309.700175 deg,
      new cmd heading: 309.709923 deg.

2025-06-07T23:53:36.688Z,1749340416.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405458 target range: 267.094086 and range: 264.30 m.
2025-06-07T23:53:36.764Z,1749340416.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519424
2025-06-07T23:53:37.017Z,1749340417.017 [DAT](INFO): DAT read: Range 10 to 50 : 261.4 m  (Round-trip  348.6 ms) speed  0.4 m/s

2025-06-07T23:53:37.018Z,1749340417.018 [DAT](INFO): DAT read: user:1912>

2025-06-07T23:53:37.019Z,1749340417.019 [DAT](INFO): DAT read: Tx time:23:53:36.7749

2025-06-07T23:53:37.019Z,1749340417.019 [DAT](INFO): Ping request sent.
2025-06-07T23:53:37.019Z,1749340417.019 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:37.020Z,1749340417.020 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:37.020Z,1749340417.020 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:37.020Z,1749340417.020 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:37.036Z,1749340417.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.399994 m,
      deltaT: 3.778227 s,
      deltaX: -2.899994 m,
      approachRate: -0.767554 m/s,
      rangeRepo size: 4

2025-06-07T23:53:37.036Z,1749340417.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:37.039Z,1749340417.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 231.823425 m,
      bearing: 314.915236 deg,
      approach rate: -0.692251 m/s,
      LOS rate: 0.006718 deg/s,
      cmd heading: 309.709928 deg,
      new cmd heading: 309.717325 deg.

2025-06-07T23:53:37.040Z,1749340417.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405587 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:37.268Z,1749340417.268 [DAT](INFO): DAT read: TxSync time:23:53:36.7741

2025-06-07T23:53:37.488Z,1749340417.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:37.491Z,1749340417.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:37.497Z,1749340417.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 231.536713 m,
      bearing: 314.918022 deg,
      approach rate: -0.629110 m/s,
      LOS rate: 0.006121 deg/s,
      cmd heading: 309.717332 deg,
      new cmd heading: 309.725700 deg.

2025-06-07T23:53:37.498Z,1749340417.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405733 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:37.520Z,1749340417.520 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:37.520Z,1749340417.520 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:37.520Z,1749340417.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:37.773Z,1749340417.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753855
2025-06-07T23:53:37.849Z,1749340417.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:37.868Z,1749340417.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 231.255676 m,
      bearing: 314.921331 deg,
      approach rate: -0.783106 m/s,
      LOS rate: 0.009234 deg/s,
      cmd heading: 309.725692 deg,
      new cmd heading: 309.735633 deg.

2025-06-07T23:53:37.869Z,1749340417.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405907 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:38.024Z,1749340418.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005164
2025-06-07T23:53:38.244Z,1749340418.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:38.249Z,1749340418.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 230.994904 m,
      bearing: 314.924413 deg,
      approach rate: -0.660534 m/s,
      LOS rate: 0.007815 deg/s,
      cmd heading: 309.735637 deg,
      new cmd heading: 309.744893 deg.

2025-06-07T23:53:38.250Z,1749340418.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406068 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:38.276Z,1749340418.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257082
2025-06-07T23:53:38.528Z,1749340418.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508823
2025-06-07T23:53:38.680Z,1749340418.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:38.690Z,1749340418.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 230.677567 m,
      bearing: 314.927779 deg,
      approach rate: -0.727495 m/s,
      LOS rate: 0.007726 deg/s,
      cmd heading: 309.744899 deg,
      new cmd heading: 309.755009 deg.

2025-06-07T23:53:38.692Z,1749340418.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406245 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:38.781Z,1749340418.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761326
2025-06-07T23:53:39.032Z,1749340419.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012929
2025-06-07T23:53:39.057Z,1749340419.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:39.060Z,1749340419.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 230.391342 m,
      bearing: 314.930822 deg,
      approach rate: -0.759679 m/s,
      LOS rate: 0.008088 deg/s,
      cmd heading: 309.755007 deg,
      new cmd heading: 309.764150 deg.

2025-06-07T23:53:39.061Z,1749340419.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406404 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:39.285Z,1749340419.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265360
2025-06-07T23:53:39.438Z,1749340419.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:39.441Z,1749340419.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 230.121536 m,
      bearing: 314.933451 deg,
      approach rate: -0.708585 m/s,
      LOS rate: 0.006912 deg/s,
      cmd heading: 309.764160 deg,
      new cmd heading: 309.772055 deg.

2025-06-07T23:53:39.442Z,1749340419.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406542 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:39.536Z,1749340419.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517034
2025-06-07T23:53:39.788Z,1749340419.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768948
2025-06-07T23:53:39.921Z,1749340419.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:39.923Z,1749340419.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:39.929Z,1749340419.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 229.795044 m,
      bearing: 314.935954 deg,
      approach rate: -0.673619 m/s,
      LOS rate: 0.005170 deg/s,
      cmd heading: 309.772056 deg,
      new cmd heading: 309.779574 deg.

2025-06-07T23:53:39.930Z,1749340419.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406673 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:40.042Z,1749340420.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023007
2025-06-07T23:53:40.247Z,1749340420.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:40.249Z,1749340420.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 229.551819 m,
      bearing: 314.937820 deg,
      approach rate: -0.750611 m/s,
      LOS rate: 0.005764 deg/s,
      cmd heading: 309.779569 deg,
      new cmd heading: 309.785172 deg.

2025-06-07T23:53:40.250Z,1749340420.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406771 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:40.298Z,1749340420.298 [DAT](INFO): DAT read: Rx Time:23:53:39.5251

2025-06-07T23:53:40.299Z,1749340420.299 [DAT](INFO): Rx dataTimestamp_ set to:1749340420.298693
2025-06-07T23:53:40.300Z,1749340420.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280927
2025-06-07T23:53:40.548Z,1749340420.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528907
2025-06-07T23:53:40.685Z,1749340420.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:40.696Z,1749340420.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 229.239899 m,
      bearing: 314.942215 deg,
      approach rate: -0.711808 m/s,
      LOS rate: 0.010045 deg/s,
      cmd heading: 309.785170 deg,
      new cmd heading: 309.798375 deg.

2025-06-07T23:53:40.697Z,1749340420.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407001 target range: 267.094086 and range: 261.40 m.
2025-06-07T23:53:40.802Z,1749340420.802 [DAT](INFO): DAT read: Range 10 to 50 : 259.5 m  (Round-trip  346.1 ms) speed  0.8 m/s

2025-06-07T23:53:40.803Z,1749340420.803 [DAT](INFO): DAT read: user:1913>

2025-06-07T23:53:40.804Z,1749340420.804 [DAT](INFO): DAT read: Tx time:23:53:40.6249

2025-06-07T23:53:40.804Z,1749340420.804 [DAT](INFO): Ping request sent.
2025-06-07T23:53:40.804Z,1749340420.804 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:40.805Z,1749340420.805 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:40.805Z,1749340420.805 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:40.806Z,1749340420.806 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:41.052Z,1749340421.052 [DAT](INFO): DAT read: TxSync time:23:53:40.6241

2025-06-07T23:53:41.053Z,1749340421.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.500000 m,
      deltaT: 3.785267 s,
      deltaX: -1.899994 m,
      approachRate: -0.501944 m/s,
      rangeRepo size: 4

2025-06-07T23:53:41.054Z,1749340421.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:41.057Z,1749340421.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 228.971298 m,
      bearing: 314.946064 deg,
      approach rate: -0.734604 m/s,
      LOS rate: 0.010539 deg/s,
      cmd heading: 309.798366 deg,
      new cmd heading: 309.809926 deg.

2025-06-07T23:53:41.058Z,1749340421.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407203 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:41.471Z,1749340421.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:41.479Z,1749340421.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 228.682434 m,
      bearing: 314.950349 deg,
      approach rate: -0.687444 m/s,
      LOS rate: 0.010209 deg/s,
      cmd heading: 309.809922 deg,
      new cmd heading: 309.822791 deg.

2025-06-07T23:53:41.499Z,1749340421.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407428 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:41.910Z,1749340421.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:41.917Z,1749340421.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 228.364487 m,
      bearing: 314.954821 deg,
      approach rate: -0.723561 m/s,
      LOS rate: 0.010193 deg/s,
      cmd heading: 309.822790 deg,
      new cmd heading: 309.836227 deg.

2025-06-07T23:53:41.918Z,1749340421.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407662 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:42.337Z,1749340422.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:42.339Z,1749340422.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:42.341Z,1749340422.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 228.042435 m,
      bearing: 314.959464 deg,
      approach rate: -0.751617 m/s,
      LOS rate: 0.010850 deg/s,
      cmd heading: 309.836232 deg,
      new cmd heading: 309.850179 deg.

2025-06-07T23:53:42.342Z,1749340422.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407906 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:42.564Z,1749340422.564 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:42.565Z,1749340422.565 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:42.565Z,1749340422.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:42.729Z,1749340422.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:42.736Z,1749340422.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 227.776901 m,
      bearing: 314.963619 deg,
      approach rate: -0.680787 m/s,
      LOS rate: 0.010667 deg/s,
      cmd heading: 309.850166 deg,
      new cmd heading: 309.862647 deg.

2025-06-07T23:53:42.737Z,1749340422.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408123 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:42.819Z,1749340422.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014489
2025-06-07T23:53:43.070Z,1749340423.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265399
2025-06-07T23:53:43.087Z,1749340423.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:43.090Z,1749340423.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 227.511292 m,
      bearing: 314.967700 deg,
      approach rate: -0.741792 m/s,
      LOS rate: 0.011409 deg/s,
      cmd heading: 309.862651 deg,
      new cmd heading: 309.874906 deg.

2025-06-07T23:53:43.091Z,1749340423.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408338 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:43.320Z,1749340423.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515556
2025-06-07T23:53:43.498Z,1749340423.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:43.501Z,1749340423.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 227.222473 m,
      bearing: 314.972123 deg,
      approach rate: -0.701502 m/s,
      LOS rate: 0.010759 deg/s,
      cmd heading: 309.874918 deg,
      new cmd heading: 309.888207 deg.

2025-06-07T23:53:43.502Z,1749340423.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408569 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:43.577Z,1749340423.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771567
2025-06-07T23:53:43.632Z,1749340423.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:53:43.824Z,1749340423.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019539
2025-06-07T23:53:43.922Z,1749340423.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:43.929Z,1749340423.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 226.935135 m,
      bearing: 314.975624 deg,
      approach rate: -0.678251 m/s,
      LOS rate: 0.008275 deg/s,
      cmd heading: 309.888196 deg,
      new cmd heading: 309.898713 deg.

2025-06-07T23:53:43.930Z,1749340423.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408753 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:44.077Z,1749340424.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271989
2025-06-07T23:53:44.328Z,1749340424.328 [DAT](INFO): DAT read: Rx Time:23:53:43.3716

2025-06-07T23:53:44.329Z,1749340424.329 [DAT](INFO): Rx dataTimestamp_ set to:1749340424.328544
2025-06-07T23:53:44.329Z,1749340424.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524853
2025-06-07T23:53:44.331Z,1749340424.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:44.334Z,1749340424.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 226.658707 m,
      bearing: 314.978994 deg,
      approach rate: -0.675822 m/s,
      LOS rate: 0.008247 deg/s,
      cmd heading: 309.898715 deg,
      new cmd heading: 309.908834 deg.

2025-06-07T23:53:44.335Z,1749340424.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408929 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:44.584Z,1749340424.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778698
2025-06-07T23:53:44.636Z,1749340424.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:53:44.718Z,1749340424.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:44.720Z,1749340424.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m.
2025-06-07T23:53:44.723Z,1749340424.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.094086 m,
      nav range: 226.359695 m,
      bearing: 314.981565 deg,
      approach rate: -0.768311 m/s,
      LOS rate: 0.006617 deg/s,
      cmd heading: 309.908823 deg,
      new cmd heading: 309.916549 deg.

2025-06-07T23:53:44.724Z,1749340424.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409064 target range: 267.094086 and range: 259.50 m.
2025-06-07T23:53:44.842Z,1749340424.842 [DAT](INFO): DAT read: 23:53:43.3716 LVL= 23632, 27249, 22434, 30803, AGC= 65, IDX= 400,-0.27,-0.140,-1.496,-0.204,-0.986, PHS= 0.933,-0.464, 0.779, RAW= 144.2, -18.4, CAL= 150.0, -26.1, ROT=   0.0,  26.1

2025-06-07T23:53:44.843Z,1749340424.843 [DAT](INFO): got valid direction response:
 23:53:43.3716 LVL= 23632, 27249, 22434, 30803, AGC= 65, IDX= 400,-0.27,-0.140,-1.496,-0.204,-0.986, PHS= 0.933,-0.464, 0.779, RAW= 144.2, -18.4, CAL= 150.0, -26.1, ROT=   0.0,  26.1

2025-06-07T23:53:44.844Z,1749340424.844 [DAT](INFO): DAT read: Bearing   0.0,  26.1 (Local)

2025-06-07T23:53:44.844Z,1749340424.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.0,  26.1 (Local)

2025-06-07T23:53:44.846Z,1749340424.846 [DAT](INFO): DAT read: Range 10 to 50 : 256.8 m  (Round-trip  342.5 ms) speed  0.6 m/s

2025-06-07T23:53:44.846Z,1749340424.846 [DAT](INFO): DAT read: user:1914>

2025-06-07T23:53:44.855Z,1749340424.855 [DAT](INFO): DAT read: Tx time:23:53:44.4750

2025-06-07T23:53:44.856Z,1749340424.856 [DAT](INFO): Ping request sent.
2025-06-07T23:53:44.856Z,1749340424.856 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:44.857Z,1749340424.857 [DAT](INFO): DAT read: TxSync time:23:53:44.4742

2025-06-07T23:53:44.857Z,1749340424.857 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:53:44.858Z,1749340424.858 [DAT](INFO): direction in FSK: [0.898028,0.000000,-0.439939]
2025-06-07T23:53:44.858Z,1749340424.858 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:44.858Z,1749340424.858 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:44.866Z,1749340424.866 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:44.866Z,1749340424.866 [DAT](INFO): publishing direction and range info
2025-06-07T23:53:45.104Z,1749340425.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 256.799988 m,
      deltaT: 4.032839 s,
      deltaX: -2.700012 m,
      approachRate: -0.669507 m/s,
      rangeRepo size: 4

2025-06-07T23:53:45.106Z,1749340425.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 254.789429 m,
      bearing: 311.948193 deg,
      lat: 36.905894 deg,
      lon: -122.116133 deg,
      deltaT: 19.424001 s,
      deltaX: -12.304657 m,
      approachRate: -0.633477 m/s,
      posRepo size: 4

2025-06-07T23:53:45.107Z,1749340425.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:45.110Z,1749340425.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 226.097916 m,
      bearing: 314.983814 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006617 deg/s,
      cmd heading: 309.916555 deg,
      new cmd heading: 309.924161 deg.

2025-06-07T23:53:45.111Z,1749340425.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409197 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:45.507Z,1749340425.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:45.534Z,1749340425.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 225.816483 m,
      bearing: 314.986238 deg,
      approach rate: -0.697978 m/s,
      LOS rate: 0.006018 deg/s,
      cmd heading: 309.924150 deg,
      new cmd heading: 309.931430 deg.

2025-06-07T23:53:45.535Z,1749340425.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409324 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:45.916Z,1749340425.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:45.918Z,1749340425.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 225.528671 m,
      bearing: 314.988598 deg,
      approach rate: -0.704043 m/s,
      LOS rate: 0.005781 deg/s,
      cmd heading: 309.931418 deg,
      new cmd heading: 309.938508 deg.

2025-06-07T23:53:45.920Z,1749340425.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409448 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:46.296Z,1749340426.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:46.298Z,1749340426.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 225.261063 m,
      bearing: 314.990909 deg,
      approach rate: -0.704237 m/s,
      LOS rate: 0.006088 deg/s,
      cmd heading: 309.938521 deg,
      new cmd heading: 309.945462 deg.

2025-06-07T23:53:46.316Z,1749340426.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409569 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:46.729Z,1749340426.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:46.731Z,1749340426.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:46.734Z,1749340426.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 224.950912 m,
      bearing: 314.992406 deg,
      approach rate: -0.711951 m/s,
      LOS rate: 0.003440 deg/s,
      cmd heading: 309.945460 deg,
      new cmd heading: 309.949956 deg.

2025-06-07T23:53:46.735Z,1749340426.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409647 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:46.848Z,1749340426.848 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:46.848Z,1749340426.848 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:46.848Z,1749340426.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:47.100Z,1749340427.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244515
2025-06-07T23:53:47.113Z,1749340427.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:47.118Z,1749340427.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 224.678345 m,
      bearing: 314.993630 deg,
      approach rate: -0.713651 m/s,
      LOS rate: 0.003208 deg/s,
      cmd heading: 309.949968 deg,
      new cmd heading: 309.953644 deg.

2025-06-07T23:53:47.119Z,1749340427.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409712 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:47.352Z,1749340427.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496207
2025-06-07T23:53:47.530Z,1749340427.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:47.533Z,1749340427.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 224.384247 m,
      bearing: 314.994954 deg,
      approach rate: -0.705880 m/s,
      LOS rate: 0.003182 deg/s,
      cmd heading: 309.953657 deg,
      new cmd heading: 309.957634 deg.

2025-06-07T23:53:47.534Z,1749340427.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409781 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:47.607Z,1749340427.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750342
2025-06-07T23:53:47.856Z,1749340427.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000176
2025-06-07T23:53:47.990Z,1749340427.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:48.009Z,1749340428.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 224.049789 m,
      bearing: 314.995603 deg,
      approach rate: -0.726500 m/s,
      LOS rate: 0.001412 deg/s,
      cmd heading: 309.957646 deg,
      new cmd heading: 309.959596 deg.

2025-06-07T23:53:48.010Z,1749340428.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409815 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:48.109Z,1749340428.109 [DAT](INFO): DAT read: Rx Time:23:53:47.2189

2025-06-07T23:53:48.110Z,1749340428.110 [DAT](INFO): Rx dataTimestamp_ set to:1749340428.109316
2025-06-07T23:53:48.110Z,1749340428.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254557
2025-06-07T23:53:48.322Z,1749340428.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:48.325Z,1749340428.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 223.810730 m,
      bearing: 314.996050 deg,
      approach rate: -0.720082 m/s,
      LOS rate: 0.001347 deg/s,
      cmd heading: 309.959585 deg,
      new cmd heading: 309.960927 deg.

2025-06-07T23:53:48.326Z,1749340428.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409839 target range: 254.789429 and range: 256.80 m.
2025-06-07T23:53:48.360Z,1749340428.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504151
2025-06-07T23:53:48.617Z,1749340428.617 [DAT](INFO): DAT read: Range 10 to 50 : 254.8 m  (Round-trip  339.8 ms) speed  0.4 m/s

2025-06-07T23:53:48.620Z,1749340428.620 [DAT](INFO): DAT read: user:1915>

2025-06-07T23:53:48.622Z,1749340428.622 [DAT](INFO): DAT read: Tx time:23:53:48.3250

2025-06-07T23:53:48.623Z,1749340428.623 [DAT](INFO): Ping request sent.
2025-06-07T23:53:48.627Z,1749340428.627 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:48.628Z,1749340428.628 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:48.629Z,1749340428.629 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:48.631Z,1749340428.631 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:48.779Z,1749340428.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:48.783Z,1749340428.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 254.800003 m,
      deltaT: 3.779173 s,
      deltaX: -1.999985 m,
      approachRate: -0.529212 m/s,
      rangeRepo size: 4

2025-06-07T23:53:48.784Z,1749340428.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:48.786Z,1749340428.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 223.479767 m,
      bearing: 314.998191 deg,
      approach rate: -0.719229 m/s,
      LOS rate: 0.004660 deg/s,
      cmd heading: 309.960924 deg,
      new cmd heading: 309.967357 deg.

2025-06-07T23:53:48.796Z,1749340428.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409951 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:48.865Z,1749340428.865 [DAT](INFO): DAT read: TxSync time:23:53:48.3242

2025-06-07T23:53:48.866Z,1749340428.866 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:48.866Z,1749340428.866 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:48.866Z,1749340428.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:49.116Z,1749340429.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493266
2025-06-07T23:53:49.205Z,1749340429.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:49.208Z,1749340429.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 223.167816 m,
      bearing: 315.000179 deg,
      approach rate: -0.737056 m/s,
      LOS rate: 0.004703 deg/s,
      cmd heading: 309.967344 deg,
      new cmd heading: 309.973316 deg.

2025-06-07T23:53:49.209Z,1749340429.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410055 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:49.368Z,1749340429.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745225
2025-06-07T23:53:49.562Z,1749340429.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:49.569Z,1749340429.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 222.913452 m,
      bearing: 315.001985 deg,
      approach rate: -0.712448 m/s,
      LOS rate: 0.005065 deg/s,
      cmd heading: 309.973328 deg,
      new cmd heading: 309.978753 deg.

2025-06-07T23:53:49.570Z,1749340429.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410150 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:49.625Z,1749340429.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001445
2025-06-07T23:53:49.872Z,1749340429.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249238
2025-06-07T23:53:50.000Z,1749340430.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:50.003Z,1749340430.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 222.587479 m,
      bearing: 315.005105 deg,
      approach rate: -0.744560 m/s,
      LOS rate: 0.007136 deg/s,
      cmd heading: 309.978764 deg,
      new cmd heading: 309.988137 deg.

2025-06-07T23:53:50.005Z,1749340430.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410314 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:50.124Z,1749340430.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501533
2025-06-07T23:53:50.366Z,1749340430.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:50.369Z,1749340430.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 222.320023 m,
      bearing: 315.007479 deg,
      approach rate: -0.731212 m/s,
      LOS rate: 0.006499 deg/s,
      cmd heading: 309.988135 deg,
      new cmd heading: 309.995266 deg.

2025-06-07T23:53:50.370Z,1749340430.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410438 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:50.376Z,1749340430.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753401
2025-06-07T23:53:50.631Z,1749340430.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007362
2025-06-07T23:53:50.792Z,1749340430.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:50.794Z,1749340430.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:50.801Z,1749340430.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 222.007980 m,
      bearing: 315.010274 deg,
      approach rate: -0.729498 m/s,
      LOS rate: 0.006544 deg/s,
      cmd heading: 309.995266 deg,
      new cmd heading: 310.003664 deg.

2025-06-07T23:53:50.802Z,1749340430.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410584 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:50.880Z,1749340430.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257352
2025-06-07T23:53:51.132Z,1749340431.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509399
2025-06-07T23:53:51.154Z,1749340431.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:51.162Z,1749340431.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 221.733261 m,
      bearing: 315.012730 deg,
      approach rate: -0.761696 m/s,
      LOS rate: 0.006816 deg/s,
      cmd heading: 310.003654 deg,
      new cmd heading: 310.011029 deg.

2025-06-07T23:53:51.163Z,1749340431.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410713 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:51.385Z,1749340431.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761541
2025-06-07T23:53:51.548Z,1749340431.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:51.550Z,1749340431.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 221.440781 m,
      bearing: 315.015353 deg,
      approach rate: -0.744397 m/s,
      LOS rate: 0.006685 deg/s,
      cmd heading: 310.011030 deg,
      new cmd heading: 310.018910 deg.

2025-06-07T23:53:51.551Z,1749340431.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410851 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:51.642Z,1749340431.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018631
2025-06-07T23:53:51.896Z,1749340431.896 [DAT](INFO): DAT read: Rx Time:23:53:51.0663

2025-06-07T23:53:51.896Z,1749340431.896 [DAT](INFO): Rx dataTimestamp_ set to:1749340431.896155
2025-06-07T23:53:51.897Z,1749340431.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274120
2025-06-07T23:53:52.009Z,1749340432.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:52.012Z,1749340432.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 221.104614 m,
      bearing: 315.019287 deg,
      approach rate: -0.727589 m/s,
      LOS rate: 0.008528 deg/s,
      cmd heading: 310.018899 deg,
      new cmd heading: 310.030719 deg.

2025-06-07T23:53:52.013Z,1749340432.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411057 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:52.144Z,1749340432.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521204
2025-06-07T23:53:52.361Z,1749340432.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:52.364Z,1749340432.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 220.847916 m,
      bearing: 315.022287 deg,
      approach rate: -0.730792 m/s,
      LOS rate: 0.008551 deg/s,
      cmd heading: 310.030729 deg,
      new cmd heading: 310.039739 deg.

2025-06-07T23:53:52.365Z,1749340432.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411214 target range: 254.789429 and range: 254.80 m.
2025-06-07T23:53:52.398Z,1749340432.398 [DAT](INFO): DAT read: Range 10 to 50 : 252.9 m  (Round-trip  337.2 ms) speed  0.8 m/s

2025-06-07T23:53:52.401Z,1749340432.401 [DAT](INFO): DAT read: user:1916>

2025-06-07T23:53:52.402Z,1749340432.402 [DAT](INFO): DAT read: Tx time:23:53:52.1750

2025-06-07T23:53:52.404Z,1749340432.404 [DAT](INFO): Ping request sent.
2025-06-07T23:53:52.404Z,1749340432.404 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:52.405Z,1749340432.405 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:52.405Z,1749340432.405 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:52.407Z,1749340432.407 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:52.651Z,1749340432.651 [DAT](INFO): DAT read: TxSync time:23:53:52.1757

2025-06-07T23:53:52.814Z,1749340432.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:52.817Z,1749340432.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.899994 m,
      deltaT: 3.782790 s,
      deltaX: -1.900009 m,
      approachRate: -0.502277 m/s,
      rangeRepo size: 4

2025-06-07T23:53:52.818Z,1749340432.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:52.821Z,1749340432.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 220.522522 m,
      bearing: 315.028193 deg,
      approach rate: -0.713755 m/s,
      LOS rate: 0.012975 deg/s,
      cmd heading: 310.039744 deg,
      new cmd heading: 310.057490 deg.

2025-06-07T23:53:52.822Z,1749340432.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411524 target range: 254.789429 and range: 252.90 m.
2025-06-07T23:53:52.901Z,1749340432.901 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:52.901Z,1749340432.901 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:52.901Z,1749340432.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:53.152Z,1749340433.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748406
2025-06-07T23:53:53.198Z,1749340433.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:53.201Z,1749340433.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 220.249802 m,
      bearing: 315.033284 deg,
      approach rate: -0.715306 m/s,
      LOS rate: 0.013370 deg/s,
      cmd heading: 310.057503 deg,
      new cmd heading: 310.072795 deg.

2025-06-07T23:53:53.202Z,1749340433.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411791 target range: 254.789429 and range: 252.90 m.
2025-06-07T23:53:53.405Z,1749340433.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001352
2025-06-07T23:53:53.626Z,1749340433.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:53.628Z,1749340433.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 219.944153 m,
      bearing: 315.038971 deg,
      approach rate: -0.714572 m/s,
      LOS rate: 0.013313 deg/s,
      cmd heading: 310.072803 deg,
      new cmd heading: 310.089886 deg.

2025-06-07T23:53:53.629Z,1749340433.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412089 target range: 254.789429 and range: 252.90 m.
2025-06-07T23:53:53.673Z,1749340433.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266910
2025-06-07T23:53:53.920Z,1749340433.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516532
2025-06-07T23:53:54.100Z,1749340434.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:54.102Z,1749340434.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 219.618591 m,
      bearing: 315.046162 deg,
      approach rate: -0.686414 m/s,
      LOS rate: 0.015185 deg/s,
      cmd heading: 310.089878 deg,
      new cmd heading: 310.111484 deg.

2025-06-07T23:53:54.104Z,1749340434.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412467 target range: 254.789429 and range: 252.90 m.
2025-06-07T23:53:54.172Z,1749340434.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768814
2025-06-07T23:53:54.424Z,1749340434.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020477
2025-06-07T23:53:54.482Z,1749340434.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:54.485Z,1749340434.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 219.354752 m,
      bearing: 315.051821 deg,
      approach rate: -0.690073 m/s,
      LOS rate: 0.014819 deg/s,
      cmd heading: 310.111489 deg,
      new cmd heading: 310.128487 deg.

2025-06-07T23:53:54.486Z,1749340434.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412763 target range: 254.789429 and range: 252.90 m.
2025-06-07T23:53:54.682Z,1749340434.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277835
2025-06-07T23:53:54.916Z,1749340434.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:54.918Z,1749340434.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:54.922Z,1749340434.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 219.062943 m,
      bearing: 315.058778 deg,
      approach rate: -0.668850 m/s,
      LOS rate: 0.015966 deg/s,
      cmd heading: 310.128482 deg,
      new cmd heading: 310.149380 deg.

2025-06-07T23:53:54.923Z,1749340434.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.413128 target range: 254.789429 and range: 252.90 m.
2025-06-07T23:53:54.932Z,1749340434.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528637
2025-06-07T23:53:55.184Z,1749340435.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780498
2025-06-07T23:53:55.297Z,1749340435.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:55.300Z,1749340435.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 218.809296 m,
      bearing: 315.064738 deg,
      approach rate: -0.670628 m/s,
      LOS rate: 0.015776 deg/s,
      cmd heading: 310.149383 deg,
      new cmd heading: 310.167283 deg.

2025-06-07T23:53:55.301Z,1749340435.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.413440 target range: 254.789429 and range: 252.90 m.
2025-06-07T23:53:55.436Z,1749340435.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032484
2025-06-07T23:53:55.690Z,1749340435.690 [DAT](INFO): DAT read: Rx Time:23:53:54.9118

2025-06-07T23:53:55.691Z,1749340435.691 [DAT](INFO): Rx dataTimestamp_ set to:1749340435.690233
2025-06-07T23:53:55.693Z,1749340435.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288859
2025-06-07T23:53:55.895Z,1749340435.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:55.898Z,1749340435.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 218.412186 m,
      bearing: 315.073692 deg,
      approach rate: -0.663986 m/s,
      LOS rate: 0.014999 deg/s,
      cmd heading: 310.167278 deg,
      new cmd heading: 310.194189 deg.

2025-06-07T23:53:55.899Z,1749340435.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.413910 target range: 254.789429 and range: 252.90 m.
2025-06-07T23:53:55.941Z,1749340435.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537300
2025-06-07T23:53:56.194Z,1749340436.194 [DAT](INFO): DAT read: Range 10 to 50 : 249.4 m  (Round-trip  332.6 ms) speed  0.4 m/s

2025-06-07T23:53:56.194Z,1749340436.194 [DAT](INFO): DAT read: user:1917>

2025-06-07T23:53:56.195Z,1749340436.195 [DAT](INFO): DAT read: Tx time:23:53:56.0250

2025-06-07T23:53:56.196Z,1749340436.196 [DAT](INFO): Ping request sent.
2025-06-07T23:53:56.196Z,1749340436.196 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:53:56.196Z,1749340436.196 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:53:56.196Z,1749340436.196 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:56.197Z,1749340436.197 [DAT](INFO): publishing transmit ping time
2025-06-07T23:53:56.206Z,1749340436.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.399994 m,
      deltaT: 3.796398 s,
      deltaX: -3.500000 m,
      approachRate: -0.921926 m/s,
      rangeRepo size: 4

2025-06-07T23:53:56.207Z,1749340436.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:56.210Z,1749340436.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 218.210388 m,
      bearing: 315.078222 deg,
      approach rate: -0.648625 m/s,
      LOS rate: 0.014572 deg/s,
      cmd heading: 310.194189 deg,
      new cmd heading: 310.207789 deg.

2025-06-07T23:53:56.227Z,1749340436.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414147 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:56.444Z,1749340436.444 [DAT](INFO): DAT read: TxSync time:23:53:56.0243

2025-06-07T23:53:56.596Z,1749340436.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:56.598Z,1749340436.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 217.947220 m,
      bearing: 315.084128 deg,
      approach rate: -0.674780 m/s,
      LOS rate: 0.015162 deg/s,
      cmd heading: 310.207794 deg,
      new cmd heading: 310.225535 deg.

2025-06-07T23:53:56.616Z,1749340436.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414457 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:57.057Z,1749340437.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:57.060Z,1749340437.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:57.062Z,1749340437.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 217.651611 m,
      bearing: 315.090555 deg,
      approach rate: -0.637958 m/s,
      LOS rate: 0.013890 deg/s,
      cmd heading: 310.225526 deg,
      new cmd heading: 310.244834 deg.

2025-06-07T23:53:57.071Z,1749340437.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414794 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:57.200Z,1749340437.200 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:53:57.200Z,1749340437.200 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:53:57.200Z,1749340437.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:53:57.403Z,1749340437.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:57.406Z,1749340437.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 217.413696 m,
      bearing: 315.095741 deg,
      approach rate: -0.691893 m/s,
      LOS rate: 0.015098 deg/s,
      cmd heading: 310.244841 deg,
      new cmd heading: 310.260416 deg.

2025-06-07T23:53:57.407Z,1749340437.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415066 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:57.452Z,1749340437.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256547
2025-06-07T23:53:57.705Z,1749340437.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509375
2025-06-07T23:53:57.840Z,1749340437.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:57.843Z,1749340437.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 217.109512 m,
      bearing: 315.101655 deg,
      approach rate: -0.697526 m/s,
      LOS rate: 0.013581 deg/s,
      cmd heading: 310.260414 deg,
      new cmd heading: 310.278181 deg.

2025-06-07T23:53:57.860Z,1749340437.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415376 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:57.957Z,1749340437.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761680
2025-06-07T23:53:58.212Z,1749340438.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016167
2025-06-07T23:53:58.213Z,1749340438.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:58.220Z,1749340438.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 216.861084 m,
      bearing: 315.106481 deg,
      approach rate: -0.663922 m/s,
      LOS rate: 0.012910 deg/s,
      cmd heading: 310.278173 deg,
      new cmd heading: 310.292665 deg.

2025-06-07T23:53:58.221Z,1749340438.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415628 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:58.460Z,1749340438.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264430
2025-06-07T23:53:58.618Z,1749340438.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:58.625Z,1749340438.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 216.576004 m,
      bearing: 315.111976 deg,
      approach rate: -0.703854 m/s,
      LOS rate: 0.013586 deg/s,
      cmd heading: 310.292653 deg,
      new cmd heading: 310.309161 deg.

2025-06-07T23:53:58.626Z,1749340438.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415916 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:58.712Z,1749340438.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516440
2025-06-07T23:53:58.965Z,1749340438.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769031
2025-06-07T23:53:59.073Z,1749340439.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:53:59.075Z,1749340439.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:59.078Z,1749340439.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 216.233932 m,
      bearing: 315.115792 deg,
      approach rate: -0.749508 m/s,
      LOS rate: 0.008375 deg/s,
      cmd heading: 310.309154 deg,
      new cmd heading: 310.320621 deg.

2025-06-07T23:53:59.079Z,1749340439.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416117 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:59.216Z,1749340439.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020402
2025-06-07T23:53:59.468Z,1749340439.468 [DAT](INFO): DAT read: Rx Time:23:53:58.7591

2025-06-07T23:53:59.469Z,1749340439.469 [DAT](INFO): Rx dataTimestamp_ set to:1749340439.468536
2025-06-07T23:53:59.469Z,1749340439.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273717
2025-06-07T23:53:59.472Z,1749340439.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:59.477Z,1749340439.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 215.959305 m,
      bearing: 315.118933 deg,
      approach rate: -0.691461 m/s,
      LOS rate: 0.007919 deg/s,
      cmd heading: 310.320629 deg,
      new cmd heading: 310.330065 deg.

2025-06-07T23:53:59.478Z,1749340439.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416281 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:59.720Z,1749340439.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524787
2025-06-07T23:53:59.888Z,1749340439.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.79 m.
2025-06-07T23:53:59.890Z,1749340439.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.789429 m,
      nav range: 215.643448 m,
      bearing: 315.121198 deg,
      approach rate: -0.790763 m/s,
      LOS rate: 0.005677 deg/s,
      cmd heading: 310.330055 deg,
      new cmd heading: 310.336857 deg.

2025-06-07T23:53:59.895Z,1749340439.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416400 target range: 254.789429 and range: 249.40 m.
2025-06-07T23:53:59.975Z,1749340439.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778942
2025-06-07T23:54:00.232Z,1749340440.232 [DAT](INFO): DAT read: 23:53:58.7591 LVL= 26832, 30897, 24530, 32755, AGC= 64, IDX= 413, 0.48, 2.393, 1.115, 2.387, 1.583, PHS= 0.898,-0.422, 0.800, RAW= 146.2, -19.5, CAL= 151.7, -26.8, ROT= 358.3,  26.8

2025-06-07T23:54:00.236Z,1749340440.236 [DAT](INFO): got valid direction response:
 23:53:58.7591 LVL= 26832, 30897, 24530, 32755, AGC= 64, IDX= 413, 0.48, 2.393, 1.115, 2.387, 1.583, PHS= 0.898,-0.422, 0.800, RAW= 146.2, -19.5, CAL= 151.7, -26.8, ROT= 358.3,  26.8

2025-06-07T23:54:00.237Z,1749340440.237 [DAT](INFO): DAT read: Bearing 358.3,  26.8 (Local)

2025-06-07T23:54:00.237Z,1749340440.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  26.8 (Local)

2025-06-07T23:54:00.239Z,1749340440.239 [DAT](INFO): DAT read: Range 10 to 50 : 247.4 m  (Round-trip  329.9 ms) speed  0.4 m/s

2025-06-07T23:54:00.240Z,1749340440.240 [DAT](INFO): DAT read: user:1918>

2025-06-07T23:54:00.241Z,1749340440.241 [DAT](INFO): DAT read: Tx time:23:53:59.8750

2025-06-07T23:54:00.241Z,1749340440.241 [DAT](INFO): Ping request sent.
2025-06-07T23:54:00.241Z,1749340440.241 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:00.242Z,1749340440.242 [DAT](INFO): DAT read: TxSync time:23:53:59.8743

2025-06-07T23:54:00.242Z,1749340440.242 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:54:00.255Z,1749340440.255 [DAT](INFO): direction in FSK: [0.892193,-0.026480,-0.450878]
2025-06-07T23:54:00.256Z,1749340440.256 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:00.256Z,1749340440.256 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:00.259Z,1749340440.259 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:00.259Z,1749340440.259 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:00.364Z,1749340440.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.399994 m,
      deltaT: 4.031617 s,
      deltaX: -2.000000 m,
      approachRate: -0.496079 m/s,
      rangeRepo size: 4

2025-06-07T23:54:00.366Z,1749340440.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.453949 m,
      bearing: 310.493908 deg,
      lat: 36.905894 deg,
      lon: -122.116184 deg,
      deltaT: 15.389978 s,
      deltaX: -9.335480 m,
      approachRate: -0.606595 m/s,
      posRepo size: 4

2025-06-07T23:54:00.372Z,1749340440.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:00.374Z,1749340440.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 218.493454 m,
      bearing: 314.286544 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005677 deg/s,
      cmd heading: 310.336858 deg,
      new cmd heading: 310.345099 deg.

2025-06-07T23:54:00.384Z,1749340440.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416544 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:00.711Z,1749340440.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:00.714Z,1749340440.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 218.231400 m,
      bearing: 314.287659 deg,
      approach rate: -0.745197 m/s,
      LOS rate: 0.003174 deg/s,
      cmd heading: 310.345108 deg,
      new cmd heading: 310.348457 deg.

2025-06-07T23:54:00.715Z,1749340440.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416603 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:01.108Z,1749340441.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:01.111Z,1749340441.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:01.113Z,1749340441.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 217.910736 m,
      bearing: 314.287345 deg,
      approach rate: -0.794494 m/s,
      LOS rate: -0.000778 deg/s,
      cmd heading: 310.348469 deg,
      new cmd heading: 310.347527 deg.

2025-06-07T23:54:01.114Z,1749340441.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416586 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:01.232Z,1749340441.232 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:01.232Z,1749340441.232 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:01.233Z,1749340441.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:01.484Z,1749340441.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243215
2025-06-07T23:54:01.506Z,1749340441.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:01.509Z,1749340441.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 217.624695 m,
      bearing: 314.287149 deg,
      approach rate: -0.722839 m/s,
      LOS rate: -0.000498 deg/s,
      cmd heading: 310.347540 deg,
      new cmd heading: 310.346949 deg.

2025-06-07T23:54:01.510Z,1749340441.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416576 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:01.736Z,1749340441.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495287
2025-06-07T23:54:01.936Z,1749340441.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:01.939Z,1749340441.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 217.283127 m,
      bearing: 314.286549 deg,
      approach rate: -0.796005 m/s,
      LOS rate: -0.001400 deg/s,
      cmd heading: 310.346939 deg,
      new cmd heading: 310.345137 deg.

2025-06-07T23:54:01.940Z,1749340441.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416544 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:01.988Z,1749340441.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747275
2025-06-07T23:54:02.240Z,1749340442.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999133
2025-06-07T23:54:02.365Z,1749340442.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:02.368Z,1749340442.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 216.954742 m,
      bearing: 314.285910 deg,
      approach rate: -0.763541 m/s,
      LOS rate: -0.001489 deg/s,
      cmd heading: 310.345136 deg,
      new cmd heading: 310.343215 deg.

2025-06-07T23:54:02.369Z,1749340442.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416511 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:02.492Z,1749340442.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251174
2025-06-07T23:54:02.727Z,1749340442.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:02.730Z,1749340442.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 216.691452 m,
      bearing: 314.285378 deg,
      approach rate: -0.729189 m/s,
      LOS rate: -0.001474 deg/s,
      cmd heading: 310.343223 deg,
      new cmd heading: 310.341627 deg.

2025-06-07T23:54:02.731Z,1749340442.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416483 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:02.744Z,1749340442.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503199
2025-06-07T23:54:02.997Z,1749340442.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755514
2025-06-07T23:54:03.153Z,1749340443.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:03.156Z,1749340443.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:03.159Z,1749340443.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 216.361725 m,
      bearing: 314.283488 deg,
      approach rate: -0.767503 m/s,
      LOS rate: -0.004406 deg/s,
      cmd heading: 310.341639 deg,
      new cmd heading: 310.335960 deg.

2025-06-07T23:54:03.160Z,1749340443.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416384 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:03.250Z,1749340443.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009038
2025-06-07T23:54:03.500Z,1749340443.500 [DAT](INFO): DAT read: Rx Time:23:54:02.6055

2025-06-07T23:54:03.501Z,1749340443.501 [DAT](INFO): Rx dataTimestamp_ set to:1749340443.500290
2025-06-07T23:54:03.501Z,1749340443.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260132
2025-06-07T23:54:03.548Z,1749340443.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:03.550Z,1749340443.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 216.070663 m,
      bearing: 314.281772 deg,
      approach rate: -0.743160 m/s,
      LOS rate: -0.004389 deg/s,
      cmd heading: 310.335956 deg,
      new cmd heading: 310.330799 deg.

2025-06-07T23:54:03.552Z,1749340443.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416294 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:03.752Z,1749340443.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511211
2025-06-07T23:54:03.957Z,1749340443.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:03.966Z,1749340443.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 215.786484 m,
      bearing: 314.280334 deg,
      approach rate: -0.694885 m/s,
      LOS rate: -0.003520 deg/s,
      cmd heading: 310.330792 deg,
      new cmd heading: 310.326474 deg.

2025-06-07T23:54:03.972Z,1749340443.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416219 target range: 245.453949 and range: 247.40 m.
2025-06-07T23:54:04.021Z,1749340444.021 [DAT](INFO): DAT read: Range 10 to 50 : 244.7 m  (Round-trip  326.3 ms) speed  0.4 m/s

2025-06-07T23:54:04.022Z,1749340444.022 [DAT](INFO): DAT read: user:1919>

2025-06-07T23:54:04.023Z,1749340444.023 [DAT](INFO): DAT read: Tx time:23:54:03.7250

2025-06-07T23:54:04.023Z,1749340444.023 [DAT](INFO): Ping request sent.
2025-06-07T23:54:04.023Z,1749340444.023 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:04.023Z,1749340444.023 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:54:04.024Z,1749340444.024 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:04.024Z,1749340444.024 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:04.053Z,1749340444.053 [DockingStepper](FAULT): Invalid EZ Servo response:"2,16351,12495,16319\r"
2025-06-07T23:54:04.053Z,1749340444.053 [DockingStepper] Communications Fault, FailCount= 1
2025-06-07T23:54:04.053Z,1749340444.053 [DockingStepper](ERROR): Communications Fault
2025-06-07T23:54:04.219Z,1749340444.219 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-06-07T23:54:04.260Z,1749340444.260 [DAT](INFO): DAT read: TxSync time:23:54:03.7243

2025-06-07T23:54:04.356Z,1749340444.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 244.699997 m,
      deltaT: 3.795801 s,
      deltaX: -2.699997 m,
      approachRate: -0.711312 m/s,
      rangeRepo size: 4

2025-06-07T23:54:04.357Z,1749340444.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:04.360Z,1749340444.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 215.477692 m,
      bearing: 314.278768 deg,
      approach rate: -0.775480 m/s,
      LOS rate: -0.003939 deg/s,
      cmd heading: 310.326476 deg,
      new cmd heading: 310.321770 deg.

2025-06-07T23:54:04.361Z,1749340444.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416137 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:04.374Z,1749340444.374 [DockingStepper](INFO): Stop
2025-06-07T23:54:04.374Z,1749340444.374 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-07T23:54:04.374Z,1749340444.374 [DockingStepper](INFO): Powering down
2025-06-07T23:54:04.735Z,1749340444.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:04.738Z,1749340444.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 215.199112 m,
      bearing: 314.277488 deg,
      approach rate: -0.732838 m/s,
      LOS rate: -0.003371 deg/s,
      cmd heading: 310.321777 deg,
      new cmd heading: 310.317932 deg.

2025-06-07T23:54:04.739Z,1749340444.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416070 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:04.752Z,1749340444.752 [DockingStepper](INFO): Stopping
2025-06-07T23:54:05.148Z,1749340445.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:05.150Z,1749340445.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 214.909119 m,
      bearing: 314.276703 deg,
      approach rate: -0.703628 m/s,
      LOS rate: -0.001907 deg/s,
      cmd heading: 310.317924 deg,
      new cmd heading: 310.315567 deg.

2025-06-07T23:54:05.151Z,1749340445.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416028 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:05.184Z,1749340445.184 [DockingStepper](INFO): Stopping
2025-06-07T23:54:05.543Z,1749340445.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:05.545Z,1749340445.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:05.552Z,1749340445.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 214.641098 m,
      bearing: 314.275846 deg,
      approach rate: -0.672984 m/s,
      LOS rate: -0.002155 deg/s,
      cmd heading: 310.315575 deg,
      new cmd heading: 310.313000 deg.

2025-06-07T23:54:05.553Z,1749340445.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415984 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:05.592Z,1749340445.592 [DockingStepper](INFO): Stopping
2025-06-07T23:54:05.773Z,1749340445.773 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:05.773Z,1749340445.773 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:05.773Z,1749340445.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:06.002Z,1749340446.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:06.008Z,1749340446.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 214.314728 m,
      bearing: 314.277918 deg,
      approach rate: -0.715641 m/s,
      LOS rate: 0.004551 deg/s,
      cmd heading: 310.313007 deg,
      new cmd heading: 310.319233 deg.

2025-06-07T23:54:06.009Z,1749340446.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416092 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:06.024Z,1749340446.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001198
2025-06-07T23:54:06.059Z,1749340446.059 [DockingStepper](INFO): Stopping
2025-06-07T23:54:06.276Z,1749340446.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253026
2025-06-07T23:54:06.347Z,1749340446.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:06.350Z,1749340446.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 214.075363 m,
      bearing: 314.279264 deg,
      approach rate: -0.692610 m/s,
      LOS rate: 0.003900 deg/s,
      cmd heading: 310.319236 deg,
      new cmd heading: 310.323279 deg.

2025-06-07T23:54:06.351Z,1749340446.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416163 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:06.365Z,1749340446.365 [DockingStepper](INFO): Stopping
2025-06-07T23:54:06.528Z,1749340446.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505124
2025-06-07T23:54:06.769Z,1749340446.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:06.776Z,1749340446.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 213.785400 m,
      bearing: 314.280790 deg,
      approach rate: -0.687399 m/s,
      LOS rate: 0.003621 deg/s,
      cmd heading: 310.323279 deg,
      new cmd heading: 310.327862 deg.

2025-06-07T23:54:06.777Z,1749340446.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416243 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:06.780Z,1749340446.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757224
2025-06-07T23:54:06.819Z,1749340446.819 [DockingStepper](INFO): Stopping
2025-06-07T23:54:07.032Z,1749340447.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009079
2025-06-07T23:54:07.201Z,1749340447.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:07.205Z,1749340447.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 213.471939 m,
      bearing: 314.285781 deg,
      approach rate: -0.725239 m/s,
      LOS rate: 0.011565 deg/s,
      cmd heading: 310.327869 deg,
      new cmd heading: 310.342865 deg.

2025-06-07T23:54:07.206Z,1749340447.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416505 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:07.286Z,1749340447.286 [DAT](INFO): DAT read: Rx Time:23:54:06.4532

2025-06-07T23:54:07.288Z,1749340447.288 [DAT](INFO): Rx dataTimestamp_ set to:1749340447.286617
2025-06-07T23:54:07.290Z,1749340447.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267074
2025-06-07T23:54:07.352Z,1749340447.352 [DockingStepper](INFO): Stopping
2025-06-07T23:54:07.536Z,1749340447.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513149
2025-06-07T23:54:07.569Z,1749340447.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:07.572Z,1749340447.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.45 m.
2025-06-07T23:54:07.574Z,1749340447.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.453949 m,
      nav range: 213.226288 m,
      bearing: 314.289650 deg,
      approach rate: -0.663840 m/s,
      LOS rate: 0.010466 deg/s,
      cmd heading: 310.342868 deg,
      new cmd heading: 310.354487 deg.

2025-06-07T23:54:07.580Z,1749340447.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416708 target range: 245.453949 and range: 244.70 m.
2025-06-07T23:54:07.636Z,1749340447.636 [DockingStepper](INFO): Stopping
2025-06-07T23:54:07.796Z,1749340447.796 [DAT](INFO): DAT read: 23:54:06.4532 LVL= 27632, 25777, 29730, 32755, AGC= 65, IDX= 166, 0.15, 2.428, 0.716, 1.953, 1.776, PHS= 0.740,-1.013, 0.174, RAW= 131.5,   1.3, CAL= 137.4,  -6.8, ROT=  12.6,   6.8

2025-06-07T23:54:07.797Z,1749340447.797 [DAT](INFO): got valid direction response:
 23:54:06.4532 LVL= 27632, 25777, 29730, 32755, AGC= 65, IDX= 166, 0.15, 2.428, 0.716, 1.953, 1.776, PHS= 0.740,-1.013, 0.174, RAW= 131.5,   1.3, CAL= 137.4,  -6.8, ROT=  12.6,   6.8

2025-06-07T23:54:07.798Z,1749340447.798 [DAT](INFO): DAT read: Bearing  12.6,   6.8 (Local)

2025-06-07T23:54:07.798Z,1749340447.798 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6,   6.8 (Local)

2025-06-07T23:54:07.806Z,1749340447.806 [DAT](INFO): DAT read: Range 10 to 50 : 242.9 m  (Round-trip  323.9 ms) speed  0.7 m/s

2025-06-07T23:54:07.807Z,1749340447.807 [DAT](INFO): DAT read: user:1920>

2025-06-07T23:54:07.808Z,1749340447.808 [DAT](INFO): DAT read: Tx time:23:54:07.5751

2025-06-07T23:54:07.808Z,1749340447.808 [DAT](INFO): Ping request sent.
2025-06-07T23:54:07.808Z,1749340447.808 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:07.808Z,1749340447.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:54:07.809Z,1749340447.809 [DAT](INFO): direction in FSK: [0.969052,0.216609,-0.118404]
2025-06-07T23:54:07.809Z,1749340447.809 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:07.810Z,1749340447.810 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:07.813Z,1749340447.813 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:07.813Z,1749340447.813 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:08.040Z,1749340448.040 [DAT](INFO): DAT read: TxSync time:23:54:07.5744

2025-06-07T23:54:08.081Z,1749340448.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 242.899994 m,
      deltaT: 3.768479 s,
      deltaX: -1.800003 m,
      approachRate: -0.477647 m/s,
      rangeRepo size: 4

2025-06-07T23:54:08.083Z,1749340448.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.984985 m,
      bearing: 323.903892 deg,
      lat: 36.905894 deg,
      lon: -122.116184 deg,
      deltaT: 7.564280 s,
      deltaX: -4.468964 m,
      approachRate: -0.590798 m/s,
      posRepo size: 4

2025-06-07T23:54:08.088Z,1749340448.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:08.090Z,1749340448.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 212.880157 m,
      bearing: 314.297638 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010466 deg/s,
      cmd heading: 310.354480 deg,
      new cmd heading: 310.370260 deg.

2025-06-07T23:54:08.095Z,1749340448.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416983 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:08.248Z,1749340448.248 [DockingStepper](INFO): Stopping
2025-06-07T23:54:08.466Z,1749340448.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:08.480Z,1749340448.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 212.610397 m,
      bearing: 314.303894 deg,
      approach rate: -0.688265 m/s,
      LOS rate: 0.015983 deg/s,
      cmd heading: 310.370271 deg,
      new cmd heading: 310.389064 deg.

2025-06-07T23:54:08.481Z,1749340448.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417311 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:08.625Z,1749340448.625 [DockingStepper](INFO): Stopping
2025-06-07T23:54:08.859Z,1749340448.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:08.862Z,1749340448.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 212.331238 m,
      bearing: 314.310656 deg,
      approach rate: -0.709508 m/s,
      LOS rate: 0.017208 deg/s,
      cmd heading: 310.389068 deg,
      new cmd heading: 310.409379 deg.

2025-06-07T23:54:08.864Z,1749340448.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417665 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:08.956Z,1749340448.956 [DockingStepper](INFO): Stopping
2025-06-07T23:54:09.389Z,1749340449.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:09.392Z,1749340449.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 211.956940 m,
      bearing: 314.322494 deg,
      approach rate: -0.706835 m/s,
      LOS rate: 0.022395 deg/s,
      cmd heading: 310.409367 deg,
      new cmd heading: 310.444944 deg.

2025-06-07T23:54:09.393Z,1749340449.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418286 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:09.405Z,1749340449.405 [DockingStepper](INFO): Stopping
2025-06-07T23:54:09.674Z,1749340449.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:09.677Z,1749340449.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:09.700Z,1749340449.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 211.755096 m,
      bearing: 314.328895 deg,
      approach rate: -0.699759 m/s,
      LOS rate: 0.022213 deg/s,
      cmd heading: 310.444939 deg,
      new cmd heading: 310.464160 deg.

2025-06-07T23:54:09.701Z,1749340449.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418622 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:09.722Z,1749340449.722 [DockingStepper](INFO): Stopping
2025-06-07T23:54:09.804Z,1749340449.804 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:09.804Z,1749340449.804 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:09.804Z,1749340449.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:10.056Z,1749340450.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248248
2025-06-07T23:54:10.121Z,1749340450.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:10.127Z,1749340450.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 211.451813 m,
      bearing: 314.339065 deg,
      approach rate: -0.684098 m/s,
      LOS rate: 0.022972 deg/s,
      cmd heading: 310.464172 deg,
      new cmd heading: 310.494726 deg.

2025-06-07T23:54:10.128Z,1749340450.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.419155 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:10.181Z,1749340450.181 [DockingStepper](INFO): Stopping
2025-06-07T23:54:10.309Z,1749340450.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500648
2025-06-07T23:54:10.508Z,1749340450.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:10.510Z,1749340450.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 211.166336 m,
      bearing: 314.348690 deg,
      approach rate: -0.737969 m/s,
      LOS rate: 0.024914 deg/s,
      cmd heading: 310.494717 deg,
      new cmd heading: 310.523631 deg.

2025-06-07T23:54:10.511Z,1749340450.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.419660 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:10.524Z,1749340450.524 [DockingStepper](INFO): Stopping
2025-06-07T23:54:10.560Z,1749340450.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752253
2025-06-07T23:54:10.812Z,1749340450.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004122
2025-06-07T23:54:10.886Z,1749340450.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:10.889Z,1749340450.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 210.901794 m,
      bearing: 314.357673 deg,
      approach rate: -0.698875 m/s,
      LOS rate: 0.023763 deg/s,
      cmd heading: 310.523622 deg,
      new cmd heading: 310.550607 deg.

2025-06-07T23:54:10.890Z,1749340450.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420131 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:10.950Z,1749340450.950 [DockingStepper](INFO): Stopping
2025-06-07T23:54:11.064Z,1749340451.064 [DAT](INFO): DAT read: Rx Time:23:54:10.2747

2025-06-07T23:54:11.065Z,1749340451.065 [DAT](INFO): Rx dataTimestamp_ set to:1749340451.064420
2025-06-07T23:54:11.065Z,1749340451.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257237
2025-06-07T23:54:11.301Z,1749340451.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:11.304Z,1749340451.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 210.599609 m,
      bearing: 314.366606 deg,
      approach rate: -0.727316 m/s,
      LOS rate: 0.021530 deg/s,
      cmd heading: 310.550615 deg,
      new cmd heading: 310.577451 deg.

2025-06-07T23:54:11.305Z,1749340451.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420599 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:11.316Z,1749340451.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508199
2025-06-07T23:54:11.320Z,1749340451.320 [DockingStepper](INFO): Stopping
2025-06-07T23:54:11.572Z,1749340451.572 [DAT](INFO): DAT read: Range 10 to 50 : 221.5 m  (Round-trip  295.4 ms) speed  0.6 m/s

2025-06-07T23:54:11.573Z,1749340451.573 [DAT](INFO): DAT read: user:1921>

2025-06-07T23:54:11.574Z,1749340451.574 [DAT](INFO): DAT read: Tx time:23:54:11.3751

2025-06-07T23:54:11.574Z,1749340451.574 [DAT](INFO): Ping request sent.
2025-06-07T23:54:11.575Z,1749340451.575 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:11.576Z,1749340451.576 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:54:11.576Z,1749340451.576 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:11.577Z,1749340451.577 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:11.693Z,1749340451.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:11.701Z,1749340451.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 221.500000 m,
 deltaT: 3.780347 s,
 deltaX: -21.399994 m,
 approachRate: -5.660854 m/s,
 rangeRepo size: 4
2025-06-07T23:54:11.701Z,1749340451.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:11.708Z,1749340451.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 210.321945 m,
      bearing: 314.374874 deg,
      approach rate: -0.696943 m/s,
      LOS rate: 0.020781 deg/s,
      cmd heading: 310.577444 deg,
      new cmd heading: 310.602282 deg.

2025-06-07T23:54:11.709Z,1749340451.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421032 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:11.750Z,1749340451.750 [DockingStepper](INFO): Stopping
2025-06-07T23:54:11.820Z,1749340451.820 [DAT](INFO): DAT read: TxSync time:23:54:11.3744

2025-06-07T23:54:11.821Z,1749340451.821 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:11.821Z,1749340451.821 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:11.821Z,1749340451.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:12.072Z,1749340452.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497701
2025-06-07T23:54:12.125Z,1749340452.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:12.129Z,1749340452.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 210.022583 m,
      bearing: 314.380933 deg,
      approach rate: -0.703551 m/s,
      LOS rate: 0.014259 deg/s,
      cmd heading: 310.602279 deg,
      new cmd heading: 310.620481 deg.

2025-06-07T23:54:12.130Z,1749340452.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421350 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:12.159Z,1749340452.159 [DockingStepper](INFO): Stopping
2025-06-07T23:54:12.325Z,1749340452.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750063
2025-06-07T23:54:12.490Z,1749340452.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:12.493Z,1749340452.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 209.746552 m,
      bearing: 314.386713 deg,
      approach rate: -0.757527 m/s,
      LOS rate: 0.015883 deg/s,
      cmd heading: 310.620474 deg,
      new cmd heading: 310.637837 deg.

2025-06-07T23:54:12.494Z,1749340452.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421653 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:12.507Z,1749340452.507 [DockingStepper](INFO): Stopping
2025-06-07T23:54:12.576Z,1749340452.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001883
2025-06-07T23:54:12.828Z,1749340452.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253654
2025-06-07T23:54:12.904Z,1749340452.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:12.906Z,1749340452.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 209.458664 m,
      bearing: 314.392832 deg,
      approach rate: -0.701915 m/s,
      LOS rate: 0.014940 deg/s,
      cmd heading: 310.637850 deg,
      new cmd heading: 310.656233 deg.

2025-06-07T23:54:12.908Z,1749340452.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421974 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:12.985Z,1749340452.985 [DockingStepper](INFO): Stopping
2025-06-07T23:54:13.080Z,1749340453.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505925
2025-06-07T23:54:13.329Z,1749340453.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:13.332Z,1749340453.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757850
2025-06-07T23:54:13.334Z,1749340453.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 209.149216 m,
      bearing: 314.395857 deg,
      approach rate: -0.720898 m/s,
      LOS rate: 0.007057 deg/s,
      cmd heading: 310.656237 deg,
      new cmd heading: 310.665325 deg.

2025-06-07T23:54:13.335Z,1749340453.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422133 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:13.368Z,1749340453.368 [DockingStepper](INFO): Stopping
2025-06-07T23:54:13.584Z,1749340453.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009568
2025-06-07T23:54:13.700Z,1749340453.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:13.702Z,1749340453.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:13.705Z,1749340453.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 208.885513 m,
      bearing: 314.398337 deg,
      approach rate: -0.706926 m/s,
      LOS rate: 0.006658 deg/s,
      cmd heading: 310.665335 deg,
      new cmd heading: 310.672786 deg.

2025-06-07T23:54:13.706Z,1749340453.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422263 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:13.723Z,1749340453.723 [DockingStepper](INFO): Stopping
2025-06-07T23:54:13.837Z,1749340453.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262761
2025-06-07T23:54:14.088Z,1749340454.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513755
2025-06-07T23:54:14.149Z,1749340454.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:14.152Z,1749340454.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 208.564270 m,
      bearing: 314.399120 deg,
      approach rate: -0.718932 m/s,
      LOS rate: 0.001754 deg/s,
      cmd heading: 310.672794 deg,
      new cmd heading: 310.675145 deg.

2025-06-07T23:54:14.153Z,1749340454.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422304 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:14.174Z,1749340454.174 [DockingStepper](INFO): Stopping
2025-06-07T23:54:14.340Z,1749340454.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765960
2025-06-07T23:54:14.509Z,1749340454.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:14.512Z,1749340454.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 208.305542 m,
      bearing: 314.399717 deg,
      approach rate: -0.718669 m/s,
      LOS rate: 0.001660 deg/s,
      cmd heading: 310.675143 deg,
      new cmd heading: 310.676936 deg.

2025-06-07T23:54:14.513Z,1749340454.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422336 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:14.527Z,1749340454.527 [DockingStepper](INFO): Stopping
2025-06-07T23:54:14.592Z,1749340454.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017784
2025-06-07T23:54:14.764Z,1749340454.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:54:14.844Z,1749340454.844 [DAT](INFO): DAT read: Rx Time:23:54:14.0962

2025-06-07T23:54:14.845Z,1749340454.845 [DAT](INFO): Rx dataTimestamp_ set to:1749340454.844417
2025-06-07T23:54:14.845Z,1749340454.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270777
2025-06-07T23:54:14.920Z,1749340454.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.98 m.
2025-06-07T23:54:14.923Z,1749340454.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.984985 m,
      nav range: 208.010391 m,
      bearing: 314.400380 deg,
      approach rate: -0.718217 m/s,
      LOS rate: 0.001615 deg/s,
      cmd heading: 310.676946 deg,
      new cmd heading: 310.678937 deg.

2025-06-07T23:54:14.924Z,1749340454.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422370 target range: 240.984985 and range: 242.90 m.
2025-06-07T23:54:14.938Z,1749340454.938 [DockingStepper](INFO): Stopping
2025-06-07T23:54:15.097Z,1749340455.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522383
2025-06-07T23:54:15.379Z,1749340455.379 [DAT](INFO): DAT read: 23:54:14.0962 LVL= 20368, 25937, 19538, 23283, AGC= 67, IDX= 163,-0.25, 0.881,-0.293, 0.736,-0.017, PHS= 0.986,-0.229, 0.751, RAW= 139.5, -25.5, CAL= 144.3, -31.7, ROT=   5.7,  31.7

2025-06-07T23:54:15.380Z,1749340455.380 [DAT](INFO): got valid direction response:
 23:54:14.0962 LVL= 20368, 25937, 19538, 23283, AGC= 67, IDX= 163,-0.25, 0.881,-0.293, 0.736,-0.017, PHS= 0.986,-0.229, 0.751, RAW= 139.5, -25.5, CAL= 144.3, -31.7, ROT=   5.7,  31.7

2025-06-07T23:54:15.381Z,1749340455.381 [DAT](INFO): DAT read: Bearing   5.7,  31.7 (Local)

2025-06-07T23:54:15.382Z,1749340455.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.7,  31.7 (Local)

2025-06-07T23:54:15.387Z,1749340455.387 [DAT](INFO): DAT read: Range 10 to 50 : 237.6 m  (Round-trip  316.9 ms) speed  0.5 m/s

2025-06-07T23:54:15.389Z,1749340455.389 [DAT](INFO): DAT read: user:1922>

2025-06-07T23:54:15.390Z,1749340455.390 [DAT](INFO): DAT read: Tx time:23:54:15.1751

2025-06-07T23:54:15.390Z,1749340455.390 [DAT](INFO): Ping request sent.
2025-06-07T23:54:15.390Z,1749340455.390 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:15.391Z,1749340455.391 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:54:15.396Z,1749340455.396 [DAT](INFO): direction in FSK: [0.846604,0.084502,-0.525472]
2025-06-07T23:54:15.396Z,1749340455.396 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:15.396Z,1749340455.396 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:15.405Z,1749340455.405 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:15.406Z,1749340455.406 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:15.420Z,1749340455.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.600006 m,
      deltaT: 7.561750 s,
      deltaX: -5.299988 m,
      approachRate: -0.700894 m/s,
      rangeRepo size: 4

2025-06-07T23:54:15.422Z,1749340455.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 235.722336 m,
      bearing: 318.463263 deg,
      lat: 36.905894 deg,
      lon: -122.116184 deg,
      deltaT: 7.561750 s,
      deltaX: -5.262650 m,
      approachRate: -0.695957 m/s,
      posRepo size: 4

2025-06-07T23:54:15.422Z,1749340455.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:15.465Z,1749340455.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 207.660767 m,
      bearing: 314.400720 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001615 deg/s,
      cmd heading: 310.678941 deg,
      new cmd heading: 310.681356 deg.

2025-06-07T23:54:15.466Z,1749340455.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422412 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:15.525Z,1749340455.525 [DockingStepper](INFO): Stopping
2025-06-07T23:54:15.600Z,1749340455.600 [DAT](INFO): DAT read: TxSync time:23:54:15.1744

2025-06-07T23:54:15.768Z,1749340455.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:54:15.813Z,1749340455.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:15.831Z,1749340455.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:15.834Z,1749340455.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 207.373581 m,
      bearing: 314.400976 deg,
      approach rate: -0.723856 m/s,
      LOS rate: 0.000645 deg/s,
      cmd heading: 310.681345 deg,
      new cmd heading: 310.682113 deg.

2025-06-07T23:54:15.839Z,1749340455.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422426 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:15.852Z,1749340455.852 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:15.852Z,1749340455.852 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:15.852Z,1749340455.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:15.860Z,1749340455.860 [DockingStepper](INFO): Stopping
2025-06-07T23:54:16.105Z,1749340456.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.715011
2025-06-07T23:54:16.222Z,1749340456.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:16.229Z,1749340456.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 207.092377 m,
      bearing: 314.401377 deg,
      approach rate: -0.691662 m/s,
      LOS rate: 0.000988 deg/s,
      cmd heading: 310.682110 deg,
      new cmd heading: 310.683315 deg.

2025-06-07T23:54:16.230Z,1749340456.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422447 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:16.254Z,1749340456.254 [DockingStepper](INFO): Stopping
2025-06-07T23:54:16.356Z,1749340456.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.965878
2025-06-07T23:54:16.560Z,1749340456.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:16.562Z,1749340456.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 206.837189 m,
      bearing: 314.401770 deg,
      approach rate: -0.756010 m/s,
      LOS rate: 0.001165 deg/s,
      cmd heading: 310.683312 deg,
      new cmd heading: 310.684492 deg.

2025-06-07T23:54:16.564Z,1749340456.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422467 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:16.608Z,1749340456.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218086
2025-06-07T23:54:16.625Z,1749340456.625 [DockingStepper](INFO): Stopping
2025-06-07T23:54:16.860Z,1749340456.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469988
2025-06-07T23:54:16.979Z,1749340456.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:16.981Z,1749340456.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 206.540314 m,
      bearing: 314.402228 deg,
      approach rate: -0.708225 m/s,
      LOS rate: 0.001095 deg/s,
      cmd heading: 310.684487 deg,
      new cmd heading: 310.685864 deg.

2025-06-07T23:54:16.982Z,1749340456.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422491 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:17.070Z,1749340457.070 [DockingStepper](INFO): Stopping
2025-06-07T23:54:17.112Z,1749340457.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721974
2025-06-07T23:54:17.364Z,1749340457.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973916
2025-06-07T23:54:17.395Z,1749340457.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:17.402Z,1749340457.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 206.254288 m,
      bearing: 314.403226 deg,
      approach rate: -0.687207 m/s,
      LOS rate: 0.002401 deg/s,
      cmd heading: 310.685853 deg,
      new cmd heading: 310.688850 deg.

2025-06-07T23:54:17.407Z,1749340457.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422544 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:17.437Z,1749340457.437 [DockingStepper](INFO): Stopping
2025-06-07T23:54:17.616Z,1749340457.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225846
2025-06-07T23:54:17.772Z,1749340457.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:17.775Z,1749340457.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 205.972733 m,
      bearing: 314.404106 deg,
      approach rate: -0.746069 m/s,
      LOS rate: 0.002335 deg/s,
      cmd heading: 310.688858 deg,
      new cmd heading: 310.691502 deg.

2025-06-07T23:54:17.796Z,1749340457.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422590 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:17.833Z,1749340457.833 [DockingStepper](INFO): Stopping
2025-06-07T23:54:17.868Z,1749340457.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477967
2025-06-07T23:54:18.120Z,1749340458.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729958
2025-06-07T23:54:18.226Z,1749340458.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:18.232Z,1749340458.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:18.235Z,1749340458.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 205.635864 m,
      bearing: 314.407639 deg,
      approach rate: -0.732337 m/s,
      LOS rate: 0.007694 deg/s,
      cmd heading: 310.691508 deg,
      new cmd heading: 310.702125 deg.

2025-06-07T23:54:18.240Z,1749340458.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422775 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:18.306Z,1749340458.306 [DockingStepper](INFO): Stopping
2025-06-07T23:54:18.372Z,1749340458.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982114
2025-06-07T23:54:18.596Z,1749340458.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:18.607Z,1749340458.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 205.381165 m,
      bearing: 314.410344 deg,
      approach rate: -0.699340 m/s,
      LOS rate: 0.007435 deg/s,
      cmd heading: 310.702136 deg,
      new cmd heading: 310.710260 deg.

2025-06-07T23:54:18.608Z,1749340458.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422917 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:18.624Z,1749340458.624 [DAT](INFO): DAT read: Rx Time:23:54:17.8949

2025-06-07T23:54:18.625Z,1749340458.625 [DAT](INFO): Rx dataTimestamp_ set to:1749340458.624502
2025-06-07T23:54:18.625Z,1749340458.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235064
2025-06-07T23:54:18.670Z,1749340458.670 [DockingStepper](INFO): Stopping
2025-06-07T23:54:18.876Z,1749340458.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486094
2025-06-07T23:54:18.990Z,1749340458.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:19.018Z,1749340459.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 205.079697 m,
      bearing: 314.413561 deg,
      approach rate: -0.765501 m/s,
      LOS rate: 0.008182 deg/s,
      cmd heading: 310.710250 deg,
      new cmd heading: 310.719917 deg.

2025-06-07T23:54:19.026Z,1749340459.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423086 target range: 235.722336 and range: 237.60 m.
2025-06-07T23:54:19.136Z,1749340459.136 [DAT](INFO): DAT read: Range 10 to 50 : 236.7 m  (Round-trip  315.6 ms) speed  0.4 m/s

2025-06-07T23:54:19.136Z,1749340459.136 [DAT](INFO): DAT read: user:1923>

2025-06-07T23:54:19.137Z,1749340459.137 [DAT](INFO): DAT read: Tx time:23:54:18.9751

2025-06-07T23:54:19.137Z,1749340459.137 [DAT](INFO): Ping request sent.
2025-06-07T23:54:19.137Z,1749340459.137 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:19.138Z,1749340459.138 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:54:19.138Z,1749340459.138 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:19.138Z,1749340459.138 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:19.157Z,1749340459.157 [DockingStepper](INFO): Stopping
2025-06-07T23:54:19.380Z,1749340459.380 [DAT](INFO): DAT read: TxSync time:23:54:18.9744

2025-06-07T23:54:19.511Z,1749340459.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 236.699997 m,
      deltaT: 3.781546 s,
      deltaX: -0.900009 m,
      approachRate: -0.238000 m/s,
      rangeRepo size: 4

2025-06-07T23:54:19.512Z,1749340459.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:19.515Z,1749340459.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 204.711594 m,
      bearing: 314.417968 deg,
      approach rate: -0.718699 m/s,
      LOS rate: 0.008621 deg/s,
      cmd heading: 310.719922 deg,
      new cmd heading: 310.733168 deg.

2025-06-07T23:54:19.520Z,1749340459.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423317 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:19.578Z,1749340459.578 [DockingStepper](INFO): Stopping
2025-06-07T23:54:19.836Z,1749340459.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:19.838Z,1749340459.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 204.468491 m,
      bearing: 314.420915 deg,
      approach rate: -0.738924 m/s,
      LOS rate: 0.008965 deg/s,
      cmd heading: 310.733173 deg,
      new cmd heading: 310.742021 deg.

2025-06-07T23:54:19.860Z,1749340459.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423471 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:19.913Z,1749340459.913 [DockingStepper](INFO): Stopping
2025-06-07T23:54:20.277Z,1749340460.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:20.279Z,1749340460.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:20.286Z,1749340460.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 204.168411 m,
      bearing: 314.426369 deg,
      approach rate: -0.670744 m/s,
      LOS rate: 0.012210 deg/s,
      cmd heading: 310.742024 deg,
      new cmd heading: 310.758412 deg.

2025-06-07T23:54:20.287Z,1749340460.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423758 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:20.361Z,1749340460.361 [DockingStepper](INFO): Stopping
2025-06-07T23:54:20.388Z,1749340460.388 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:20.388Z,1749340460.388 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:20.388Z,1749340460.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:20.640Z,1749340460.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502762
2025-06-07T23:54:20.646Z,1749340460.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:20.653Z,1749340460.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 203.887436 m,
      bearing: 314.431510 deg,
      approach rate: -0.765231 m/s,
      LOS rate: 0.014020 deg/s,
      cmd heading: 310.758417 deg,
      new cmd heading: 310.773860 deg.

2025-06-07T23:54:20.654Z,1749340460.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424027 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:20.731Z,1749340460.731 [DockingStepper](INFO): Stopping
2025-06-07T23:54:20.900Z,1749340460.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761993
2025-06-07T23:54:21.024Z,1749340461.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:21.026Z,1749340461.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 203.625641 m,
      bearing: 314.436281 deg,
      approach rate: -0.693431 m/s,
      LOS rate: 0.012653 deg/s,
      cmd heading: 310.773853 deg,
      new cmd heading: 310.788184 deg.

2025-06-07T23:54:21.027Z,1749340461.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424277 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:21.045Z,1749340461.045 [DockingStepper](INFO): Stopping
2025-06-07T23:54:21.152Z,1749340461.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014713
2025-06-07T23:54:21.404Z,1749340461.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266690
2025-06-07T23:54:21.431Z,1749340461.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:21.434Z,1749340461.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 203.305222 m,
      bearing: 314.442396 deg,
      approach rate: -0.786340 m/s,
      LOS rate: 0.015031 deg/s,
      cmd heading: 310.788197 deg,
      new cmd heading: 310.806570 deg.

2025-06-07T23:54:21.435Z,1749340461.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424598 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:21.472Z,1749340461.472 [DockingStepper](INFO): Stopping
2025-06-07T23:54:21.656Z,1749340461.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518647
2025-06-07T23:54:21.818Z,1749340461.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:21.821Z,1749340461.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 203.014267 m,
      bearing: 314.447915 deg,
      approach rate: -0.751341 m/s,
      LOS rate: 0.014274 deg/s,
      cmd heading: 310.806583 deg,
      new cmd heading: 310.823166 deg.

2025-06-07T23:54:21.822Z,1749340461.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424888 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:21.851Z,1749340461.851 [DockingStepper](INFO): Stopping
2025-06-07T23:54:21.908Z,1749340461.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770702
2025-06-07T23:54:22.161Z,1749340462.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023507
2025-06-07T23:54:22.308Z,1749340462.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:22.310Z,1749340462.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:22.314Z,1749340462.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 202.663574 m,
      bearing: 314.454605 deg,
      approach rate: -0.712747 m/s,
      LOS rate: 0.013621 deg/s,
      cmd heading: 310.823167 deg,
      new cmd heading: 310.843273 deg.

2025-06-07T23:54:22.315Z,1749340462.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425239 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:22.398Z,1749340462.398 [DockingStepper](INFO): Stopping
2025-06-07T23:54:22.412Z,1749340462.412 [DAT](INFO): DAT read: Rx Time:23:54:21.6904

2025-06-07T23:54:22.413Z,1749340462.413 [DAT](INFO): Rx dataTimestamp_ set to:1749340462.412652
2025-06-07T23:54:22.413Z,1749340462.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275979
2025-06-07T23:54:22.628Z,1749340462.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:22.630Z,1749340462.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 202.436752 m,
      bearing: 314.458944 deg,
      approach rate: -0.714184 m/s,
      LOS rate: 0.013677 deg/s,
      cmd heading: 310.843275 deg,
      new cmd heading: 310.856307 deg.

2025-06-07T23:54:22.632Z,1749340462.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425466 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:22.664Z,1749340462.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526677
2025-06-07T23:54:22.668Z,1749340462.668 [DockingStepper](INFO): Stopping
2025-06-07T23:54:22.920Z,1749340462.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781790
2025-06-07T23:54:23.039Z,1749340463.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.72 m.
2025-06-07T23:54:23.042Z,1749340463.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.722336 m,
      nav range: 202.143265 m,
      bearing: 314.464578 deg,
      approach rate: -0.713646 m/s,
      LOS rate: 0.013719 deg/s,
      cmd heading: 310.856307 deg,
      new cmd heading: 310.873233 deg.

2025-06-07T23:54:23.043Z,1749340463.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425762 target range: 235.722336 and range: 236.70 m.
2025-06-07T23:54:23.149Z,1749340463.149 [DockingStepper](INFO): Stopping
2025-06-07T23:54:23.177Z,1749340463.177 [DAT](INFO): DAT read: 23:54:21.6904 LVL= 18800, 22977, 18162, 22771, AGC= 66, IDX= 400,-0.04, 2.971, 1.741,-3.121, 2.059, PHS= 0.999,-0.272, 1.100, RAW= 153.8, -26.0, CAL= 157.5, -32.3, ROT= 352.5,  32.3

2025-06-07T23:54:23.179Z,1749340463.179 [DAT](INFO): got valid direction response:
 23:54:21.6904 LVL= 18800, 22977, 18162, 22771, AGC= 66, IDX= 400,-0.04, 2.971, 1.741,-3.121, 2.059, PHS= 0.999,-0.272, 1.100, RAW= 153.8, -26.0, CAL= 157.5, -32.3, ROT= 352.5,  32.3

2025-06-07T23:54:23.180Z,1749340463.180 [DAT](INFO): DAT read: Bearing 352.5,  32.3 (Local)

2025-06-07T23:54:23.180Z,1749340463.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.5,  32.3 (Local)

2025-06-07T23:54:23.182Z,1749340463.182 [DAT](INFO): DAT read: Range 10 to 50 : 233.2 m  (Round-trip  311.0 ms) speed  0.3 m/s

2025-06-07T23:54:23.183Z,1749340463.183 [DAT](INFO): DAT read: user:1924>

2025-06-07T23:54:23.184Z,1749340463.184 [DAT](INFO): DAT read: Tx time:23:54:22.7752

2025-06-07T23:54:23.184Z,1749340463.184 [DAT](INFO): Ping request sent.
2025-06-07T23:54:23.184Z,1749340463.184 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:23.185Z,1749340463.185 [DAT](INFO): DAT read: TxSync time:23:54:22.7745

2025-06-07T23:54:23.185Z,1749340463.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:54:23.186Z,1749340463.186 [DAT](INFO): direction in FSK: [0.838031,-0.110329,-0.534352]
2025-06-07T23:54:23.186Z,1749340463.186 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:23.187Z,1749340463.187 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:23.190Z,1749340463.190 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:23.190Z,1749340463.190 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:23.477Z,1749340463.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 233.199997 m,
      deltaT: 4.037356 s,
      deltaX: -3.500000 m,
      approachRate: -0.866904 m/s,
      rangeRepo size: 4

2025-06-07T23:54:23.480Z,1749340463.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.356445 m,
      bearing: 305.696292 deg,
      lat: 36.905804 deg,
      lon: -122.116209 deg,
      deltaT: 7.818902 s,
      deltaX: -4.365891 m,
      approachRate: -0.558376 m/s,
      posRepo size: 4

2025-06-07T23:54:23.480Z,1749340463.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:23.483Z,1749340463.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 196.642197 m,
      bearing: 311.925838 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013719 deg/s,
      cmd heading: 310.873246 deg,
      new cmd heading: 310.891261 deg.

2025-06-07T23:54:23.484Z,1749340463.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426076 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:23.521Z,1749340463.521 [DockingStepper](INFO): Stopping
2025-06-07T23:54:23.842Z,1749340463.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:23.845Z,1749340463.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 196.375565 m,
      bearing: 311.927608 deg,
      approach rate: -0.729917 m/s,
      LOS rate: 0.004852 deg/s,
      cmd heading: 310.891250 deg,
      new cmd heading: 310.896567 deg.

2025-06-07T23:54:23.846Z,1749340463.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426169 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:23.859Z,1749340463.859 [DockingStepper](INFO): Stopping
2025-06-07T23:54:24.263Z,1749340464.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:24.266Z,1749340464.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 196.069763 m,
      bearing: 311.928943 deg,
      approach rate: -0.730607 m/s,
      LOS rate: 0.003195 deg/s,
      cmd heading: 310.896578 deg,
      new cmd heading: 310.900590 deg.

2025-06-07T23:54:24.267Z,1749340464.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426239 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:24.339Z,1749340464.339 [DockingStepper](INFO): Stopping
2025-06-07T23:54:24.634Z,1749340464.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:24.636Z,1749340464.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:24.639Z,1749340464.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 195.792343 m,
      bearing: 311.930363 deg,
      approach rate: -0.738487 m/s,
      LOS rate: 0.003785 deg/s,
      cmd heading: 310.900594 deg,
      new cmd heading: 310.904859 deg.

2025-06-07T23:54:24.640Z,1749340464.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426313 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:24.669Z,1749340464.669 [DockingStepper](INFO): Stopping
2025-06-07T23:54:24.680Z,1749340464.680 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:24.680Z,1749340464.680 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:24.680Z,1749340464.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:24.932Z,1749340464.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748049
2025-06-07T23:54:25.060Z,1749340465.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:25.063Z,1749340465.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 195.492615 m,
      bearing: 311.931898 deg,
      approach rate: -0.708559 m/s,
      LOS rate: 0.003633 deg/s,
      cmd heading: 310.904856 deg,
      new cmd heading: 310.909466 deg.

2025-06-07T23:54:25.064Z,1749340465.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426394 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:25.077Z,1749340465.077 [DockingStepper](INFO): Stopped
2025-06-07T23:54:25.189Z,1749340465.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004968
2025-06-07T23:54:25.232Z,1749340465.232 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-06-07T23:54:25.232Z,1749340465.232 [DockingStepper] No Fault, FailCount= 1
2025-06-07T23:54:25.440Z,1749340465.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256059
2025-06-07T23:54:25.500Z,1749340465.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:25.503Z,1749340465.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 195.163757 m,
      bearing: 311.933589 deg,
      approach rate: -0.745741 m/s,
      LOS rate: 0.003843 deg/s,
      cmd heading: 310.909473 deg,
      new cmd heading: 310.914557 deg.

2025-06-07T23:54:25.508Z,1749340465.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426483 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:25.535Z,1749340465.535 [DockingStepper](INFO): Start
2025-06-07T23:54:25.543Z,1749340465.543 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-07T23:54:25.664Z,1749340465.664 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-07T23:54:25.693Z,1749340465.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508570
2025-06-07T23:54:25.880Z,1749340465.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:25.883Z,1749340465.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 194.879395 m,
      bearing: 311.935001 deg,
      approach rate: -0.748201 m/s,
      LOS rate: 0.003718 deg/s,
      cmd heading: 310.914555 deg,
      new cmd heading: 310.918795 deg.

2025-06-07T23:54:25.884Z,1749340465.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426557 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:25.943Z,1749340465.943 [DockingStepper](INFO): Starting
2025-06-07T23:54:25.945Z,1749340465.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760843
2025-06-07T23:54:26.199Z,1749340466.199 [DAT](INFO): DAT read: Rx Time:23:54:25.4362

2025-06-07T23:54:26.200Z,1749340466.200 [DAT](INFO): Rx dataTimestamp_ set to:1749340466.199362
2025-06-07T23:54:26.202Z,1749340466.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017704
2025-06-07T23:54:26.346Z,1749340466.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:26.353Z,1749340466.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 194.556763 m,
      bearing: 311.934641 deg,
      approach rate: -0.692551 m/s,
      LOS rate: -0.000773 deg/s,
      cmd heading: 310.918790 deg,
      new cmd heading: 310.917709 deg.

2025-06-07T23:54:26.354Z,1749340466.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426538 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:26.396Z,1749340466.396 [DockingStepper](INFO): Starting
2025-06-07T23:54:26.452Z,1749340466.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268094
2025-06-07T23:54:26.716Z,1749340466.716 [DAT](INFO): DAT read: 23:54:25.4362 LVL= 23616, 32753, 27890, 32755, AGC= 66, IDX= 401, 0.50,-0.726,-2.290,-1.088,-1.464, PHS= 0.826,-0.779, 0.373, RAW= 134.1,  -5.9, CAL= 139.7, -16.7, ROT=  10.3,  16.7

2025-06-07T23:54:26.717Z,1749340466.717 [DAT](INFO): got valid direction response:
 23:54:25.4362 LVL= 23616, 32753, 27890, 32755, AGC= 66, IDX= 401, 0.50,-0.726,-2.290,-1.088,-1.464, PHS= 0.826,-0.779, 0.373, RAW= 134.1,  -5.9, CAL= 139.7, -16.7, ROT=  10.3,  16.7

2025-06-07T23:54:26.718Z,1749340466.718 [DAT](INFO): DAT read: Bearing  10.3,  16.7 (Local)

2025-06-07T23:54:26.719Z,1749340466.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,  16.7 (Local)

2025-06-07T23:54:26.753Z,1749340466.753 [DAT](INFO): DAT read: Range 10 to 50 : 192.6 m  (Round-trip  256.8 ms) speed  0.4 m/s

2025-06-07T23:54:26.753Z,1749340466.753 [DAT](INFO): DAT read: user:1925>

2025-06-07T23:54:26.754Z,1749340466.754 [DAT](INFO): DAT read: Tx time:23:54:26.5252

2025-06-07T23:54:26.754Z,1749340466.754 [DAT](INFO): Ping request sent.
2025-06-07T23:54:26.754Z,1749340466.754 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:26.755Z,1749340466.755 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:54:26.764Z,1749340466.764 [DAT](INFO): direction in FSK: [0.942387,0.171261,-0.287361]
2025-06-07T23:54:26.764Z,1749340466.764 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:26.765Z,1749340466.765 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:26.780Z,1749340466.780 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:26.780Z,1749340466.780 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:26.842Z,1749340466.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 192.600006 m,
 deltaT: 3.536686 s,
 deltaX: -40.599991 m,
 approachRate: -11.479671 m/s,
 rangeRepo size: 4
2025-06-07T23:54:26.843Z,1749340466.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:26.855Z,1749340466.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 194.222473 m,
      bearing: 311.934214 deg,
      approach rate: -0.674746 m/s,
      LOS rate: -0.000862 deg/s,
      cmd heading: 310.917697 deg,
      new cmd heading: 310.916416 deg.

2025-06-07T23:54:26.860Z,1749340466.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426515 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:26.887Z,1749340466.887 [DockingStepper](INFO): Starting
2025-06-07T23:54:26.944Z,1749340466.944 [DockingStepper](INFO): Init string: /1z16367aE13561N3m50
2025-06-07T23:54:26.961Z,1749340466.961 [DAT](INFO): DAT read: TxSync time:23:54:26.5245

2025-06-07T23:54:27.251Z,1749340467.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:27.253Z,1749340467.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:27.256Z,1749340467.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 193.883743 m,
      bearing: 311.933857 deg,
      approach rate: -0.823187 m/s,
      LOS rate: -0.000870 deg/s,
      cmd heading: 310.916413 deg,
      new cmd heading: 310.915338 deg.

2025-06-07T23:54:27.257Z,1749340467.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426497 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:27.288Z,1749340467.288 [DockingStepper](INFO): Starting
2025-06-07T23:54:27.460Z,1749340467.460 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:27.460Z,1749340467.460 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:27.460Z,1749340467.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:27.613Z,1749340467.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:27.620Z,1749340467.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 193.625458 m,
      bearing: 311.933729 deg,
      approach rate: -0.716825 m/s,
      LOS rate: -0.000356 deg/s,
      cmd heading: 310.915347 deg,
      new cmd heading: 310.914963 deg.

2025-06-07T23:54:27.621Z,1749340467.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426490 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:27.666Z,1749340467.666 [DockingStepper](INFO): Starting
2025-06-07T23:54:27.712Z,1749340467.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957761
2025-06-07T23:54:27.964Z,1749340467.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.209960
2025-06-07T23:54:28.008Z,1749340468.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:28.011Z,1749340468.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 193.331619 m,
      bearing: 311.933615 deg,
      approach rate: -0.744500 m/s,
      LOS rate: -0.000288 deg/s,
      cmd heading: 310.914965 deg,
      new cmd heading: 310.914623 deg.

2025-06-07T23:54:28.012Z,1749340468.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426484 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:28.045Z,1749340468.045 [DockingStepper](INFO): Starting
2025-06-07T23:54:28.218Z,1749340468.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463463
2025-06-07T23:54:28.438Z,1749340468.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:28.441Z,1749340468.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 193.024002 m,
      bearing: 311.932028 deg,
      approach rate: -0.715359 m/s,
      LOS rate: -0.003698 deg/s,
      cmd heading: 310.914637 deg,
      new cmd heading: 310.909867 deg.

2025-06-07T23:54:28.442Z,1749340468.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426401 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:28.468Z,1749340468.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713746
2025-06-07T23:54:28.497Z,1749340468.497 [DockingStepper](INFO): Starting
2025-06-07T23:54:28.524Z,1749340468.524 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-07T23:54:28.720Z,1749340468.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965588
2025-06-07T23:54:28.823Z,1749340468.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:28.825Z,1749340468.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 192.751312 m,
      bearing: 311.930367 deg,
      approach rate: -0.709304 m/s,
      LOS rate: -0.004326 deg/s,
      cmd heading: 310.909856 deg,
      new cmd heading: 310.904867 deg.

2025-06-07T23:54:28.826Z,1749340468.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426313 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:28.840Z,1749340468.840 [DockingStepper](INFO): Starting
2025-06-07T23:54:28.973Z,1749340468.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218264
2025-06-07T23:54:29.227Z,1749340469.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472060
2025-06-07T23:54:29.368Z,1749340469.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:29.370Z,1749340469.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:29.395Z,1749340469.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 192.365585 m,
      bearing: 311.927020 deg,
      approach rate: -0.704262 m/s,
      LOS rate: -0.006124 deg/s,
      cmd heading: 310.904856 deg,
      new cmd heading: 310.894794 deg.

2025-06-07T23:54:29.396Z,1749340469.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426138 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:29.421Z,1749340469.421 [DockingStepper](INFO): Changing to mode: 1
2025-06-07T23:54:29.422Z,1749340469.422 [DockingStepper](INFO): Standby mode.
2025-06-07T23:54:29.476Z,1749340469.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721660
2025-06-07T23:54:29.681Z,1749340469.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:29.684Z,1749340469.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 192.147766 m,
      bearing: 311.924893 deg,
      approach rate: -0.700309 m/s,
      LOS rate: -0.006844 deg/s,
      cmd heading: 310.894802 deg,
      new cmd heading: 310.888416 deg.

2025-06-07T23:54:29.685Z,1749340469.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426026 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:29.728Z,1749340469.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973848
2025-06-07T23:54:29.980Z,1749340469.980 [DAT](INFO): DAT read: Rx Time:23:54:29.2362

2025-06-07T23:54:29.981Z,1749340469.981 [DAT](INFO): Rx dataTimestamp_ set to:1749340469.980481
2025-06-07T23:54:29.981Z,1749340469.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226825
2025-06-07T23:54:30.099Z,1749340470.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:30.102Z,1749340470.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 191.855713 m,
      bearing: 311.921932 deg,
      approach rate: -0.699455 m/s,
      LOS rate: -0.007102 deg/s,
      cmd heading: 310.888409 deg,
      new cmd heading: 310.879513 deg.

2025-06-07T23:54:30.103Z,1749340470.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425871 target range: 231.356445 and range: 233.20 m.
2025-06-07T23:54:30.234Z,1749340470.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479427
2025-06-07T23:54:30.487Z,1749340470.487 [DAT](INFO): DAT read: Range 10 to 50 : 230.0 m  (Round-trip  306.7 ms) speed  0.5 m/s

2025-06-07T23:54:30.499Z,1749340470.499 [DAT](INFO): DAT read: user:1926>

2025-06-07T23:54:30.500Z,1749340470.500 [DAT](INFO): DAT read: Tx time:23:54:30.3253

2025-06-07T23:54:30.500Z,1749340470.500 [DAT](INFO): Ping request sent.
2025-06-07T23:54:30.500Z,1749340470.500 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:30.501Z,1749340470.501 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:54:30.501Z,1749340470.501 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:30.501Z,1749340470.501 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:30.539Z,1749340470.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 230.000000 m,
      deltaT: 7.316651 s,
      deltaX: -3.199997 m,
      approachRate: -0.437358 m/s,
      rangeRepo size: 4

2025-06-07T23:54:30.568Z,1749340470.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:30.572Z,1749340470.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 191.551590 m,
      bearing: 311.920365 deg,
      approach rate: -0.692534 m/s,
      LOS rate: -0.003574 deg/s,
      cmd heading: 310.879502 deg,
      new cmd heading: 310.874793 deg.

2025-06-07T23:54:30.574Z,1749340470.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425789 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:30.738Z,1749340470.738 [DAT](INFO): DAT read: TxSync time:23:54:30.3246

2025-06-07T23:54:30.899Z,1749340470.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:30.902Z,1749340470.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 191.301376 m,
      bearing: 311.918993 deg,
      approach rate: -0.693658 m/s,
      LOS rate: -0.003809 deg/s,
      cmd heading: 310.874803 deg,
      new cmd heading: 310.870681 deg.

2025-06-07T23:54:30.903Z,1749340470.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425717 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:31.336Z,1749340471.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:31.338Z,1749340471.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 190.994843 m,
      bearing: 311.918762 deg,
      approach rate: -0.702030 m/s,
      LOS rate: -0.000529 deg/s,
      cmd heading: 310.870678 deg,
      new cmd heading: 310.869985 deg.

2025-06-07T23:54:31.339Z,1749340471.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425705 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:31.695Z,1749340471.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:31.697Z,1749340471.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:31.700Z,1749340471.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 190.740417 m,
      bearing: 311.918500 deg,
      approach rate: -0.702632 m/s,
      LOS rate: -0.000727 deg/s,
      cmd heading: 310.869995 deg,
      new cmd heading: 310.869205 deg.

2025-06-07T23:54:31.701Z,1749340471.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425691 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:31.744Z,1749340471.744 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:31.744Z,1749340471.744 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:31.744Z,1749340471.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:31.996Z,1749340471.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495622
2025-06-07T23:54:32.097Z,1749340472.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:32.100Z,1749340472.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 190.459000 m,
      bearing: 311.918210 deg,
      approach rate: -0.704750 m/s,
      LOS rate: -0.000725 deg/s,
      cmd heading: 310.869203 deg,
      new cmd heading: 310.868334 deg.

2025-06-07T23:54:32.101Z,1749340472.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425676 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:32.251Z,1749340472.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749969
2025-06-07T23:54:32.500Z,1749340472.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999657
2025-06-07T23:54:32.533Z,1749340472.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:32.536Z,1749340472.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 190.152115 m,
      bearing: 311.919040 deg,
      approach rate: -0.703759 m/s,
      LOS rate: 0.001906 deg/s,
      cmd heading: 310.868328 deg,
      new cmd heading: 310.870822 deg.

2025-06-07T23:54:32.537Z,1749340472.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425719 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:32.752Z,1749340472.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251566
2025-06-07T23:54:32.904Z,1749340472.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:32.907Z,1749340472.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 189.890442 m,
      bearing: 311.919708 deg,
      approach rate: -0.704221 m/s,
      LOS rate: 0.001800 deg/s,
      cmd heading: 310.870814 deg,
      new cmd heading: 310.872821 deg.

2025-06-07T23:54:32.908Z,1749340472.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425754 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:33.006Z,1749340473.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505066
2025-06-07T23:54:33.259Z,1749340473.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757643
2025-06-07T23:54:33.365Z,1749340473.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:33.368Z,1749340473.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 189.568481 m,
      bearing: 311.921630 deg,
      approach rate: -0.699450 m/s,
      LOS rate: 0.004181 deg/s,
      cmd heading: 310.872809 deg,
      new cmd heading: 310.878583 deg.

2025-06-07T23:54:33.369Z,1749340473.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425855 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:33.508Z,1749340473.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007569
2025-06-07T23:54:33.710Z,1749340473.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:33.712Z,1749340473.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:33.715Z,1749340473.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 189.325821 m,
      bearing: 311.923145 deg,
      approach rate: -0.697757 m/s,
      LOS rate: 0.004363 deg/s,
      cmd heading: 310.878574 deg,
      new cmd heading: 310.883126 deg.

2025-06-07T23:54:33.716Z,1749340473.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425934 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:33.760Z,1749340473.760 [DAT](INFO): DAT read: Rx Time:23:54:33.0318

2025-06-07T23:54:33.761Z,1749340473.761 [DAT](INFO): Rx dataTimestamp_ set to:1749340473.760513
2025-06-07T23:54:33.761Z,1749340473.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260873
2025-06-07T23:54:34.012Z,1749340474.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511594
2025-06-07T23:54:34.131Z,1749340474.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:34.136Z,1749340474.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 189.041855 m,
      bearing: 311.925026 deg,
      approach rate: -0.682905 m/s,
      LOS rate: 0.004530 deg/s,
      cmd heading: 310.883136 deg,
      new cmd heading: 310.888788 deg.

2025-06-07T23:54:34.138Z,1749340474.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426033 target range: 231.356445 and range: 230.00 m.
2025-06-07T23:54:34.269Z,1749340474.269 [DAT](INFO): DAT read: Range 10 to 50 : 226.7 m  (Round-trip  302.3 ms) speed  0.8 m/s

2025-06-07T23:54:34.273Z,1749340474.273 [DAT](INFO): DAT read: user:1927>

2025-06-07T23:54:34.274Z,1749340474.274 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:54:34.277Z,1749340474.277 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:34.277Z,1749340474.277 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:34.278Z,1749340474.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:34.516Z,1749340474.516 [DAT](INFO): DAT read: Tx time:23:54:34.1253

2025-06-07T23:54:34.517Z,1749340474.517 [DAT](INFO): Ping request sent.
2025-06-07T23:54:34.517Z,1749340474.517 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:34.517Z,1749340474.517 [DAT](INFO): DAT read: TxSync time:23:54:34.1246

2025-06-07T23:54:34.518Z,1749340474.518 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:34.518Z,1749340474.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001576
2025-06-07T23:54:34.691Z,1749340474.691 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +4.32,      +159   -0.48,   8.38,  0.00
2025-06-07T23:54:34.710Z,1749340474.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 226.699997 m,
      deltaT: 3.779357 s,
      deltaX: -3.300003 m,
      approachRate: -0.873165 m/s,
      rangeRepo size: 4

2025-06-07T23:54:34.711Z,1749340474.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:34.733Z,1749340474.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 188.627274 m,
      bearing: 311.927820 deg,
      approach rate: -0.713574 m/s,
      LOS rate: 0.004819 deg/s,
      cmd heading: 310.888792 deg,
      new cmd heading: 310.897191 deg.

2025-06-07T23:54:34.734Z,1749340474.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426179 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:34.768Z,1749340474.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251505
2025-06-07T23:54:35.020Z,1749340475.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503476
2025-06-07T23:54:35.056Z,1749340475.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:35.059Z,1749340475.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 188.398651 m,
      bearing: 311.929609 deg,
      approach rate: -0.659208 m/s,
      LOS rate: 0.005167 deg/s,
      cmd heading: 310.897179 deg,
      new cmd heading: 310.902555 deg.

2025-06-07T23:54:35.064Z,1749340475.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426273 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:35.274Z,1749340475.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756939
2025-06-07T23:54:35.524Z,1749340475.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007445
2025-06-07T23:54:35.527Z,1749340475.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:35.529Z,1749340475.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 188.046967 m,
      bearing: 311.934946 deg,
      approach rate: -0.747680 m/s,
      LOS rate: 0.011367 deg/s,
      cmd heading: 310.902561 deg,
      new cmd heading: 310.918601 deg.

2025-06-07T23:54:35.530Z,1749340475.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426553 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:35.779Z,1749340475.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262306
2025-06-07T23:54:35.893Z,1749340475.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:35.895Z,1749340475.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:35.902Z,1749340475.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 187.782043 m,
      bearing: 311.938978 deg,
      approach rate: -0.719263 m/s,
      LOS rate: 0.010962 deg/s,
      cmd heading: 310.918598 deg,
      new cmd heading: 310.930711 deg.

2025-06-07T23:54:35.903Z,1749340475.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426764 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:36.028Z,1749340476.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511463
2025-06-07T23:54:36.280Z,1749340476.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763409
2025-06-07T23:54:36.348Z,1749340476.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:36.359Z,1749340476.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 187.492096 m,
      bearing: 311.943234 deg,
      approach rate: -0.678633 m/s,
      LOS rate: 0.009977 deg/s,
      cmd heading: 310.930702 deg,
      new cmd heading: 310.943490 deg.

2025-06-07T23:54:36.364Z,1749340476.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426988 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:36.532Z,1749340476.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015303
2025-06-07T23:54:36.731Z,1749340476.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:36.734Z,1749340476.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 187.194168 m,
      bearing: 311.946845 deg,
      approach rate: -0.735841 m/s,
      LOS rate: 0.008934 deg/s,
      cmd heading: 310.943488 deg,
      new cmd heading: 310.954340 deg.

2025-06-07T23:54:36.735Z,1749340476.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427177 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:36.784Z,1749340476.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267559
2025-06-07T23:54:37.036Z,1749340477.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519285
2025-06-07T23:54:37.103Z,1749340477.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:37.105Z,1749340477.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 186.917023 m,
      bearing: 311.950215 deg,
      approach rate: -0.737889 m/s,
      LOS rate: 0.008986 deg/s,
      cmd heading: 310.954334 deg,
      new cmd heading: 310.964459 deg.

2025-06-07T23:54:37.106Z,1749340477.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427354 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:37.293Z,1749340477.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776144
2025-06-07T23:54:37.536Z,1749340477.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:37.539Z,1749340477.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 186.613007 m,
      bearing: 311.952812 deg,
      approach rate: -0.701159 m/s,
      LOS rate: 0.005999 deg/s,
      cmd heading: 310.964470 deg,
      new cmd heading: 310.972273 deg.

2025-06-07T23:54:37.540Z,1749340477.540 [DAT](INFO): DAT read: Rx Time:23:54:36.8291

2025-06-07T23:54:37.541Z,1749340477.541 [DAT](INFO): Rx dataTimestamp_ set to:1749340477.540571
2025-06-07T23:54:37.541Z,1749340477.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024640
2025-06-07T23:54:37.544Z,1749340477.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427490 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:37.792Z,1749340477.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275305
2025-06-07T23:54:37.903Z,1749340477.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:37.905Z,1749340477.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:37.912Z,1749340477.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 186.339600 m,
      bearing: 311.955144 deg,
      approach rate: -0.740633 m/s,
      LOS rate: 0.006324 deg/s,
      cmd heading: 310.972284 deg,
      new cmd heading: 310.979288 deg.

2025-06-07T23:54:37.913Z,1749340477.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427612 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:38.048Z,1749340478.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530504
2025-06-07T23:54:38.306Z,1749340478.306 [DAT](INFO): DAT read: 23:54:36.8291 LVL= 30272, 32753, 22674, 32131, AGC= 61, IDX= 413,-0.10, 0.855, 0.036, 0.915,-0.301, PHS= 1.244, 0.384, 1.213, RAW= 148.2, -49.9, CAL= 153.2, -48.4, ROT= 356.8,  48.4

2025-06-07T23:54:38.308Z,1749340478.308 [DAT](INFO): got valid direction response:
 23:54:36.8291 LVL= 30272, 32753, 22674, 32131, AGC= 61, IDX= 413,-0.10, 0.855, 0.036, 0.915,-0.301, PHS= 1.244, 0.384, 1.213, RAW= 148.2, -49.9, CAL= 153.2, -48.4, ROT= 356.8,  48.4

2025-06-07T23:54:38.309Z,1749340478.309 [DAT](INFO): DAT read: Bearing 356.8,  48.4 (Local)

2025-06-07T23:54:38.309Z,1749340478.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  48.4 (Local)

2025-06-07T23:54:38.311Z,1749340478.311 [DAT](INFO): DAT read: Range 10 to 50 : 224.7 m  (Round-trip  299.6 ms) speed  0.4 m/s

2025-06-07T23:54:38.312Z,1749340478.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.36 m.
2025-06-07T23:54:38.315Z,1749340478.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.356445 m,
      nav range: 186.040863 m,
      bearing: 311.957669 deg,
      approach rate: -0.765885 m/s,
      LOS rate: 0.006485 deg/s,
      cmd heading: 310.979278 deg,
      new cmd heading: 310.986867 deg.

2025-06-07T23:54:38.337Z,1749340478.337 [DAT](INFO): DAT read: user:1928>

2025-06-07T23:54:38.342Z,1749340478.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427745 target range: 231.356445 and range: 226.70 m.
2025-06-07T23:54:38.348Z,1749340478.348 [DAT](INFO): DAT read: Tx time:23:54:37.9253

2025-06-07T23:54:38.349Z,1749340478.349 [DAT](INFO): Ping request sent.
2025-06-07T23:54:38.349Z,1749340478.349 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:38.351Z,1749340478.351 [DAT](INFO): DAT read: TxSync time:23:54:37.9246

2025-06-07T23:54:38.361Z,1749340478.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:54:38.373Z,1749340478.373 [DAT](INFO): direction in FSK: [0.662891,-0.037062,-0.747798]
2025-06-07T23:54:38.374Z,1749340478.374 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:38.374Z,1749340478.374 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:38.401Z,1749340478.401 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:38.401Z,1749340478.401 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:38.728Z,1749340478.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 224.699997 m,
      deltaT: 4.031081 s,
      deltaX: -2.000000 m,
      approachRate: -0.496145 m/s,
      rangeRepo size: 4

2025-06-07T23:54:38.730Z,1749340478.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 222.924179 m,
      bearing: 312.036643 deg,
      lat: 36.905939 deg,
      lon: -122.116012 deg,
      deltaT: 15.127089 s,
      deltaX: -8.432266 m,
      approachRate: -0.557428 m/s,
      posRepo size: 4

2025-06-07T23:54:38.731Z,1749340478.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:38.733Z,1749340478.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 184.154526 m,
      bearing: 319.087595 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006485 deg/s,
      cmd heading: 310.986873 deg,
      new cmd heading: 310.995274 deg.

2025-06-07T23:54:38.734Z,1749340478.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427891 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:39.111Z,1749340479.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:39.114Z,1749340479.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 183.873184 m,
      bearing: 319.099313 deg,
      approach rate: -0.733017 m/s,
      LOS rate: 0.030578 deg/s,
      cmd heading: 310.995261 deg,
      new cmd heading: 311.030469 deg.

2025-06-07T23:54:39.115Z,1749340479.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428506 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:39.492Z,1749340479.492 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060715555654,35.0, +10.6,   0.0,1492.0, , 86.95,  80.49,  81.85,  84.5732768,-32768,-32768,-32768,V
2025-06-07T23:54:39.524Z,1749340479.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:39.526Z,1749340479.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 183.586594 m,
      bearing: 319.111313 deg,
      approach rate: -0.723697 m/s,
      LOS rate: 0.030351 deg/s,
      cmd heading: 311.030477 deg,
      new cmd heading: 311.066534 deg.

2025-06-07T23:54:39.532Z,1749340479.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.429135 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:39.925Z,1749340479.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:39.928Z,1749340479.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:39.931Z,1749340479.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 183.282623 m,
      bearing: 319.124083 deg,
      approach rate: -0.723178 m/s,
      LOS rate: 0.030430 deg/s,
      cmd heading: 311.066540 deg,
      new cmd heading: 311.104912 deg.

2025-06-07T23:54:39.932Z,1749340479.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.429805 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:40.060Z,1749340480.060 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:40.060Z,1749340480.060 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:40.061Z,1749340480.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:40.312Z,1749340480.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963325
2025-06-07T23:54:40.324Z,1749340480.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:40.326Z,1749340480.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 183.006897 m,
      bearing: 319.135454 deg,
      approach rate: -0.695160 m/s,
      LOS rate: 0.028714 deg/s,
      cmd heading: 311.104899 deg,
      new cmd heading: 311.139066 deg.

2025-06-07T23:54:40.335Z,1749340480.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430401 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:40.564Z,1749340480.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215565
2025-06-07T23:54:40.738Z,1749340480.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:40.741Z,1749340480.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 182.688354 m,
      bearing: 319.142997 deg,
      approach rate: -0.768852 m/s,
      LOS rate: 0.018236 deg/s,
      cmd heading: 311.139077 deg,
      new cmd heading: 311.161743 deg.

2025-06-07T23:54:40.742Z,1749340480.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430797 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:40.816Z,1749340480.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467573
2025-06-07T23:54:41.068Z,1749340481.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719419
2025-06-07T23:54:41.127Z,1749340481.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:41.130Z,1749340481.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 182.399933 m,
      bearing: 319.149783 deg,
      approach rate: -0.742092 m/s,
      LOS rate: 0.017489 deg/s,
      cmd heading: 311.161753 deg,
      new cmd heading: 311.182145 deg.

2025-06-07T23:54:41.131Z,1749340481.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.431153 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:41.320Z,1749340481.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971435
2025-06-07T23:54:41.554Z,1749340481.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:41.557Z,1749340481.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 182.087555 m,
      bearing: 319.156115 deg,
      approach rate: -0.730563 m/s,
      LOS rate: 0.014835 deg/s,
      cmd heading: 311.182135 deg,
      new cmd heading: 311.201164 deg.

2025-06-07T23:54:41.558Z,1749340481.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.431485 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:41.572Z,1749340481.572 [DAT](INFO): DAT read: Rx Time:23:54:40.6267

2025-06-07T23:54:41.573Z,1749340481.573 [DAT](INFO): Rx dataTimestamp_ set to:1749340481.572435
2025-06-07T23:54:41.573Z,1749340481.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224579
2025-06-07T23:54:41.824Z,1749340481.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475427
2025-06-07T23:54:41.959Z,1749340481.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:41.962Z,1749340481.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.92 m.
2025-06-07T23:54:41.966Z,1749340481.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.924179 m,
      nav range: 181.793396 m,
      bearing: 319.162073 deg,
      approach rate: -0.721978 m/s,
      LOS rate: 0.014645 deg/s,
      cmd heading: 311.201177 deg,
      new cmd heading: 311.219078 deg.

2025-06-07T23:54:41.968Z,1749340481.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.431798 target range: 222.924179 and range: 224.70 m.
2025-06-07T23:54:42.091Z,1749340482.091 [DAT](INFO): DAT read: 23:54:40.6267 LVL= 21632, 32753, 21362, 31059, AGC= 67, IDX= 414, 0.26, 0.652,-0.509, 0.682,-0.189, PHS= 0.929,-0.273, 0.868, RAW= 147.4, -24.7, CAL= 151.9, -31.1, ROT= 358.1,  31.1

2025-06-07T23:54:42.093Z,1749340482.093 [DAT](INFO): got valid direction response:
 23:54:40.6267 LVL= 21632, 32753, 21362, 31059, AGC= 67, IDX= 414, 0.26, 0.652,-0.509, 0.682,-0.189, PHS= 0.929,-0.273, 0.868, RAW= 147.4, -24.7, CAL= 151.9, -31.1, ROT= 358.1,  31.1

2025-06-07T23:54:42.094Z,1749340482.094 [DAT](INFO): DAT read: Bearing 358.1,  31.1 (Local)

2025-06-07T23:54:42.099Z,1749340482.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,  31.1 (Local)

2025-06-07T23:54:42.101Z,1749340482.101 [DAT](INFO): DAT read: Range 10 to 50 : 222.8 m  (Round97.1 ms) speed  0.7 m/s

2025-06-07T23:54:42.102Z,1749340482.102 [DAT](INFO): DAT read: user:1929>

2025-06-07T23:54:42.102Z,1749340482.102 [DAT](INFO): DAT read: Tx time:23:54:41.7254

2025-06-07T23:54:42.103Z,1749340482.103 [DAT](INFO): Ping request sent.
2025-06-07T23:54:42.103Z,1749340482.103 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:42.108Z,1749340482.108 [DAT](INFO): DAT read: TxSync time:23:54:41.7247

2025-06-07T23:54:42.109Z,1749340482.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:54:42.110Z,1749340482.110 [DAT](INFO): direction in FSK: [0.855796,-0.028389,-0.516533]
2025-06-07T23:54:42.110Z,1749340482.110 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:42.110Z,1749340482.110 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:42.125Z,1749340482.125 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:42.125Z,1749340482.125 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:42.349Z,1749340482.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 222.800003 m,
      deltaT: 3.781438 s,
      deltaX: -1.899994 m,
      approachRate: -0.502453 m/s,
      rangeRepo size: 4

2025-06-07T23:54:42.352Z,1749340482.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.040237 m,
      bearing: 311.585017 deg,
      lat: 36.905855 deg,
      lon: -122.116012 deg,
      deltaT: 3.781438 s,
      deltaX: -1.883942 m,
      approachRate: -0.498208 m/s,
      posRepo size: 4

2025-06-07T23:54:42.352Z,1749340482.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:42.355Z,1749340482.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 174.528244 m,
      bearing: 317.155923 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014645 deg/s,
      cmd heading: 311.219072 deg,
      new cmd heading: 311.236013 deg.

2025-06-07T23:54:42.356Z,1749340482.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432093 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:42.847Z,1749340482.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:42.850Z,1749340482.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 174.179672 m,
      bearing: 317.158257 deg,
      approach rate: -0.698146 m/s,
      LOS rate: 0.004682 deg/s,
      cmd heading: 311.236011 deg,
      new cmd heading: 311.243025 deg.

2025-06-07T23:54:42.851Z,1749340482.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432216 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:43.196Z,1749340483.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:43.204Z,1749340483.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 173.919952 m,
      bearing: 317.160177 deg,
      approach rate: -0.742657 m/s,
      LOS rate: 0.005501 deg/s,
      cmd heading: 311.243032 deg,
      new cmd heading: 311.248803 deg.

2025-06-07T23:54:43.211Z,1749340483.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432316 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:43.609Z,1749340483.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:43.611Z,1749340483.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 173.624542 m,
      bearing: 317.165219 deg,
      approach rate: -0.716930 m/s,
      LOS rate: 0.012256 deg/s,
      cmd heading: 311.248797 deg,
      new cmd heading: 311.263947 deg.

2025-06-07T23:54:43.612Z,1749340483.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432581 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:43.974Z,1749340483.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:43.977Z,1749340483.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:43.980Z,1749340483.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 173.354965 m,
      bearing: 317.169666 deg,
      approach rate: -0.731181 m/s,
      LOS rate: 0.012080 deg/s,
      cmd heading: 311.263960 deg,
      new cmd heading: 311.277321 deg.

2025-06-07T23:54:43.981Z,1749340483.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432814 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:44.093Z,1749340484.093 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:44.093Z,1749340484.093 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:44.093Z,1749340484.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:44.344Z,1749340484.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241514
2025-06-07T23:54:44.461Z,1749340484.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:44.478Z,1749340484.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 173.041168 m,
      bearing: 317.174718 deg,
      approach rate: -0.656898 m/s,
      LOS rate: 0.010595 deg/s,
      cmd heading: 311.277320 deg,
      new cmd heading: 311.292504 deg.

2025-06-07T23:54:44.483Z,1749340484.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.433079 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:44.596Z,1749340484.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493417
2025-06-07T23:54:44.827Z,1749340484.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:44.830Z,1749340484.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 172.749573 m,
      bearing: 317.181599 deg,
      approach rate: -0.784346 m/s,
      LOS rate: 0.018540 deg/s,
      cmd heading: 311.292510 deg,
      new cmd heading: 311.313188 deg.

2025-06-07T23:54:44.831Z,1749340484.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.433440 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:44.848Z,1749340484.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745501
2025-06-07T23:54:45.100Z,1749340485.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997434
2025-06-07T23:54:45.206Z,1749340485.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:45.213Z,1749340485.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 172.499313 m,
      bearing: 317.187388 deg,
      approach rate: -0.659155 m/s,
      LOS rate: 0.015270 deg/s,
      cmd heading: 311.313192 deg,
      new cmd heading: 311.330585 deg.

2025-06-07T23:54:45.214Z,1749340485.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.433744 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:45.355Z,1749340485.355 [DAT](INFO): DAT read: Rx Time:23:54:44.4236

2025-06-07T23:54:45.355Z,1749340485.355 [DAT](INFO): Rx dataTimestamp_ set to:1749340485.355075
2025-06-07T23:54:45.356Z,1749340485.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253199
2025-06-07T23:54:45.604Z,1749340485.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501493
2025-06-07T23:54:45.623Z,1749340485.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:45.625Z,1749340485.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 172.194199 m,
      bearing: 317.197025 deg,
      approach rate: -0.733077 m/s,
      LOS rate: 0.023195 deg/s,
      cmd heading: 311.330596 deg,
      new cmd heading: 311.359558 deg.

2025-06-07T23:54:45.626Z,1749340485.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434249 target range: 221.040237 and range: 222.80 m.
2025-06-07T23:54:45.858Z,1749340485.858 [DAT](INFO): DAT read: Range 10 to 50 : 220.5 m  (Round-trip  294.0 ms) speed  0.7 m/s

2025-06-07T23:54:45.859Z,1749340485.859 [DAT](INFO): DAT read: user:1930>

2025-06-07T23:54:45.860Z,1749340485.860 [DAT](INFO): DAT read: Tx time:23:54:45.5254

2025-06-07T23:54:45.860Z,1749340485.860 [DAT](INFO): Ping request sent.
2025-06-07T23:54:45.860Z,1749340485.860 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:45.860Z,1749340485.860 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:54:45.860Z,1749340485.861 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:45.861Z,1749340485.861 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:45.888Z,1749340485.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:54:46.013Z,1749340486.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:46.016Z,1749340486.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 220.500000 m,
      deltaT: 3.778747 s,
      deltaX: -2.300003 m,
      approachRate: -0.608668 m/s,
      rangeRepo size: 4

2025-06-07T23:54:46.017Z,1749340486.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:46.020Z,1749340486.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 171.920654 m,
      bearing: 317.205694 deg,
      approach rate: -0.696522 m/s,
      LOS rate: 0.022108 deg/s,
      cmd heading: 311.359556 deg,
      new cmd heading: 311.385603 deg.

2025-06-07T23:54:46.021Z,1749340486.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434704 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:46.109Z,1749340486.109 [DAT](INFO): DAT read: TxSync time:23:54:45.5247

2025-06-07T23:54:46.110Z,1749340486.110 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:46.110Z,1749340486.110 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:46.110Z,1749340486.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:46.360Z,1749340486.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499993
2025-06-07T23:54:46.406Z,1749340486.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:46.410Z,1749340486.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 171.647964 m,
      bearing: 317.214701 deg,
      approach rate: -0.697055 m/s,
      LOS rate: 0.023062 deg/s,
      cmd heading: 311.385592 deg,
      new cmd heading: 311.412658 deg.

2025-06-07T23:54:46.411Z,1749340486.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435176 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:46.612Z,1749340486.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752063
2025-06-07T23:54:46.839Z,1749340486.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:46.842Z,1749340486.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 171.363846 m,
      bearing: 317.227257 deg,
      approach rate: -0.662587 m/s,
      LOS rate: 0.029330 deg/s,
      cmd heading: 311.412667 deg,
      new cmd heading: 311.450397 deg.

2025-06-07T23:54:46.847Z,1749340486.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435835 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:46.864Z,1749340486.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004119
2025-06-07T23:54:46.892Z,1749340486.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:54:47.116Z,1749340487.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256011
2025-06-07T23:54:47.206Z,1749340487.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:47.210Z,1749340487.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 171.098190 m,
      bearing: 317.238966 deg,
      approach rate: -0.716427 m/s,
      LOS rate: 0.031626 deg/s,
      cmd heading: 311.450397 deg,
      new cmd heading: 311.485578 deg.

2025-06-07T23:54:47.211Z,1749340487.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436449 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:47.368Z,1749340487.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508045
2025-06-07T23:54:47.620Z,1749340487.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760062
2025-06-07T23:54:47.658Z,1749340487.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:47.664Z,1749340487.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 170.796921 m,
      bearing: 317.253149 deg,
      approach rate: -0.666436 m/s,
      LOS rate: 0.031429 deg/s,
      cmd heading: 311.485586 deg,
      new cmd heading: 311.528210 deg.

2025-06-07T23:54:47.665Z,1749340487.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.437193 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:47.872Z,1749340487.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011953
2025-06-07T23:54:48.032Z,1749340488.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:48.034Z,1749340488.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:48.037Z,1749340488.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 170.533218 m,
      bearing: 317.265530 deg,
      approach rate: -0.701226 m/s,
      LOS rate: 0.032975 deg/s,
      cmd heading: 311.528207 deg,
      new cmd heading: 311.565408 deg.

2025-06-07T23:54:48.038Z,1749340488.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.437842 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:48.125Z,1749340488.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264583
2025-06-07T23:54:48.376Z,1749340488.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515981
2025-06-07T23:54:48.423Z,1749340488.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:48.426Z,1749340488.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 170.268372 m,
      bearing: 317.278012 deg,
      approach rate: -0.681147 m/s,
      LOS rate: 0.032151 deg/s,
      cmd heading: 311.565417 deg,
      new cmd heading: 311.602920 deg.

2025-06-07T23:54:48.427Z,1749340488.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438497 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:48.629Z,1749340488.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768690
2025-06-07T23:54:48.880Z,1749340488.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020117
2025-06-07T23:54:48.929Z,1749340488.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:48.932Z,1749340488.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 169.914154 m,
      bearing: 317.296034 deg,
      approach rate: -0.700605 m/s,
      LOS rate: 0.035720 deg/s,
      cmd heading: 311.602929 deg,
      new cmd heading: 311.657108 deg.

2025-06-07T23:54:48.933Z,1749340488.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439443 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:49.132Z,1749340489.132 [DAT](INFO): DAT read: Rx Time:23:54:48.1930

2025-06-07T23:54:49.133Z,1749340489.133 [DAT](INFO): Rx dataTimestamp_ set to:1749340489.132415
2025-06-07T23:54:49.133Z,1749340489.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273130
2025-06-07T23:54:49.270Z,1749340489.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:49.277Z,1749340489.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 169.686218 m,
      bearing: 317.307659 deg,
      approach rate: -0.667093 m/s,
      LOS rate: 0.034068 deg/s,
      cmd heading: 311.657106 deg,
      new cmd heading: 311.692028 deg.

2025-06-07T23:54:49.278Z,1749340489.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440052 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:49.385Z,1749340489.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524727
2025-06-07T23:54:49.639Z,1749340489.639 [DAT](INFO): DAT read: Range 10 to 50 : 197.5 m  (Round-trip  263.4 ms) speed  1.5 m/s

2025-06-07T23:54:49.640Z,1749340489.640 [DAT](INFO): DAT read: user:1931>

2025-06-07T23:54:49.640Z,1749340489.640 [DAT](INFO): DAT read: Tx time:23:54:49.2754

2025-06-07T23:54:49.641Z,1749340489.641 [DAT](INFO): Ping request sent.
2025-06-07T23:54:49.641Z,1749340489.641 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:49.641Z,1749340489.641 [DAT](INFO): DAT read: TxSync time:23:54:49.2747

2025-06-07T23:54:49.642Z,1749340489.642 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:54:49.642Z,1749340489.642 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:49.643Z,1749340489.643 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:49.758Z,1749340489.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 197.500000 m,
 deltaT: 3.780972 s,
 deltaX: -23.000000 m,
 approachRate: -6.083092 m/s,
 rangeRepo size: 4
2025-06-07T23:54:49.758Z,1749340489.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:49.767Z,1749340489.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 169.341751 m,
      bearing: 317.324926 deg,
      approach rate: -0.707650 m/s,
      LOS rate: 0.035546 deg/s,
      cmd heading: 311.692022 deg,
      new cmd heading: 311.743930 deg.

2025-06-07T23:54:49.772Z,1749340489.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440958 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:50.102Z,1749340490.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:50.105Z,1749340490.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:50.107Z,1749340490.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 169.094574 m,
      bearing: 317.337502 deg,
      approach rate: -0.711393 m/s,
      LOS rate: 0.036245 deg/s,
      cmd heading: 311.743931 deg,
      new cmd heading: 311.781712 deg.

2025-06-07T23:54:50.108Z,1749340490.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441617 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:50.140Z,1749340490.140 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:50.140Z,1749340490.140 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:50.140Z,1749340490.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:50.392Z,1749340490.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751410
2025-06-07T23:54:50.493Z,1749340490.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:50.496Z,1749340490.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 168.827408 m,
      bearing: 317.351206 deg,
      approach rate: -0.688083 m/s,
      LOS rate: 0.035351 deg/s,
      cmd heading: 311.781716 deg,
      new cmd heading: 311.822893 deg.

2025-06-07T23:54:50.519Z,1749340490.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442336 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:50.644Z,1749340490.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003460
2025-06-07T23:54:50.896Z,1749340490.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255295
2025-06-07T23:54:50.933Z,1749340490.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:50.941Z,1749340490.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 168.511871 m,
      bearing: 317.364476 deg,
      approach rate: -0.716140 m/s,
      LOS rate: 0.030174 deg/s,
      cmd heading: 311.822888 deg,
      new cmd heading: 311.862773 deg.

2025-06-07T23:54:50.942Z,1749340490.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443032 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:51.148Z,1749340491.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507432
2025-06-07T23:54:51.291Z,1749340491.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:51.293Z,1749340491.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 168.253632 m,
      bearing: 317.375213 deg,
      approach rate: -0.722808 m/s,
      LOS rate: 0.030098 deg/s,
      cmd heading: 311.862777 deg,
      new cmd heading: 311.895036 deg.

2025-06-07T23:54:51.294Z,1749340491.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443595 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:51.401Z,1749340491.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759926
2025-06-07T23:54:51.652Z,1749340491.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011383
2025-06-07T23:54:51.708Z,1749340491.708 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +4. +171.97,       -0.51,   8.08,  0.00
2025-06-07T23:54:51.724Z,1749340491.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:51.726Z,1749340491.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 167.944839 m,
      bearing: 317.387931 deg,
      approach rate: -0.714210 m/s,
      LOS rate: 0.029471 deg/s,
      cmd heading: 311.895042 deg,
      new cmd heading: 311.933268 deg.

2025-06-07T23:54:51.728Z,1749340491.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444263 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:51.904Z,1749340491.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263387
2025-06-07T23:54:52.098Z,1749340492.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:52.101Z,1749340492.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 167.677383 m,
      bearing: 317.398896 deg,
      approach rate: -0.713985 m/s,
      LOS rate: 0.029319 deg/s,
      cmd heading: 311.933264 deg,
      new cmd heading: 311.966212 deg.

2025-06-07T23:54:52.102Z,1749340492.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444838 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:52.158Z,1749340492.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517113
2025-06-07T23:54:52.408Z,1749340492.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767364
2025-06-07T23:54:52.508Z,1749340492.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:52.514Z,1749340492.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:52.517Z,1749340492.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 167.384903 m,
      bearing: 317.410863 deg,
      approach rate: -0.704833 m/s,
      LOS rate: 0.028888 deg/s,
      cmd heading: 311.966213 deg,
      new cmd heading: 312.002175 deg.

2025-06-07T23:54:52.518Z,1749340492.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445465 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:52.660Z,1749340492.660 [DAT](INFO): DAT read: Rx Time:23:54:51.9666

2025-06-07T23:54:52.661Z,1749340492.661 [DAT](INFO): Rx dataTimestamp_ set to:1749340492.660573
2025-06-07T23:54:52.661Z,1749340492.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020651
2025-06-07T23:54:52.912Z,1749340492.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271446
2025-06-07T23:54:52.972Z,1749340492.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:52.981Z,1749340492.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 167.064209 m,
      bearing: 317.420300 deg,
      approach rate: -0.698153 m/s,
      LOS rate: 0.020585 deg/s,
      cmd heading: 312.002167 deg,
      new cmd heading: 312.030535 deg.

2025-06-07T23:54:52.982Z,1749340492.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445960 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:53.164Z,1749340493.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523360
2025-06-07T23:54:53.328Z,1749340493.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:53.330Z,1749340493.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 166.796432 m,
      bearing: 317.428127 deg,
      approach rate: -0.753525 m/s,
      LOS rate: 0.022059 deg/s,
      cmd heading: 312.030526 deg,
      new cmd heading: 312.054043 deg.

2025-06-07T23:54:53.331Z,1749340493.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446371 target range: 221.040237 and range: 220.50 m.
2025-06-07T23:54:53.419Z,1749340493.419 [DAT](INFO): DAT read: Range 10 to 50 : 215.1 m  (Round-trip  286.9 ms) speed  0.4 m/s

2025-06-07T23:54:53.420Z,1749340493.420 [DAT](INFO): DAT read: user:1932>

2025-06-07T23:54:53.421Z,1749340493.421 [DAT](INFO): DAT read: Tx time:23:54:53.0755

2025-06-07T23:54:53.422Z,1749340493.422 [DAT](INFO): Ping request sent.
2025-06-07T23:54:53.422Z,1749340493.422 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:53.422Z,1749340493.422 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:54:53.422Z,1749340493.422 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:53.423Z,1749340493.423 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:53.668Z,1749340493.668 [DAT](INFO): DAT read: TxSync time:23:54:53.0748

2025-06-07T23:54:53.746Z,1749340493.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 215.100006 m,
      deltaT: 7.560632 s,
      deltaX: -5.399994 m,
      approachRate: -0.714225 m/s,
      rangeRepo size: 4

2025-06-07T23:54:53.747Z,1749340493.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:53.749Z,1749340493.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 166.491898 m,
      bearing: 317.435619 deg,
      approach rate: -0.728655 m/s,
      LOS rate: 0.017959 deg/s,
      cmd heading: 312.054049 deg,
      new cmd heading: 312.076567 deg.

2025-06-07T23:54:53.750Z,1749340493.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446764 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:54.125Z,1749340494.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:54.148Z,1749340494.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 166.215256 m,
      bearing: 317.442699 deg,
      approach rate: -0.727660 m/s,
      LOS rate: 0.018655 deg/s,
      cmd heading: 312.076561 deg,
      new cmd heading: 312.097838 deg.

2025-06-07T23:54:54.149Z,1749340494.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447135 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:54.528Z,1749340494.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:54.530Z,1749340494.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:54.533Z,1749340494.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 165.922058 m,
      bearing: 317.450230 deg,
      approach rate: -0.724027 m/s,
      LOS rate: 0.018630 deg/s,
      cmd heading: 312.097844 deg,
      new cmd heading: 312.120477 deg.

2025-06-07T23:54:54.534Z,1749340494.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447530 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:54.680Z,1749340494.680 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:54.680Z,1749340494.680 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:54.680Z,1749340494.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:54.932Z,1749340494.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510442
2025-06-07T23:54:54.997Z,1749340494.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:55.005Z,1749340495.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 165.596649 m,
      bearing: 317.456936 deg,
      approach rate: -0.697227 m/s,
      LOS rate: 0.014396 deg/s,
      cmd heading: 312.120466 deg,
      new cmd heading: 312.140622 deg.

2025-06-07T23:54:55.006Z,1749340495.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447882 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:55.184Z,1749340495.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762291
2025-06-07T23:54:55.328Z,1749340495.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:55.331Z,1749340495.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 165.331879 m,
      bearing: 317.462199 deg,
      approach rate: -0.799730 m/s,
      LOS rate: 0.015922 deg/s,
      cmd heading: 312.140629 deg,
      new cmd heading: 312.156443 deg.

2025-06-07T23:54:55.332Z,1749340495.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448158 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:55.436Z,1749340495.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014329
2025-06-07T23:54:55.688Z,1749340495.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266343
2025-06-07T23:54:55.784Z,1749340495.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:55.786Z,1749340495.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 165.010345 m,
      bearing: 317.467421 deg,
      approach rate: -0.705852 m/s,
      LOS rate: 0.011486 deg/s,
      cmd heading: 312.156447 deg,
      new cmd heading: 312.172144 deg.

2025-06-07T23:54:55.792Z,1749340495.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448432 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:55.941Z,1749340495.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518965
2025-06-07T23:54:56.192Z,1749340496.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770329
2025-06-07T23:54:56.213Z,1749340496.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:56.216Z,1749340496.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 164.685318 m,
      bearing: 317.472605 deg,
      approach rate: -0.757255 m/s,
      LOS rate: 0.012103 deg/s,
      cmd heading: 312.172157 deg,
      new cmd heading: 312.187741 deg.

2025-06-07T23:54:56.217Z,1749340496.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448704 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:56.445Z,1749340496.445 [DAT](INFO): DAT read: Rx Time:23:54:55.7648

2025-06-07T23:54:56.446Z,1749340496.446 [DAT](INFO): Rx dataTimestamp_ set to:1749340496.445070
2025-06-07T23:54:56.447Z,1749340496.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024395
2025-06-07T23:54:56.704Z,1749340496.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282333
2025-06-07T23:54:56.768Z,1749340496.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:56.770Z,1749340496.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:56.773Z,1749340496.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 164.267532 m,
      bearing: 317.480652 deg,
      approach rate: -0.749757 m/s,
      LOS rate: 0.014477 deg/s,
      cmd heading: 312.187730 deg,
      new cmd heading: 312.211931 deg.

2025-06-07T23:54:56.774Z,1749340496.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449126 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:56.957Z,1749340496.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535112
2025-06-07T23:54:57.109Z,1749340497.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.04 m.
2025-06-07T23:54:57.111Z,1749340497.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.040237 m,
      nav range: 164.013885 m,
      bearing: 317.485436 deg,
      approach rate: -0.749426 m/s,
      LOS rate: 0.014155 deg/s,
      cmd heading: 312.211936 deg,
      new cmd heading: 312.226308 deg.

2025-06-07T23:54:57.112Z,1749340497.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449377 target range: 221.040237 and range: 215.10 m.
2025-06-07T23:54:57.214Z,1749340497.214 [DAT](INFO): DAT read: 23:54:55.7648 LVL= 20464, 24561, 19490, 25027, AGC= 59, IDX= 423,-0.49,-1.736,-2.699,-1.657,-2.651, PHS= 1.003,-0.001, 0.991, RAW= 149.4, -35.2, CAL= 151.7, -39.8, ROT= 358.3,  39.8

2025-06-07T23:54:57.216Z,1749340497.216 [DAT](INFO): got valid direction response:
 23:54:55.7648 LVL= 20464, 24561, 19490, 25027, AGC= 59, IDX= 423,-0.49,-1.736,-2.699,-1.657,-2.651, PHS= 1.003,-0.001, 0.991, RAW= 149.4, -35.2, CAL= 151.7, -39.8, ROT= 358.3,  39.8

2025-06-07T23:54:57.217Z,1749340497.217 [DAT](INFO): DAT read: Bearing 358.3,  39.8 (Local)

2025-06-07T23:54:57.217Z,1749340497.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  39.8 (Local)

2025-06-07T23:54:57.218Z,1749340497.218 [DAT](INFO): DAT read: Range 10 to 50 : 213.8 m  (Round-trip  285.1 ms) speed  0.5 m/s

2025-06-07T23:54:57.219Z,1749340497.219 [DAT](INFO): DAT read: user:1933>

2025-06-07T23:54:57.220Z,1749340497.220 [DAT](INFO): DAT read: Tx time:23:54:56.8755

2025-06-07T23:54:57.220Z,1749340497.220 [DAT](INFO): Ping request sent.
2025-06-07T23:54:57.220Z,1749340497.220 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:54:57.221Z,1749340497.221 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:54:57.222Z,1749340497.222 [DAT](INFO): direction in FSK: [0.767945,-0.022792,-0.640110]
2025-06-07T23:54:57.222Z,1749340497.222 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:57.222Z,1749340497.222 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:57.245Z,1749340497.245 [DAT](INFO): publishing transmit ping time
2025-06-07T23:54:57.245Z,1749340497.245 [DAT](INFO): publishing direction and range info
2025-06-07T23:54:57.460Z,1749340497.460 [DAT](INFO): DAT read: TxSync time:23:54:56.8748

2025-06-07T23:54:57.504Z,1749340497.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 213.800003 m,
      deltaT: 3.791228 s,
      deltaX: -1.300003 m,
      approachRate: -0.342898 m/s,
      rangeRepo size: 4

2025-06-07T23:54:57.506Z,1749340497.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 212.111618 m,
      bearing: 313.686803 deg,
      lat: 36.905808 deg,
      lon: -122.116129 deg,
      deltaT: 15.130607 s,
      deltaX: -8.928619 m,
      approachRate: -0.590103 m/s,
      posRepo size: 4

2025-06-07T23:54:57.507Z,1749340497.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:54:57.509Z,1749340497.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 167.288666 m,
      bearing: 313.687406 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014155 deg/s,
      cmd heading: 312.226307 deg,
      new cmd heading: 312.243059 deg.

2025-06-07T23:54:57.510Z,1749340497.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449669 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:54:57.902Z,1749340497.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:54:57.905Z,1749340497.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 166.986252 m,
      bearing: 313.686593 deg,
      approach rate: -0.758782 m/s,
      LOS rate: -0.002043 deg/s,
      cmd heading: 312.243054 deg,
      new cmd heading: 312.240612 deg.

2025-06-07T23:54:57.906Z,1749340497.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449627 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:54:58.281Z,1749340498.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:54:58.283Z,1749340498.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 166.701614 m,
      bearing: 313.685654 deg,
      approach rate: -0.751280 m/s,
      LOS rate: -0.002482 deg/s,
      cmd heading: 312.240623 deg,
      new cmd heading: 312.237802 deg.

2025-06-07T23:54:58.284Z,1749340498.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449578 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:54:58.730Z,1749340498.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:54:58.733Z,1749340498.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 166.371262 m,
      bearing: 313.687703 deg,
      approach rate: -0.734347 m/s,
      LOS rate: 0.004563 deg/s,
      cmd heading: 312.237809 deg,
      new cmd heading: 312.243966 deg.

2025-06-07T23:54:58.734Z,1749340498.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449685 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:54:59.134Z,1749340499.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:54:59.156Z,1749340499.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:54:59.159Z,1749340499.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 166.079391 m,
      bearing: 313.689201 deg,
      approach rate: -0.685819 m/s,
      LOS rate: 0.003527 deg/s,
      cmd heading: 312.243956 deg,
      new cmd heading: 312.248459 deg.

2025-06-07T23:54:59.172Z,1749340499.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449764 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:54:59.229Z,1749340499.229 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:54:59.229Z,1749340499.229 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:54:59.229Z,1749340499.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:54:59.480Z,1749340499.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259909
2025-06-07T23:54:59.486Z,1749340499.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:54:59.489Z,1749340499.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 165.816818 m,
      bearing: 313.690401 deg,
      approach rate: -0.794530 m/s,
      LOS rate: 0.003635 deg/s,
      cmd heading: 312.248464 deg,
      new cmd heading: 312.252067 deg.

2025-06-07T23:54:59.490Z,1749340499.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449827 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:54:59.733Z,1749340499.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512052
2025-06-07T23:54:59.921Z,1749340499.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:54:59.924Z,1749340499.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 165.498322 m,
      bearing: 313.690572 deg,
      approach rate: -0.733432 m/s,
      LOS rate: 0.000396 deg/s,
      cmd heading: 312.252070 deg,
      new cmd heading: 312.252587 deg.

2025-06-07T23:54:59.925Z,1749340499.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449836 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:54:59.985Z,1749340499.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764280
2025-06-07T23:55:00.237Z,1749340500.237 [DAT](INFO): DAT read: Rx Time:23:54:59.5333

2025-06-07T23:55:00.237Z,1749340500.237 [DAT](INFO): Rx dataTimestamp_ set to:1749340500.237097
2025-06-07T23:55:00.238Z,1749340500.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017569
2025-06-07T23:55:00.311Z,1749340500.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:00.317Z,1749340500.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 165.224731 m,
      bearing: 313.690643 deg,
      approach rate: -0.730747 m/s,
      LOS rate: 0.000190 deg/s,
      cmd heading: 312.252589 deg,
      new cmd heading: 312.252802 deg.

2025-06-07T23:55:00.318Z,1749340500.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449840 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:00.488Z,1749340500.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267896
2025-06-07T23:55:00.740Z,1749340500.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520078
2025-06-07T23:55:00.825Z,1749340500.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:00.832Z,1749340500.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 164.882507 m,
      bearing: 313.691405 deg,
      approach rate: -0.645539 m/s,
      LOS rate: 0.001439 deg/s,
      cmd heading: 312.252808 deg,
      new cmd heading: 312.255096 deg.

2025-06-07T23:55:00.833Z,1749340500.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449880 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:00.998Z,1749340500.998 [DAT](INFO): DAT read: 23:54:59.5333 LVL= 23824, 30321, 22866, 32371, AGC= 68, IDX= 114,-0.14, 1.999, 0.520, 1.679, 1.254, PHS= 0.832,-0.687, 0.422, RAW= 134.9,  -8.4, CAL= 140.6, -19.8, ROT=   9.4,  19.8

2025-06-07T23:55:00.999Z,1749340500.999 [DAT](INFO): got valid direction response:
 23:54:59.5333 LVL= 23824, 30321, 22866, 32371, AGC= 68, IDX= 114,-0.14, 1.999, 0.520, 1.679, 1.254, PHS= 0.832,-0.687, 0.422, RAW= 134.9,  -8.4, CAL= 140.6, -19.8, ROT=   9.4,  19.8

2025-06-07T23:55:01.000Z,1749340501.000 [DAT](INFO): DAT read: Bearing   9.4,  19.8 (Local)

2025-06-07T23:55:01.001Z,1749340501.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4,  19.8 (Local)

2025-06-07T23:55:01.002Z,1749340501.002 [DAT](INFO): DAT read: Range 10 to 50 : 190.2 m  (Round-trip  253.7 ms) speed  0.8 m/s

2025-06-07T23:55:01.003Z,1749340501.003 [DAT](INFO): DAT read: user:1934>

2025-06-07T23:55:01.004Z,1749340501.004 [DAT](INFO): DAT read: Tx time:23:55:00.6255

2025-06-07T23:55:01.004Z,1749340501.004 [DAT](INFO): Ping request sent.
2025-06-07T23:55:01.004Z,1749340501.004 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:01.005Z,1749340501.005 [DAT](INFO): DAT read: TxSync time:23:55:00.6248

2025-06-07T23:55:01.006Z,1749340501.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:01.007Z,1749340501.007 [DAT](INFO): direction in FSK: [0.928247,0.153670,-0.338738]
2025-06-07T23:55:01.007Z,1749340501.007 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:01.007Z,1749340501.007 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:01.010Z,1749340501.010 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:01.010Z,1749340501.010 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:01.177Z,1749340501.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 190.199997 m,
 deltaT: 3.783810 s,
 deltaX: -23.600006 m,
 approachRate: -6.237101 m/s,
 rangeRepo size: 4
2025-06-07T23:55:01.177Z,1749340501.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:01.186Z,1749340501.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 164.626541 m,
      bearing: 313.691905 deg,
      approach rate: -0.742316 m/s,
      LOS rate: 0.001454 deg/s,
      cmd heading: 312.255103 deg,
      new cmd heading: 312.256607 deg.

2025-06-07T23:55:01.192Z,1749340501.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449906 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:01.525Z,1749340501.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:01.527Z,1749340501.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:01.529Z,1749340501.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 164.353241 m,
      bearing: 313.692573 deg,
      approach rate: -0.766227 m/s,
      LOS rate: 0.001874 deg/s,
      cmd heading: 312.256605 deg,
      new cmd heading: 312.258610 deg.

2025-06-07T23:55:01.530Z,1749340501.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449941 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:01.748Z,1749340501.748 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:01.748Z,1749340501.748 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:01.748Z,1749340501.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:01.986Z,1749340501.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:01.993Z,1749340501.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 164.037582 m,
      bearing: 313.693872 deg,
      approach rate: -0.686773 m/s,
      LOS rate: 0.002833 deg/s,
      cmd heading: 312.258600 deg,
      new cmd heading: 312.262506 deg.

2025-06-07T23:55:01.994Z,1749340501.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450009 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:02.000Z,1749340502.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995636
2025-06-07T23:55:02.252Z,1749340502.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247523
2025-06-07T23:55:02.408Z,1749340502.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:02.410Z,1749340502.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 163.730453 m,
      bearing: 313.695335 deg,
      approach rate: -0.728719 m/s,
      LOS rate: 0.003477 deg/s,
      cmd heading: 312.262507 deg,
      new cmd heading: 312.266903 deg.

2025-06-07T23:55:02.412Z,1749340502.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450086 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:02.505Z,1749340502.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500199
2025-06-07T23:55:02.756Z,1749340502.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751652
2025-06-07T23:55:02.796Z,1749340502.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:02.819Z,1749340502.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 163.460403 m,
      bearing: 313.695576 deg,
      approach rate: -0.694924 m/s,
      LOS rate: 0.000623 deg/s,
      cmd heading: 312.266905 deg,
      new cmd heading: 312.267631 deg.

2025-06-07T23:55:02.820Z,1749340502.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450099 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:03.008Z,1749340503.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003512
2025-06-07T23:55:03.159Z,1749340503.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:03.162Z,1749340503.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 163.208511 m,
      bearing: 313.695565 deg,
      approach rate: -0.694944 m/s,
      LOS rate: -0.000030 deg/s,
      cmd heading: 312.267643 deg,
      new cmd heading: 312.267610 deg.

2025-06-07T23:55:03.163Z,1749340503.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450098 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:03.261Z,1749340503.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256705
2025-06-07T23:55:03.516Z,1749340503.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511912
2025-06-07T23:55:03.567Z,1749340503.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:03.569Z,1749340503.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:03.573Z,1749340503.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 162.923630 m,
      bearing: 313.695318 deg,
      approach rate: -0.694185 m/s,
      LOS rate: -0.000605 deg/s,
      cmd heading: 312.267615 deg,
      new cmd heading: 312.266871 deg.

2025-06-07T23:55:03.574Z,1749340503.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450085 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:03.769Z,1749340503.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764097
2025-06-07T23:55:04.005Z,1749340504.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:04.012Z,1749340504.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 162.630768 m,
      bearing: 313.694090 deg,
      approach rate: -0.671672 m/s,
      LOS rate: -0.002821 deg/s,
      cmd heading: 312.266878 deg,
      new cmd heading: 312.263188 deg.

2025-06-07T23:55:04.013Z,1749340504.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450021 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:04.020Z,1749340504.020 [DAT](INFO): DAT read: Rx Time:23:55:03.2798

2025-06-07T23:55:04.021Z,1749340504.021 [DAT](INFO): Rx dataTimestamp_ set to:1749340504.020509
2025-06-07T23:55:04.021Z,1749340504.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016782
2025-06-07T23:55:04.272Z,1749340504.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267519
2025-06-07T23:55:04.386Z,1749340504.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.11 m.
2025-06-07T23:55:04.393Z,1749340504.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.111618 m,
      nav range: 162.354050 m,
      bearing: 313.692539 deg,
      approach rate: -0.726470 m/s,
      LOS rate: -0.004079 deg/s,
      cmd heading: 312.263190 deg,
      new cmd heading: 312.258528 deg.

2025-06-07T23:55:04.394Z,1749340504.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449939 target range: 212.111618 and range: 213.80 m.
2025-06-07T23:55:04.529Z,1749340504.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523624
2025-06-07T23:55:04.784Z,1749340504.784 [DAT](INFO): DAT read: 23:55:03.2798 LVL= 22832, 30193, 21330, 27443, AGC= 63, IDX=  96,-0.27,-0.684,-2.178,-1.028,-1.382, PHS= 0.786,-0.749, 0.351, RAW= 134.0,  -5.7, CAL= 139.6, -16.5, ROT=  10.4,  16.5

2025-06-07T23:55:04.785Z,1749340504.785 [DAT](INFO): got valid direction response:
 23:55:03.2798 LVL= 22832, 30193, 21330, 27443, AGC= 63, IDX=  96,-0.27,-0.684,-2.178,-1.028,-1.382, PHS= 0.786,-0.749, 0.351, RAW= 134.0,  -5.7, CAL= 139.6, -16.5, ROT=  10.4,  16.5

2025-06-07T23:55:04.786Z,1749340504.786 [DAT](INFO): DAT read: Bearing  10.4,  16.5 (Local)

2025-06-07T23:55:04.787Z,1749340504.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,  16.5 (Local)

2025-06-07T23:55:04.789Z,1749340504.789 [DAT](INFO): DAT read: Range 10 to 50 : 187.5 m  (Round-trip  250.0 ms) speed  0.6 m/s

2025-06-07T23:55:04.789Z,1749340504.789 [DAT](INFO): DAT read: user:1935>

2025-06-07T23:55:04.790Z,1749340504.790 [DAT](INFO): DAT read: Tx time:23:55:04.3756

2025-06-07T23:55:04.790Z,1749340504.790 [DAT](INFO): Ping request sent.
2025-06-07T23:55:04.791Z,1749340504.791 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:04.791Z,1749340504.791 [DAT](INFO): DAT read: TxSync time:23:55:04.3749

2025-06-07T23:55:04.792Z,1749340504.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:04.793Z,1749340504.793 [DAT](INFO): direction in FSK: [0.943068,0.173085,-0.284015]
2025-06-07T23:55:04.793Z,1749340504.793 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:04.793Z,1749340504.793 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:04.801Z,1749340504.801 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:04.801Z,1749340504.801 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:04.911Z,1749340504.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.500000 m,
      deltaT: 7.569353 s,
      deltaX: -26.300003 m,
      approachRate: -3.474538 m/s,
      rangeRepo size: 4

2025-06-07T23:55:04.921Z,1749340504.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.025970 m,
      bearing: 324.544629 deg,
      lat: 36.905855 deg,
      lon: -122.116000 deg,
      deltaT: 7.569353 s,
      deltaX: -26.085648 m,
      approachRate: -3.446219 m/s,
      posRepo size: 4

2025-06-07T23:55:04.922Z,1749340504.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:04.933Z,1749340504.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 157.721680 m,
      bearing: 317.905397 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004079 deg/s,
      cmd heading: 312.258518 deg,
      new cmd heading: 312.252109 deg.

2025-06-07T23:55:04.934Z,1749340504.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449827 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:05.233Z,1749340505.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:05.236Z,1749340505.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 157.483582 m,
      bearing: 317.909726 deg,
      approach rate: -0.737626 m/s,
      LOS rate: 0.013430 deg/s,
      cmd heading: 312.252097 deg,
      new cmd heading: 312.265102 deg.

2025-06-07T23:55:05.237Z,1749340505.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450054 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:05.612Z,1749340505.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:05.614Z,1749340505.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:05.617Z,1749340505.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 157.215515 m,
      bearing: 317.914717 deg,
      approach rate: -0.702723 m/s,
      LOS rate: 0.013106 deg/s,
      cmd heading: 312.265102 deg,
      new cmd heading: 312.280101 deg.

2025-06-07T23:55:05.618Z,1749340505.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450316 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:05.784Z,1749340505.784 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:05.784Z,1749340505.784 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:05.784Z,1749340505.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:06.036Z,1749340506.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245790
2025-06-07T23:55:06.046Z,1749340506.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:06.049Z,1749340506.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 156.909241 m,
      bearing: 317.919682 deg,
      approach rate: -0.710011 m/s,
      LOS rate: 0.011533 deg/s,
      cmd heading: 312.280101 deg,
      new cmd heading: 312.295026 deg.

2025-06-07T23:55:06.050Z,1749340506.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450576 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:06.288Z,1749340506.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497576
2025-06-07T23:55:06.428Z,1749340506.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:06.431Z,1749340506.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 156.636032 m,
      bearing: 317.924299 deg,
      approach rate: -0.715971 m/s,
      LOS rate: 0.012122 deg/s,
      cmd heading: 312.295018 deg,
      new cmd heading: 312.308895 deg.

2025-06-07T23:55:06.432Z,1749340506.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450819 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:06.541Z,1749340506.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750059
2025-06-07T23:55:06.795Z,1749340506.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004413
2025-06-07T23:55:06.904Z,1749340506.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:06.907Z,1749340506.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 156.311386 m,
      bearing: 317.929185 deg,
      approach rate: -0.680758 m/s,
      LOS rate: 0.010265 deg/s,
      cmd heading: 312.308897 deg,
      new cmd heading: 312.323583 deg.

2025-06-07T23:55:06.916Z,1749340506.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451075 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:07.045Z,1749340507.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254292
2025-06-07T23:55:07.233Z,1749340507.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:07.244Z,1749340507.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 156.052628 m,
      bearing: 317.932987 deg,
      approach rate: -0.786075 m/s,
      LOS rate: 0.011569 deg/s,
      cmd heading: 312.323596 deg,
      new cmd heading: 312.335020 deg.

2025-06-07T23:55:07.245Z,1749340507.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451274 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:07.297Z,1749340507.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506166
2025-06-07T23:55:07.548Z,1749340507.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757788
2025-06-07T23:55:07.652Z,1749340507.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:07.654Z,1749340507.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:07.657Z,1749340507.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 155.761963 m,
      bearing: 317.937326 deg,
      approach rate: -0.690020 m/s,
      LOS rate: 0.010322 deg/s,
      cmd heading: 312.335016 deg,
      new cmd heading: 312.348060 deg.

2025-06-07T23:55:07.658Z,1749340507.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451502 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:07.803Z,1749340507.803 [DAT](INFO): DAT read: Rx Time:23:55:07.0564

2025-06-07T23:55:07.805Z,1749340507.805 [DAT](INFO): Rx dataTimestamp_ set to:1749340507.803924
2025-06-07T23:55:07.806Z,1749340507.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015357
2025-06-07T23:55:08.052Z,1749340508.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261600
2025-06-07T23:55:08.082Z,1749340508.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:08.089Z,1749340508.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 155.453720 m,
      bearing: 317.941750 deg,
      approach rate: -0.720603 m/s,
      LOS rate: 0.010362 deg/s,
      cmd heading: 312.348048 deg,
      new cmd heading: 312.361346 deg.

2025-06-07T23:55:08.090Z,1749340508.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451734 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:08.326Z,1749340508.326 [DAT](INFO): DAT read: 23:55:07.0564 LVL= 25376, 23937, 23474, 31571, AGC= 59, IDX= 209, 0.13,-3.138, 2.155, 3.083, 2.136, PHS= 1.097, 0.066, 0.944, RAW= 142.1, -37.7, CAL= 145.7, -40.7, ROT=   4.3,  40.7

2025-06-07T23:55:08.327Z,1749340508.327 [DAT](INFO): got valid direction response:
 23:55:07.0564 LVL= 25376, 23937, 23474, 31571, AGC= 59, IDX= 209, 0.13,-3.138, 2.155, 3.083, 2.136, PHS= 1.097, 0.066, 0.944, RAW= 142.1, -37.7, CAL= 145.7, -40.7, ROT=   4.3,  40.7

2025-06-07T23:55:08.328Z,1749340508.328 [DAT](INFO): DAT read: Bearing   4.3,  40.7 (Local)

2025-06-07T23:55:08.328Z,1749340508.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  40.7 (Local)

2025-06-07T23:55:08.330Z,1749340508.330 [DAT](INFO): DAT read: Range 10 to 50 : 207.4 m  (Round-trip  276.6 ms) speed  0.5 m/s

2025-06-07T23:55:08.333Z,1749340508.333 [DAT](INFO): DAT read: user:1936>

2025-06-07T23:55:08.335Z,1749340508.335 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:08.337Z,1749340508.337 [DAT](INFO): direction in FSK: [0.756000,0.056844,-0.652098]
2025-06-07T23:55:08.337Z,1749340508.337 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:08.341Z,1749340508.341 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:08.341Z,1749340508.341 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:08.341Z,1749340508.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:08.493Z,1749340508.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 207.399994 m,
 deltaT: 3.528738 s,
 deltaX: 19.899994 m,
 approachRate: 5.639408 m/s,
 rangeRepo size: 4
2025-06-07T23:55:08.493Z,1749340508.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:08.500Z,1749340508.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 155.159790 m,
      bearing: 317.946072 deg,
      approach rate: -0.717063 m/s,
      LOS rate: 0.010563 deg/s,
      cmd heading: 312.361353 deg,
      new cmd heading: 312.374342 deg.

2025-06-07T23:55:08.501Z,1749340508.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451961 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:08.557Z,1749340508.557 [DAT](INFO): DAT read: Tx time:23:55:08.1756

2025-06-07T23:55:08.558Z,1749340508.558 [DAT](INFO): Ping request sent.
2025-06-07T23:55:08.558Z,1749340508.558 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:08.559Z,1749340508.559 [DAT](INFO): DAT read: TxSync time:23:55:08.1749

2025-06-07T23:55:08.559Z,1749340508.559 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:08.560Z,1749340508.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002712
2025-06-07T23:55:08.811Z,1749340508.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252747
2025-06-07T23:55:08.946Z,1749340508.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:08.959Z,1749340508.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 154.810974 m,
      bearing: 317.951458 deg,
      approach rate: -0.768879 m/s,
      LOS rate: 0.011899 deg/s,
      cmd heading: 312.374330 deg,
      new cmd heading: 312.390525 deg.

2025-06-07T23:55:08.965Z,1749340508.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452243 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:09.064Z,1749340509.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506393
2025-06-07T23:55:09.270Z,1749340509.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:09.273Z,1749340509.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 154.557892 m,
      bearing: 317.955648 deg,
      approach rate: -0.780422 m/s,
      LOS rate: 0.012942 deg/s,
      cmd heading: 312.390532 deg,
      new cmd heading: 312.403123 deg.

2025-06-07T23:55:09.274Z,1749340509.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452463 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:09.316Z,1749340509.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758710
2025-06-07T23:55:09.568Z,1749340509.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010467
2025-06-07T23:55:09.732Z,1749340509.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:09.734Z,1749340509.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:09.755Z,1749340509.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 154.215469 m,
      bearing: 317.961472 deg,
      approach rate: -0.738069 m/s,
      LOS rate: 0.012581 deg/s,
      cmd heading: 312.403126 deg,
      new cmd heading: 312.420637 deg.

2025-06-07T23:55:09.764Z,1749340509.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452769 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:09.824Z,1749340509.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265376
2025-06-07T23:55:10.073Z,1749340510.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515009
2025-06-07T23:55:10.188Z,1749340510.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:10.199Z,1749340510.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 153.889755 m,
      bearing: 317.968796 deg,
      approach rate: -0.722140 m/s,
      LOS rate: 0.016274 deg/s,
      cmd heading: 312.420639 deg,
      new cmd heading: 312.442659 deg.

2025-06-07T23:55:10.202Z,1749340510.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453153 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:10.324Z,1749340510.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766509
2025-06-07T23:55:10.550Z,1749340510.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:10.553Z,1749340510.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 153.623825 m,
      bearing: 317.974666 deg,
      approach rate: -0.727720 m/s,
      LOS rate: 0.016091 deg/s,
      cmd heading: 312.442660 deg,
      new cmd heading: 312.460300 deg.

2025-06-07T23:55:10.554Z,1749340510.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453461 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:10.576Z,1749340510.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018562
2025-06-07T23:55:10.831Z,1749340510.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272863
2025-06-07T23:55:10.993Z,1749340510.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:11.001Z,1749340511.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 153.300415 m,
      bearing: 317.983591 deg,
      approach rate: -0.731396 m/s,
      LOS rate: 0.020226 deg/s,
      cmd heading: 312.460309 deg,
      new cmd heading: 312.487139 deg.

2025-06-07T23:55:11.002Z,1749340511.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453929 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:11.081Z,1749340511.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523231
2025-06-07T23:55:11.333Z,1749340511.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775721
2025-06-07T23:55:11.368Z,1749340511.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:11.370Z,1749340511.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 153.024551 m,
      bearing: 317.991220 deg,
      approach rate: -0.744288 m/s,
      LOS rate: 0.020622 deg/s,
      cmd heading: 312.487138 deg,
      new cmd heading: 312.510068 deg.

2025-06-07T23:55:11.376Z,1749340511.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454329 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:11.585Z,1749340511.585 [DAT](INFO): DAT read: Rx Time:23:55:10.8541

2025-06-07T23:55:11.586Z,1749340511.586 [DAT](INFO): Rx dataTimestamp_ set to:1749340511.585156
2025-06-07T23:55:11.586Z,1749340511.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028506
2025-06-07T23:55:11.732Z,1749340511.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:11.735Z,1749340511.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 152.748764 m,
      bearing: 317.998871 deg,
      approach rate: -0.749930 m/s,
      LOS rate: 0.020842 deg/s,
      cmd heading: 312.510060 deg,
      new cmd heading: 312.533054 deg.

2025-06-07T23:55:11.736Z,1749340511.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454731 target range: 186.025970 and range: 187.50 m.
2025-06-07T23:55:11.839Z,1749340511.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280700
2025-06-07T23:55:12.089Z,1749340512.089 [DAT](INFO): DAT read: Range 10 to 50 : 205.8 m  (Round-trip  274.4 ms) speed  0.4 m/s

2025-06-07T23:55:12.090Z,1749340512.090 [DAT](INFO): DAT read: user:1937>

2025-06-07T23:55:12.090Z,1749340512.090 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:55:12.091Z,1749340512.091 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:12.091Z,1749340512.091 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:12.091Z,1749340512.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:12.201Z,1749340512.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:12.204Z,1749340512.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 205.800003 m,
      deltaT: 7.310476 s,
      deltaX: 18.300003 m,
      approachRate: 2.503257 m/s,
      rangeRepo size: 4

2025-06-07T23:55:12.205Z,1749340512.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:12.208Z,1749340512.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 152.404907 m,
      bearing: 318.010778 deg,
      approach rate: -0.729099 m/s,
      LOS rate: 0.025303 deg/s,
      cmd heading: 312.533064 deg,
      new cmd heading: 312.568864 deg.

2025-06-07T23:55:12.209Z,1749340512.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455356 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:12.340Z,1749340512.340 [DAT](INFO): DAT read: Tx time:23:55:11.9756

2025-06-07T23:55:12.341Z,1749340512.341 [DAT](INFO): Ping request sent.
2025-06-07T23:55:12.341Z,1749340512.341 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:12.341Z,1749340512.341 [DAT](INFO): DAT read: TxSync time:23:55:11.9749

2025-06-07T23:55:12.342Z,1749340512.342 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:12.342Z,1749340512.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001627
2025-06-07T23:55:12.539Z,1749340512.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:12.542Z,1749340512.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 152.158905 m,
      bearing: 318.019395 deg,
      approach rate: -0.730870 m/s,
      LOS rate: 0.025642 deg/s,
      cmd heading: 312.568854 deg,
      new cmd heading: 312.594747 deg.

2025-06-07T23:55:12.543Z,1749340512.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455808 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:12.592Z,1749340512.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251400
2025-06-07T23:55:12.846Z,1749340512.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504970
2025-06-07T23:55:13.002Z,1749340513.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:13.010Z,1749340513.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 151.817642 m,
      bearing: 318.032795 deg,
      approach rate: -0.737791 m/s,
      LOS rate: 0.029037 deg/s,
      cmd heading: 312.594754 deg,
      new cmd heading: 312.635047 deg.

2025-06-07T23:55:13.011Z,1749340513.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456511 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:13.097Z,1749340513.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756495
2025-06-07T23:55:13.348Z,1749340513.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007386
2025-06-07T23:55:13.350Z,1749340513.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:13.353Z,1749340513.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 151.561859 m,
      bearing: 318.042906 deg,
      approach rate: -0.735195 m/s,
      LOS rate: 0.029110 deg/s,
      cmd heading: 312.635052 deg,
      new cmd heading: 312.665436 deg.

2025-06-07T23:55:13.354Z,1749340513.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457041 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:13.604Z,1749340513.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262941
2025-06-07T23:55:13.767Z,1749340513.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:13.770Z,1749340513.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 151.252838 m,
      bearing: 318.055167 deg,
      approach rate: -0.740693 m/s,
      LOS rate: 0.029449 deg/s,
      cmd heading: 312.665433 deg,
      new cmd heading: 312.702292 deg.

2025-06-07T23:55:13.771Z,1749340513.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457685 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:13.856Z,1749340513.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515080
2025-06-07T23:55:14.105Z,1749340514.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764604
2025-06-07T23:55:14.211Z,1749340514.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:14.214Z,1749340514.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 150.938309 m,
      bearing: 318.066836 deg,
      approach rate: -0.727986 m/s,
      LOS rate: 0.027063 deg/s,
      cmd heading: 312.702289 deg,
      new cmd heading: 312.737367 deg.

2025-06-07T23:55:14.219Z,1749340514.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458297 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:14.357Z,1749340514.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015951
2025-06-07T23:55:14.574Z,1749340514.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:14.576Z,1749340514.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:14.579Z,1749340514.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 150.663193 m,
      bearing: 318.076962 deg,
      approach rate: -0.729795 m/s,
      LOS rate: 0.026910 deg/s,
      cmd heading: 312.737369 deg,
      new cmd heading: 312.767802 deg.

2025-06-07T23:55:14.580Z,1749340514.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458828 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:14.608Z,1749340514.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267295
2025-06-07T23:55:14.862Z,1749340514.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521106
2025-06-07T23:55:15.005Z,1749340515.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:15.008Z,1749340515.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 150.352570 m,
      bearing: 318.086167 deg,
      approach rate: -0.724734 m/s,
      LOS rate: 0.021523 deg/s,
      cmd heading: 312.767804 deg,
      new cmd heading: 312.795479 deg.

2025-06-07T23:55:15.009Z,1749340515.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459311 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:15.112Z,1749340515.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771390
2025-06-07T23:55:15.364Z,1749340515.364 [DAT](INFO): DAT read: Rx Time:23:55:14.6509

2025-06-07T23:55:15.365Z,1749340515.365 [DAT](INFO): Rx dataTimestamp_ set to:1749340515.364299
2025-06-07T23:55:15.365Z,1749340515.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024272
2025-06-07T23:55:15.406Z,1749340515.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:15.409Z,1749340515.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 150.060913 m,
      bearing: 318.094793 deg,
      approach rate: -0.725658 m/s,
      LOS rate: 0.021502 deg/s,
      cmd heading: 312.795480 deg,
      new cmd heading: 312.821406 deg.

2025-06-07T23:55:15.410Z,1749340515.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459764 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:15.616Z,1749340515.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275237
2025-06-07T23:55:15.873Z,1749340515.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531065
2025-06-07T23:55:15.927Z,1749340515.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.03 m.
2025-06-07T23:55:15.930Z,1749340515.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.025970 m,
      nav range: 149.730911 m,
      bearing: 318.104569 deg,
      approach rate: -0.640799 m/s,
      LOS rate: 0.019026 deg/s,
      cmd heading: 312.821407 deg,
      new cmd heading: 312.850802 deg.

2025-06-07T23:55:15.936Z,1749340515.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460277 target range: 186.025970 and range: 205.80 m.
2025-06-07T23:55:16.126Z,1749340516.126 [DAT](INFO): DAT read: 23:55:14.6509 LVL= 20000, 24177, 19554, 23219, AGC= 65, IDX=  91,-0.28,-2.569, 2.268,-2.914, 3.027, PHS= 0.775,-0.712, 0.338, RAW= 133.4,  -6.1, CAL= 138.9, -17.1, ROT=  11.1,  17.1

2025-06-07T23:55:16.127Z,1749340516.127 [DAT](INFO): got valid direction response:
 23:55:14.6509 LVL= 20000, 24177, 19554, 23219, AGC= 65, IDX=  91,-0.28,-2.569, 2.268,-2.914, 3.027, PHS= 0.775,-0.712, 0.338, RAW= 133.4,  -6.1, CAL= 138.9, -17.1, ROT=  11.1,  17.1

2025-06-07T23:55:16.128Z,1749340516.128 [DAT](INFO): DAT read: Bearing  11.1,  17.1 (Local)

2025-06-07T23:55:16.129Z,1749340516.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.1,  17.1 (Local)

2025-06-07T23:55:16.130Z,1749340516.130 [DAT](INFO): DAT read: Range 10 to 50 : 203.2 m  (Round-trip  271.0 ms) speed  0.5 m/s

2025-06-07T23:55:16.131Z,1749340516.131 [DAT](INFO): DAT read: user:1938>

2025-06-07T23:55:16.140Z,1749340516.140 [DAT](INFO): DAT read: Tx time:23:55:15.7757

2025-06-07T23:55:16.140Z,1749340516.140 [DAT](INFO): Ping request sent.
2025-06-07T23:55:16.140Z,1749340516.140 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:16.141Z,1749340516.141 [DAT](INFO): DAT read: TxSync time:23:55:15.7750

2025-06-07T23:55:16.141Z,1749340516.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:16.142Z,1749340516.142 [DAT](INFO): direction in FSK: [0.937913,0.184011,-0.294040]
2025-06-07T23:55:16.143Z,1749340516.143 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:16.143Z,1749340516.143 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:16.174Z,1749340516.174 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:16.174Z,1749340516.174 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:16.312Z,1749340516.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 203.199997 m,
      deltaT: 4.032011 s,
      deltaX: -2.600006 m,
      approachRate: -0.644841 m/s,
      rangeRepo size: 4

2025-06-07T23:55:16.314Z,1749340516.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 201.603516 m,
      bearing: 325.150758 deg,
      lat: 36.906085 deg,
      lon: -122.116000 deg,
      deltaT: 11.342487 s,
      deltaX: 15.577545 m,
      approachRate: 1.373380 m/s,
      posRepo size: 4

2025-06-07T23:55:16.315Z,1749340516.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:16.322Z,1749340516.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 169.386734 m,
      bearing: 323.915394 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019026 deg/s,
      cmd heading: 312.850804 deg,
      new cmd heading: 312.873033 deg.

2025-06-07T23:55:16.327Z,1749340516.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460665 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:16.617Z,1749340516.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:16.624Z,1749340516.624 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:16.624Z,1749340516.624 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:16.624Z,1749340516.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:16.647Z,1749340516.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:16.650Z,1749340516.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 169.147202 m,
      bearing: 323.930241 deg,
      approach rate: -0.777075 m/s,
      LOS rate: 0.048234 deg/s,
      cmd heading: 312.873043 deg,
      new cmd heading: 312.917647 deg.

2025-06-07T23:55:16.655Z,1749340516.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461443 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:16.876Z,1749340516.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.736068
2025-06-07T23:55:17.024Z,1749340517.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:55:17.028Z,1749340517.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:17.035Z,1749340517.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 168.859528 m,
      bearing: 323.948192 deg,
      approach rate: -0.702935 m/s,
      LOS rate: 0.043939 deg/s,
      cmd heading: 312.917658 deg,
      new cmd heading: 312.971604 deg.

2025-06-07T23:55:17.036Z,1749340517.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462385 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:17.128Z,1749340517.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987939
2025-06-07T23:55:17.380Z,1749340517.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239941
2025-06-07T23:55:17.414Z,1749340517.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:17.417Z,1749340517.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 168.586670 m,
      bearing: 323.965378 deg,
      approach rate: -0.707653 m/s,
      LOS rate: 0.044643 deg/s,
      cmd heading: 312.971617 deg,
      new cmd heading: 313.023257 deg.

2025-06-07T23:55:17.418Z,1749340517.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463286 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:17.632Z,1749340517.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492055
2025-06-07T23:55:17.807Z,1749340517.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:17.810Z,1749340517.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 168.309738 m,
      bearing: 323.982789 deg,
      approach rate: -0.705047 m/s,
      LOS rate: 0.044400 deg/s,
      cmd heading: 313.023253 deg,
      new cmd heading: 313.075572 deg.

2025-06-07T23:55:17.811Z,1749340517.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464200 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:17.884Z,1749340517.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744002
2025-06-07T23:55:18.028Z,1749340518.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:55:18.136Z,1749340518.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995908
2025-06-07T23:55:18.263Z,1749340518.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:18.266Z,1749340518.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 167.983810 m,
      bearing: 324.001335 deg,
      approach rate: -0.714030 m/s,
      LOS rate: 0.040710 deg/s,
      cmd heading: 313.075572 deg,
      new cmd heading: 313.131320 deg.

2025-06-07T23:55:18.268Z,1749340518.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465172 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:18.388Z,1749340518.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247924
2025-06-07T23:55:18.608Z,1749340518.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:18.627Z,1749340518.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 167.737747 m,
      bearing: 324.015033 deg,
      approach rate: -0.713008 m/s,
      LOS rate: 0.039749 deg/s,
      cmd heading: 313.131307 deg,
      new cmd heading: 313.172460 deg.

2025-06-07T23:55:18.628Z,1749340518.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465890 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:18.640Z,1749340518.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500131
2025-06-07T23:55:18.892Z,1749340518.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751831
2025-06-07T23:55:19.038Z,1749340519.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:19.045Z,1749340519.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:19.048Z,1749340519.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 167.432556 m,
      bearing: 324.029451 deg,
      approach rate: -0.698622 m/s,
      LOS rate: 0.033066 deg/s,
      cmd heading: 313.172452 deg,
      new cmd heading: 313.215786 deg.

2025-06-07T23:55:19.049Z,1749340519.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466647 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:19.144Z,1749340519.144 [DAT](INFO): DAT read: Rx Time:23:55:18.4478

2025-06-07T23:55:19.145Z,1749340519.145 [DAT](INFO): Rx dataTimestamp_ set to:1749340519.144526
2025-06-07T23:55:19.145Z,1749340519.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005127
2025-06-07T23:55:19.396Z,1749340519.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255754
2025-06-07T23:55:19.417Z,1749340519.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:19.436Z,1749340519.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 167.164490 m,
      bearing: 324.041995 deg,
      approach rate: -0.721212 m/s,
      LOS rate: 0.033801 deg/s,
      cmd heading: 313.215782 deg,
      new cmd heading: 313.253473 deg.

2025-06-07T23:55:19.437Z,1749340519.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467305 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:19.648Z,1749340519.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508126
2025-06-07T23:55:19.825Z,1749340519.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:19.828Z,1749340519.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 166.875458 m,
      bearing: 324.055443 deg,
      approach rate: -0.708499 m/s,
      LOS rate: 0.033021 deg/s,
      cmd heading: 313.253485 deg,
      new cmd heading: 313.293898 deg.

2025-06-07T23:55:19.829Z,1749340519.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468010 target range: 201.603516 and range: 203.20 m.
2025-06-07T23:55:19.905Z,1749340519.905 [DAT](INFO): DAT read: Range 10 to 50 : 200.9 m  (Round-trip  267.9 ms) speed  0.4 m/s

2025-06-07T23:55:19.906Z,1749340519.906 [DAT](INFO): DAT read: user:1939>

2025-06-07T23:55:19.908Z,1749340519.908 [DAT](INFO): DAT read: Tx time:23:55:19.5257

2025-06-07T23:55:19.909Z,1749340519.909 [DAT](INFO): Ping request sent.
2025-06-07T23:55:19.909Z,1749340519.909 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:19.910Z,1749340519.910 [DAT](INFO): DAT read: TxSync time:23:55:19.5250

2025-06-07T23:55:19.910Z,1749340519.910 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:55:19.911Z,1749340519.911 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:19.912Z,1749340519.912 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:20.263Z,1749340520.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 200.899994 m,
      deltaT: 3.782326 s,
      deltaX: -2.300003 m,
      approachRate: -0.608092 m/s,
      rangeRepo size: 4

2025-06-07T23:55:20.264Z,1749340520.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:20.267Z,1749340520.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 166.561432 m,
      bearing: 324.068852 deg,
      approach rate: -0.717621 m/s,
      LOS rate: 0.030701 deg/s,
      cmd heading: 313.293892 deg,
      new cmd heading: 313.334196 deg.

2025-06-07T23:55:20.268Z,1749340520.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468713 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:20.630Z,1749340520.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:20.633Z,1749340520.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 166.297287 m,
      bearing: 324.080396 deg,
      approach rate: -0.717779 m/s,
      LOS rate: 0.031421 deg/s,
      cmd heading: 313.334191 deg,
      new cmd heading: 313.368880 deg.

2025-06-07T23:55:20.634Z,1749340520.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469319 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:21.073Z,1749340521.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:21.075Z,1749340521.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:21.078Z,1749340521.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 165.974091 m,
      bearing: 324.094684 deg,
      approach rate: -0.726665 m/s,
      LOS rate: 0.032186 deg/s,
      cmd heading: 313.368888 deg,
      new cmd heading: 313.411834 deg.

2025-06-07T23:55:21.079Z,1749340521.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470068 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:21.160Z,1749340521.160 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:21.160Z,1749340521.160 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:21.161Z,1749340521.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:21.412Z,1749340521.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503556
2025-06-07T23:55:21.439Z,1749340521.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:21.442Z,1749340521.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 165.709351 m,
      bearing: 324.106487 deg,
      approach rate: -0.728356 m/s,
      LOS rate: 0.032524 deg/s,
      cmd heading: 313.411836 deg,
      new cmd heading: 313.447302 deg.

2025-06-07T23:55:21.442Z,1749340521.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470687 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:21.664Z,1749340521.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755796
2025-06-07T23:55:21.849Z,1749340521.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:21.852Z,1749340521.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 165.411530 m,
      bearing: 324.119552 deg,
      approach rate: -0.726223 m/s,
      LOS rate: 0.031917 deg/s,
      cmd heading: 313.447298 deg,
      new cmd heading: 313.486565 deg.

2025-06-07T23:55:21.853Z,1749340521.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471373 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:21.916Z,1749340521.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007618
2025-06-07T23:55:22.168Z,1749340522.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259508
2025-06-07T23:55:22.289Z,1749340522.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:22.296Z,1749340522.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 165.098175 m,
      bearing: 324.133463 deg,
      approach rate: -0.712385 m/s,
      LOS rate: 0.031686 deg/s,
      cmd heading: 313.486558 deg,
      new cmd heading: 313.528371 deg.

2025-06-07T23:55:22.297Z,1749340522.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472102 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:22.420Z,1749340522.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511451
2025-06-07T23:55:22.652Z,1749340522.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:22.655Z,1749340522.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 164.826294 m,
      bearing: 324.145445 deg,
      approach rate: -0.748689 m/s,
      LOS rate: 0.033049 deg/s,
      cmd heading: 313.528359 deg,
      new cmd heading: 313.564363 deg.

2025-06-07T23:55:22.656Z,1749340522.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472731 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:22.674Z,1749340522.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765165
2025-06-07T23:55:22.924Z,1749340522.924 [DAT](INFO): DAT read: Rx Time:23:55:22.1962

2025-06-07T23:55:22.925Z,1749340522.925 [DAT](INFO): Rx dataTimestamp_ set to:1749340522.924406
2025-06-07T23:55:22.925Z,1749340522.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016578
2025-06-07T23:55:23.176Z,1749340523.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267427
2025-06-07T23:55:23.185Z,1749340523.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:23.187Z,1749340523.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:23.194Z,1749340523.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 164.451797 m,
      bearing: 324.162047 deg,
      approach rate: -0.700006 m/s,
      LOS rate: 0.031103 deg/s,
      cmd heading: 313.564368 deg,
      new cmd heading: 313.614286 deg.

2025-06-07T23:55:23.199Z,1749340523.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473602 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:23.431Z,1749340523.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521721
2025-06-07T23:55:23.573Z,1749340523.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.60 m.
2025-06-07T23:55:23.580Z,1749340523.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.603516 m,
      nav range: 164.161270 m,
      bearing: 324.174979 deg,
      approach rate: -0.751904 m/s,
      LOS rate: 0.033530 deg/s,
      cmd heading: 313.614283 deg,
      new cmd heading: 313.653150 deg.

2025-06-07T23:55:23.581Z,1749340523.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474280 target range: 201.603516 and range: 200.90 m.
2025-06-07T23:55:23.689Z,1749340523.689 [DAT](INFO): DAT read: 23:55:22.1962 LVL= 24816, 32753, 21586, 31987, AGC= 61, IDX= 418, 0.47,-2.724, 2.611,-2.714, 2.447, PHS= 1.200, 0.210, 1.119, RAW= 145.8, -43.2, CAL= 150.0, -44.3, ROT=   0.0,  44.3

2025-06-07T23:55:23.690Z,1749340523.690 [DAT](INFO): got valid direction response:
 23:55:22.1962 LVL= 24816, 32753, 21586, 31987, AGC= 61, IDX= 418, 0.47,-2.724, 2.611,-2.714, 2.447, PHS= 1.200, 0.210, 1.119, RAW= 145.8, -43.2, CAL= 150.0, -44.3, ROT=   0.0,  44.3

2025-06-07T23:55:23.691Z,1749340523.691 [DAT](INFO): DAT read: Bearing   0.0,  44.3 (Local)

2025-06-07T23:55:23.691Z,1749340523.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.0,  44.3 (Local)

2025-06-07T23:55:23.693Z,1749340523.693 [DAT](INFO): DAT read: Range 10 to 50 : 199.8 m  (Round-trip  266.4 ms) speed  0.7 m/s

2025-06-07T23:55:23.694Z,1749340523.694 [DAT](INFO): DAT read: user:1940>

2025-06-07T23:55:23.695Z,1749340523.695 [DAT](INFO): DAT read: Tx time:23:55:23.2757

2025-06-07T23:55:23.695Z,1749340523.695 [DAT](INFO): Ping request sent.
2025-06-07T23:55:23.695Z,1749340523.695 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:23.696Z,1749340523.696 [DAT](INFO): DAT read: TxSync time:23:55:23.2750

2025-06-07T23:55:23.696Z,1749340523.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:23.697Z,1749340523.697 [DAT](INFO): direction in FSK: [0.715693,0.000000,-0.698415]
2025-06-07T23:55:23.697Z,1749340523.697 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:23.698Z,1749340523.698 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:23.701Z,1749340523.701 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:23.701Z,1749340523.701 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:23.969Z,1749340523.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.800003 m,
      deltaT: 3.778019 s,
      deltaX: -1.099991 m,
      approachRate: -0.291155 m/s,
      rangeRepo size: 4

2025-06-07T23:55:23.976Z,1749340523.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.233444 m,
      bearing: 317.254203 deg,
      lat: 36.906085 deg,
      lon: -122.116000 deg,
      deltaT: 7.560345 s,
      deltaX: -3.370071 m,
      approachRate: -0.445756 m/s,
      posRepo size: 4

2025-06-07T23:55:23.977Z,1749340523.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:24.002Z,1749340524.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 163.891556 m,
      bearing: 324.187004 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033530 deg/s,
      cmd heading: 313.653160 deg,
      new cmd heading: 313.692109 deg.

2025-06-07T23:55:24.010Z,1749340524.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474960 target range: 198.233444 and range: 199.80 m.
2025-06-07T23:55:24.408Z,1749340524.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:24.410Z,1749340524.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 163.588470 m,
      bearing: 324.203312 deg,
      approach rate: -0.684132 m/s,
      LOS rate: 0.036880 deg/s,
      cmd heading: 313.692120 deg,
      new cmd heading: 313.741135 deg.

2025-06-07T23:55:24.420Z,1749340524.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475816 target range: 198.233444 and range: 199.80 m.
2025-06-07T23:55:24.723Z,1749340524.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:24.726Z,1749340524.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 163.325546 m,
      bearing: 324.217489 deg,
      approach rate: -0.821903 m/s,
      LOS rate: 0.044388 deg/s,
      cmd heading: 313.741133 deg,
      new cmd heading: 313.783732 deg.

2025-06-07T23:55:24.744Z,1749340524.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476559 target range: 198.233444 and range: 199.80 m.
2025-06-07T23:55:25.160Z,1749340525.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:25.162Z,1749340525.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 163.013184 m,
      bearing: 324.234789 deg,
      approach rate: -0.716279 m/s,
      LOS rate: 0.039747 deg/s,
      cmd heading: 313.783726 deg,
      new cmd heading: 313.835726 deg.

2025-06-07T23:55:25.163Z,1749340525.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477467 target range: 198.233444 and range: 199.80 m.
2025-06-07T23:55:25.537Z,1749340525.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:25.539Z,1749340525.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:25.542Z,1749340525.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 162.741119 m,
      bearing: 324.249655 deg,
      approach rate: -0.716177 m/s,
      LOS rate: 0.039198 deg/s,
      cmd heading: 313.835718 deg,
      new cmd heading: 313.880390 deg.

2025-06-07T23:55:25.544Z,1749340525.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478246 target range: 198.233444 and range: 199.80 m.
2025-06-07T23:55:25.696Z,1749340525.696 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:25.696Z,1749340525.696 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:25.696Z,1749340525.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:25.936Z,1749340525.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:25.940Z,1749340525.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 162.456314 m,
      bearing: 324.265128 deg,
      approach rate: -0.717583 m/s,
      LOS rate: 0.039053 deg/s,
      cmd heading: 313.880387 deg,
      new cmd heading: 313.926887 deg.

2025-06-07T23:55:25.942Z,1749340525.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479058 target range: 198.233444 and range: 199.80 m.
2025-06-07T23:55:25.949Z,1749340525.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253839
2025-06-07T23:55:26.200Z,1749340526.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505210
2025-06-07T23:55:26.378Z,1749340526.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:26.381Z,1749340526.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 162.145294 m,
      bearing: 324.285480 deg,
      approach rate: -0.704712 m/s,
      LOS rate: 0.046201 deg/s,
      cmd heading: 313.926887 deg,
      new cmd heading: 313.988059 deg.

2025-06-07T23:55:26.382Z,1749340526.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480125 target range: 198.233444 and range: 199.80 m.
2025-06-07T23:55:26.452Z,1749340526.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757229
2025-06-07T23:55:26.704Z,1749340526.704 [DAT](INFO): DAT read: Rx Time:23:55:25.9430

2025-06-07T23:55:26.705Z,1749340526.705 [DAT](INFO): Rx dataTimestamp_ set to:1749340526.704404
2025-06-07T23:55:26.705Z,1749340526.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010170
2025-06-07T23:55:26.767Z,1749340526.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:26.769Z,1749340526.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 161.870926 m,
      bearing: 324.303474 deg,
      approach rate: -0.705286 m/s,
      LOS rate: 0.046333 deg/s,
      cmd heading: 313.988058 deg,
      new cmd heading: 314.042131 deg.

2025-06-07T23:55:26.770Z,1749340526.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481069 target range: 198.233444 and range: 199.80 m.
2025-06-07T23:55:26.959Z,1749340526.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264354
2025-06-07T23:55:27.225Z,1749340527.225 [DAT](INFO): DAT read: 23:55:25.9430 LVL= 23216, 30913, 19874, 29619, AGC= 66, IDX=  76,-0.45, 0.422,-1.122, 0.062,-0.342, PHS= 0.851,-0.733, 0.400, RAW= 134.0,  -7.4, CAL= 139.5, -18.7, ROT=  10.5,  18.7

2025-06-07T23:55:27.226Z,1749340527.226 [DAT](INFO): got valid direction response:
 23:55:25.9430 LVL= 23216, 30913, 19874, 29619, AGC= 66, IDX=  76,-0.45, 0.422,-1.122, 0.062,-0.342, PHS= 0.851,-0.733, 0.400, RAW= 134.0,  -7.4, CAL= 139.5, -18.7, ROT=  10.5,  18.7

2025-06-07T23:55:27.239Z,1749340527.239 [DAT](INFO): DAT read: Bearing  10.5,  18.7 (Local)

2025-06-07T23:55:27.240Z,1749340527.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5,  18.7 (Local)

2025-06-07T23:55:27.241Z,1749340527.241 [DAT](INFO): DAT read: Range 10 to 50 : 197.2 m  (Round-trip  263.0 ms) speed  0.4 m/s

2025-06-07T23:55:27.242Z,1749340527.242 [DAT](INFO): DAT read: user:1941>

2025-06-07T23:55:27.243Z,1749340527.243 [DAT](INFO): DAT read: Tx time:23:55:27.0258

2025-06-07T23:55:27.251Z,1749340527.251 [DAT](INFO): Ping request sent.
2025-06-07T23:55:27.251Z,1749340527.251 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:27.252Z,1749340527.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:27.253Z,1749340527.253 [DAT](INFO): direction in FSK: [0.931349,0.172615,-0.320613]
2025-06-07T23:55:27.253Z,1749340527.253 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:27.253Z,1749340527.253 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:27.261Z,1749340527.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 197.199997 m,
      deltaT: 3.529642 s,
      deltaX: -2.600006 m,
      approachRate: -0.736620 m/s,
      rangeRepo size: 4

2025-06-07T23:55:27.261Z,1749340527.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:27.265Z,1749340527.265 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:27.265Z,1749340527.265 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:27.272Z,1749340527.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 161.537994 m,
      bearing: 324.325525 deg,
      approach rate: -0.674640 m/s,
      LOS rate: 0.044776 deg/s,
      cmd heading: 314.042126 deg,
      new cmd heading: 314.108416 deg.

2025-06-07T23:55:27.273Z,1749340527.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482226 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:27.460Z,1749340527.460 [DAT](INFO): DAT read: TxSync time:23:55:27.0250

2025-06-07T23:55:27.592Z,1749340527.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:27.594Z,1749340527.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 161.307526 m,
      bearing: 324.340843 deg,
      approach rate: -0.704132 m/s,
      LOS rate: 0.046867 deg/s,
      cmd heading: 314.108406 deg,
      new cmd heading: 314.154426 deg.

2025-06-07T23:55:27.599Z,1749340527.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483029 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:27.970Z,1749340527.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:27.973Z,1749340527.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:27.977Z,1749340527.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 161.026505 m,
      bearing: 324.359797 deg,
      approach rate: -0.728825 m/s,
      LOS rate: 0.049243 deg/s,
      cmd heading: 314.154414 deg,
      new cmd heading: 314.211375 deg.

2025-06-07T23:55:27.978Z,1749340527.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484023 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:28.216Z,1749340528.216 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:28.216Z,1749340528.216 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:28.216Z,1749340528.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:28.394Z,1749340528.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:28.397Z,1749340528.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 160.729843 m,
      bearing: 324.380991 deg,
      approach rate: -0.704811 m/s,
      LOS rate: 0.050446 deg/s,
      cmd heading: 314.211378 deg,
      new cmd heading: 314.275078 deg.

2025-06-07T23:55:28.398Z,1749340528.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485135 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:28.469Z,1749340528.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217709
2025-06-07T23:55:28.720Z,1749340528.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468654
2025-06-07T23:55:28.768Z,1749340528.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:28.772Z,1749340528.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 160.469757 m,
      bearing: 324.399752 deg,
      approach rate: -0.694168 m/s,
      LOS rate: 0.050154 deg/s,
      cmd heading: 314.275090 deg,
      new cmd heading: 314.331464 deg.

2025-06-07T23:55:28.773Z,1749340528.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486119 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:28.973Z,1749340528.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721427
2025-06-07T23:55:29.201Z,1749340529.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:29.205Z,1749340529.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 160.163330 m,
      bearing: 324.423230 deg,
      approach rate: -0.708872 m/s,
      LOS rate: 0.054417 deg/s,
      cmd heading: 314.331453 deg,
      new cmd heading: 314.402022 deg.

2025-06-07T23:55:29.206Z,1749340529.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487350 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:29.224Z,1749340529.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972949
2025-06-07T23:55:29.476Z,1749340529.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224651
2025-06-07T23:55:29.588Z,1749340529.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:29.591Z,1749340529.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 159.888702 m,
      bearing: 324.444350 deg,
      approach rate: -0.709515 m/s,
      LOS rate: 0.054657 deg/s,
      cmd heading: 314.402022 deg,
      new cmd heading: 314.465490 deg.

2025-06-07T23:55:29.592Z,1749340529.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488458 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:29.728Z,1749340529.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476715
2025-06-07T23:55:29.980Z,1749340529.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728628
2025-06-07T23:55:30.058Z,1749340530.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:30.061Z,1749340530.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:30.063Z,1749340530.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 159.557297 m,
      bearing: 324.469581 deg,
      approach rate: -0.701029 m/s,
      LOS rate: 0.053482 deg/s,
      cmd heading: 314.465488 deg,
      new cmd heading: 314.541339 deg.

2025-06-07T23:55:30.064Z,1749340530.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489782 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:30.232Z,1749340530.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980709
2025-06-07T23:55:30.451Z,1749340530.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:30.461Z,1749340530.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 159.290192 m,
      bearing: 324.488051 deg,
      approach rate: -0.684523 m/s,
      LOS rate: 0.047414 deg/s,
      cmd heading: 314.541331 deg,
      new cmd heading: 314.596834 deg.

2025-06-07T23:55:30.462Z,1749340530.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490751 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:30.486Z,1749340530.486 [DAT](INFO): DAT read: Rx Time:23:55:29.6897

2025-06-07T23:55:30.487Z,1749340530.487 [DAT](INFO): Rx dataTimestamp_ set to:1749340530.486307
2025-06-07T23:55:30.488Z,1749340530.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236644
2025-06-07T23:55:30.736Z,1749340530.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484620
2025-06-07T23:55:30.883Z,1749340530.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:30.886Z,1749340530.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 158.968704 m,
      bearing: 324.510211 deg,
      approach rate: -0.744115 m/s,
      LOS rate: 0.051395 deg/s,
      cmd heading: 314.596847 deg,
      new cmd heading: 314.663460 deg.

2025-06-07T23:55:30.887Z,1749340530.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491913 target range: 198.233444 and range: 197.20 m.
2025-06-07T23:55:30.989Z,1749340530.989 [DAT](INFO): DAT read: Range 10 to 50 : 194.7 m  (Round-trip  259.7 ms) speed  0.9 m/s

2025-06-07T23:55:30.990Z,1749340530.990 [DAT](INFO): DAT read: user:1942>

2025-06-07T23:55:30.991Z,1749340530.991 [DAT](INFO): DAT read: Tx time:23:55:30.7758

2025-06-07T23:55:30.991Z,1749340530.991 [DAT](INFO): Ping request sent.
2025-06-07T23:55:30.991Z,1749340530.991 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:30.992Z,1749340530.992 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:55:30.992Z,1749340530.992 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:30.992Z,1749340530.992 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:31.240Z,1749340531.240 [DAT](INFO): DAT read: TxSync time:23:55:30.7750

2025-06-07T23:55:31.289Z,1749340531.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 194.699997 m,
      deltaT: 3.778268 s,
      deltaX: -2.500000 m,
      approachRate: -0.661679 m/s,
      rangeRepo size: 4

2025-06-07T23:55:31.290Z,1749340531.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:31.293Z,1749340531.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 158.677902 m,
      bearing: 324.528276 deg,
      approach rate: -0.716270 m/s,
      LOS rate: 0.044576 deg/s,
      cmd heading: 314.663455 deg,
      new cmd heading: 314.717748 deg.

2025-06-07T23:55:31.294Z,1749340531.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492861 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:31.634Z,1749340531.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:31.642Z,1749340531.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 158.449768 m,
      bearing: 324.542488 deg,
      approach rate: -0.661243 m/s,
      LOS rate: 0.041253 deg/s,
      cmd heading: 314.717741 deg,
      new cmd heading: 314.760439 deg.

2025-06-07T23:55:31.643Z,1749340531.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493606 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:32.013Z,1749340532.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:32.016Z,1749340532.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 158.159317 m,
      bearing: 324.560768 deg,
      approach rate: -0.766693 m/s,
      LOS rate: 0.048343 deg/s,
      cmd heading: 314.760443 deg,
      new cmd heading: 314.815386 deg.

2025-06-07T23:55:32.017Z,1749340532.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494565 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:32.445Z,1749340532.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:32.447Z,1749340532.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:32.450Z,1749340532.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 157.840500 m,
      bearing: 324.579370 deg,
      approach rate: -0.733944 m/s,
      LOS rate: 0.042909 deg/s,
      cmd heading: 314.815385 deg,
      new cmd heading: 314.871303 deg.

2025-06-07T23:55:32.451Z,1749340532.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495541 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:32.501Z,1749340532.501 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:32.501Z,1749340532.501 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:32.501Z,1749340532.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:32.753Z,1749340532.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761526
2025-06-07T23:55:32.827Z,1749340532.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:32.830Z,1749340532.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 157.560837 m,
      bearing: 324.595587 deg,
      approach rate: -0.735907 m/s,
      LOS rate: 0.042750 deg/s,
      cmd heading: 314.871311 deg,
      new cmd heading: 314.920049 deg.

2025-06-07T23:55:32.832Z,1749340532.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496392 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:33.005Z,1749340533.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013270
2025-06-07T23:55:33.254Z,1749340533.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:33.256Z,1749340533.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264799
2025-06-07T23:55:33.259Z,1749340533.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 157.245026 m,
      bearing: 324.611598 deg,
      approach rate: -0.739277 m/s,
      LOS rate: 0.037555 deg/s,
      cmd heading: 314.920051 deg,
      new cmd heading: 314.968181 deg.

2025-06-07T23:55:33.260Z,1749340533.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497232 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:33.508Z,1749340533.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516848
2025-06-07T23:55:33.678Z,1749340533.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:33.680Z,1749340533.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 156.943710 m,
      bearing: 324.626735 deg,
      approach rate: -0.711793 m/s,
      LOS rate: 0.035825 deg/s,
      cmd heading: 314.968190 deg,
      new cmd heading: 315.013687 deg.

2025-06-07T23:55:33.681Z,1749340533.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498026 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:33.760Z,1749340533.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768757
2025-06-07T23:55:34.012Z,1749340534.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020665
2025-06-07T23:55:34.071Z,1749340534.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:34.074Z,1749340534.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 156.640915 m,
      bearing: 324.641850 deg,
      approach rate: -0.769859 m/s,
      LOS rate: 0.038506 deg/s,
      cmd heading: 315.013679 deg,
      new cmd heading: 315.059114 deg.

2025-06-07T23:55:34.075Z,1749340534.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498819 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:34.265Z,1749340534.265 [DAT](INFO): DAT read: Rx Time:23:55:33.4381

2025-06-07T23:55:34.266Z,1749340534.266 [DAT](INFO): Rx dataTimestamp_ set to:1749340534.265382
2025-06-07T23:55:34.266Z,1749340534.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274767
2025-06-07T23:55:34.496Z,1749340534.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:34.498Z,1749340534.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:34.501Z,1749340534.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 156.325150 m,
      bearing: 324.659137 deg,
      approach rate: -0.739220 m/s,
      LOS rate: 0.040551 deg/s,
      cmd heading: 315.059114 deg,
      new cmd heading: 315.111079 deg.

2025-06-07T23:55:34.502Z,1749340534.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499726 target range: 198.233444 and range: 194.70 m.
2025-06-07T23:55:34.516Z,1749340534.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524737
2025-06-07T23:55:34.769Z,1749340534.769 [DAT](INFO): DAT read: Range 10 to 50 : 193.6 m  (Round-trip  258.2 ms) speed  0.4 m/s

2025-06-07T23:55:34.770Z,1749340534.770 [DAT](INFO): DAT read: user:1943>

2025-06-07T23:55:34.771Z,1749340534.771 [DAT](INFO): DAT read: Tx time:23:55:34.5258

2025-06-07T23:55:34.771Z,1749340534.771 [DAT](INFO): Ping request sent.
2025-06-07T23:55:34.771Z,1749340534.771 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:34.772Z,1749340534.772 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:55:34.772Z,1749340534.772 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:34.772Z,1749340534.772 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:34.876Z,1749340534.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 193.600006 m,
      deltaT: 3.779725 s,
      deltaX: -1.099991 m,
      approachRate: -0.291024 m/s,
      rangeRepo size: 4

2025-06-07T23:55:34.877Z,1749340534.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:34.900Z,1749340534.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 156.045532 m,
      bearing: 324.674392 deg,
      approach rate: -0.741132 m/s,
      LOS rate: 0.040507 deg/s,
      cmd heading: 315.111078 deg,
      new cmd heading: 315.156926 deg.

2025-06-07T23:55:34.901Z,1749340534.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500526 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:35.022Z,1749340535.022 [DAT](INFO): DAT read: TxSync time:23:55:34.5250

2025-06-07T23:55:35.302Z,1749340535.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:35.305Z,1749340535.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 155.730621 m,
      bearing: 324.688156 deg,
      approach rate: -0.738513 m/s,
      LOS rate: 0.032342 deg/s,
      cmd heading: 315.156922 deg,
      new cmd heading: 315.198295 deg.

2025-06-07T23:55:35.306Z,1749340535.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501248 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:35.683Z,1749340535.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:35.685Z,1749340535.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 155.448334 m,
      bearing: 324.700833 deg,
      approach rate: -0.741157 m/s,
      LOS rate: 0.033344 deg/s,
      cmd heading: 315.198286 deg,
      new cmd heading: 315.236386 deg.

2025-06-07T23:55:35.686Z,1749340535.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501913 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:36.282Z,1749340536.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:36.309Z,1749340536.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 155.071487 m,
      bearing: 324.717812 deg,
      approach rate: -0.628906 m/s,
      LOS rate: 0.028404 deg/s,
      cmd heading: 315.236398 deg,
      new cmd heading: 315.287459 deg.

2025-06-07T23:55:36.310Z,1749340536.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502804 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:36.666Z,1749340536.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:36.671Z,1749340536.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:36.682Z,1749340536.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 154.715942 m,
      bearing: 324.733745 deg,
      approach rate: -0.914642 m/s,
      LOS rate: 0.041082 deg/s,
      cmd heading: 315.287461 deg,
      new cmd heading: 315.335369 deg.

2025-06-07T23:55:36.683Z,1749340536.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503641 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:36.784Z,1749340536.784 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:36.784Z,1749340536.784 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:36.784Z,1749340536.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:37.036Z,1749340537.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264762
2025-06-07T23:55:37.061Z,1749340537.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:37.064Z,1749340537.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 154.422653 m,
      bearing: 324.746942 deg,
      approach rate: -0.750857 m/s,
      LOS rate: 0.033852 deg/s,
      cmd heading: 315.335381 deg,
      new cmd heading: 315.375050 deg.

2025-06-07T23:55:37.065Z,1749340537.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504333 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:37.289Z,1749340537.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517297
2025-06-07T23:55:37.483Z,1749340537.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:37.486Z,1749340537.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 154.114899 m,
      bearing: 324.759849 deg,
      approach rate: -0.730392 m/s,
      LOS rate: 0.030693 deg/s,
      cmd heading: 315.375051 deg,
      new cmd heading: 315.413849 deg.

2025-06-07T23:55:37.487Z,1749340537.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505010 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:37.541Z,1749340537.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769934
2025-06-07T23:55:37.792Z,1749340537.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021157
2025-06-07T23:55:37.828Z,1749340537.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:37.848Z,1749340537.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 153.859772 m,
      bearing: 324.770388 deg,
      approach rate: -0.737481 m/s,
      LOS rate: 0.030514 deg/s,
      cmd heading: 315.413847 deg,
      new cmd heading: 315.445515 deg.

2025-06-07T23:55:37.849Z,1749340537.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505563 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:38.044Z,1749340538.044 [DAT](INFO): DAT read: Rx Time:23:55:37.1862

2025-06-07T23:55:38.045Z,1749340538.045 [DAT](INFO): Rx dataTimestamp_ set to:1749340538.044404
2025-06-07T23:55:38.045Z,1749340538.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274018
2025-06-07T23:55:38.296Z,1749340538.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525000
2025-06-07T23:55:38.309Z,1749340538.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.23 m.
2025-06-07T23:55:38.312Z,1749340538.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.233444 m,
      nav range: 153.515472 m,
      bearing: 324.783323 deg,
      approach rate: -0.716609 m/s,
      LOS rate: 0.026983 deg/s,
      cmd heading: 315.445511 deg,
      new cmd heading: 315.484403 deg.

2025-06-07T23:55:38.313Z,1749340538.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506242 target range: 198.233444 and range: 193.60 m.
2025-06-07T23:55:38.555Z,1749340538.555 [DAT](INFO): DAT read: 23:55:37.1862 LVL= 25840, 27857, 20274, 26243, AGC= 68, IDX= 422,-0.02, 1.981, 0.861, 2.170, 0.981, PHS= 1.087,-0.073, 1.186, RAW= 154.0, -32.7, CAL= 156.3, -38.2, ROT= 353.7,  38.2

2025-06-07T23:55:38.556Z,1749340538.556 [DAT](INFO): got valid direction response:
 23:55:37.1862 LVL= 25840, 27857, 20274, 26243, AGC= 68, IDX= 422,-0.02, 1.981, 0.861, 2.170, 0.981, PHS= 1.087,-0.073, 1.186, RAW= 154.0, -32.7, CAL= 156.3, -38.2, ROT= 353.7,  38.2

2025-06-07T23:55:38.557Z,1749340538.557 [DAT](INFO): DAT read: Bearing 353.7,  38.2 (Local)

2025-06-07T23:55:38.557Z,1749340538.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7,  38.2 (Local)

2025-06-07T23:55:38.558Z,1749340538.558 [DAT](INFO): DAT read: Range 10 to 50 : 192.0 m  (Round-trip  256.1 ms) speed  1.1 m/s

2025-06-07T23:55:38.564Z,1749340538.564 [DAT](INFO): DAT read: user:1944>

2025-06-07T23:55:38.565Z,1749340538.565 [DAT](INFO): DAT read: Tx time:23:55:38.2759

2025-06-07T23:55:38.565Z,1749340538.565 [DAT](INFO): Ping request sent.
2025-06-07T23:55:38.565Z,1749340538.565 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:38.565Z,1749340538.565 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:38.566Z,1749340538.566 [DAT](INFO): direction in FSK: [0.781111,-0.086235,-0.618408]
2025-06-07T23:55:38.567Z,1749340538.567 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:38.567Z,1749340538.567 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:38.570Z,1749340538.570 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:38.570Z,1749340538.570 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:38.705Z,1749340538.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 192.000000 m,
      deltaT: 3.780371 s,
      deltaX: -1.600006 m,
      approachRate: -0.423240 m/s,
      rangeRepo size: 4

2025-06-07T23:55:38.707Z,1749340538.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 190.495834 m,
      bearing: 312.451183 deg,
      lat: 36.905925 deg,
      lon: -122.116126 deg,
      deltaT: 14.868006 s,
      deltaX: -7.737610 m,
      approachRate: -0.520420 m/s,
      posRepo size: 4

2025-06-07T23:55:38.720Z,1749340538.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:38.722Z,1749340538.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 146.432114 m,
      bearing: 317.179198 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026983 deg/s,
      cmd heading: 315.484416 deg,
      new cmd heading: 315.516406 deg.

2025-06-07T23:55:38.728Z,1749340538.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506800 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:38.805Z,1749340538.805 [DAT](INFO): DAT read: TxSync time:23:55:38.2751

2025-06-07T23:55:39.050Z,1749340539.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:39.053Z,1749340539.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:39.056Z,1749340539.056 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:39.056Z,1749340539.056 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:39.056Z,1749340539.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:39.059Z,1749340539.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 146.161285 m,
      bearing: 317.175557 deg,
      approach rate: -0.777039 m/s,
      LOS rate: -0.010465 deg/s,
      cmd heading: 315.516409 deg,
      new cmd heading: 315.505467 deg.

2025-06-07T23:55:39.060Z,1749340539.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506609 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:39.308Z,1749340539.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743085
2025-06-07T23:55:39.480Z,1749340539.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:39.482Z,1749340539.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 145.852234 m,
      bearing: 317.172505 deg,
      approach rate: -0.723750 m/s,
      LOS rate: -0.007164 deg/s,
      cmd heading: 315.505480 deg,
      new cmd heading: 315.496304 deg.

2025-06-07T23:55:39.484Z,1749340539.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506449 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:39.561Z,1749340539.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996122
2025-06-07T23:55:39.812Z,1749340539.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247089
2025-06-07T23:55:39.866Z,1749340539.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:39.869Z,1749340539.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 145.573288 m,
      bearing: 317.169983 deg,
      approach rate: -0.721702 m/s,
      LOS rate: -0.006536 deg/s,
      cmd heading: 315.496301 deg,
      new cmd heading: 315.488722 deg.

2025-06-07T23:55:39.870Z,1749340539.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506317 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:40.065Z,1749340540.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499895
2025-06-07T23:55:40.316Z,1749340540.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751238
2025-06-07T23:55:40.348Z,1749340540.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:40.351Z,1749340540.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 145.241928 m,
      bearing: 317.165434 deg,
      approach rate: -0.687805 m/s,
      LOS rate: -0.009464 deg/s,
      cmd heading: 315.488733 deg,
      new cmd heading: 315.475055 deg.

2025-06-07T23:55:40.356Z,1749340540.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506078 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:40.568Z,1749340540.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003023
2025-06-07T23:55:40.721Z,1749340540.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:40.724Z,1749340540.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 144.979233 m,
      bearing: 317.161488 deg,
      approach rate: -0.704162 m/s,
      LOS rate: -0.010597 deg/s,
      cmd heading: 315.475045 deg,
      new cmd heading: 315.463186 deg.

2025-06-07T23:55:40.725Z,1749340540.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505871 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:40.821Z,1749340540.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255520
2025-06-07T23:55:41.058Z,1749340541.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:41.072Z,1749340541.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507135
2025-06-07T23:55:41.074Z,1749340541.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:41.077Z,1749340541.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 144.723526 m,
      bearing: 317.157353 deg,
      approach rate: -0.724653 m/s,
      LOS rate: -0.011741 deg/s,
      cmd heading: 315.463188 deg,
      new cmd heading: 315.450759 deg.

2025-06-07T23:55:41.078Z,1749340541.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505654 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:41.325Z,1749340541.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759702
2025-06-07T23:55:41.510Z,1749340541.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:41.522Z,1749340541.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 144.419296 m,
      bearing: 317.155067 deg,
      approach rate: -0.697749 m/s,
      LOS rate: -0.005253 deg/s,
      cmd heading: 315.450757 deg,
      new cmd heading: 315.443886 deg.

2025-06-07T23:55:41.527Z,1749340541.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505534 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:41.576Z,1749340541.576 [DAT](INFO): DAT read: Rx Time:23:55:40.8641

2025-06-07T23:55:41.577Z,1749340541.577 [DAT](INFO): Rx dataTimestamp_ set to:1749340541.576465
2025-06-07T23:55:41.577Z,1749340541.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012270
2025-06-07T23:55:41.828Z,1749340541.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263173
2025-06-07T23:55:41.881Z,1749340541.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:41.884Z,1749340541.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 144.142365 m,
      bearing: 317.152760 deg,
      approach rate: -0.746139 m/s,
      LOS rate: -0.006228 deg/s,
      cmd heading: 315.443872 deg,
      new cmd heading: 315.436937 deg.

2025-06-07T23:55:41.885Z,1749340541.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505413 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:42.083Z,1749340542.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517519
2025-06-07T23:55:42.342Z,1749340542.342 [DAT](INFO): DAT read: 23:55:40.8641 LVL= 27568, 32753, 22162, 30195, AGC= 63, IDX= 216, 0.08, 1.735, 0.265, 1.477, 1.133, PHS= 0.689,-0.821, 0.341, RAW= 137.3,  -3.1, CAL= 142.6, -12.7, ROT=   7.4,  12.7

2025-06-07T23:55:42.343Z,1749340542.343 [DAT](INFO): got valid direction response:
 23:55:40.8641 LVL= 27568, 32753, 22162, 30195, AGC= 63, IDX= 216, 0.08, 1.735, 0.265, 1.477, 1.133, PHS= 0.689,-0.821, 0.341, RAW= 137.3,  -3.1, CAL= 142.6, -12.7, ROT=   7.4,  12.7

2025-06-07T23:55:42.344Z,1749340542.344 [DAT](INFO): DAT read: Bearing   7.4,  12.7 (Local)

2025-06-07T23:55:42.345Z,1749340542.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.4,  12.7 (Local)

2025-06-07T23:55:42.346Z,1749340542.346 [DAT](INFO): DAT read: Range 10 to 50 : 138.0 m  (Round-trip  184.0 ms) speed  0.7 m/s

2025-06-07T23:55:42.347Z,1749340542.347 [DAT](INFO): DAT read: user:1945>

2025-06-07T23:55:42.348Z,1749340542.348 [DAT](INFO): DAT read: Tx time:23:55:41.9775

2025-06-07T23:55:42.348Z,1749340542.348 [DAT](INFO): Ping request sent.
2025-06-07T23:55:42.348Z,1749340542.348 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:42.349Z,1749340542.349 [DAT](INFO): DAT read: TxSync time:23:55:41.9767

2025-06-07T23:55:42.349Z,1749340542.349 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:42.350Z,1749340542.350 [DAT](INFO): direction in FSK: [0.967409,0.125645,-0.219846]
2025-06-07T23:55:42.351Z,1749340542.351 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:42.351Z,1749340542.351 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:42.354Z,1749340542.354 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:42.354Z,1749340542.354 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:42.377Z,1749340542.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 138.000000 m,
 deltaT: 3.783557 s,
 deltaX: -54.000000 m,
 approachRate: -14.272284 m/s,
 rangeRepo size: 4
2025-06-07T23:55:42.378Z,1749340542.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:42.384Z,1749340542.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 143.833344 m,
      bearing: 317.150021 deg,
      approach rate: -0.623946 m/s,
      LOS rate: -0.005542 deg/s,
      cmd heading: 315.436933 deg,
      new cmd heading: 315.428699 deg.

2025-06-07T23:55:42.385Z,1749340542.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505270 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:42.802Z,1749340542.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:42.819Z,1749340542.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 143.505646 m,
      bearing: 317.149971 deg,
      approach rate: -0.770173 m/s,
      LOS rate: -0.000118 deg/s,
      cmd heading: 315.428709 deg,
      new cmd heading: 315.428559 deg.

2025-06-07T23:55:42.820Z,1749340542.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505267 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:43.156Z,1749340543.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:43.158Z,1749340543.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:43.165Z,1749340543.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 143.254059 m,
      bearing: 317.150411 deg,
      approach rate: -0.705945 m/s,
      LOS rate: 0.001237 deg/s,
      cmd heading: 315.428572 deg,
      new cmd heading: 315.429895 deg.

2025-06-07T23:55:43.166Z,1749340543.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505290 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:43.342Z,1749340543.342 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:43.342Z,1749340543.342 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:43.343Z,1749340543.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:43.549Z,1749340543.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:43.553Z,1749340543.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 142.962555 m,
      bearing: 317.154309 deg,
      approach rate: -0.745054 m/s,
      LOS rate: 0.009983 deg/s,
      cmd heading: 315.429884 deg,
      new cmd heading: 315.441602 deg.

2025-06-07T23:55:43.554Z,1749340543.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505495 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:43.592Z,1749340543.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243853
2025-06-07T23:55:43.844Z,1749340543.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496044
2025-06-07T23:55:43.950Z,1749340543.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:43.959Z,1749340543.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 142.678101 m,
      bearing: 317.158128 deg,
      approach rate: -0.710745 m/s,
      LOS rate: 0.009561 deg/s,
      cmd heading: 315.441604 deg,
      new cmd heading: 315.453084 deg.

2025-06-07T23:55:43.967Z,1749340543.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505695 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:44.096Z,1749340544.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748029
2025-06-07T23:55:44.348Z,1749340544.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999935
2025-06-07T23:55:44.440Z,1749340544.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:44.443Z,1749340544.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 142.309952 m,
      bearing: 317.164960 deg,
      approach rate: -0.751004 m/s,
      LOS rate: 0.013974 deg/s,
      cmd heading: 315.453079 deg,
      new cmd heading: 315.473629 deg.

2025-06-07T23:55:44.448Z,1749340544.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506053 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:44.600Z,1749340544.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251821
2025-06-07T23:55:44.739Z,1749340544.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:44.742Z,1749340544.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 142.090088 m,
      bearing: 317.169058 deg,
      approach rate: -0.735552 m/s,
      LOS rate: 0.013729 deg/s,
      cmd heading: 315.473624 deg,
      new cmd heading: 315.485935 deg.

2025-06-07T23:55:44.743Z,1749340544.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506269 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:44.853Z,1749340544.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504273
2025-06-07T23:55:45.104Z,1749340545.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755778
2025-06-07T23:55:45.126Z,1749340545.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:45.129Z,1749340545.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 141.806152 m,
      bearing: 317.174207 deg,
      approach rate: -0.732743 m/s,
      LOS rate: 0.013314 deg/s,
      cmd heading: 315.485946 deg,
      new cmd heading: 315.501424 deg.

2025-06-07T23:55:45.130Z,1749340545.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506539 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:45.359Z,1749340545.359 [DAT](INFO): DAT read: Rx Time:23:55:44.6320

2025-06-07T23:55:45.360Z,1749340545.360 [DAT](INFO): Rx dataTimestamp_ set to:1749340545.359359
2025-06-07T23:55:45.362Z,1749340545.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013420
2025-06-07T23:55:45.552Z,1749340545.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:45.554Z,1749340545.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:45.557Z,1749340545.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 141.492615 m,
      bearing: 317.181027 deg,
      approach rate: -0.733526 m/s,
      LOS rate: 0.015991 deg/s,
      cmd heading: 315.501437 deg,
      new cmd heading: 315.521943 deg.

2025-06-07T23:55:45.558Z,1749340545.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506897 target range: 190.495834 and range: 192.00 m.
2025-06-07T23:55:45.609Z,1749340545.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260830
2025-06-07T23:55:45.861Z,1749340545.861 [DAT](INFO): DAT read: Range 10 to 50 : 187.7 m  (Round-trip  250.3 ms) speed -0.2 m/s

2025-06-07T23:55:45.862Z,1749340545.862 [DAT](INFO): DAT read: user:1946>

2025-06-07T23:55:45.862Z,1749340545.862 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:55:45.863Z,1749340545.863 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:45.863Z,1749340545.863 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:45.863Z,1749340545.863 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:45.948Z,1749340545.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.699997 m,
      deltaT: 7.311555 s,
      deltaX: -4.300003 m,
      approachRate: -0.588111 m/s,
      rangeRepo size: 4

2025-06-07T23:55:45.949Z,1749340545.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:45.953Z,1749340545.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 141.206589 m,
      bearing: 317.187292 deg,
      approach rate: -0.727865 m/s,
      LOS rate: 0.015976 deg/s,
      cmd heading: 315.521955 deg,
      new cmd heading: 315.540789 deg.

2025-06-07T23:55:45.956Z,1749340545.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507226 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:46.112Z,1749340546.112 [DAT](INFO): DAT read: Tx time:23:55:45.7259

2025-06-07T23:55:46.112Z,1749340546.112 [DAT](INFO): Ping request sent.
2025-06-07T23:55:46.113Z,1749340546.113 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:46.113Z,1749340546.113 [DAT](INFO): DAT read: TxSync time:23:55:45.7251

2025-06-07T23:55:46.114Z,1749340546.114 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:46.114Z,1749340546.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001582
2025-06-07T23:55:46.367Z,1749340546.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254133
2025-06-07T23:55:46.391Z,1749340546.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:46.410Z,1749340546.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 140.877731 m,
      bearing: 317.194631 deg,
      approach rate: -0.740520 m/s,
      LOS rate: 0.016564 deg/s,
      cmd heading: 315.540779 deg,
      new cmd heading: 315.562847 deg.

2025-06-07T23:55:46.411Z,1749340546.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507611 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:46.616Z,1749340546.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503399
2025-06-07T23:55:46.815Z,1749340546.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:46.818Z,1749340546.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 140.596191 m,
      bearing: 317.202168 deg,
      approach rate: -0.669568 m/s,
      LOS rate: 0.017961 deg/s,
      cmd heading: 315.562854 deg,
      new cmd heading: 315.585511 deg.

2025-06-07T23:55:46.829Z,1749340546.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508006 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:46.868Z,1749340546.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755429
2025-06-07T23:55:47.120Z,1749340547.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007763
2025-06-07T23:55:47.145Z,1749340547.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:47.148Z,1749340547.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 140.329849 m,
      bearing: 317.209723 deg,
      approach rate: -0.797296 m/s,
      LOS rate: 0.022659 deg/s,
      cmd heading: 315.585503 deg,
      new cmd heading: 315.608211 deg.

2025-06-07T23:55:47.176Z,1749340547.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508402 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:47.375Z,1749340547.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261697
2025-06-07T23:55:47.571Z,1749340547.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:47.573Z,1749340547.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:47.592Z,1749340547.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 140.021774 m,
      bearing: 317.214524 deg,
      approach rate: -0.719963 m/s,
      LOS rate: 0.011245 deg/s,
      cmd heading: 315.608206 deg,
      new cmd heading: 315.622641 deg.

2025-06-07T23:55:47.593Z,1749340547.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508654 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:47.624Z,1749340547.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511647
2025-06-07T23:55:47.876Z,1749340547.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763527
2025-06-07T23:55:47.977Z,1749340547.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:47.980Z,1749340547.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 139.734207 m,
      bearing: 317.218938 deg,
      approach rate: -0.712062 m/s,
      LOS rate: 0.010952 deg/s,
      cmd heading: 315.622632 deg,
      new cmd heading: 315.635901 deg.

2025-06-07T23:55:47.981Z,1749340547.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508886 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:48.128Z,1749340548.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015581
2025-06-07T23:55:48.173Z,1749340548.173 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:55:48.382Z,1749340548.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269272
2025-06-07T23:55:48.497Z,1749340548.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:48.500Z,1749340548.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 139.364029 m,
      bearing: 317.219111 deg,
      approach rate: -0.712215 m/s,
      LOS rate: 0.000333 deg/s,
      cmd heading: 315.635910 deg,
      new cmd heading: 315.636429 deg.

2025-06-07T23:55:48.501Z,1749340548.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508895 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:48.632Z,1749340548.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519536
2025-06-07T23:55:48.812Z,1749340548.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:48.814Z,1749340548.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 139.154495 m,
      bearing: 317.219071 deg,
      approach rate: -0.671668 m/s,
      LOS rate: -0.000129 deg/s,
      cmd heading: 315.636429 deg,
      new cmd heading: 315.636308 deg.

2025-06-07T23:55:48.816Z,1749340548.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508893 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:48.885Z,1749340548.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771947
2025-06-07T23:55:49.140Z,1749340549.140 [DAT](INFO): DAT read: Rx Time:23:55:48.3761

2025-06-07T23:55:49.141Z,1749340549.141 [DAT](INFO): Rx dataTimestamp_ set to:1749340549.140418
2025-06-07T23:55:49.141Z,1749340549.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028608
2025-06-07T23:55:49.196Z,1749340549.196 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:55:49.237Z,1749340549.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:49.244Z,1749340549.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 138.848114 m,
      bearing: 317.218882 deg,
      approach rate: -0.715520 m/s,
      LOS rate: -0.000441 deg/s,
      cmd heading: 315.636319 deg,
      new cmd heading: 315.635752 deg.

2025-06-07T23:55:49.245Z,1749340549.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508883 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:49.394Z,1749340549.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281161
2025-06-07T23:55:49.589Z,1749340549.589 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060715570659,35.0, +10.6,   0.0,149
2025-06-07T23:55:49.669Z,1749340549.669 [DAT](INFO): DAT read: 23:55:48.3761 LVL= 30192, 32753, 26594, 32755, AGC= 59, IDX= 387,-0.31, 0.711,-0.178, 0.817,-0.368, PHS= 1.167, 0.237, 1.183, RAW= 150.8, -44.3, CAL= 154.4, -45.3, ROT= 355.6,  45.3

2025-06-07T23:55:49.671Z,1749340549.671 [DAT](INFO): got valid direction response:
 23:55:48.3761 LVL= 30192, 32753, 26594, 32755, AGC= 59, IDX= 387,-0.31, 0.711,-0.178, 0.817,-0.368, PHS= 1.167, 0.237, 1.183, RAW= 150.8, -44.3, CAL= 154.4, -45.3, ROT= 355.6,  45.3

2025-06-07T23:55:49.680Z,1749340549.680 [DAT](INFO): DAT read: Bearing 355.6,  45.3 (Local)

2025-06-07T23:55:49.680Z,1749340549.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  45.3 (Local)

2025-06-07T23:55:49.682Z,1749340549.682 [DAT](INFO): DAT read: Range 10 to 50 : 184.4 m  (Round-trip  245.9 ms) speed  0.6 m/s

2025-06-07T23:55:49.683Z,1749340549.683 [DAT](INFO): DAT read: user:1947>

2025-06-07T23:55:49.688Z,1749340549.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:49.690Z,1749340549.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.50 m.
2025-06-07T23:55:49.692Z,1749340549.692 [DAT](INFO): DAT read: Tx time:23:55:49.4760

2025-06-07T23:55:49.693Z,1749340549.693 [DAT](INFO): Ping request sent.
2025-06-07T23:55:49.693Z,1749340549.693 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:55:49.693Z,1749340549.693 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:55:49.694Z,1749340549.694 [DAT](INFO): direction in FSK: [0.701322,-0.053964,-0.710799]
2025-06-07T23:55:49.694Z,1749340549.694 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:49.694Z,1749340549.694 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:49.701Z,1749340549.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.495834 m,
      nav range: 138.554108 m,
      bearing: 317.218538 deg,
      approach rate: -0.649347 m/s,
      LOS rate: -0.000761 deg/s,
      cmd heading: 315.635746 deg,
      new cmd heading: 315.634712 deg.

2025-06-07T23:55:49.702Z,1749340549.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508865 target range: 190.495834 and range: 187.70 m.
2025-06-07T23:55:49.706Z,1749340549.706 [DAT](INFO): publishing transmit ping time
2025-06-07T23:55:49.706Z,1749340549.706 [DAT](INFO): publishing direction and range info
2025-06-07T23:55:49.897Z,1749340549.897 [DAT](INFO): DAT read: TxSync time:23:55:49.4752

2025-06-07T23:55:50.052Z,1749340550.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 184.399994 m,
      deltaT: 3.785689 s,
      deltaX: -3.300003 m,
      approachRate: -0.871705 m/s,
      rangeRepo size: 4

2025-06-07T23:55:50.054Z,1749340550.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 182.951843 m,
      bearing: 315.475537 deg,
      lat: 36.905852 deg,
      lon: -122.116033 deg,
      deltaT: 11.097244 s,
      deltaX: -7.543991 m,
      approachRate: -0.679808 m/s,
      posRepo size: 4

2025-06-07T23:55:50.059Z,1749340550.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:50.062Z,1749340550.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 126.700958 m,
      bearing: 317.490983 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000761 deg/s,
      cmd heading: 315.634708 deg,
      new cmd heading: 315.633881 deg.

2025-06-07T23:55:50.067Z,1749340550.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508851 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:50.471Z,1749340550.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:50.474Z,1749340550.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 126.391396 m,
      bearing: 317.487386 deg,
      approach rate: -0.738086 m/s,
      LOS rate: -0.008598 deg/s,
      cmd heading: 315.633888 deg,
      new cmd heading: 315.623069 deg.

2025-06-07T23:55:50.475Z,1749340550.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508662 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:50.814Z,1749340550.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:50.819Z,1749340550.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 126.150444 m,
      bearing: 317.485028 deg,
      approach rate: -0.702788 m/s,
      LOS rate: -0.006891 deg/s,
      cmd heading: 315.623069 deg,
      new cmd heading: 315.615981 deg.

2025-06-07T23:55:50.820Z,1749340550.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508538 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:51.224Z,1749340551.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:51.226Z,1749340551.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 125.875801 m,
      bearing: 317.482317 deg,
      approach rate: -0.670495 m/s,
      LOS rate: -0.006634 deg/s,
      cmd heading: 315.615993 deg,
      new cmd heading: 315.607841 deg.

2025-06-07T23:55:51.232Z,1749340551.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508396 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:51.630Z,1749340551.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:51.633Z,1749340551.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 125.566177 m,
      bearing: 317.474834 deg,
      approach rate: -0.762380 m/s,
      LOS rate: -0.018469 deg/s,
      cmd heading: 315.607851 deg,
      new cmd heading: 315.585349 deg.

2025-06-07T23:55:51.634Z,1749340551.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508003 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:52.010Z,1749340552.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:52.012Z,1749340552.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:52.014Z,1749340552.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 125.288689 m,
      bearing: 317.467892 deg,
      approach rate: -0.726197 m/s,
      LOS rate: -0.018208 deg/s,
      cmd heading: 315.585339 deg,
      new cmd heading: 315.564467 deg.

2025-06-07T23:55:52.016Z,1749340552.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507639 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:52.164Z,1749340552.164 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:52.164Z,1749340552.164 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:52.164Z,1749340552.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:52.419Z,1749340552.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725780
2025-06-07T23:55:52.492Z,1749340552.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:52.494Z,1749340552.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 124.945282 m,
      bearing: 317.459122 deg,
      approach rate: -0.715630 m/s,
      LOS rate: -0.018327 deg/s,
      cmd heading: 315.564466 deg,
      new cmd heading: 315.538082 deg.

2025-06-07T23:55:52.501Z,1749340552.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507178 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:52.668Z,1749340552.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975408
2025-06-07T23:55:52.846Z,1749340552.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:52.849Z,1749340552.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 124.675453 m,
      bearing: 317.453052 deg,
      approach rate: -0.762782 m/s,
      LOS rate: -0.017196 deg/s,
      cmd heading: 315.538074 deg,
      new cmd heading: 315.519826 deg.

2025-06-07T23:55:52.850Z,1749340552.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506860 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:52.921Z,1749340552.921 [DAT](INFO): DAT read: Rx Time:23:55:52.0882

2025-06-07T23:55:52.922Z,1749340552.922 [DAT](INFO): Rx dataTimestamp_ set to:1749340552.921701
2025-06-07T23:55:52.923Z,1749340552.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230172
2025-06-07T23:55:53.172Z,1749340553.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479477
2025-06-07T23:55:53.246Z,1749340553.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:53.253Z,1749340553.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 124.382904 m,
      bearing: 317.446382 deg,
      approach rate: -0.730308 m/s,
      LOS rate: -0.016689 deg/s,
      cmd heading: 315.519824 deg,
      new cmd heading: 315.499767 deg.

2025-06-07T23:55:53.254Z,1749340553.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506510 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:53.439Z,1749340553.439 [DAT](INFO): DAT read: 23:55:52.0882 LVL= 29488, 32753, 27506, 32755, AGC= 63, IDX=  46, 0.30,-2.516, 2.187,-2.830, 3.140, PHS= 0.715,-0.906, 0.310, RAW= 136.1,  -1.6, CAL= 141.4, -11.0, ROT=   8.6,  11.0

2025-06-07T23:55:53.442Z,1749340553.442 [DAT](INFO): got valid direction response:
 23:55:52.0882 LVL= 29488, 32753, 27506, 32755, AGC= 63, IDX=  46, 0.30,-2.516, 2.187,-2.830, 3.140, PHS= 0.715,-0.906, 0.310, RAW= 136.1,  -1.6, CAL= 141.4, -11.0, ROT=   8.6,  11.0

2025-06-07T23:55:53.444Z,1749340553.444 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:55:53.445Z,1749340553.445 [DAT](INFO): Received a bad header
2025-06-07T23:55:53.460Z,1749340553.460 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:55:53.463Z,1749340553.463 [DAT](INFO): direction in FSK: [0.970590,0.146788,-0.190809]
2025-06-07T23:55:53.509Z,1749340553.509 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:53.509Z,1749340553.509 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:53.509Z,1749340553.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:53.655Z,1749340553.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:53.658Z,1749340553.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 124.072853 m,
      bearing: 317.441775 deg,
      approach rate: -0.757856 m/s,
      LOS rate: -0.011290 deg/s,
      cmd heading: 315.499770 deg,
      new cmd heading: 315.485914 deg.

2025-06-07T23:55:53.659Z,1749340553.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506268 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:53.677Z,1749340553.677 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:53.678Z,1749340553.678 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:53.678Z,1749340553.678 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:53.928Z,1749340553.928 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:53.928Z,1749340553.928 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:53.928Z,1749340553.928 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:54.034Z,1749340554.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:54.036Z,1749340554.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:54.039Z,1749340554.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 123.789864 m,
      bearing: 317.437547 deg,
      approach rate: -0.742556 m/s,
      LOS rate: -0.011121 deg/s,
      cmd heading: 315.485919 deg,
      new cmd heading: 315.473204 deg.

2025-06-07T23:55:54.040Z,1749340554.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506046 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:54.181Z,1749340554.181 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:54.181Z,1749340554.181 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:54.181Z,1749340554.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:54.435Z,1749340554.435 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:54.435Z,1749340554.435 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:54.436Z,1749340554.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:54.517Z,1749340554.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:54.531Z,1749340554.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 123.438675 m,
      bearing: 317.432244 deg,
      approach rate: -0.731122 m/s,
      LOS rate: -0.011071 deg/s,
      cmd heading: 315.473215 deg,
      new cmd heading: 315.457261 deg.

2025-06-07T23:55:54.532Z,1749340554.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505768 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:54.684Z,1749340554.684 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:54.684Z,1749340554.684 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:54.684Z,1749340554.684 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:54.893Z,1749340554.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:54.896Z,1749340554.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 123.141068 m,
      bearing: 317.427880 deg,
      approach rate: -0.790487 m/s,
      LOS rate: -0.011620 deg/s,
      cmd heading: 315.457259 deg,
      new cmd heading: 315.444135 deg.

2025-06-07T23:55:54.897Z,1749340554.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505539 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:54.936Z,1749340554.936 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:54.936Z,1749340554.936 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:54.936Z,1749340554.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:55.188Z,1749340555.188 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:55.188Z,1749340555.188 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:55.188Z,1749340555.188 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:55.325Z,1749340555.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:55.328Z,1749340555.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 122.805550 m,
      bearing: 317.422923 deg,
      approach rate: -0.776466 m/s,
      LOS rate: -0.011502 deg/s,
      cmd heading: 315.444145 deg,
      new cmd heading: 315.429235 deg.

2025-06-07T23:55:55.329Z,1749340555.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505279 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:55.444Z,1749340555.444 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:55.444Z,1749340555.444 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:55.444Z,1749340555.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:55.692Z,1749340555.692 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:55.692Z,1749340555.692 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:55.692Z,1749340555.692 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:55.754Z,1749340555.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:55.761Z,1749340555.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 122.486649 m,
      bearing: 317.422979 deg,
      approach rate: -0.743553 m/s,
      LOS rate: 0.000130 deg/s,
      cmd heading: 315.429228 deg,
      new cmd heading: 315.429396 deg.

2025-06-07T23:55:55.762Z,1749340555.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505281 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:55.945Z,1749340555.945 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:55.945Z,1749340555.945 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:55.945Z,1749340555.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:56.176Z,1749340556.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:56.178Z,1749340556.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:56.181Z,1749340556.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 122.146683 m,
      bearing: 317.422966 deg,
      approach rate: -0.801288 m/s,
      LOS rate: -0.000031 deg/s,
      cmd heading: 315.429392 deg,
      new cmd heading: 315.429352 deg.

2025-06-07T23:55:56.182Z,1749340556.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505281 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:56.196Z,1749340556.196 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:56.196Z,1749340556.196 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:56.196Z,1749340556.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:56.448Z,1749340556.448 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:56.448Z,1749340556.448 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:56.448Z,1749340556.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:56.609Z,1749340556.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:56.629Z,1749340556.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 121.817459 m,
      bearing: 317.422154 deg,
      approach rate: -0.764372 m/s,
      LOS rate: -0.001890 deg/s,
      cmd heading: 315.429365 deg,
      new cmd heading: 315.426923 deg.

2025-06-07T23:55:56.630Z,1749340556.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505239 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:56.701Z,1749340556.701 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:56.701Z,1749340556.701 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:56.701Z,1749340556.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:56.953Z,1749340556.953 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:56.953Z,1749340556.953 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:56.953Z,1749340556.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:57.015Z,1749340557.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:57.028Z,1749340557.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 121.513870 m,
      bearing: 317.421408 deg,
      approach rate: -0.748471 m/s,
      LOS rate: -0.001844 deg/s,
      cmd heading: 315.426933 deg,
      new cmd heading: 315.424689 deg.

2025-06-07T23:55:57.029Z,1749340557.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505199 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:57.204Z,1749340557.204 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:57.205Z,1749340557.205 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:57.205Z,1749340557.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:57.385Z,1749340557.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:57.388Z,1749340557.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 121.225204 m,
      bearing: 317.420749 deg,
      approach rate: -0.780408 m/s,
      LOS rate: -0.001786 deg/s,
      cmd heading: 315.424693 deg,
      new cmd heading: 315.422711 deg.

2025-06-07T23:55:57.389Z,1749340557.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505165 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:57.457Z,1749340557.457 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:57.457Z,1749340557.457 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:57.457Z,1749340557.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:57.708Z,1749340557.708 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:57.708Z,1749340557.708 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:57.708Z,1749340557.708 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:57.835Z,1749340557.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:57.838Z,1749340557.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 120.901970 m,
      bearing: 317.423432 deg,
      approach rate: -0.724228 m/s,
      LOS rate: 0.006028 deg/s,
      cmd heading: 315.422698 deg,
      new cmd heading: 315.430770 deg.

2025-06-07T23:55:57.839Z,1749340557.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505305 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:57.960Z,1749340557.960 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:57.960Z,1749340557.960 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:57.960Z,1749340557.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:58.191Z,1749340558.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:55:58.193Z,1749340558.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:58.196Z,1749340558.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 120.629059 m,
      bearing: 317.425685 deg,
      approach rate: -0.752941 m/s,
      LOS rate: 0.006231 deg/s,
      cmd heading: 315.430758 deg,
      new cmd heading: 315.437534 deg.

2025-06-07T23:55:58.197Z,1749340558.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505424 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:58.212Z,1749340558.212 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:58.212Z,1749340558.212 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:58.212Z,1749340558.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:58.464Z,1749340558.464 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:58.464Z,1749340558.464 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:58.464Z,1749340558.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:58.633Z,1749340558.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:58.645Z,1749340558.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 120.310410 m,
      bearing: 317.430121 deg,
      approach rate: -0.724847 m/s,
      LOS rate: 0.010117 deg/s,
      cmd heading: 315.437534 deg,
      new cmd heading: 315.450876 deg.

2025-06-07T23:55:58.646Z,1749340558.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505656 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:58.717Z,1749340558.717 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:58.717Z,1749340558.717 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:58.717Z,1749340558.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:58.968Z,1749340558.968 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:58.969Z,1749340558.969 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:58.969Z,1749340558.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:59.028Z,1749340559.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:59.036Z,1749340559.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 120.038475 m,
      bearing: 317.433902 deg,
      approach rate: -0.687669 m/s,
      LOS rate: 0.009584 deg/s,
      cmd heading: 315.450866 deg,
      new cmd heading: 315.462236 deg.

2025-06-07T23:55:59.037Z,1749340559.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505855 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:59.220Z,1749340559.220 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:59.220Z,1749340559.220 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:59.220Z,1749340559.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:59.450Z,1749340559.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:59.453Z,1749340559.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 119.730095 m,
      bearing: 317.438100 deg,
      approach rate: -0.731839 m/s,
      LOS rate: 0.009986 deg/s,
      cmd heading: 315.462232 deg,
      new cmd heading: 315.474856 deg.

2025-06-07T23:55:59.454Z,1749340559.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506075 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:59.472Z,1749340559.472 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:55:59.472Z,1749340559.472 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:55:59.472Z,1749340559.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:55:59.724Z,1749340559.724 [DAT](INFO): Reached modem response timeout
2025-06-07T23:55:59.724Z,1749340559.724 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:55:59.724Z,1749340559.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:55:59.862Z,1749340559.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:55:59.865Z,1749340559.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 119.423546 m,
      bearing: 317.443883 deg,
      approach rate: -0.743668 m/s,
      LOS rate: 0.014065 deg/s,
      cmd heading: 315.474854 deg,
      new cmd heading: 315.492248 deg.

2025-06-07T23:55:59.866Z,1749340559.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506379 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:55:59.976Z,1749340559.976 [DAT](INFO): Reached modem response timeout
2025-06-07T23:55:59.976Z,1749340559.976 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:55:59.976Z,1749340559.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:00.215Z,1749340560.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:00.228Z,1749340560.228 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:00.231Z,1749340560.231 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:00.232Z,1749340560.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:00.241Z,1749340560.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:00.248Z,1749340560.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 119.171829 m,
      bearing: 317.448607 deg,
      approach rate: -0.664798 m/s,
      LOS rate: 0.012503 deg/s,
      cmd heading: 315.492257 deg,
      new cmd heading: 315.506460 deg.

2025-06-07T23:56:00.249Z,1749340560.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506627 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:00.480Z,1749340560.480 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:00.480Z,1749340560.480 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:00.480Z,1749340560.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:00.717Z,1749340560.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:00.720Z,1749340560.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 118.826393 m,
      bearing: 317.451907 deg,
      approach rate: -0.725435 m/s,
      LOS rate: 0.006950 deg/s,
      cmd heading: 315.506464 deg,
      new cmd heading: 315.516392 deg.

2025-06-07T23:56:00.721Z,1749340560.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506800 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:00.732Z,1749340560.732 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:56:00.733Z,1749340560.733 [DAT](INFO): response not received
2025-06-07T23:56:00.733Z,1749340560.733 [DAT](INFO): DAT read: user:1949>

2025-06-07T23:56:00.734Z,1749340560.734 [DAT](INFO): DAT read: Tx time:23:56:00.4261

2025-06-07T23:56:00.734Z,1749340560.734 [DAT](INFO): Ping request sent.
2025-06-07T23:56:00.734Z,1749340560.734 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:56:00.734Z,1749340560.734 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:00.735Z,1749340560.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-07T23:56:00.984Z,1749340560.984 [DAT](INFO): DAT read: TxSync time:23:56:00.4253

2025-06-07T23:56:00.985Z,1749340560.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250745
2025-06-07T23:56:01.060Z,1749340561.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:01.067Z,1749340561.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 118.583069 m,
      bearing: 317.454270 deg,
      approach rate: -0.708285 m/s,
      LOS rate: 0.006893 deg/s,
      cmd heading: 315.516381 deg,
      new cmd heading: 315.523485 deg.

2025-06-07T23:56:01.069Z,1749340561.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506924 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:01.236Z,1749340561.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501804
2025-06-07T23:56:01.488Z,1749340561.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754021
2025-06-07T23:56:01.502Z,1749340561.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:01.504Z,1749340561.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 118.262749 m,
      bearing: 317.457734 deg,
      approach rate: -0.725991 m/s,
      LOS rate: 0.007872 deg/s,
      cmd heading: 315.523485 deg,
      new cmd heading: 315.533905 deg.

2025-06-07T23:56:01.505Z,1749340561.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507105 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:01.741Z,1749340561.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006604
2025-06-07T23:56:01.906Z,1749340561.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:01.913Z,1749340561.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 117.975632 m,
      bearing: 317.461242 deg,
      approach rate: -0.710708 m/s,
      LOS rate: 0.008706 deg/s,
      cmd heading: 315.533894 deg,
      new cmd heading: 315.544446 deg.

2025-06-07T23:56:01.914Z,1749340561.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507289 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:01.992Z,1749340561.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258033
2025-06-07T23:56:02.244Z,1749340562.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509839
2025-06-07T23:56:02.268Z,1749340562.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:02.270Z,1749340562.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:02.273Z,1749340562.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 117.705658 m,
      bearing: 317.464398 deg,
      approach rate: -0.740728 m/s,
      LOS rate: 0.008679 deg/s,
      cmd heading: 315.544440 deg,
      new cmd heading: 315.553930 deg.

2025-06-07T23:56:02.274Z,1749340562.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507455 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:02.497Z,1749340562.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762540
2025-06-07T23:56:02.695Z,1749340562.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:02.698Z,1749340562.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 117.398064 m,
      bearing: 317.467196 deg,
      approach rate: -0.724053 m/s,
      LOS rate: 0.006602 deg/s,
      cmd heading: 315.553920 deg,
      new cmd heading: 315.562334 deg.

2025-06-07T23:56:02.699Z,1749340562.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507602 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:02.749Z,1749340562.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014610
2025-06-07T23:56:03.000Z,1749340563.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265932
2025-06-07T23:56:03.078Z,1749340563.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:03.081Z,1749340563.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 117.138290 m,
      bearing: 317.469178 deg,
      approach rate: -0.678095 m/s,
      LOS rate: 0.005185 deg/s,
      cmd heading: 315.562335 deg,
      new cmd heading: 315.568294 deg.

2025-06-07T23:56:03.082Z,1749340563.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507706 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:03.252Z,1749340563.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517804
2025-06-07T23:56:03.446Z,1749340563.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:03.449Z,1749340563.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 116.855164 m,
      bearing: 317.471456 deg,
      approach rate: -0.769580 m/s,
      LOS rate: 0.006207 deg/s,
      cmd heading: 315.568291 deg,
      new cmd heading: 315.575142 deg.

2025-06-07T23:56:03.450Z,1749340563.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507825 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:03.505Z,1749340563.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770366
2025-06-07T23:56:03.756Z,1749340563.756 [DAT](INFO): DAT read: Rx Time:23:56:03.0657

2025-06-07T23:56:03.757Z,1749340563.757 [DAT](INFO): Rx dataTimestamp_ set to:1749340563.756533
2025-06-07T23:56:03.757Z,1749340563.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023120
2025-06-07T23:56:03.879Z,1749340563.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:03.882Z,1749340563.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 116.541420 m,
      bearing: 317.472474 deg,
      approach rate: -0.724630 m/s,
      LOS rate: 0.002358 deg/s,
      cmd heading: 315.575148 deg,
      new cmd heading: 315.578211 deg.

2025-06-07T23:56:03.883Z,1749340563.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507879 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:04.008Z,1749340564.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273773
2025-06-07T23:56:04.260Z,1749340564.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525935
2025-06-07T23:56:04.271Z,1749340564.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:04.273Z,1749340564.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:04.295Z,1749340564.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 116.256203 m,
      bearing: 317.473545 deg,
      approach rate: -0.723213 m/s,
      LOS rate: 0.002723 deg/s,
      cmd heading: 315.578208 deg,
      new cmd heading: 315.581430 deg.

2025-06-07T23:56:04.296Z,1749340564.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507935 target range: 182.951843 and range: 184.40 m.
2025-06-07T23:56:04.513Z,1749340564.513 [DAT](INFO): DAT read: Range 10 to 50 : 176.5 m  (Round-trip  235.4 ms) speed  0.6 m/s

2025-06-07T23:56:04.514Z,1749340564.514 [DAT](INFO): DAT read: user:1950>

2025-06-07T23:56:04.515Z,1749340564.515 [DAT](INFO): DAT read: Tx time:23:56:04.1761

2025-06-07T23:56:04.515Z,1749340564.515 [DAT](INFO): Ping request sent.
2025-06-07T23:56:04.515Z,1749340564.515 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:56:04.515Z,1749340564.515 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:56:04.516Z,1749340564.516 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:04.519Z,1749340564.519 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:04.733Z,1749340564.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 176.500000 m,
      deltaT: 14.866390 s,
      deltaX: -7.899994 m,
      approachRate: -0.531400 m/s,
      rangeRepo size: 4

2025-06-07T23:56:04.734Z,1749340564.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:04.737Z,1749340564.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 115.918579 m,
      bearing: 317.475115 deg,
      approach rate: -0.734963 m/s,
      LOS rate: 0.003426 deg/s,
      cmd heading: 315.581432 deg,
      new cmd heading: 315.586154 deg.

2025-06-07T23:56:04.738Z,1749340564.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508018 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:04.764Z,1749340564.764 [DAT](INFO): DAT read: TxSync time:23:56:04.1753

2025-06-07T23:56:05.059Z,1749340565.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:05.062Z,1749340565.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 115.678528 m,
      bearing: 317.476601 deg,
      approach rate: -0.734893 m/s,
      LOS rate: 0.004557 deg/s,
      cmd heading: 315.586159 deg,
      new cmd heading: 315.590625 deg.

2025-06-07T23:56:05.064Z,1749340565.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508095 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:05.481Z,1749340565.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:05.484Z,1749340565.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 115.368813 m,
      bearing: 317.478782 deg,
      approach rate: -0.734589 m/s,
      LOS rate: 0.005188 deg/s,
      cmd heading: 315.590612 deg,
      new cmd heading: 315.597174 deg.

2025-06-07T23:56:05.485Z,1749340565.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508210 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:05.909Z,1749340565.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:05.912Z,1749340565.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 115.051590 m,
      bearing: 317.481332 deg,
      approach rate: -0.741150 m/s,
      LOS rate: 0.005974 deg/s,
      cmd heading: 315.597169 deg,
      new cmd heading: 315.604839 deg.

2025-06-07T23:56:05.913Z,1749340565.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508344 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:06.290Z,1749340566.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:06.292Z,1749340566.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:06.295Z,1749340566.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 114.767731 m,
      bearing: 317.483510 deg,
      approach rate: -0.740849 m/s,
      LOS rate: 0.005698 deg/s,
      cmd heading: 315.604846 deg,
      new cmd heading: 315.611396 deg.

2025-06-07T23:56:06.296Z,1749340566.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508458 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:06.532Z,1749340566.532 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:06.532Z,1749340566.532 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:06.532Z,1749340566.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:06.737Z,1749340566.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:06.740Z,1749340566.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 114.433670 m,
      bearing: 317.486273 deg,
      approach rate: -0.751233 m/s,
      LOS rate: 0.006232 deg/s,
      cmd heading: 315.611403 deg,
      new cmd heading: 315.619716 deg.

2025-06-07T23:56:06.741Z,1749340566.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508603 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:06.785Z,1749340566.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269731
2025-06-07T23:56:07.036Z,1749340567.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520885
2025-06-07T23:56:07.105Z,1749340567.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:07.111Z,1749340567.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 114.167374 m,
      bearing: 317.488509 deg,
      approach rate: -0.723789 m/s,
      LOS rate: 0.006092 deg/s,
      cmd heading: 315.619708 deg,
      new cmd heading: 315.626432 deg.

2025-06-07T23:56:07.113Z,1749340567.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508720 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:07.288Z,1749340567.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772958
2025-06-07T23:56:07.505Z,1749340567.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:07.507Z,1749340567.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 113.858246 m,
      bearing: 317.491184 deg,
      approach rate: -0.772930 m/s,
      LOS rate: 0.006707 deg/s,
      cmd heading: 315.626429 deg,
      new cmd heading: 315.634477 deg.

2025-06-07T23:56:07.508Z,1749340567.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508861 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:07.541Z,1749340567.541 [DAT](INFO): DAT read: Rx Time:23:56:06.8138

2025-06-07T23:56:07.542Z,1749340567.542 [DAT](INFO): Rx dataTimestamp_ set to:1749340567.541012
2025-06-07T23:56:07.542Z,1749340567.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026961
2025-06-07T23:56:07.792Z,1749340567.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276899
2025-06-07T23:56:07.948Z,1749340567.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:07.954Z,1749340567.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 113.554352 m,
      bearing: 317.497137 deg,
      approach rate: -0.692642 m/s,
      LOS rate: 0.013605 deg/s,
      cmd heading: 315.634489 deg,
      new cmd heading: 315.652397 deg.

2025-06-07T23:56:07.956Z,1749340567.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509173 target range: 182.951843 and range: 176.50 m.
2025-06-07T23:56:08.046Z,1749340568.046 [DAT](INFO): DAT read: Range 10 to 50 : 175.1 m  (Round-trip  233.5 ms) speed  0.4 m/s

2025-06-07T23:56:08.048Z,1749340568.048 [DAT](INFO): DAT read: user:1951>

2025-06-07T23:56:08.049Z,1749340568.049 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-07T23:56:08.050Z,1749340568.050 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:08.050Z,1749340568.050 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:08.051Z,1749340568.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:08.296Z,1749340568.296 [DAT](INFO): DAT read: Tx time:23:56:07.9278

2025-06-07T23:56:08.297Z,1749340568.297 [DAT](INFO): Ping request sent.
2025-06-07T23:56:08.297Z,1749340568.297 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:56:08.297Z,1749340568.297 [DAT](INFO): DAT read: TxSync time:23:56:07.9270

2025-06-07T23:56:08.298Z,1749340568.298 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:08.298Z,1749340568.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001591
2025-06-07T23:56:08.319Z,1749340568.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:08.322Z,1749340568.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.100006 m,
      deltaT: 3.532388 s,
      deltaX: -1.399994 m,
      approachRate: -0.396331 m/s,
      rangeRepo size: 4

2025-06-07T23:56:08.322Z,1749340568.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:08.325Z,1749340568.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 113.259201 m,
      bearing: 317.502955 deg,
      approach rate: -0.781426 m/s,
      LOS rate: 0.015443 deg/s,
      cmd heading: 315.652384 deg,
      new cmd heading: 315.669883 deg.

2025-06-07T23:56:08.326Z,1749340568.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509479 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:08.551Z,1749340568.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254363
2025-06-07T23:56:08.775Z,1749340568.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:08.778Z,1749340568.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 112.926880 m,
      bearing: 317.504714 deg,
      approach rate: -0.732262 m/s,
      LOS rate: 0.003886 deg/s,
      cmd heading: 315.669897 deg,
      new cmd heading: 315.675187 deg.

2025-06-07T23:56:08.779Z,1749340568.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509572 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:08.800Z,1749340568.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503358
2025-06-07T23:56:09.052Z,1749340569.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755317
2025-06-07T23:56:09.123Z,1749340569.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:09.126Z,1749340569.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 112.672096 m,
      bearing: 317.506365 deg,
      approach rate: -0.732040 m/s,
      LOS rate: 0.004756 deg/s,
      cmd heading: 315.675197 deg,
      new cmd heading: 315.680163 deg.

2025-06-07T23:56:09.128Z,1749340569.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509658 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:09.305Z,1749340569.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008235
2025-06-07T23:56:09.534Z,1749340569.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:09.538Z,1749340569.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 112.384460 m,
      bearing: 317.508566 deg,
      approach rate: -0.699587 m/s,
      LOS rate: 0.005365 deg/s,
      cmd heading: 315.680169 deg,
      new cmd heading: 315.686787 deg.

2025-06-07T23:56:09.539Z,1749340569.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509774 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:09.557Z,1749340569.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260355
2025-06-07T23:56:09.808Z,1749340569.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511390
2025-06-07T23:56:09.969Z,1749340569.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:09.974Z,1749340569.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 112.065071 m,
      bearing: 317.508784 deg,
      approach rate: -0.734651 m/s,
      LOS rate: 0.000504 deg/s,
      cmd heading: 315.686781 deg,
      new cmd heading: 315.687438 deg.

2025-06-07T23:56:09.975Z,1749340569.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509785 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:10.061Z,1749340570.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763757
2025-06-07T23:56:10.312Z,1749340570.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015385
2025-06-07T23:56:10.336Z,1749340570.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:10.338Z,1749340570.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:10.341Z,1749340570.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 111.792534 m,
      bearing: 317.508689 deg,
      approach rate: -0.737388 m/s,
      LOS rate: -0.000259 deg/s,
      cmd heading: 315.687437 deg,
      new cmd heading: 315.687150 deg.

2025-06-07T23:56:10.342Z,1749340570.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509780 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:10.564Z,1749340570.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267415
2025-06-07T23:56:10.784Z,1749340570.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:10.786Z,1749340570.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 111.468307 m,
      bearing: 317.508878 deg,
      approach rate: -0.728939 m/s,
      LOS rate: 0.000426 deg/s,
      cmd heading: 315.687163 deg,
      new cmd heading: 315.687732 deg.

2025-06-07T23:56:10.788Z,1749340570.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509790 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:10.816Z,1749340570.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519369
2025-06-07T23:56:11.070Z,1749340571.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772535
2025-06-07T23:56:11.133Z,1749340571.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:11.136Z,1749340571.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 111.213303 m,
      bearing: 317.508941 deg,
      approach rate: -0.728294 m/s,
      LOS rate: 0.000183 deg/s,
      cmd heading: 315.687737 deg,
      new cmd heading: 315.687929 deg.

2025-06-07T23:56:11.137Z,1749340571.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509794 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:11.320Z,1749340571.320 [DAT](INFO): DAT read: Rx Time:23:56:10.5247

2025-06-07T23:56:11.321Z,1749340571.321 [DAT](INFO): Rx dataTimestamp_ set to:1749340571.320627
2025-06-07T23:56:11.321Z,1749340571.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024625
2025-06-07T23:56:11.547Z,1749340571.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:11.550Z,1749340571.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 110.920776 m,
      bearing: 317.508897 deg,
      approach rate: -0.706792 m/s,
      LOS rate: -0.000108 deg/s,
      cmd heading: 315.687928 deg,
      new cmd heading: 315.687794 deg.

2025-06-07T23:56:11.551Z,1749340571.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509791 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:11.572Z,1749340571.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275342
2025-06-07T23:56:11.830Z,1749340571.830 [DAT](INFO): DAT read: 23:56:10.5247 LVL= 32752, 32753, 24434, 31507, AGC= 70, IDX=  18,-0.16,-2.272, 2.655,-2.513,-2.763, PHS= 0.579,-0.818, 0.247, RAW= 136.8,  -0.1, CAL= 141.9,  -9.1, ROT=   8.1,   9.1

2025-06-07T23:56:11.831Z,1749340571.831 [DAT](INFO): got valid direction response:
 23:56:10.5247 LVL= 32752, 32753, 24434, 31507, AGC= 70, IDX=  18,-0.16,-2.272, 2.655,-2.513,-2.763, PHS= 0.579,-0.818, 0.247, RAW= 136.8,  -0.1, CAL= 141.9,  -9.1, ROT=   8.1,   9.1

2025-06-07T23:56:11.832Z,1749340571.832 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:56:11.832Z,1749340571.832 [DAT](INFO): Received a bad header
2025-06-07T23:56:11.843Z,1749340571.843 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:56:11.844Z,1749340571.844 [DAT](INFO): direction in FSK: [0.977563,0.139128,-0.158158]
2025-06-07T23:56:11.847Z,1749340571.847 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:11.847Z,1749340571.847 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:11.847Z,1749340571.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:11.999Z,1749340571.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:12.002Z,1749340572.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 110.582344 m,
      bearing: 317.508443 deg,
      approach rate: -0.749573 m/s,
      LOS rate: -0.001008 deg/s,
      cmd heading: 315.687792 deg,
      new cmd heading: 315.686427 deg.

2025-06-07T23:56:12.003Z,1749340572.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509768 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:12.077Z,1749340572.077 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:12.077Z,1749340572.077 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:12.078Z,1749340572.078 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:12.328Z,1749340572.328 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:12.328Z,1749340572.328 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:12.328Z,1749340572.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:12.343Z,1749340572.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:12.345Z,1749340572.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:12.348Z,1749340572.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 110.329193 m,
      bearing: 317.507964 deg,
      approach rate: -0.729958 m/s,
      LOS rate: -0.001383 deg/s,
      cmd heading: 315.686426 deg,
      new cmd heading: 315.684986 deg.

2025-06-07T23:56:12.349Z,1749340572.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509742 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:12.581Z,1749340572.581 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:12.581Z,1749340572.581 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:12.581Z,1749340572.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:12.818Z,1749340572.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:12.832Z,1749340572.832 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:12.832Z,1749340572.832 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:12.832Z,1749340572.832 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:12.841Z,1749340572.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 109.982819 m,
      bearing: 317.507523 deg,
      approach rate: -0.732908 m/s,
      LOS rate: -0.000937 deg/s,
      cmd heading: 315.684978 deg,
      new cmd heading: 315.683649 deg.

2025-06-07T23:56:12.842Z,1749340572.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509719 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:13.084Z,1749340573.084 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:13.084Z,1749340573.084 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:13.084Z,1749340573.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:13.230Z,1749340573.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:13.233Z,1749340573.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 109.673615 m,
      bearing: 317.507107 deg,
      approach rate: -0.750273 m/s,
      LOS rate: -0.001012 deg/s,
      cmd heading: 315.683639 deg,
      new cmd heading: 315.682388 deg.

2025-06-07T23:56:13.234Z,1749340573.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509697 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:13.337Z,1749340573.337 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:13.337Z,1749340573.337 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:13.337Z,1749340573.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:13.563Z,1749340573.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:13.565Z,1749340573.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 109.426796 m,
      bearing: 317.506824 deg,
      approach rate: -0.742588 m/s,
      LOS rate: -0.000853 deg/s,
      cmd heading: 315.682382 deg,
      new cmd heading: 315.681532 deg.

2025-06-07T23:56:13.566Z,1749340573.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509682 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:13.589Z,1749340573.589 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:13.589Z,1749340573.589 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:13.589Z,1749340573.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:13.840Z,1749340573.840 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:13.840Z,1749340573.840 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:13.840Z,1749340573.840 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:14.072Z,1749340574.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:14.074Z,1749340574.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 109.044380 m,
      bearing: 317.511125 deg,
      approach rate: -0.751630 m/s,
      LOS rate: 0.008483 deg/s,
      cmd heading: 315.681535 deg,
      new cmd heading: 315.694483 deg.

2025-06-07T23:56:14.076Z,1749340574.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509908 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:14.093Z,1749340574.093 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:14.093Z,1749340574.093 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:14.094Z,1749340574.094 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:14.344Z,1749340574.344 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:14.344Z,1749340574.344 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:14.344Z,1749340574.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:14.443Z,1749340574.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:14.445Z,1749340574.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:14.454Z,1749340574.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 108.769608 m,
      bearing: 317.514298 deg,
      approach rate: -0.734710 m/s,
      LOS rate: 0.008505 deg/s,
      cmd heading: 315.694485 deg,
      new cmd heading: 315.704028 deg.

2025-06-07T23:56:14.461Z,1749340574.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510075 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:14.596Z,1749340574.596 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:14.596Z,1749340574.596 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:14.596Z,1749340574.596 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:14.848Z,1749340574.848 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:14.848Z,1749340574.848 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:14.848Z,1749340574.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:14.873Z,1749340574.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:14.876Z,1749340574.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 108.438538 m,
      bearing: 317.517862 deg,
      approach rate: -0.774525 m/s,
      LOS rate: 0.008365 deg/s,
      cmd heading: 315.704020 deg,
      new cmd heading: 315.714747 deg.

2025-06-07T23:56:14.877Z,1749340574.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510262 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:15.101Z,1749340575.101 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:15.101Z,1749340575.101 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:15.101Z,1749340575.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:15.200Z,1749340575.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:15.202Z,1749340575.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 108.190819 m,
      bearing: 317.520544 deg,
      approach rate: -0.758526 m/s,
      LOS rate: 0.008230 deg/s,
      cmd heading: 315.714757 deg,
      new cmd heading: 315.722820 deg.

2025-06-07T23:56:15.205Z,1749340575.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510403 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:15.352Z,1749340575.352 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:15.352Z,1749340575.352 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:15.352Z,1749340575.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:15.605Z,1749340575.605 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:15.606Z,1749340575.606 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:15.606Z,1749340575.606 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:15.615Z,1749340575.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:15.622Z,1749340575.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 107.905075 m,
      bearing: 317.523855 deg,
      approach rate: -0.688318 m/s,
      LOS rate: 0.007996 deg/s,
      cmd heading: 315.722817 deg,
      new cmd heading: 315.732775 deg.

2025-06-07T23:56:15.628Z,1749340575.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510576 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:15.856Z,1749340575.856 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:15.856Z,1749340575.856 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:15.856Z,1749340575.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:16.029Z,1749340576.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:16.032Z,1749340576.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 107.561424 m,
      bearing: 317.525263 deg,
      approach rate: -0.828761 m/s,
      LOS rate: 0.003408 deg/s,
      cmd heading: 315.732762 deg,
      new cmd heading: 315.737002 deg.

2025-06-07T23:56:16.033Z,1749340576.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510650 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:16.108Z,1749340576.108 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:16.108Z,1749340576.108 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:16.108Z,1749340576.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:16.363Z,1749340576.363 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:16.363Z,1749340576.363 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:16.364Z,1749340576.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:16.404Z,1749340576.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:16.407Z,1749340576.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 107.277267 m,
      bearing: 317.526436 deg,
      approach rate: -0.757214 m/s,
      LOS rate: 0.003134 deg/s,
      cmd heading: 315.736996 deg,
      new cmd heading: 315.740525 deg.

2025-06-07T23:56:16.408Z,1749340576.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510712 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:16.612Z,1749340576.612 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:16.612Z,1749340576.612 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:16.612Z,1749340576.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:16.864Z,1749340576.864 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:16.864Z,1749340576.864 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:16.864Z,1749340576.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:16.926Z,1749340576.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:16.933Z,1749340576.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:16.940Z,1749340576.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 106.888680 m,
      bearing: 317.529681 deg,
      approach rate: -0.735791 m/s,
      LOS rate: 0.006166 deg/s,
      cmd heading: 315.740521 deg,
      new cmd heading: 315.750290 deg.

2025-06-07T23:56:16.941Z,1749340576.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510882 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:17.116Z,1749340577.116 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:17.117Z,1749340577.117 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:17.117Z,1749340577.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:17.368Z,1749340577.368 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:17.368Z,1749340577.368 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:17.368Z,1749340577.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:17.376Z,1749340577.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:17.391Z,1749340577.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 106.551529 m,
      bearing: 317.532391 deg,
      approach rate: -0.759694 m/s,
      LOS rate: 0.006125 deg/s,
      cmd heading: 315.750302 deg,
      new cmd heading: 315.758456 deg.

2025-06-07T23:56:17.392Z,1749340577.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511024 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:17.620Z,1749340577.620 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:17.620Z,1749340577.620 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:17.620Z,1749340577.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:17.817Z,1749340577.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:17.840Z,1749340577.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 106.241577 m,
      bearing: 317.534792 deg,
      approach rate: -0.705496 m/s,
      LOS rate: 0.005482 deg/s,
      cmd heading: 315.758443 deg,
      new cmd heading: 315.765668 deg.

2025-06-07T23:56:17.849Z,1749340577.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511150 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:17.872Z,1749340577.872 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:17.872Z,1749340577.872 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:17.872Z,1749340577.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:18.124Z,1749340578.124 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:18.124Z,1749340578.124 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:18.124Z,1749340578.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:18.251Z,1749340578.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:18.254Z,1749340578.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 105.914192 m,
      bearing: 317.547633 deg,
      approach rate: -0.759256 m/s,
      LOS rate: 0.029873 deg/s,
      cmd heading: 315.765656 deg,
      new cmd heading: 315.804299 deg.

2025-06-07T23:56:18.255Z,1749340578.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511825 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:18.376Z,1749340578.376 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:18.376Z,1749340578.376 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:18.376Z,1749340578.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:18.614Z,1749340578.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:18.621Z,1749340578.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 105.655006 m,
      bearing: 317.557810 deg,
      approach rate: -0.706211 m/s,
      LOS rate: 0.027796 deg/s,
      cmd heading: 315.804287 deg,
      new cmd heading: 315.834891 deg.

2025-06-07T23:56:18.624Z,1749340578.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512359 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:18.628Z,1749340578.628 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:18.628Z,1749340578.628 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:18.628Z,1749340578.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:18.880Z,1749340578.880 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:18.881Z,1749340578.881 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:18.881Z,1749340578.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:19.030Z,1749340579.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:19.033Z,1749340579.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:19.040Z,1749340579.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 105.345734 m,
      bearing: 317.565217 deg,
      approach rate: -0.738486 m/s,
      LOS rate: 0.017740 deg/s,
      cmd heading: 315.834887 deg,
      new cmd heading: 315.857175 deg.

2025-06-07T23:56:19.041Z,1749340579.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512748 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:19.132Z,1749340579.132 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:56:19.133Z,1749340579.133 [DAT](INFO): response not received
2025-06-07T23:56:19.133Z,1749340579.133 [DAT](INFO): DAT read: user:1953>

2025-06-07T23:56:19.134Z,1749340579.134 [DAT](INFO): DAT read: Tx time:23:56:18.8763

2025-06-07T23:56:19.134Z,1749340579.134 [DAT](INFO): Ping request sent.
2025-06-07T23:56:19.134Z,1749340579.134 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:56:19.134Z,1749340579.134 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:19.135Z,1749340579.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-06-07T23:56:19.320Z,1749340579.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:56:19.384Z,1749340579.384 [DAT](INFO): DAT read: TxSync time:23:56:18.8755

2025-06-07T23:56:19.385Z,1749340579.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728
2025-06-07T23:56:19.462Z,1749340579.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:19.469Z,1749340579.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 105.046654 m,
      bearing: 317.572383 deg,
      approach rate: -0.697159 m/s,
      LOS rate: 0.016751 deg/s,
      cmd heading: 315.857180 deg,
      new cmd heading: 315.878739 deg.

2025-06-07T23:56:19.470Z,1749340579.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513124 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:19.636Z,1749340579.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502106
2025-06-07T23:56:19.812Z,1749340579.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:19.815Z,1749340579.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 104.793907 m,
      bearing: 317.578613 deg,
      approach rate: -0.720936 m/s,
      LOS rate: 0.017814 deg/s,
      cmd heading: 315.878737 deg,
      new cmd heading: 315.897472 deg.

2025-06-07T23:56:19.816Z,1749340579.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513451 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:19.888Z,1749340579.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754254
2025-06-07T23:56:20.140Z,1749340580.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006167
2025-06-07T23:56:20.253Z,1749340580.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:20.256Z,1749340580.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 104.479439 m,
      bearing: 317.584815 deg,
      approach rate: -0.713210 m/s,
      LOS rate: 0.014107 deg/s,
      cmd heading: 315.897479 deg,
      new cmd heading: 315.916139 deg.

2025-06-07T23:56:20.257Z,1749340580.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513777 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:20.324Z,1749340580.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:56:20.392Z,1749340580.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258064
2025-06-07T23:56:20.631Z,1749340580.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:20.634Z,1749340580.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 104.210594 m,
      bearing: 317.590146 deg,
      approach rate: -0.711193 m/s,
      LOS rate: 0.014140 deg/s,
      cmd heading: 315.916139 deg,
      new cmd heading: 315.932174 deg.

2025-06-07T23:56:20.635Z,1749340580.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514057 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:20.644Z,1749340580.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509981
2025-06-07T23:56:20.896Z,1749340580.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761973
2025-06-07T23:56:21.038Z,1749340581.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:21.040Z,1749340581.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:21.044Z,1749340581.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 103.922905 m,
      bearing: 317.601992 deg,
      approach rate: -0.703302 m/s,
      LOS rate: 0.029040 deg/s,
      cmd heading: 315.932176 deg,
      new cmd heading: 315.967812 deg.

2025-06-07T23:56:21.045Z,1749340581.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514678 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:21.148Z,1749340581.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014267
2025-06-07T23:56:21.400Z,1749340581.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265992
2025-06-07T23:56:21.449Z,1749340581.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:21.452Z,1749340581.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 103.642525 m,
      bearing: 317.613489 deg,
      approach rate: -0.685852 m/s,
      LOS rate: 0.028199 deg/s,
      cmd heading: 315.967802 deg,
      new cmd heading: 316.002386 deg.

2025-06-07T23:56:21.453Z,1749340581.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515282 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:21.653Z,1749340581.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518451
2025-06-07T23:56:21.829Z,1749340581.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:21.858Z,1749340581.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 103.367279 m,
      bearing: 317.624860 deg,
      approach rate: -0.726627 m/s,
      LOS rate: 0.030098 deg/s,
      cmd heading: 316.002390 deg,
      new cmd heading: 316.036594 deg.

2025-06-07T23:56:21.866Z,1749340581.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515879 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:21.907Z,1749340581.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772187
2025-06-07T23:56:22.156Z,1749340582.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021893
2025-06-07T23:56:22.272Z,1749340582.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:22.275Z,1749340582.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 103.048065 m,
      bearing: 317.639218 deg,
      approach rate: -0.718497 m/s,
      LOS rate: 0.032419 deg/s,
      cmd heading: 316.036596 deg,
      new cmd heading: 316.079805 deg.

2025-06-07T23:56:22.277Z,1749340582.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516634 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:22.409Z,1749340582.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275228
2025-06-07T23:56:22.644Z,1749340582.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:22.647Z,1749340582.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 102.780640 m,
      bearing: 317.651593 deg,
      approach rate: -0.718770 m/s,
      LOS rate: 0.033347 deg/s,
      cmd heading: 316.079817 deg,
      new cmd heading: 316.117038 deg.

2025-06-07T23:56:22.648Z,1749340582.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517283 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:22.660Z,1749340582.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525999
2025-06-07T23:56:22.915Z,1749340582.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779967
2025-06-07T23:56:23.078Z,1749340583.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:23.081Z,1749340583.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:23.084Z,1749340583.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 102.465355 m,
      bearing: 317.668644 deg,
      approach rate: -0.722591 m/s,
      LOS rate: 0.039199 deg/s,
      cmd heading: 316.117028 deg,
      new cmd heading: 316.168339 deg.

2025-06-07T23:56:23.085Z,1749340583.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518178 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:23.164Z,1749340583.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030074
2025-06-07T23:56:23.416Z,1749340583.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282035
2025-06-07T23:56:23.452Z,1749340583.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:23.455Z,1749340583.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 102.188812 m,
      bearing: 317.683878 deg,
      approach rate: -0.743880 m/s,
      LOS rate: 0.041087 deg/s,
      cmd heading: 316.168337 deg,
      new cmd heading: 316.214160 deg.

2025-06-07T23:56:23.456Z,1749340583.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518978 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:23.668Z,1749340583.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533933
2025-06-07T23:56:23.850Z,1749340583.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:23.853Z,1749340583.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 101.897461 m,
      bearing: 317.700211 deg,
      approach rate: -0.732366 m/s,
      LOS rate: 0.041173 deg/s,
      cmd heading: 316.214153 deg,
      new cmd heading: 316.263293 deg.

2025-06-07T23:56:23.854Z,1749340583.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519836 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:23.923Z,1749340583.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788136
2025-06-07T23:56:24.172Z,1749340584.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037953
2025-06-07T23:56:24.285Z,1749340584.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:24.288Z,1749340584.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 101.573936 m,
      bearing: 317.715429 deg,
      approach rate: -0.743745 m/s,
      LOS rate: 0.035097 deg/s,
      cmd heading: 316.263303 deg,
      new cmd heading: 316.309104 deg.

2025-06-07T23:56:24.289Z,1749340584.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520635 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:24.424Z,1749340584.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289989
2025-06-07T23:56:24.664Z,1749340584.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:24.667Z,1749340584.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 101.291779 m,
      bearing: 317.728947 deg,
      approach rate: -0.744079 m/s,
      LOS rate: 0.035748 deg/s,
      cmd heading: 316.309093 deg,
      new cmd heading: 316.349760 deg.

2025-06-07T23:56:24.668Z,1749340584.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521345 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:24.676Z,1749340584.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542040
2025-06-07T23:56:24.931Z,1749340584.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796164
2025-06-07T23:56:25.140Z,1749340585.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:25.142Z,1749340585.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:25.145Z,1749340585.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 100.933029 m,
      bearing: 317.745693 deg,
      approach rate: -0.750749 m/s,
      LOS rate: 0.035169 deg/s,
      cmd heading: 316.349746 deg,
      new cmd heading: 316.400163 deg.

2025-06-07T23:56:25.146Z,1749340585.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522224 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:25.181Z,1749340585.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046442
2025-06-07T23:56:25.432Z,1749340585.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297865
2025-06-07T23:56:25.495Z,1749340585.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:25.498Z,1749340585.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 100.680084 m,
      bearing: 317.757562 deg,
      approach rate: -0.724868 m/s,
      LOS rate: 0.034100 deg/s,
      cmd heading: 316.400153 deg,
      new cmd heading: 316.435851 deg.

2025-06-07T23:56:25.504Z,1749340585.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522848 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:25.684Z,1749340585.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549944
2025-06-07T23:56:25.939Z,1749340585.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804017
2025-06-07T23:56:26.021Z,1749340586.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:26.024Z,1749340586.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 100.273643 m,
      bearing: 317.764297 deg,
      approach rate: -0.767736 m/s,
      LOS rate: 0.012773 deg/s,
      cmd heading: 316.435861 deg,
      new cmd heading: 316.456148 deg.

2025-06-07T23:56:26.025Z,1749340586.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523202 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:26.188Z,1749340586.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054160
2025-06-07T23:56:26.312Z,1749340586.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:26.314Z,1749340586.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 100.055328 m,
      bearing: 317.767838 deg,
      approach rate: -0.749606 m/s,
      LOS rate: 0.012183 deg/s,
      cmd heading: 316.456161 deg,
      new cmd heading: 316.466805 deg.

2025-06-07T23:56:26.316Z,1749340586.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523388 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:26.440Z,1749340586.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306120
2025-06-07T23:56:26.692Z,1749340586.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557808
2025-06-07T23:56:26.759Z,1749340586.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:26.761Z,1749340586.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 99.731995 m,
      bearing: 317.772900 deg,
      approach rate: -0.723781 m/s,
      LOS rate: 0.011368 deg/s,
      cmd heading: 316.466816 deg,
      new cmd heading: 316.482051 deg.

2025-06-07T23:56:26.762Z,1749340586.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523654 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:26.947Z,1749340586.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812130
2025-06-07T23:56:27.161Z,1749340587.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:27.163Z,1749340587.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:27.166Z,1749340587.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 99.422783 m,
      bearing: 317.772943 deg,
      approach rate: -0.764477 m/s,
      LOS rate: 0.000107 deg/s,
      cmd heading: 316.482061 deg,
      new cmd heading: 316.482191 deg.

2025-06-07T23:56:27.168Z,1749340587.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523656 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:27.196Z,1749340587.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061871
2025-06-07T23:56:27.448Z,1749340587.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313884
2025-06-07T23:56:27.528Z,1749340587.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:27.531Z,1749340587.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 99.153442 m,
      bearing: 317.772521 deg,
      approach rate: -0.737568 m/s,
      LOS rate: -0.001159 deg/s,
      cmd heading: 316.482197 deg,
      new cmd heading: 316.480928 deg.

2025-06-07T23:56:27.532Z,1749340587.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523634 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:27.700Z,1749340587.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565861
2025-06-07T23:56:27.925Z,1749340587.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:27.928Z,1749340587.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 98.864014 m,
      bearing: 317.771754 deg,
      approach rate: -0.728491 m/s,
      LOS rate: -0.001936 deg/s,
      cmd heading: 316.480941 deg,
      new cmd heading: 316.478634 deg.

2025-06-07T23:56:27.929Z,1749340587.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523594 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:27.955Z,1749340587.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820366
2025-06-07T23:56:28.207Z,1749340588.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072288
2025-06-07T23:56:28.371Z,1749340588.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:28.374Z,1749340588.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 98.554855 m,
      bearing: 317.764161 deg,
      approach rate: -0.700410 m/s,
      LOS rate: -0.017257 deg/s,
      cmd heading: 316.478646 deg,
      new cmd heading: 316.455795 deg.

2025-06-07T23:56:28.375Z,1749340588.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523196 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:28.462Z,1749340588.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327298
2025-06-07T23:56:28.712Z,1749340588.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578025
2025-06-07T23:56:28.749Z,1749340588.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:28.752Z,1749340588.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 98.261871 m,
      bearing: 317.756921 deg,
      approach rate: -0.767092 m/s,
      LOS rate: -0.019013 deg/s,
      cmd heading: 316.455806 deg,
      new cmd heading: 316.434021 deg.

2025-06-07T23:56:28.753Z,1749340588.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522816 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:28.969Z,1749340588.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834189
2025-06-07T23:56:29.172Z,1749340589.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:29.174Z,1749340589.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:29.177Z,1749340589.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 97.945602 m,
      bearing: 317.746572 deg,
      approach rate: -0.743679 m/s,
      LOS rate: -0.024413 deg/s,
      cmd heading: 316.434031 deg,
      new cmd heading: 316.402884 deg.

2025-06-07T23:56:29.178Z,1749340589.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522272 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:29.217Z,1749340589.217 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:29.217Z,1749340589.217 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:29.217Z,1749340589.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:29.468Z,1749340589.468 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:29.468Z,1749340589.468 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:29.468Z,1749340589.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:29.548Z,1749340589.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:29.551Z,1749340589.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 97.666901 m,
      bearing: 317.736564 deg,
      approach rate: -0.745429 m/s,
      LOS rate: -0.026843 deg/s,
      cmd heading: 316.402885 deg,
      new cmd heading: 316.372777 deg.

2025-06-07T23:56:29.552Z,1749340589.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521747 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:29.720Z,1749340589.720 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:29.720Z,1749340589.720 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:29.720Z,1749340589.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:29.946Z,1749340589.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:29.965Z,1749340589.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 97.375694 m,
      bearing: 317.725830 deg,
      approach rate: -0.731772 m/s,
      LOS rate: -0.027055 deg/s,
      cmd heading: 316.372778 deg,
      new cmd heading: 316.340479 deg.

2025-06-07T23:56:29.976Z,1749340589.976 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:56:29.976Z,1749340589.976 [DAT](INFO): response not received
2025-06-07T23:56:29.977Z,1749340589.977 [DAT](INFO): DAT read: user:1954>

2025-06-07T23:56:29.978Z,1749340589.978 [DAT](ERROR): No response from remote modem.
2025-06-07T23:56:29.982Z,1749340589.982 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:29.983Z,1749340589.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:29.986Z,1749340589.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521183 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:30.224Z,1749340590.224 [DAT](INFO): DAT read: T ie:23:56:29.8264

2025-06-07T23:56:30.225Z,1749340590.225 [DAT](INFO): unknown deviceResponse_: T ie:23:56:29.8264

2025-06-07T23:56:30.225Z,1749340590.225 [DAT](INFO): DAT read: TxSync time:23:56:29.8256

2025-06-07T23:56:30.226Z,1749340590.226 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:30.226Z,1749340590.226 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:30.226Z,1749340590.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:30.394Z,1749340590.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:30.402Z,1749340590.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 97.039742 m,
      bearing: 317.714639 deg,
      approach rate: -0.749598 m/s,
      LOS rate: -0.025056 deg/s,
      cmd heading: 316.340485 deg,
      new cmd heading: 316.306796 deg.

2025-06-07T23:56:30.403Z,1749340590.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520595 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:30.476Z,1749340590.476 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:30.476Z,1749340590.476 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:30.477Z,1749340590.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:30.728Z,1749340590.728 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:30.728Z,1749340590.728 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:30.728Z,1749340590.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:30.753Z,1749340590.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:30.755Z,1749340590.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 96.763901 m,
      bearing: 317.705478 deg,
      approach rate: -0.769422 m/s,
      LOS rate: -0.025626 deg/s,
      cmd heading: 316.306798 deg,
      new cmd heading: 316.279237 deg.

2025-06-07T23:56:30.756Z,1749340590.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520114 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:30.981Z,1749340590.981 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:30.982Z,1749340590.982 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:30.983Z,1749340590.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:31.188Z,1749340591.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:31.191Z,1749340591.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:31.193Z,1749340591.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 96.436821 m,
      bearing: 317.697810 deg,
      approach rate: -0.746906 m/s,
      LOS rate: -0.017570 deg/s,
      cmd heading: 316.279231 deg,
      new cmd heading: 316.256150 deg.

2025-06-07T23:56:31.194Z,1749340591.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519711 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:31.233Z,1749340591.233 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:31.233Z,1749340591.233 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:31.233Z,1749340591.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:31.484Z,1749340591.484 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:31.484Z,1749340591.484 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:31.484Z,1749340591.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:31.580Z,1749340591.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:31.583Z,1749340591.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 96.159843 m,
      bearing: 317.691657 deg,
      approach rate: -0.711152 m/s,
      LOS rate: -0.015844 deg/s,
      cmd heading: 316.256145 deg,
      new cmd heading: 316.237632 deg.

2025-06-07T23:56:31.584Z,1749340591.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519388 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:31.736Z,1749340591.736 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:31.736Z,1749340591.736 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:31.736Z,1749340591.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:31.974Z,1749340591.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:31.988Z,1749340591.988 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:31.988Z,1749340591.988 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:31.988Z,1749340591.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:31.998Z,1749340591.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 95.854965 m,
      bearing: 317.684838 deg,
      approach rate: -0.774999 m/s,
      LOS rate: -0.017389 deg/s,
      cmd heading: 316.237622 deg,
      new cmd heading: 316.217100 deg.

2025-06-07T23:56:32.006Z,1749340592.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519030 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:32.240Z,1749340592.240 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:32.240Z,1749340592.240 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:32.240Z,1749340592.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:32.397Z,1749340592.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:32.400Z,1749340592.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 95.531616 m,
      bearing: 317.687000 deg,
      approach rate: -0.762691 m/s,
      LOS rate: 0.005116 deg/s,
      cmd heading: 316.217104 deg,
      new cmd heading: 316.223610 deg.

2025-06-07T23:56:32.401Z,1749340592.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519143 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:32.493Z,1749340592.493 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:32.494Z,1749340592.494 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:32.494Z,1749340592.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:32.744Z,1749340592.744 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:32.744Z,1749340592.744 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:32.744Z,1749340592.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:32.785Z,1749340592.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:32.787Z,1749340592.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 95.239250 m,
      bearing: 317.688878 deg,
      approach rate: -0.754939 m/s,
      LOS rate: 0.004864 deg/s,
      cmd heading: 316.223606 deg,
      new cmd heading: 316.229258 deg.

2025-06-07T23:56:32.789Z,1749340592.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519242 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:32.996Z,1749340592.996 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:32.996Z,1749340592.996 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:32.997Z,1749340592.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:33.213Z,1749340593.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:33.215Z,1749340593.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:33.218Z,1749340593.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 94.911858 m,
      bearing: 317.699189 deg,
      approach rate: -0.760351 m/s,
      LOS rate: 0.024029 deg/s,
      cmd heading: 316.229262 deg,
      new cmd heading: 316.260301 deg.

2025-06-07T23:56:33.219Z,1749340593.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519783 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:33.249Z,1749340593.249 [DAT](INFO): DAT read: Rx Time:23:56:32.3640

2025-06-07T23:56:33.250Z,1749340593.250 [DAT](INFO): Rx dataTimestamp_ set to:1749340593.249111
2025-06-07T23:56:33.250Z,1749340593.250 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:33.250Z,1749340593.250 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:33.251Z,1749340593.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:33.500Z,1749340593.500 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:33.500Z,1749340593.500 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:33.500Z,1749340593.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:33.651Z,1749340593.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m.
2025-06-07T23:56:33.654Z,1749340593.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.951843 m,
      nav range: 94.622887 m,
      bearing: 317.708321 deg,
      approach rate: -0.669742 m/s,
      LOS rate: 0.021231 deg/s,
      cmd heading: 316.260298 deg,
      new cmd heading: 316.287780 deg.

2025-06-07T23:56:33.655Z,1749340593.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520263 target range: 182.951843 and range: 175.10 m.
2025-06-07T23:56:33.758Z,1749340593.758 [DAT](INFO): DAT read: 23:56:32.3640 LVL= 30064, 27377, 22290, 32755, AGC= 67, IDX= 306, 0.20,-0.192,-1.698,-0.497,-0.849, PHS= 0.745,-0.803, 0.348, RAW= 135.7,  -4.2, CAL= 141.3, -14.3, ROT=   8.7,  14.3

2025-06-07T23:56:33.762Z,1749340593.762 [DAT](INFO): got valid direction response:
 23:56:32.3640 LVL= 30064, 27377, 22290, 32755, AGC= 67, IDX= 306, 0.20,-0.192,-1.698,-0.497,-0.849, PHS= 0.745,-0.803, 0.348, RAW= 135.7,  -4.2, CAL= 141.3, -14.3, ROT=   8.7,  14.3

2025-06-07T23:56:33.764Z,1749340593.764 [DAT](INFO): DAT read: Bearing   8.7,  14.3 (Local)

2025-06-07T23:56:33.764Z,1749340593.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.7,  14.3 (Local)

2025-06-07T23:56:33.765Z,1749340593.765 [DAT](INFO): DAT read: Range 10 to 50 : 100.0 m  (Round-trip  133.4 ms) speed  0.6 m/s

2025-06-07T23:56:33.766Z,1749340593.766 [DAT](INFO): DAT read: user:1955>

2025-06-07T23:56:33.795Z,1749340593.795 [DAT](INFO): DAT read: Tx time:23:56:33.4780

2025-06-07T23:56:33.796Z,1749340593.796 [DAT](INFO): Ping request sent.
2025-06-07T23:56:33.796Z,1749340593.796 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:56:33.796Z,1749340593.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:56:33.797Z,1749340593.797 [DAT](INFO): direction in FSK: [0.957866,0.146574,-0.246999]
2025-06-07T23:56:33.797Z,1749340593.797 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:33.797Z,1749340593.797 [DAT](INFO): publishing direction and range info
2025-06-07T23:56:33.817Z,1749340593.817 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:33.817Z,1749340593.817 [DAT](INFO): publishing direction and range info
2025-06-07T23:56:34.005Z,1749340594.005 [DAT](INFO): DAT read: TxSync time:23:56:33.4772

2025-06-07T23:56:34.190Z,1749340594.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.000000 m,
      deltaT: 25.707613 s,
      deltaX: -75.100006 m,
      approachRate: -2.921314 m/s,
      rangeRepo size: 4

2025-06-07T23:56:34.197Z,1749340594.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.209869 m,
      bearing: 326.021447 deg,
      lat: 36.905944 deg,
      lon: -122.116033 deg,
      deltaT: 44.106391 s,
      deltaX: -83.741974 m,
      approachRate: -1.898636 m/s,
      posRepo size: 4

2025-06-07T23:56:34.197Z,1749340594.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:34.205Z,1749340594.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 101.995392 m,
      bearing: 321.602982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021231 deg/s,
      cmd heading: 316.287783 deg,
      new cmd heading: 316.322368 deg.

2025-06-07T23:56:34.206Z,1749340594.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520867 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:34.663Z,1749340594.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:34.666Z,1749340594.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 101.642715 m,
      bearing: 321.632977 deg,
      approach rate: -0.751363 m/s,
      LOS rate: 0.064125 deg/s,
      cmd heading: 316.322371 deg,
      new cmd heading: 316.412669 deg.

2025-06-07T23:56:34.668Z,1749340594.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522443 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:35.122Z,1749340595.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:35.126Z,1749340595.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 101.289719 m,
      bearing: 321.663529 deg,
      approach rate: -0.764377 m/s,
      LOS rate: 0.066387 deg/s,
      cmd heading: 316.412666 deg,
      new cmd heading: 316.504641 deg.

2025-06-07T23:56:35.127Z,1749340595.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524048 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:35.474Z,1749340595.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:35.497Z,1749340595.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:35.504Z,1749340595.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 101.026588 m,
      bearing: 321.691962 deg,
      approach rate: -0.699893 m/s,
      LOS rate: 0.075825 deg/s,
      cmd heading: 316.504628 deg,
      new cmd heading: 316.590148 deg.

2025-06-07T23:56:35.505Z,1749340595.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525540 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:35.520Z,1749340595.520 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:35.520Z,1749340595.520 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:35.520Z,1749340595.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:35.772Z,1749340595.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976361
2025-06-07T23:56:35.862Z,1749340595.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:35.864Z,1749340595.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 100.748352 m,
      bearing: 321.722034 deg,
      approach rate: -0.762883 m/s,
      LOS rate: 0.082682 deg/s,
      cmd heading: 316.590142 deg,
      new cmd heading: 316.680609 deg.

2025-06-07T23:56:35.865Z,1749340595.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527119 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:36.024Z,1749340596.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228362
2025-06-07T23:56:36.276Z,1749340596.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480545
2025-06-07T23:56:36.297Z,1749340596.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:36.304Z,1749340596.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 100.450340 m,
      bearing: 321.753475 deg,
      approach rate: -0.684322 m/s,
      LOS rate: 0.072412 deg/s,
      cmd heading: 316.680601 deg,
      new cmd heading: 316.775203 deg.

2025-06-07T23:56:36.305Z,1749340596.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528770 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:36.529Z,1749340596.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733059
2025-06-07T23:56:36.664Z,1749340596.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:36.667Z,1749340596.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 100.175842 m,
      bearing: 321.782658 deg,
      approach rate: -0.747053 m/s,
      LOS rate: 0.079638 deg/s,
      cmd heading: 316.775212 deg,
      new cmd heading: 316.863000 deg.

2025-06-07T23:56:36.668Z,1749340596.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530303 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:36.781Z,1749340596.781 [DAT](INFO): DAT read: Rx Time:23:56:36.0543

2025-06-07T23:56:36.781Z,1749340596.781 [DAT](INFO): Rx dataTimestamp_ set to:1749340596.780947
2025-06-07T23:56:36.782Z,1749340596.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986058
2025-06-07T23:56:37.032Z,1749340597.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236514
2025-06-07T23:56:37.142Z,1749340597.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:37.149Z,1749340597.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 99.852219 m,
      bearing: 321.817291 deg,
      approach rate: -0.677875 m/s,
      LOS rate: 0.072779 deg/s,
      cmd heading: 316.862994 deg,
      new cmd heading: 316.967230 deg.

2025-06-07T23:56:37.150Z,1749340597.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532122 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:37.288Z,1749340597.288 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:56:37.289Z,1749340597.289 [DAT](INFO): Received a bad header
2025-06-07T23:56:37.304Z,1749340597.304 [DAT](INFO): DAT read: 956>

2025-06-07T23:56:37.305Z,1749340597.305 [DAT](INFO): unknown deviceResponse_: 956>

2025-06-07T23:56:37.305Z,1749340597.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509611
2025-06-07T23:56:37.536Z,1749340597.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740443
2025-06-07T23:56:37.548Z,1749340597.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:37.550Z,1749340597.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:37.553Z,1749340597.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 99.547348 m,
      bearing: 321.848171 deg,
      approach rate: -0.747527 m/s,
      LOS rate: 0.075949 deg/s,
      cmd heading: 316.967223 deg,
      new cmd heading: 317.060148 deg.

2025-06-07T23:56:37.554Z,1749340597.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533743 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:37.789Z,1749340597.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.992809
2025-06-07T23:56:37.911Z,1749340597.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:37.914Z,1749340597.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 99.299240 m,
      bearing: 321.873407 deg,
      approach rate: -0.694130 m/s,
      LOS rate: 0.070778 deg/s,
      cmd heading: 317.060141 deg,
      new cmd heading: 317.136036 deg.

2025-06-07T23:56:37.919Z,1749340597.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.535068 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:38.041Z,1749340598.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.245038
2025-06-07T23:56:38.292Z,1749340598.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.496406
2025-06-07T23:56:38.380Z,1749340598.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:38.383Z,1749340598.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 98.960014 m,
      bearing: 321.903651 deg,
      approach rate: -0.717176 m/s,
      LOS rate: 0.064160 deg/s,
      cmd heading: 317.136038 deg,
      new cmd heading: 317.227081 deg.

2025-06-07T23:56:38.384Z,1749340598.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536657 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:38.544Z,1749340598.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.748434
2025-06-07T23:56:38.729Z,1749340598.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:38.732Z,1749340598.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 98.715141 m,
      bearing: 321.925593 deg,
      approach rate: -0.702199 m/s,
      LOS rate: 0.063077 deg/s,
      cmd heading: 317.227070 deg,
      new cmd heading: 317.293060 deg.

2025-06-07T23:56:38.733Z,1749340598.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537808 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:38.797Z,1749340598.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.001201
2025-06-07T23:56:39.048Z,1749340599.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.252381
2025-06-07T23:56:39.176Z,1749340599.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:39.179Z,1749340599.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 98.408943 m,
      bearing: 321.953086 deg,
      approach rate: -0.684395 m/s,
      LOS rate: 0.061642 deg/s,
      cmd heading: 317.293050 deg,
      new cmd heading: 317.375786 deg.

2025-06-07T23:56:39.201Z,1749340599.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539252 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:39.300Z,1749340599.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.504446
2025-06-07T23:56:39.552Z,1749340599.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.756450
2025-06-07T23:56:39.568Z,1749340599.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:39.570Z,1749340599.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:39.577Z,1749340599.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 98.138016 m,
      bearing: 321.971022 deg,
      approach rate: -0.687192 m/s,
      LOS rate: 0.045619 deg/s,
      cmd heading: 317.375777 deg,
      new cmd heading: 317.429734 deg.

2025-06-07T23:56:39.578Z,1749340599.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540194 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:39.804Z,1749340599.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.008397
2025-06-07T23:56:39.907Z,1749340599.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:39.910Z,1749340599.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 97.882965 m,
      bearing: 321.987867 deg,
      approach rate: -0.757699 m/s,
      LOS rate: 0.050171 deg/s,
      cmd heading: 317.429736 deg,
      new cmd heading: 317.480400 deg.

2025-06-07T23:56:39.911Z,1749340599.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541078 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:40.056Z,1749340600.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.260464
2025-06-07T23:56:40.308Z,1749340600.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.512456
2025-06-07T23:56:40.342Z,1749340600.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:40.345Z,1749340600.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 97.563477 m,
      bearing: 322.003979 deg,
      approach rate: -0.733969 m/s,
      LOS rate: 0.037137 deg/s,
      cmd heading: 317.480389 deg,
      new cmd heading: 317.528885 deg.

2025-06-07T23:56:40.346Z,1749340600.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541924 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:40.560Z,1749340600.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.764529
2025-06-07T23:56:40.716Z,1749340600.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:40.719Z,1749340600.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 97.289009 m,
      bearing: 322.017772 deg,
      approach rate: -0.734059 m/s,
      LOS rate: 0.036993 deg/s,
      cmd heading: 317.528883 deg,
      new cmd heading: 317.570378 deg.

2025-06-07T23:56:40.720Z,1749340600.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542649 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:40.812Z,1749340600.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.016558
2025-06-07T23:56:41.064Z,1749340601.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.268383
2025-06-07T23:56:41.194Z,1749340601.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:41.201Z,1749340601.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 96.962944 m,
      bearing: 322.034091 deg,
      approach rate: -0.682039 m/s,
      LOS rate: 0.034250 deg/s,
      cmd heading: 317.570383 deg,
      new cmd heading: 317.619505 deg.

2025-06-07T23:56:41.202Z,1749340601.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543506 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:41.317Z,1749340601.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.521040
2025-06-07T23:56:41.564Z,1749340601.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:41.567Z,1749340601.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 96.664154 m,
      bearing: 322.045245 deg,
      approach rate: -0.808165 m/s,
      LOS rate: 0.030262 deg/s,
      cmd heading: 317.619506 deg,
      new cmd heading: 317.653070 deg.

2025-06-07T23:56:41.568Z,1749340601.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.772581
2025-06-07T23:56:41.569Z,1749340601.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544092 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:41.820Z,1749340601.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.024365
2025-06-07T23:56:41.937Z,1749340601.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:41.941Z,1749340601.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:41.945Z,1749340601.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 96.388870 m,
      bearing: 322.055529 deg,
      approach rate: -0.730636 m/s,
      LOS rate: 0.027374 deg/s,
      cmd heading: 317.653083 deg,
      new cmd heading: 317.684024 deg.

2025-06-07T23:56:41.975Z,1749340601.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544632 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:42.073Z,1749340602.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.276890
2025-06-07T23:56:42.324Z,1749340602.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.528704
2025-06-07T23:56:42.365Z,1749340602.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:42.369Z,1749340602.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 96.058365 m,
      bearing: 322.064773 deg,
      approach rate: -0.778666 m/s,
      LOS rate: 0.021852 deg/s,
      cmd heading: 317.684037 deg,
      new cmd heading: 317.711863 deg.

2025-06-07T23:56:42.370Z,1749340602.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545118 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:42.576Z,1749340602.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.780352
2025-06-07T23:56:42.737Z,1749340602.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:42.740Z,1749340602.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 95.772766 m,
      bearing: 322.072645 deg,
      approach rate: -0.768848 m/s,
      LOS rate: 0.021255 deg/s,
      cmd heading: 317.711850 deg,
      new cmd heading: 317.735537 deg.

2025-06-07T23:56:42.741Z,1749340602.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545531 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:42.828Z,1749340602.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.032658
2025-06-07T23:56:43.080Z,1749340603.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.284438
2025-06-07T23:56:43.187Z,1749340603.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:43.217Z,1749340603.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 95.457520 m,
      bearing: 322.081336 deg,
      approach rate: -0.702795 m/s,
      LOS rate: 0.019440 deg/s,
      cmd heading: 317.735537 deg,
      new cmd heading: 317.761697 deg.

2025-06-07T23:56:43.218Z,1749340603.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545988 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:43.333Z,1749340603.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.536656
2025-06-07T23:56:43.570Z,1749340603.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:43.573Z,1749340603.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 95.129662 m,
      bearing: 322.091245 deg,
      approach rate: -0.851526 m/s,
      LOS rate: 0.025824 deg/s,
      cmd heading: 317.761683 deg,
      new cmd heading: 317.791512 deg.

2025-06-07T23:56:43.574Z,1749340603.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546508 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:43.584Z,1749340603.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.788537
2025-06-07T23:56:43.836Z,1749340603.836 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:43.836Z,1749340603.836 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:43.836Z,1749340603.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:43.983Z,1749340603.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:43.985Z,1749340603.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:43.994Z,1749340603.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 94.819031 m,
      bearing: 322.100633 deg,
      approach rate: -0.748423 m/s,
      LOS rate: 0.022694 deg/s,
      cmd heading: 317.791517 deg,
      new cmd heading: 317.819775 deg.

2025-06-07T23:56:43.000Z,1749340604.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.547001 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:44.088Z,1749340604.088 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:44.088Z,1749340604.088 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:44.088Z,1749340604.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:44.340Z,1749340604.340 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:44.340Z,1749340604.340 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:44.340Z,1749340604.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:44.405Z,1749340604.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:44.448Z,1749340604.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 94.499832 m,
      bearing: 322.110521 deg,
      approach rate: -0.759915 m/s,
      LOS rate: 0.023620 deg/s,
      cmd heading: 317.819767 deg,
      new cmd heading: 317.849531 deg.

2025-06-07T23:56:44.456Z,1749340604.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.547521 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:44.592Z,1749340604.592 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:56:44.593Z,1749340604.593 [DAT](INFO): response not received
2025-06-07T23:56:44.593Z,1749340604.593 [DAT](INFO): DAT read: user:1957>

2025-06-07T23:56:44.594Z,1749340604.594 [DAT](INFO): DAT read: Tx time:23:56:44.4265

2025-06-07T23:56:44.594Z,1749340604.594 [DAT](INFO): Ping request sent.
2025-06-07T23:56:44.594Z,1749340604.594 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:56:44.594Z,1749340604.594 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:44.595Z,1749340604.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-06-07T23:56:44.771Z,1749340604.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:44.774Z,1749340604.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 94.203033 m,
      bearing: 322.119720 deg,
      approach rate: -0.849061 m/s,
      LOS rate: 0.026400 deg/s,
      cmd heading: 317.849519 deg,
      new cmd heading: 317.877204 deg.

2025-06-07T23:56:44.775Z,1749340604.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548004 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:44.845Z,1749340604.845 [DAT](INFO): DAT read: TxSync time:23:56:44.4257

2025-06-07T23:56:44.847Z,1749340604.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252363
2025-06-07T23:56:45.096Z,1749340605.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501866
2025-06-07T23:56:45.183Z,1749340605.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:45.192Z,1749340605.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 93.874481 m,
      bearing: 322.129881 deg,
      approach rate: -0.775032 m/s,
      LOS rate: 0.024051 deg/s,
      cmd heading: 317.877195 deg,
      new cmd heading: 317.907783 deg.

2025-06-07T23:56:45.196Z,1749340605.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548538 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:45.348Z,1749340605.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753985
2025-06-07T23:56:45.600Z,1749340605.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006037
2025-06-07T23:56:45.608Z,1749340605.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:45.611Z,1749340605.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 93.540092 m,
      bearing: 322.143533 deg,
      approach rate: -0.779666 m/s,
      LOS rate: 0.031945 deg/s,
      cmd heading: 317.907794 deg,
      new cmd heading: 317.948897 deg.

2025-06-07T23:56:45.612Z,1749340605.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.549255 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:45.852Z,1749340605.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258247
2025-06-07T23:56:46.001Z,1749340606.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:46.003Z,1749340606.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:46.006Z,1749340606.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 93.239525 m,
      bearing: 322.155887 deg,
      approach rate: -0.760605 m/s,
      LOS rate: 0.031365 deg/s,
      cmd heading: 317.948885 deg,
      new cmd heading: 317.986069 deg.

2025-06-07T23:56:46.007Z,1749340606.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.549904 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:46.105Z,1749340606.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510859
2025-06-07T23:56:46.359Z,1749340606.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764140
2025-06-07T23:56:46.408Z,1749340606.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:46.411Z,1749340606.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 92.923531 m,
      bearing: 322.173278 deg,
      approach rate: -0.779884 m/s,
      LOS rate: 0.043067 deg/s,
      cmd heading: 317.986068 deg,
      new cmd heading: 318.038418 deg.

2025-06-07T23:56:46.412Z,1749340606.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550817 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:46.608Z,1749340606.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013925
2025-06-07T23:56:46.784Z,1749340606.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:46.786Z,1749340606.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 92.636139 m,
      bearing: 322.188708 deg,
      approach rate: -0.765820 m/s,
      LOS rate: 0.041243 deg/s,
      cmd heading: 318.038415 deg,
      new cmd heading: 318.084847 deg.

2025-06-07T23:56:46.787Z,1749340606.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551628 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:46.861Z,1749340606.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267016
2025-06-07T23:56:47.112Z,1749340607.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517904
2025-06-07T23:56:47.251Z,1749340607.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:47.263Z,1749340607.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 92.322449 m,
      bearing: 322.205460 deg,
      approach rate: -0.672629 m/s,
      LOS rate: 0.036042 deg/s,
      cmd heading: 318.084860 deg,
      new cmd heading: 318.135286 deg.

2025-06-07T23:56:47.267Z,1749340607.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552508 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:47.364Z,1749340607.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770167
2025-06-07T23:56:47.605Z,1749340607.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:47.608Z,1749340607.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 92.014175 m,
      bearing: 322.224438 deg,
      approach rate: -0.868341 m/s,
      LOS rate: 0.053636 deg/s,
      cmd heading: 318.135294 deg,
      new cmd heading: 318.192419 deg.

2025-06-07T23:56:47.609Z,1749340607.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553505 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:47.616Z,1749340607.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022092
2025-06-07T23:56:47.868Z,1749340607.868 [DAT](INFO): DAT read: Rx Time:23:56:46.9496

2025-06-07T23:56:47.869Z,1749340607.869 [DAT](INFO): Rx dataTimestamp_ set to:1749340607.868307
2025-06-07T23:56:47.869Z,1749340607.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274951
2025-06-07T23:56:48.010Z,1749340608.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:48.020Z,1749340608.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:48.023Z,1749340608.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 91.720985 m,
      bearing: 322.242402 deg,
      approach rate: -0.705664 m/s,
      LOS rate: 0.043376 deg/s,
      cmd heading: 318.192422 deg,
      new cmd heading: 318.246488 deg.

2025-06-07T23:56:48.024Z,1749340608.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554449 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:48.120Z,1749340608.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526101
2025-06-07T23:56:48.378Z,1749340608.378 [DAT](INFO): DAT read: 23:56:46.9496 LVL= 31952, 32753, 24738, 28531, AGC= 68, IDX= 412, 0.19, 2.422, 0.846, 2.126, 1.714, PHS= 0.796,-0.821, 0.408, RAW= 136.7,  -5.3, CAL= 142.4, -15.4, ROT=   7.6,  15.4

2025-06-07T23:56:48.379Z,1749340608.379 [DAT](INFO): got valid direction response:
 23:56:46.9496 LVL= 31952, 32753, 24738, 28531, AGC= 68, IDX= 412, 0.19, 2.422, 0.846, 2.126, 1.714, PHS= 0.796,-0.821, 0.408, RAW= 136.7,  -5.3, CAL= 142.4, -15.4, ROT=   7.6,  15.4

2025-06-07T23:56:48.380Z,1749340608.380 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:56:48.380Z,1749340608.380 [DAT](INFO): Received a bad header
2025-06-07T23:56:48.391Z,1749340608.391 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:56:48.392Z,1749340608.392 [DAT](INFO): direction in FSK: [0.955626,0.127508,-0.265556]
2025-06-07T23:56:48.396Z,1749340608.396 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:48.396Z,1749340608.396 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:48.396Z,1749340608.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:48.495Z,1749340608.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:48.498Z,1749340608.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 91.366402 m,
      bearing: 322.271447 deg,
      approach rate: -0.753516 m/s,
      LOS rate: 0.061962 deg/s,
      cmd heading: 318.246490 deg,
      new cmd heading: 318.333962 deg.

2025-06-07T23:56:48.499Z,1749340608.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555976 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:48.624Z,1749340608.624 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:48.624Z,1749340608.624 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:48.624Z,1749340608.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:48.877Z,1749340608.877 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:48.877Z,1749340608.877 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:48.877Z,1749340608.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:48.915Z,1749340608.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:48.938Z,1749340608.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 91.052025 m,
      bearing: 322.297048 deg,
      approach rate: -0.741736 m/s,
      LOS rate: 0.060612 deg/s,
      cmd heading: 318.333971 deg,
      new cmd heading: 318.411040 deg.

2025-06-07T23:56:48.941Z,1749340608.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557321 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:49.128Z,1749340609.128 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:49.128Z,1749340609.128 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:49.128Z,1749340609.128 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:49.374Z,1749340609.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:49.380Z,1749340609.380 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:49.380Z,1749340609.380 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:49.380Z,1749340609.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:49.383Z,1749340609.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 90.735527 m,
      bearing: 322.321392 deg,
      approach rate: -0.688525 m/s,
      LOS rate: 0.053145 deg/s,
      cmd heading: 318.411043 deg,
      new cmd heading: 318.484330 deg.

2025-06-07T23:56:49.396Z,1749340609.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558600 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:49.632Z,1749340609.632 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:49.632Z,1749340609.632 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:49.632Z,1749340609.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:49.889Z,1749340609.889 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:49.889Z,1749340609.889 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:49.889Z,1749340609.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:49.901Z,1749340609.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:49.904Z,1749340609.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 90.341850 m,
      bearing: 322.351513 deg,
      approach rate: -0.747770 m/s,
      LOS rate: 0.057462 deg/s,
      cmd heading: 318.484317 deg,
      new cmd heading: 318.575072 deg.

2025-06-07T23:56:49.905Z,1749340609.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560184 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:50.140Z,1749340610.140 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:50.140Z,1749340610.140 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:50.140Z,1749340610.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:50.263Z,1749340610.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:50.265Z,1749340610.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:50.288Z,1749340610.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 90.091133 m,
      bearing: 322.370613 deg,
      approach rate: -0.687980 m/s,
      LOS rate: 0.052557 deg/s,
      cmd heading: 318.575077 deg,
      new cmd heading: 318.632536 deg.

2025-06-07T23:56:50.296Z,1749340610.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561187 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:50.393Z,1749340610.393 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:50.393Z,1749340610.393 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:50.393Z,1749340610.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:50.448Z,1749340610.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:56:50.644Z,1749340610.644 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:50.644Z,1749340610.644 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:50.644Z,1749340610.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:50.818Z,1749340610.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:50.821Z,1749340610.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 89.689445 m,
      bearing: 322.407647 deg,
      approach rate: -0.726315 m/s,
      LOS rate: 0.067264 deg/s,
      cmd heading: 318.632532 deg,
      new cmd heading: 318.744133 deg.

2025-06-07T23:56:50.822Z,1749340610.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.563135 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:50.897Z,1749340610.897 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:50.897Z,1749340610.897 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:50.897Z,1749340610.897 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:51.148Z,1749340611.148 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:51.148Z,1749340611.148 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:51.148Z,1749340611.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:51.157Z,1749340611.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:51.159Z,1749340611.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 89.451805 m,
      bearing: 322.429262 deg,
      approach rate: -0.702450 m/s,
      LOS rate: 0.064060 deg/s,
      cmd heading: 318.744137 deg,
      new cmd heading: 318.809153 deg.

2025-06-07T23:56:51.160Z,1749340611.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564270 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:51.401Z,1749340611.401 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:51.401Z,1749340611.401 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:51.401Z,1749340611.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:51.452Z,1749340611.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:56:51.560Z,1749340611.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:51.562Z,1749340611.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 89.169899 m,
      bearing: 322.458917 deg,
      approach rate: -0.700130 m/s,
      LOS rate: 0.073883 deg/s,
      cmd heading: 318.809161 deg,
      new cmd heading: 318.898407 deg.

2025-06-07T23:56:51.563Z,1749340611.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565827 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:51.653Z,1749340611.653 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:51.653Z,1749340611.653 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:51.653Z,1749340611.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:51.904Z,1749340611.904 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:51.904Z,1749340611.904 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:51.904Z,1749340611.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:51.935Z,1749340611.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:51.939Z,1749340611.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 88.907799 m,
      bearing: 322.486420 deg,
      approach rate: -0.697572 m/s,
      LOS rate: 0.073416 deg/s,
      cmd heading: 318.898418 deg,
      new cmd heading: 318.981172 deg.

2025-06-07T23:56:51.941Z,1749340611.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.567272 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:52.156Z,1749340612.156 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:52.156Z,1749340612.156 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:52.156Z,1749340612.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:52.373Z,1749340612.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:52.379Z,1749340612.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:52.382Z,1749340612.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 88.607300 m,
      bearing: 322.517847 deg,
      approach rate: -0.682647 m/s,
      LOS rate: 0.071634 deg/s,
      cmd heading: 318.981172 deg,
      new cmd heading: 319.075772 deg.

2025-06-07T23:56:52.387Z,1749340612.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568923 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:52.408Z,1749340612.408 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:52.408Z,1749340612.408 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:52.408Z,1749340612.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:52.660Z,1749340612.660 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:52.660Z,1749340612.660 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:52.660Z,1749340612.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:52.746Z,1749340612.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:52.749Z,1749340612.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 88.337761 m,
      bearing: 322.540502 deg,
      approach rate: -0.726410 m/s,
      LOS rate: 0.061241 deg/s,
      cmd heading: 319.075784 deg,
      new cmd heading: 319.143955 deg.

2025-06-07T23:56:52.750Z,1749340612.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570113 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:52.912Z,1749340612.912 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:52.912Z,1749340612.912 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:52.912Z,1749340612.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:53.153Z,1749340613.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:53.156Z,1749340613.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 88.055672 m,
      bearing: 322.564361 deg,
      approach rate: -0.693409 m/s,
      LOS rate: 0.058838 deg/s,
      cmd heading: 319.143949 deg,
      new cmd heading: 319.215758 deg.

2025-06-07T23:56:53.157Z,1749340613.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.571366 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:53.164Z,1749340613.164 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:53.164Z,1749340613.164 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:53.164Z,1749340613.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:53.416Z,1749340613.416 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:53.416Z,1749340613.416 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:53.416Z,1749340613.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:53.554Z,1749340613.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:53.557Z,1749340613.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 87.762527 m,
      bearing: 322.586253 deg,
      approach rate: -0.731082 m/s,
      LOS rate: 0.054779 deg/s,
      cmd heading: 319.215748 deg,
      new cmd heading: 319.281643 deg.

2025-06-07T23:56:53.558Z,1749340613.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.572516 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:53.668Z,1749340613.668 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:53.668Z,1749340613.668 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:53.668Z,1749340613.668 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:53.921Z,1749340613.921 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:53.921Z,1749340613.921 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:53.921Z,1749340613.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:53.986Z,1749340613.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:54.008Z,1749340614.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 87.454247 m,
      bearing: 322.609435 deg,
      approach rate: -0.714106 m/s,
      LOS rate: 0.053889 deg/s,
      cmd heading: 319.281646 deg,
      new cmd heading: 319.351437 deg.

2025-06-07T23:56:54.009Z,1749340614.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.573734 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:54.172Z,1749340614.172 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:54.172Z,1749340614.172 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:54.172Z,1749340614.172 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:54.396Z,1749340614.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:54.403Z,1749340614.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:54.406Z,1749340614.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 87.194496 m,
      bearing: 322.628553 deg,
      approach rate: -0.628467 m/s,
      LOS rate: 0.046393 deg/s,
      cmd heading: 319.351451 deg,
      new cmd heading: 319.408975 deg.

2025-06-07T23:56:54.411Z,1749340614.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574739 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:54.424Z,1749340614.424 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:56:54.424Z,1749340614.424 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:56:54.424Z,1749340614.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:56:54.676Z,1749340614.676 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:54.676Z,1749340614.676 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:54.676Z,1749340614.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:54.805Z,1749340614.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:54.808Z,1749340614.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 86.864510 m,
      bearing: 322.652955 deg,
      approach rate: -0.812583 m/s,
      LOS rate: 0.060317 deg/s,
      cmd heading: 319.408988 deg,
      new cmd heading: 319.482472 deg.

2025-06-07T23:56:54.809Z,1749340614.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576021 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:54.928Z,1749340614.928 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:54.928Z,1749340614.928 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:54.928Z,1749340614.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:55.143Z,1749340615.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:55.146Z,1749340615.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 86.619652 m,
      bearing: 322.670921 deg,
      approach rate: -0.724277 m/s,
      LOS rate: 0.053295 deg/s,
      cmd heading: 319.482481 deg,
      new cmd heading: 319.536533 deg.

2025-06-07T23:56:55.147Z,1749340615.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576964 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:55.180Z,1749340615.180 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:55.180Z,1749340615.180 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:55.180Z,1749340615.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:55.432Z,1749340615.432 [DAT](INFO): Reached modem response timeout
2025-06-07T23:56:55.432Z,1749340615.432 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:56:55.432Z,1749340615.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:56:55.580Z,1749340615.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:55.582Z,1749340615.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 86.299934 m,
      bearing: 322.691470 deg,
      approach rate: -0.732957 m/s,
      LOS rate: 0.047282 deg/s,
      cmd heading: 319.536521 deg,
      new cmd heading: 319.598394 deg.

2025-06-07T23:56:55.584Z,1749340615.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578044 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:55.684Z,1749340615.684 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:56:55.685Z,1749340615.685 [DAT](INFO): response not received
2025-06-07T23:56:55.685Z,1749340615.685 [DAT](INFO): DAT read: user:1959>

2025-06-07T23:56:55.686Z,1749340615.686 [DAT](INFO): DAT read: Tx time:23:56:55.3766

2025-06-07T23:56:55.686Z,1749340615.686 [DAT](INFO): Ping request sent.
2025-06-07T23:56:55.686Z,1749340615.686 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:56:55.686Z,1749340615.686 [DAT](INFO): publishing transmit ping time
2025-06-07T23:56:55.687Z,1749340615.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-06-07T23:56:55.937Z,1749340615.937 [DAT](INFO): DAT read: TxSync time:23:56:55.3758

2025-06-07T23:56:55.938Z,1749340615.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251528
2025-06-07T23:56:56.014Z,1749340616.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:56.017Z,1749340616.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 85.981873 m,
      bearing: 322.711835 deg,
      approach rate: -0.732175 m/s,
      LOS rate: 0.047054 deg/s,
      cmd heading: 319.598403 deg,
      new cmd heading: 319.659725 deg.

2025-06-07T23:56:56.018Z,1749340616.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579115 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:56.189Z,1749340616.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502588
2025-06-07T23:56:56.384Z,1749340616.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:56.413Z,1749340616.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 85.725281 m,
      bearing: 322.728627 deg,
      approach rate: -0.696363 m/s,
      LOS rate: 0.045707 deg/s,
      cmd heading: 319.659738 deg,
      new cmd heading: 319.710263 deg.

2025-06-07T23:56:56.421Z,1749340616.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579997 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:56.440Z,1749340616.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754033
2025-06-07T23:56:56.469Z,1749340616.469 [CTD_Seabird](ERROR): Failed to parse device response: 
2025-06-07T23:56:56.692Z,1749340616.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005988
2025-06-07T23:56:56.784Z,1749340616.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:56.786Z,1749340616.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:56.789Z,1749340616.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 85.409111 m,
      bearing: 322.746356 deg,
      approach rate: -0.782620 m/s,
      LOS rate: 0.044048 deg/s,
      cmd heading: 319.710254 deg,
      new cmd heading: 319.763639 deg.

2025-06-07T23:56:56.790Z,1749340616.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580928 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:56.944Z,1749340616.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258222
2025-06-07T23:56:57.169Z,1749340617.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:57.172Z,1749340617.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 85.122391 m,
      bearing: 322.762550 deg,
      approach rate: -0.749402 m/s,
      LOS rate: 0.042468 deg/s,
      cmd heading: 319.763639 deg,
      new cmd heading: 319.812384 deg.

2025-06-07T23:56:57.173Z,1749340617.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581779 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:57.196Z,1749340617.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509954
2025-06-07T23:56:57.448Z,1749340617.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761977
2025-06-07T23:56:57.613Z,1749340617.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:57.616Z,1749340617.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 84.791100 m,
      bearing: 322.778981 deg,
      approach rate: -0.746513 m/s,
      LOS rate: 0.037171 deg/s,
      cmd heading: 319.812379 deg,
      new cmd heading: 319.861867 deg.

2025-06-07T23:56:57.617Z,1749340617.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582643 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:57.701Z,1749340617.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015287
2025-06-07T23:56:57.953Z,1749340617.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266627
2025-06-07T23:56:57.986Z,1749340617.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:57.989Z,1749340617.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 84.511993 m,
      bearing: 322.792132 deg,
      approach rate: -0.747705 m/s,
      LOS rate: 0.035345 deg/s,
      cmd heading: 319.861857 deg,
      new cmd heading: 319.901438 deg.

2025-06-07T23:56:57.990Z,1749340617.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583333 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:58.206Z,1749340618.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519356
2025-06-07T23:56:58.380Z,1749340618.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:58.382Z,1749340618.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 84.221153 m,
      bearing: 322.805536 deg,
      approach rate: -0.738454 m/s,
      LOS rate: 0.034152 deg/s,
      cmd heading: 319.901445 deg,
      new cmd heading: 319.941797 deg.

2025-06-07T23:56:58.401Z,1749340618.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584038 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:58.457Z,1749340618.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771190
2025-06-07T23:56:58.708Z,1749340618.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022087
2025-06-07T23:56:58.885Z,1749340618.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:56:58.887Z,1749340618.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:58.906Z,1749340618.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 83.842430 m,
      bearing: 322.824096 deg,
      approach rate: -0.747053 m/s,
      LOS rate: 0.036776 deg/s,
      cmd heading: 319.941797 deg,
      new cmd heading: 319.997729 deg.

2025-06-07T23:56:58.907Z,1749340618.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585014 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:58.961Z,1749340618.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274961
2025-06-07T23:56:59.210Z,1749340619.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:59.212Z,1749340619.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526056
2025-06-07T23:56:59.217Z,1749340619.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 83.614822 m,
      bearing: 322.835033 deg,
      approach rate: -0.705011 m/s,
      LOS rate: 0.033970 deg/s,
      cmd heading: 319.997723 deg,
      new cmd heading: 320.030624 deg.

2025-06-07T23:56:59.220Z,1749340619.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585588 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:59.465Z,1749340619.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778800
2025-06-07T23:56:59.635Z,1749340619.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:56:59.638Z,1749340619.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 83.287842 m,
      bearing: 322.850524 deg,
      approach rate: -0.769008 m/s,
      LOS rate: 0.036575 deg/s,
      cmd heading: 320.030617 deg,
      new cmd heading: 320.077273 deg.

2025-06-07T23:56:59.639Z,1749340619.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586402 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:56:59.716Z,1749340619.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030140
2025-06-07T23:56:59.969Z,1749340619.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282203
2025-06-07T23:57:00.011Z,1749340620.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:00.014Z,1749340620.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 83.009071 m,
      bearing: 322.863539 deg,
      approach rate: -0.741332 m/s,
      LOS rate: 0.034726 deg/s,
      cmd heading: 320.077281 deg,
      new cmd heading: 320.116456 deg.

2025-06-07T23:57:00.015Z,1749340620.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587086 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:00.221Z,1749340620.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534562
2025-06-07T23:57:00.409Z,1749340620.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:00.412Z,1749340620.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 82.717987 m,
      bearing: 322.876868 deg,
      approach rate: -0.731322 m/s,
      LOS rate: 0.033606 deg/s,
      cmd heading: 320.116459 deg,
      new cmd heading: 320.156587 deg.

2025-06-07T23:57:00.413Z,1749340620.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587787 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:00.475Z,1749340620.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788168
2025-06-07T23:57:00.724Z,1749340620.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037935
2025-06-07T23:57:00.829Z,1749340620.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:00.832Z,1749340620.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 82.396858 m,
      bearing: 322.890094 deg,
      approach rate: -0.764702 m/s,
      LOS rate: 0.031619 deg/s,
      cmd heading: 320.156593 deg,
      new cmd heading: 320.196427 deg.

2025-06-07T23:57:00.833Z,1749340620.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588482 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:00.977Z,1749340620.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291201
2025-06-07T23:57:01.228Z,1749340621.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542113
2025-06-07T23:57:01.242Z,1749340621.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:01.245Z,1749340621.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:01.248Z,1749340621.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 82.082619 m,
      bearing: 322.902739 deg,
      approach rate: -0.755532 m/s,
      LOS rate: 0.030520 deg/s,
      cmd heading: 320.196427 deg,
      new cmd heading: 320.234508 deg.

2025-06-07T23:57:01.249Z,1749340621.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589147 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:01.484Z,1749340621.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797130
2025-06-07T23:57:01.664Z,1749340621.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:01.667Z,1749340621.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 81.764893 m,
      bearing: 322.918045 deg,
      approach rate: -0.757290 m/s,
      LOS rate: 0.036623 deg/s,
      cmd heading: 320.234512 deg,
      new cmd heading: 320.280608 deg.

2025-06-07T23:57:01.668Z,1749340621.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589951 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:01.732Z,1749340621.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046227
2025-06-07T23:57:01.984Z,1749340621.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297956
2025-06-07T23:57:02.160Z,1749340622.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:02.162Z,1749340622.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 81.390007 m,
      bearing: 322.935895 deg,
      approach rate: -0.757325 m/s,
      LOS rate: 0.036226 deg/s,
      cmd heading: 320.280602 deg,
      new cmd heading: 320.334400 deg.

2025-06-07T23:57:02.163Z,1749340622.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590890 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:02.236Z,1749340622.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549987
2025-06-07T23:57:02.490Z,1749340622.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803827
2025-06-07T23:57:02.647Z,1749340622.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:02.653Z,1749340622.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 81.031433 m,
      bearing: 322.951482 deg,
      approach rate: -0.735841 m/s,
      LOS rate: 0.032127 deg/s,
      cmd heading: 320.334397 deg,
      new cmd heading: 320.381363 deg.

2025-06-07T23:57:02.654Z,1749340622.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591710 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:02.746Z,1749340622.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059998
2025-06-07T23:57:02.996Z,1749340622.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309919
2025-06-07T23:57:03.090Z,1749340623.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:03.092Z,1749340623.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 80.704079 m,
      bearing: 322.965534 deg,
      approach rate: -0.739111 m/s,
      LOS rate: 0.031856 deg/s,
      cmd heading: 320.381361 deg,
      new cmd heading: 320.423689 deg.

2025-06-07T23:57:03.093Z,1749340623.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592448 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:03.248Z,1749340623.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561945
2025-06-07T23:57:03.433Z,1749340623.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:03.440Z,1749340623.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:03.442Z,1749340623.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 80.442299 m,
      bearing: 322.976618 deg,
      approach rate: -0.747050 m/s,
      LOS rate: 0.031734 deg/s,
      cmd heading: 320.423681 deg,
      new cmd heading: 320.457041 deg.

2025-06-07T23:57:03.450Z,1749340623.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593030 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:03.505Z,1749340623.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818636
2025-06-07T23:57:03.756Z,1749340623.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069855
2025-06-07T23:57:03.837Z,1749340623.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:03.856Z,1749340623.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 80.135086 m,
      bearing: 322.987065 deg,
      approach rate: -0.773898 m/s,
      LOS rate: 0.026419 deg/s,
      cmd heading: 320.457040 deg,
      new cmd heading: 320.488502 deg.

2025-06-07T23:57:03.857Z,1749340623.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593580 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:04.008Z,1749340624.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321937
2025-06-07T23:57:04.242Z,1749340624.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:04.245Z,1749340624.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 79.843391 m,
      bearing: 322.997060 deg,
      approach rate: -0.720266 m/s,
      LOS rate: 0.024769 deg/s,
      cmd heading: 320.488513 deg,
      new cmd heading: 320.518606 deg.

2025-06-07T23:57:04.246Z,1749340624.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594105 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:04.260Z,1749340624.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574139
2025-06-07T23:57:04.515Z,1749340624.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827684
2025-06-07T23:57:04.632Z,1749340624.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:04.635Z,1749340624.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 79.537399 m,
      bearing: 323.007069 deg,
      approach rate: -0.783767 m/s,
      LOS rate: 0.025737 deg/s,
      cmd heading: 320.518593 deg,
      new cmd heading: 320.548738 deg.

2025-06-07T23:57:04.636Z,1749340624.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.594631 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:04.764Z,1749340624.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077958
2025-06-07T23:57:05.008Z,1749340625.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:05.010Z,1749340625.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 79.253967 m,
      bearing: 323.015514 deg,
      approach rate: -0.755744 m/s,
      LOS rate: 0.022596 deg/s,
      cmd heading: 320.548728 deg,
      new cmd heading: 320.574151 deg.

2025-06-07T23:57:05.011Z,1749340625.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595075 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:05.016Z,1749340625.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330111
2025-06-07T23:57:05.268Z,1749340625.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581915
2025-06-07T23:57:05.428Z,1749340625.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:05.430Z,1749340625.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 78.948090 m,
      bearing: 323.024362 deg,
      approach rate: -0.757856 m/s,
      LOS rate: 0.022008 deg/s,
      cmd heading: 320.574164 deg,
      new cmd heading: 320.600812 deg.

2025-06-07T23:57:05.435Z,1749340625.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595540 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:05.523Z,1749340625.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836359
2025-06-07T23:57:05.772Z,1749340625.772 [DAT](INFO): Reached modem response timeout
2025-06-07T23:57:05.772Z,1749340625.772 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:57:05.772Z,1749340625.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:05.854Z,1749340625.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:05.856Z,1749340625.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:05.859Z,1749340625.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 78.613571 m,
      bearing: 323.036014 deg,
      approach rate: -0.751344 m/s,
      LOS rate: 0.026281 deg/s,
      cmd heading: 320.600801 deg,
      new cmd heading: 320.635905 deg.

2025-06-07T23:57:05.860Z,1749340625.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596152 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:06.024Z,1749340626.024 [DAT](INFO): Reached modem response timeout
2025-06-07T23:57:06.024Z,1749340626.024 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:57:06.024Z,1749340626.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:06.219Z,1749340626.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:06.221Z,1749340626.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 78.340256 m,
      bearing: 323.045398 deg,
      approach rate: -0.754242 m/s,
      LOS rate: 0.025988 deg/s,
      cmd heading: 320.635909 deg,
      new cmd heading: 320.664160 deg.

2025-06-07T23:57:06.222Z,1749340626.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596645 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:06.277Z,1749340626.277 [DAT](INFO): Reached modem response timeout
2025-06-07T23:57:06.277Z,1749340626.277 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:57:06.277Z,1749340626.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:06.532Z,1749340626.532 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:57:06.533Z,1749340626.533 [DAT](INFO): response not received
2025-06-07T23:57:06.534Z,1749340626.534 [DAT](INFO): DAT read: user:1960>

2025-06-07T23:57:06.537Z,1749340626.537 [DAT](INFO): DAT read: Tx time:23:57:06.3268

2025-06-07T23:57:06.537Z,1749340626.537 [DAT](INFO): Ping request sent.
2025-06-07T23:57:06.538Z,1749340626.538 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:06.538Z,1749340626.538 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:06.561Z,1749340626.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.022980
2025-06-07T23:57:06.695Z,1749340626.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:06.702Z,1749340626.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 77.988724 m,
      bearing: 323.057831 deg,
      approach rate: -0.738089 m/s,
      LOS rate: 0.026223 deg/s,
      cmd heading: 320.664158 deg,
      new cmd heading: 320.701626 deg.

2025-06-07T23:57:06.707Z,1749340626.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597299 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:06.781Z,1749340626.781 [DAT](INFO): DAT read: TxSync time:23:57:06.3260

2025-06-07T23:57:06.782Z,1749340626.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244491
2025-06-07T23:57:07.032Z,1749340627.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494701
2025-06-07T23:57:07.044Z,1749340627.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:07.046Z,1749340627.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 77.735451 m,
      bearing: 323.066755 deg,
      approach rate: -0.735848 m/s,
      LOS rate: 0.026011 deg/s,
      cmd heading: 320.701615 deg,
      new cmd heading: 320.728474 deg.

2025-06-07T23:57:07.052Z,1749340627.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597768 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:07.284Z,1749340627.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746766
2025-06-07T23:57:07.453Z,1749340627.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:07.458Z,1749340627.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 77.419830 m,
      bearing: 323.078658 deg,
      approach rate: -0.763591 m/s,
      LOS rate: 0.028916 deg/s,
      cmd heading: 320.728471 deg,
      new cmd heading: 320.764328 deg.

2025-06-07T23:57:07.460Z,1749340627.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598393 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:07.539Z,1749340627.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000587
2025-06-07T23:57:07.788Z,1749340627.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250635
2025-06-07T23:57:07.870Z,1749340627.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:07.872Z,1749340627.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:07.875Z,1749340627.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 77.117004 m,
      bearing: 323.088646 deg,
      approach rate: -0.720933 m/s,
      LOS rate: 0.023870 deg/s,
      cmd heading: 320.764316 deg,
      new cmd heading: 320.794396 deg.

2025-06-07T23:57:07.877Z,1749340627.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598918 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:08.040Z,1749340628.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502681
2025-06-07T23:57:08.244Z,1749340628.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:08.246Z,1749340628.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 76.823807 m,
      bearing: 323.098004 deg,
      approach rate: -0.789358 m/s,
      LOS rate: 0.025290 deg/s,
      cmd heading: 320.794396 deg,
      new cmd heading: 320.822578 deg.

2025-06-07T23:57:08.248Z,1749340628.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599410 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:08.293Z,1749340628.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755448
2025-06-07T23:57:08.546Z,1749340628.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008637
2025-06-07T23:57:08.690Z,1749340628.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:08.697Z,1749340628.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 76.501740 m,
      bearing: 323.112602 deg,
      approach rate: -0.722346 m/s,
      LOS rate: 0.032878 deg/s,
      cmd heading: 320.822564 deg,
      new cmd heading: 320.866541 deg.

2025-06-07T23:57:08.698Z,1749340628.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600178 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:08.797Z,1749340628.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259434
2025-06-07T23:57:09.045Z,1749340629.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:09.048Z,1749340629.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510741
2025-06-07T23:57:09.049Z,1749340629.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 76.234474 m,
      bearing: 323.124403 deg,
      approach rate: -0.752767 m/s,
      LOS rate: 0.033357 deg/s,
      cmd heading: 320.866550 deg,
      new cmd heading: 320.902080 deg.

2025-06-07T23:57:09.050Z,1749340629.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600798 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:09.300Z,1749340629.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762666
2025-06-07T23:57:09.484Z,1749340629.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:09.487Z,1749340629.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 75.911430 m,
      bearing: 323.138396 deg,
      approach rate: -0.734701 m/s,
      LOS rate: 0.031959 deg/s,
      cmd heading: 320.902067 deg,
      new cmd heading: 320.944224 deg.

2025-06-07T23:57:09.488Z,1749340629.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601533 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:09.555Z,1749340629.555 [DAT](INFO): DAT read: Rx Time:23:57:08.8280

2025-06-07T23:57:09.556Z,1749340629.556 [DAT](INFO): Rx dataTimestamp_ set to:1749340629.555330
2025-06-07T23:57:09.558Z,1749340629.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020105
2025-06-07T23:57:09.804Z,1749340629.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266612
2025-06-07T23:57:09.875Z,1749340629.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:09.878Z,1749340629.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:09.880Z,1749340629.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 75.621498 m,
      bearing: 323.151467 deg,
      approach rate: -0.737490 m/s,
      LOS rate: 0.033375 deg/s,
      cmd heading: 320.944223 deg,
      new cmd heading: 320.983586 deg.

2025-06-07T23:57:09.881Z,1749340629.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602221 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:10.060Z,1749340630.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521575
2025-06-07T23:57:10.266Z,1749340630.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m.
2025-06-07T23:57:10.269Z,1749340630.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.209869 m,
      nav range: 75.333977 m,
      bearing: 323.164273 deg,
      approach rate: -0.740279 m/s,
      LOS rate: 0.033097 deg/s,
      cmd heading: 320.983593 deg,
      new cmd heading: 321.022157 deg.

2025-06-07T23:57:10.270Z,1749340630.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602894 target range: 99.209869 and range: 100.00 m.
2025-06-07T23:57:10.317Z,1749340630.317 [DAT](INFO): DAT read: 23:57:08.8280 LVL= 25072, 24049, 23378, 32755, AGC= 67, IDX= 190,-0.19,-2.087, 2.668,-2.331,-2.851, PHS= 0.852,-0.717, 0.516, RAW= 138.3,  -9.1, CAL= 144.6, -19.6, ROT=   5.4,  19.6

2025-06-07T23:57:10.319Z,1749340630.319 [DAT](INFO): got valid direction response:
 23:57:08.8280 LVL= 25072, 24049, 23378, 32755, AGC= 67, IDX= 190,-0.19,-2.087, 2.668,-2.331,-2.851, PHS= 0.852,-0.717, 0.516, RAW= 138.3,  -9.1, CAL= 144.6, -19.6, ROT=   5.4,  19.6

2025-06-07T23:57:10.321Z,1749340630.321 [DAT](INFO): DAT read: Range 10 to 50 : 72.7 m  (Round-trip  97.0 ms) speed  0.6 m/s

2025-06-07T23:57:10.322Z,1749340630.322 [DAT](INFO): DAT read: user:1961>

2025-06-07T23:57:10.324Z,1749340630.324 [DAT](INFO): DAT read: Tx time:23:57:09.9268

2025-06-07T23:57:10.324Z,1749340630.324 [DAT](INFO): Ping request sent.
2025-06-07T23:57:10.324Z,1749340630.324 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:10.325Z,1749340630.325 [DAT](INFO): DAT read: TxSync time:23:57:09.9260

2025-06-07T23:57:10.326Z,1749340630.326 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:10.344Z,1749340630.344 [DAT](INFO): direction in FSK: [0.937877,0.088655,-0.335452]
2025-06-07T23:57:10.344Z,1749340630.344 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:10.344Z,1749340630.344 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:10.353Z,1749340630.353 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:10.353Z,1749340630.353 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:10.710Z,1749340630.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.699997 m,
      deltaT: 36.556028 s,
      deltaX: -27.300003 m,
      approachRate: -0.746799 m/s,
      rangeRepo size: 4

2025-06-07T23:57:10.712Z,1749340630.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.127464 m,
      bearing: 327.739852 deg,
      lat: 36.905931 deg,
      lon: -122.115943 deg,
      deltaT: 36.556028 s,
      deltaX: -27.082405 m,
      approachRate: -0.740847 m/s,
      posRepo size: 4

2025-06-07T23:57:10.713Z,1749340630.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.13 m.
2025-06-07T23:57:10.715Z,1749340630.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.127464 m,
      nav range: 69.247391 m,
      bearing: 327.740067 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033097 deg/s,
      cmd heading: 321.022169 deg,
      new cmd heading: 321.066151 deg.

2025-06-07T23:57:10.716Z,1749340630.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603662 target range: 72.127464 and range: 72.70 m.
2025-06-07T23:57:11.080Z,1749340631.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.13 m.
2025-06-07T23:57:11.084Z,1749340631.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.127464 m,
      nav range: 68.977470 m,
      bearing: 327.773730 deg,
      approach rate: -0.726682 m/s,
      LOS rate: 0.090984 deg/s,
      cmd heading: 321.066156 deg,
      new cmd heading: 321.167541 deg.

2025-06-07T23:57:11.085Z,1749340631.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605431 target range: 72.127464 and range: 72.70 m.
2025-06-07T23:57:11.470Z,1749340631.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.13 m.
2025-06-07T23:57:11.473Z,1749340631.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.127464 m,
      nav range: 68.697876 m,
      bearing: 327.808775 deg,
      approach rate: -0.718285 m/s,
      LOS rate: 0.090396 deg/s,
      cmd heading: 321.167543 deg,
      new cmd heading: 321.273104 deg.

2025-06-07T23:57:11.474Z,1749340631.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607274 target range: 72.127464 and range: 72.70 m.
2025-06-07T23:57:11.923Z,1749340631.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:11.926Z,1749340631.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.13 m.
2025-06-07T23:57:11.928Z,1749340631.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.127464 m,
      nav range: 68.378975 m,
      bearing: 327.852866 deg,
      approach rate: -0.699346 m/s,
      LOS rate: 0.097143 deg/s,
      cmd heading: 321.273111 deg,
      new cmd heading: 321.406002 deg.

2025-06-07T23:57:11.929Z,1749340631.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609593 target range: 72.127464 and range: 72.70 m.
2025-06-07T23:57:12.072Z,1749340632.072 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:12.072Z,1749340632.072 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:12.072Z,1749340632.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:12.276Z,1749340632.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.13 m.
2025-06-07T23:57:12.279Z,1749340632.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.127464 m,
      nav range: 68.114853 m,
      bearing: 327.889137 deg,
      approach rate: -0.753257 m/s,
      LOS rate: 0.103842 deg/s,
      cmd heading: 321.405999 deg,
      new cmd heading: 321.515233 deg.

2025-06-07T23:57:12.280Z,1749340632.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611499 target range: 72.127464 and range: 72.70 m.
2025-06-07T23:57:12.325Z,1749340632.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000574
2025-06-07T23:57:12.576Z,1749340632.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251772
2025-06-07T23:57:12.721Z,1749340632.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.13 m.
2025-06-07T23:57:12.723Z,1749340632.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.127464 m,
      nav range: 67.795540 m,
      bearing: 327.929663 deg,
      approach rate: -0.718788 m/s,
      LOS rate: 0.091656 deg/s,
      cmd heading: 321.515227 deg,
      new cmd heading: 321.637379 deg.

2025-06-07T23:57:12.724Z,1749340632.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613631 target range: 72.127464 and range: 72.70 m.
2025-06-07T23:57:12.829Z,1749340632.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504514
2025-06-07T23:57:13.089Z,1749340633.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764493
2025-06-07T23:57:13.119Z,1749340633.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.13 m.
2025-06-07T23:57:13.122Z,1749340633.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.127464 m,
      nav range: 67.507301 m,
      bearing: 327.966409 deg,
      approach rate: -0.723894 m/s,
      LOS rate: 0.092679 deg/s,
      cmd heading: 321.637378 deg,
      new cmd heading: 321.748087 deg.

2025-06-07T23:57:13.123Z,1749340633.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615563 target range: 72.127464 and range: 72.70 m.
2025-06-07T23:57:13.341Z,1749340633.341 [DAT](INFO): DAT read: Rx Time:23:57:12.4245

2025-06-07T23:57:13.342Z,1749340633.342 [DAT](INFO): Rx dataTimestamp_ set to:1749340633.341631
2025-06-07T23:57:13.342Z,1749340633.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018078
2025-06-07T23:57:13.489Z,1749340633.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.13 m.
2025-06-07T23:57:13.492Z,1749340633.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.127464 m,
      nav range: 67.240280 m,
      bearing: 328.000571 deg,
      approach rate: -0.721488 m/s,
      LOS rate: 0.092672 deg/s,
      cmd heading: 321.748082 deg,
      new cmd heading: 321.850975 deg.

2025-06-07T23:57:13.493Z,1749340633.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617359 target range: 72.127464 and range: 72.70 m.
2025-06-07T23:57:13.598Z,1749340633.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272970
2025-06-07T23:57:13.850Z,1749340633.850 [DAT](INFO): DAT read: 23:57:12.4245 LVL= 21792, 28353, 19682, 32435, AGC= 70, IDX= 410,-0.33, 1.314,-0.012, 1.083, 0.653, PHS= 0.749,-0.618, 0.427, RAW= 137.0,  -9.1, CAL= 143.2, -19.9, ROT=   6.8,  19.9

2025-06-07T23:57:13.851Z,1749340633.851 [DAT](INFO): got valid direction response:
 23:57:12.4245 LVL= 21792, 28353, 19682, 32435, AGC= 70, IDX= 410,-0.33, 1.314,-0.012, 1.083, 0.653, PHS= 0.749,-0.618, 0.427, RAW= 137.0,  -9.1, CAL= 143.2, -19.9, ROT=   6.8,  19.9

2025-06-07T23:57:13.852Z,1749340633.852 [DAT](INFO): DAT read: Bearing   6.8,  19.9 (Local)

2025-06-07T23:57:13.852Z,1749340633.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,  19.9 (Local)

2025-06-07T23:57:13.854Z,1749340633.854 [DAT](INFO): DAT read: Range 10 to 50 : 70.1 m  (Round-trip  93.5 ms) speed  0.5 m/s

2025-06-07T23:57:13.855Z,1749340633.855 [DAT](INFO): DAT read: user:1962>

2025-06-07T23:57:13.880Z,1749340633.880 [DAT](INFO): DAT read: Tx time:23:57:13.5268

2025-06-07T23:57:13.881Z,1749340633.881 [DAT](INFO): Ping request sent.
2025-06-07T23:57:13.881Z,1749340633.881 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:13.881Z,1749340633.881 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:13.882Z,1749340633.882 [DAT](INFO): direction in FSK: [0.933674,0.111334,-0.340380]
2025-06-07T23:57:13.882Z,1749340633.882 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:13.883Z,1749340633.883 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:13.907Z,1749340633.907 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:13.908Z,1749340633.908 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:13.975Z,1749340633.975 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  728,    +7,A
2025-06-07T23:57:14.039Z,1749340634.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.099998 m,
      deltaT: 3.535977 s,
      deltaX: -2.599998 m,
      approachRate: -0.735298 m/s,
      rangeRepo size: 4

2025-06-07T23:57:14.045Z,1749340634.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.547958 m,
      bearing: 329.480066 deg,
      lat: 36.905936 deg,
      lon: -122.115926 deg,
      deltaT: 3.535977 s,
      deltaX: -2.579506 m,
      approachRate: -0.729503 m/s,
      posRepo size: 4

2025-06-07T23:57:14.046Z,1749340634.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:14.053Z,1749340634.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 66.626518 m,
      bearing: 329.413622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.092672 deg/s,
      cmd heading: 321.850972 deg,
      new cmd heading: 322.003682 deg.

2025-06-07T23:57:14.054Z,1749340634.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620025 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:14.096Z,1749340634.096 [DAT](INFO): DAT read: TxSync time:23:57:13.5260

2025-06-07T23:57:14.348Z,1749340634.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:14.351Z,1749340634.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:14.357Z,1749340634.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 66.391258 m,
      bearing: 329.449160 deg,
      approach rate: -0.752772 m/s,
      LOS rate: 0.114114 deg/s,
      cmd heading: 322.003695 deg,
      new cmd heading: 322.110685 deg.

2025-06-07T23:57:14.358Z,1749340634.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621892 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:14.600Z,1749340634.600 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:14.600Z,1749340634.600 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:14.601Z,1749340634.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:14.845Z,1749340634.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:14.852Z,1749340634.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971294
2025-06-07T23:57:14.853Z,1749340634.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 66.039238 m,
      bearing: 329.508611 deg,
      approach rate: -0.712377 m/s,
      LOS rate: 0.120953 deg/s,
      cmd heading: 322.110683 deg,
      new cmd heading: 322.289988 deg.

2025-06-07T23:57:14.854Z,1749340634.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625021 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:15.105Z,1749340635.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223541
2025-06-07T23:57:15.226Z,1749340635.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:15.228Z,1749340635.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 65.755249 m,
      bearing: 329.557032 deg,
      approach rate: -0.745525 m/s,
      LOS rate: 0.127663 deg/s,
      cmd heading: 322.289989 deg,
      new cmd heading: 322.435879 deg.

2025-06-07T23:57:15.229Z,1749340635.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627568 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:15.357Z,1749340635.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475674
2025-06-07T23:57:15.601Z,1749340635.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:15.609Z,1749340635.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727927
2025-06-07T23:57:15.616Z,1749340635.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 65.488686 m,
      bearing: 329.602587 deg,
      approach rate: -0.709589 m/s,
      LOS rate: 0.121760 deg/s,
      cmd heading: 322.435882 deg,
      new cmd heading: 322.573103 deg.

2025-06-07T23:57:15.620Z,1749340635.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629963 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:15.860Z,1749340635.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979235
2025-06-07T23:57:16.023Z,1749340636.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:16.026Z,1749340636.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 65.174683 m,
      bearing: 329.645059 deg,
      approach rate: -0.744321 m/s,
      LOS rate: 0.101161 deg/s,
      cmd heading: 322.573114 deg,
      new cmd heading: 322.701142 deg.

2025-06-07T23:57:16.027Z,1749340636.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632197 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:16.112Z,1749340636.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231308
2025-06-07T23:57:16.364Z,1749340636.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483246
2025-06-07T23:57:16.391Z,1749340636.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:16.393Z,1749340636.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:16.396Z,1749340636.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 64.902115 m,
      bearing: 329.681705 deg,
      approach rate: -0.736913 m/s,
      LOS rate: 0.099494 deg/s,
      cmd heading: 322.701139 deg,
      new cmd heading: 322.811541 deg.

2025-06-07T23:57:16.398Z,1749340636.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634124 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:16.616Z,1749340636.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735127
2025-06-07T23:57:16.830Z,1749340636.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:16.833Z,1749340636.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 64.577332 m,
      bearing: 329.725915 deg,
      approach rate: -0.743734 m/s,
      LOS rate: 0.101746 deg/s,
      cmd heading: 322.811542 deg,
      new cmd heading: 322.944838 deg.

2025-06-07T23:57:16.834Z,1749340636.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636451 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:16.868Z,1749340636.868 [DAT](INFO): DAT read: Rx Time:23:57:16.0211

2025-06-07T23:57:16.869Z,1749340636.869 [DAT](INFO): Rx dataTimestamp_ set to:1749340636.868474
2025-06-07T23:57:16.869Z,1749340636.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988340
2025-06-07T23:57:17.120Z,1749340637.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239181
2025-06-07T23:57:17.220Z,1749340637.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.55 m.
2025-06-07T23:57:17.222Z,1749340637.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.547958 m,
      nav range: 64.287979 m,
      bearing: 329.765095 deg,
      approach rate: -0.742645 m/s,
      LOS rate: 0.101012 deg/s,
      cmd heading: 322.944840 deg,
      new cmd heading: 323.062910 deg.

2025-06-07T23:57:17.223Z,1749340637.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638512 target range: 69.547958 and range: 70.10 m.
2025-06-07T23:57:17.378Z,1749340637.378 [DAT](INFO): DAT read: 23:57:16.0211 LVL= 28656, 32689, 25570, 32755, AGC= 73, IDX= 407,-0.19,-1.613,-2.938,-1.752,-2.264, PHS= 0.739,-0.627, 0.509, RAW= 141.0,  -9.8, CAL= 147.8, -19.6, ROT=   2.2,  19.6

2025-06-07T23:57:17.379Z,1749340637.379 [DAT](INFO): got valid direction response:
 23:57:16.0211 LVL= 28656, 32689, 25570, 32755, AGC= 73, IDX= 407,-0.19,-1.613,-2.938,-1.752,-2.264, PHS= 0.739,-0.627, 0.509, RAW= 141.0,  -9.8, CAL= 147.8, -19.6, ROT=   2.2,  19.6

2025-06-07T23:57:17.380Z,1749340637.380 [DAT](INFO): DAT read: Bearing   2.2,  19.6 (Local)

2025-06-07T23:57:17.380Z,1749340637.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  19.6 (Local)

2025-06-07T23:57:17.382Z,1749340637.382 [DAT](INFO): DAT read: Range 10 to 50 : 67.5 m  (Round-trip  90.1 ms) speed  0.6 m/s

2025-06-07T23:57:17.383Z,1749340637.383 [DAT](INFO): DAT read: user:1963>

2025-06-07T23:57:17.383Z,1749340637.383 [DAT](INFO): DAT read: Tx time:23:57:17.1269

2025-06-07T23:57:17.384Z,1749340637.384 [DAT](INFO): Ping request sent.
2025-06-07T23:57:17.384Z,1749340637.384 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:17.384Z,1749340637.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:17.385Z,1749340637.385 [DAT](INFO): direction in FSK: [0.941363,0.036164,-0.335452]
2025-06-07T23:57:17.385Z,1749340637.385 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:17.386Z,1749340637.386 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:17.389Z,1749340637.389 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:17.389Z,1749340637.389 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:17.624Z,1749340637.624 [DAT](INFO): DAT read: TxSync time:23:57:17.1261

2025-06-07T23:57:17.776Z,1749340637.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.500000 m,
      deltaT: 3.527970 s,
      deltaX: -2.599998 m,
      approachRate: -0.736967 m/s,
      rangeRepo size: 4

2025-06-07T23:57:17.778Z,1749340637.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.968491 m,
      bearing: 325.620302 deg,
      lat: 36.905931 deg,
      lon: -122.115943 deg,
      deltaT: 3.527970 s,
      deltaX: -2.579468 m,
      approachRate: -0.731148 m/s,
      posRepo size: 4

2025-06-07T23:57:17.778Z,1749340637.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.97 m.
2025-06-07T23:57:17.781Z,1749340637.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.968491 m,
      nav range: 64.102974 m,
      bearing: 328.388093 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.101012 deg/s,
      cmd heading: 323.062921 deg,
      new cmd heading: 323.231220 deg.

2025-06-07T23:57:17.782Z,1749340637.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641449 target range: 66.968491 and range: 67.50 m.
2025-06-07T23:57:18.091Z,1749340638.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.97 m.
2025-06-07T23:57:18.094Z,1749340638.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.968491 m,
      nav range: 63.862782 m,
      bearing: 328.410367 deg,
      approach rate: -0.759886 m/s,
      LOS rate: 0.070733 deg/s,
      cmd heading: 323.231217 deg,
      new cmd heading: 323.298291 deg.

2025-06-07T23:57:18.095Z,1749340638.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642620 target range: 66.968491 and range: 67.50 m.
2025-06-07T23:57:18.490Z,1749340638.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:18.492Z,1749340638.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.97 m.
2025-06-07T23:57:18.495Z,1749340638.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.968491 m,
      nav range: 63.562283 m,
      bearing: 328.437788 deg,
      approach rate: -0.748765 m/s,
      LOS rate: 0.068649 deg/s,
      cmd heading: 323.298289 deg,
      new cmd heading: 323.380940 deg.

2025-06-07T23:57:18.496Z,1749340638.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644062 target range: 66.968491 and range: 67.50 m.
2025-06-07T23:57:18.636Z,1749340638.636 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:18.636Z,1749340638.636 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:18.636Z,1749340638.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:18.888Z,1749340638.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504098
2025-06-07T23:57:18.958Z,1749340638.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.97 m.
2025-06-07T23:57:18.967Z,1749340638.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.968491 m,
      nav range: 63.234390 m,
      bearing: 328.466676 deg,
      approach rate: -0.704047 m/s,
      LOS rate: 0.062349 deg/s,
      cmd heading: 323.380934 deg,
      new cmd heading: 323.468047 deg.

2025-06-07T23:57:18.980Z,1749340638.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645582 target range: 66.968491 and range: 67.50 m.
2025-06-07T23:57:19.140Z,1749340639.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756487
2025-06-07T23:57:19.313Z,1749340639.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.97 m.
2025-06-07T23:57:19.316Z,1749340639.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.968491 m,
      nav range: 62.937271 m,
      bearing: 328.492095 deg,
      approach rate: -0.837024 m/s,
      LOS rate: 0.071948 deg/s,
      cmd heading: 323.468033 deg,
      new cmd heading: 323.544652 deg.

2025-06-07T23:57:19.317Z,1749340639.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646919 target range: 66.968491 and range: 67.50 m.
2025-06-07T23:57:19.392Z,1749340639.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008577
2025-06-07T23:57:19.644Z,1749340639.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260227
2025-06-07T23:57:19.779Z,1749340639.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.97 m.
2025-06-07T23:57:19.782Z,1749340639.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.968491 m,
      nav range: 62.591621 m,
      bearing: 328.520860 deg,
      approach rate: -0.747850 m/s,
      LOS rate: 0.062580 deg/s,
      cmd heading: 323.544640 deg,
      new cmd heading: 323.631412 deg.

2025-06-07T23:57:19.787Z,1749340639.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648434 target range: 66.968491 and range: 67.50 m.
2025-06-07T23:57:19.897Z,1749340639.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512968
2025-06-07T23:57:20.137Z,1749340640.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.97 m.
2025-06-07T23:57:20.140Z,1749340640.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.968491 m,
      nav range: 62.309002 m,
      bearing: 328.540910 deg,
      approach rate: -0.781358 m/s,
      LOS rate: 0.055683 deg/s,
      cmd heading: 323.631411 deg,
      new cmd heading: 323.691833 deg.

2025-06-07T23:57:20.141Z,1749340640.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649488 target range: 66.968491 and range: 67.50 m.
2025-06-07T23:57:20.156Z,1749340640.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772356
2025-06-07T23:57:20.408Z,1749340640.408 [DAT](INFO): DAT read: Rx Time:23:57:19.6175

2025-06-07T23:57:20.409Z,1749340640.409 [DAT](INFO): Rx dataTimestamp_ set to:1749340640.408358
2025-06-07T23:57:20.409Z,1749340640.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025340
2025-06-07T23:57:20.511Z,1749340640.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:20.513Z,1749340640.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.97 m.
2025-06-07T23:57:20.516Z,1749340640.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.968491 m,
      nav range: 62.018322 m,
      bearing: 328.561088 deg,
      approach rate: -0.771845 m/s,
      LOS rate: 0.053830 deg/s,
      cmd heading: 323.691845 deg,
      new cmd heading: 323.752662 deg.

2025-06-07T23:57:20.517Z,1749340640.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650550 target range: 66.968491 and range: 67.50 m.
2025-06-07T23:57:20.660Z,1749340640.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276377
2025-06-07T23:57:20.918Z,1749340640.918 [DAT](INFO): DAT read: 23:57:19.6175 LVL= 21280, 21873, 18146, 25843, AGC= 65, IDX= 401, 0.38, 2.186, 0.627, 2.032, 1.496, PHS= 0.778,-0.822, 0.533, RAW= 141.8,  -6.6, CAL= 147.8, -16.0, ROT=   2.2,  16.0

2025-06-07T23:57:20.919Z,1749340640.919 [DAT](INFO): got valid direction response:
 23:57:19.6175 LVL= 21280, 21873, 18146, 25843, AGC= 65, IDX= 401, 0.38, 2.186, 0.627, 2.032, 1.496, PHS= 0.778,-0.822, 0.533, RAW= 141.8,  -6.6, CAL= 147.8, -16.0, ROT=   2.2,  16.0

2025-06-07T23:57:20.920Z,1749340640.920 [DAT](INFO): DAT read: Bearing   2.2,  16.0 (Local)

2025-06-07T23:57:20.920Z,1749340640.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  16.0 (Local)

2025-06-07T23:57:20.922Z,1749340640.922 [DAT](INFO): DAT read: Range 10 to 50 : 64.8 m  (Round-trip  86.5 ms) speed  0.8 m/s

2025-06-07T23:57:20.923Z,1749340640.923 [DAT](INFO): DAT read: user:1964>

2025-06-07T23:57:20.928Z,1749340640.928 [DAT](INFO): DAT read: Tx time:23:57:20.7269

2025-06-07T23:57:20.928Z,1749340640.928 [DAT](INFO): Ping request sent.
2025-06-07T23:57:20.928Z,1749340640.928 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:20.928Z,1749340640.928 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:20.929Z,1749340640.929 [DAT](INFO): direction in FSK: [0.960553,0.036901,-0.275637]
2025-06-07T23:57:20.930Z,1749340640.930 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:20.930Z,1749340640.930 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:20.939Z,1749340640.939 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:20.943Z,1749340640.943 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:21.040Z,1749340641.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.800003 m,
      deltaT: 3.540074 s,
      deltaX: -2.699997 m,
      approachRate: -0.762695 m/s,
      rangeRepo size: 4

2025-06-07T23:57:21.042Z,1749340641.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.289948 m,
      bearing: 326.434036 deg,
      lat: 36.905931 deg,
      lon: -122.115943 deg,
      deltaT: 3.540074 s,
      deltaX: -2.678543 m,
      approachRate: -0.756635 m/s,
      posRepo size: 4

2025-06-07T23:57:21.042Z,1749340641.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:21.050Z,1749340641.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 61.625797 m,
      bearing: 328.591089 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.053830 deg/s,
      cmd heading: 323.752661 deg,
      new cmd heading: 323.836837 deg.

2025-06-07T23:57:21.051Z,1749340641.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652019 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:21.164Z,1749340641.164 [DAT](INFO): DAT read: TxSync time:23:57:20.7261

2025-06-07T23:57:21.368Z,1749340641.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:21.371Z,1749340641.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 61.354740 m,
      bearing: 328.610985 deg,
      approach rate: -0.812441 m/s,
      LOS rate: 0.059896 deg/s,
      cmd heading: 323.836836 deg,
      new cmd heading: 323.896785 deg.

2025-06-07T23:57:21.376Z,1749340641.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653065 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:21.572Z,1749340641.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:57:21.827Z,1749340641.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:21.830Z,1749340641.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 61.004459 m,
      bearing: 328.640570 deg,
      approach rate: -0.763450 m/s,
      LOS rate: 0.064852 deg/s,
      cmd heading: 323.896778 deg,
      new cmd heading: 323.986042 deg.

2025-06-07T23:57:21.831Z,1749340641.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654623 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:22.188Z,1749340642.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:22.190Z,1749340642.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 60.757858 m,
      bearing: 328.661596 deg,
      approach rate: -0.683964 m/s,
      LOS rate: 0.058555 deg/s,
      cmd heading: 323.986034 deg,
      new cmd heading: 324.049370 deg.

2025-06-07T23:57:22.196Z,1749340642.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655728 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:22.558Z,1749340642.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:22.576Z,1749340642.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:57:22.578Z,1749340642.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:22.585Z,1749340642.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 60.453983 m,
      bearing: 328.687059 deg,
      approach rate: -0.778554 m/s,
      LOS rate: 0.065566 deg/s,
      cmd heading: 324.049364 deg,
      new cmd heading: 324.126137 deg.

2025-06-07T23:57:22.586Z,1749340642.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657068 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:22.677Z,1749340642.677 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:22.677Z,1749340642.677 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:22.677Z,1749340642.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:22.928Z,1749340642.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999986
2025-06-07T23:57:23.007Z,1749340643.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:23.010Z,1749340643.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 60.122246 m,
      bearing: 328.716504 deg,
      approach rate: -0.773651 m/s,
      LOS rate: 0.069047 deg/s,
      cmd heading: 324.126135 deg,
      new cmd heading: 324.214956 deg.

2025-06-07T23:57:23.011Z,1749340643.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658618 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:23.180Z,1749340643.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252040
2025-06-07T23:57:23.370Z,1749340643.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:23.373Z,1749340643.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 59.851612 m,
      bearing: 328.740091 deg,
      approach rate: -0.744213 m/s,
      LOS rate: 0.065156 deg/s,
      cmd heading: 324.214955 deg,
      new cmd heading: 324.286037 deg.

2025-06-07T23:57:23.374Z,1749340643.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659859 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:23.433Z,1749340643.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505001
2025-06-07T23:57:23.684Z,1749340643.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755967
2025-06-07T23:57:23.873Z,1749340643.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:23.883Z,1749340643.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 59.497074 m,
      bearing: 328.780266 deg,
      approach rate: -0.705988 m/s,
      LOS rate: 0.080477 deg/s,
      cmd heading: 324.286044 deg,
      new cmd heading: 324.407287 deg.

2025-06-07T23:57:23.885Z,1749340643.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661975 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:23.937Z,1749340643.937 [DAT](INFO): DAT read: Rx Time:23:57:23.2138

2025-06-07T23:57:23.937Z,1749340643.937 [DAT](INFO): Rx dataTimestamp_ set to:1749340643.936791
2025-06-07T23:57:23.938Z,1749340643.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009822
2025-06-07T23:57:24.181Z,1749340644.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:24.184Z,1749340644.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 59.250488 m,
      bearing: 328.807956 deg,
      approach rate: -0.798255 m/s,
      LOS rate: 0.090015 deg/s,
      cmd heading: 324.407293 deg,
      new cmd heading: 324.490711 deg.

2025-06-07T23:57:24.185Z,1749340644.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663431 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:24.188Z,1749340644.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260067
2025-06-07T23:57:24.443Z,1749340644.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514585
2025-06-07T23:57:24.587Z,1749340644.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:24.589Z,1749340644.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m.
2025-06-07T23:57:24.592Z,1749340644.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.289948 m,
      nav range: 58.951580 m,
      bearing: 328.841262 deg,
      approach rate: -0.732521 m/s,
      LOS rate: 0.082033 deg/s,
      cmd heading: 324.490703 deg,
      new cmd heading: 324.591126 deg.

2025-06-07T23:57:24.593Z,1749340644.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665184 target range: 64.289948 and range: 64.80 m.
2025-06-07T23:57:24.699Z,1749340644.699 [DAT](INFO): DAT read: 23:57:23.2138 LVL= 24496, 26689, 19666, 32755, AGC= 66, IDX= 396, 0.04,-2.853, 2.088,-2.940, 2.846, PHS= 0.672,-0.711, 0.494, RAW= 143.2,  -7.0, CAL= 149.3, -16.2, ROT=   0.7,  16.2

2025-06-07T23:57:24.700Z,1749340644.700 [DAT](INFO): got valid direction response:
 23:57:23.2138 LVL= 24496, 26689, 19666, 32755, AGC= 66, IDX= 396, 0.04,-2.853, 2.088,-2.940, 2.846, PHS= 0.672,-0.711, 0.494, RAW= 143.2,  -7.0, CAL= 149.3, -16.2, ROT=   0.7,  16.2

2025-06-07T23:57:24.701Z,1749340644.701 [DAT](INFO): DAT read: Bearing   0.7,  16.2 (Local)

2025-06-07T23:57:24.701Z,1749340644.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  16.2 (Local)

2025-06-07T23:57:24.703Z,1749340644.703 [DAT](INFO): DAT read: Range 10 to 50 : 62.1 m  (Round-trip  82.8 ms) speed  0.6 m/s

2025-06-07T23:57:24.704Z,1749340644.704 [DAT](INFO): DAT read: user:1965>

2025-06-07T23:57:24.705Z,1749340644.705 [DAT](INFO): DAT read: Tx time:23:57:24.3269

2025-06-07T23:57:24.705Z,1749340644.705 [DAT](INFO): Ping request sent.
2025-06-07T23:57:24.705Z,1749340644.705 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:24.706Z,1749340644.706 [DAT](INFO): DAT read: TxSync time:23:57:24.3261

2025-06-07T23:57:24.706Z,1749340644.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:24.711Z,1749340644.711 [DAT](INFO): direction in FSK: [0.960222,0.011732,-0.278991]
2025-06-07T23:57:24.712Z,1749340644.712 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:24.712Z,1749340644.712 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:24.715Z,1749340644.715 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:24.716Z,1749340644.716 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:25.053Z,1749340645.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.099998 m,
      deltaT: 3.780453 s,
      deltaX: -2.700005 m,
      approachRate: -0.714201 m/s,
      rangeRepo size: 4

2025-06-07T23:57:25.055Z,1749340645.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.611458 m,
      bearing: 326.085823 deg,
      lat: 36.905925 deg,
      lon: -122.115969 deg,
      deltaT: 3.780453 s,
      deltaX: -2.678490 m,
      approachRate: -0.708510 m/s,
      posRepo size: 4

2025-06-07T23:57:25.060Z,1749340645.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m.
2025-06-07T23:57:25.062Z,1749340645.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.611458 m,
      nav range: 59.351147 m,
      bearing: 326.609867 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.082033 deg/s,
      cmd heading: 324.591135 deg,
      new cmd heading: 324.704981 deg.

2025-06-07T23:57:25.067Z,1749340645.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667171 target range: 61.611458 and range: 62.10 m.
2025-06-07T23:57:25.448Z,1749340645.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m.
2025-06-07T23:57:25.451Z,1749340645.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.611458 m,
      nav range: 59.063251 m,
      bearing: 326.632847 deg,
      approach rate: -0.729061 m/s,
      LOS rate: 0.058478 deg/s,
      cmd heading: 324.704980 deg,
      new cmd heading: 324.774256 deg.

2025-06-07T23:57:25.452Z,1749340645.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668380 target range: 61.611458 and range: 62.10 m.
2025-06-07T23:57:25.884Z,1749340645.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m.
2025-06-07T23:57:25.887Z,1749340645.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.611458 m,
      nav range: 58.732189 m,
      bearing: 326.661861 deg,
      approach rate: -0.756975 m/s,
      LOS rate: 0.066716 deg/s,
      cmd heading: 324.774266 deg,
      new cmd heading: 324.861800 deg.

2025-06-07T23:57:25.888Z,1749340645.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669908 target range: 61.611458 and range: 62.10 m.
2025-06-07T23:57:26.210Z,1749340646.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m.
2025-06-07T23:57:26.215Z,1749340646.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.611458 m,
      nav range: 58.498333 m,
      bearing: 326.682556 deg,
      approach rate: -0.717811 m/s,
      LOS rate: 0.063774 deg/s,
      cmd heading: 324.861801 deg,
      new cmd heading: 324.924132 deg.

2025-06-07T23:57:26.216Z,1749340646.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670996 target range: 61.611458 and range: 62.10 m.
2025-06-07T23:57:26.686Z,1749340646.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:26.689Z,1749340646.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m.
2025-06-07T23:57:26.692Z,1749340646.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.611458 m,
      nav range: 58.152508 m,
      bearing: 326.712607 deg,
      approach rate: -0.722516 m/s,
      LOS rate: 0.063158 deg/s,
      cmd heading: 324.924120 deg,
      new cmd heading: 325.014809 deg.

2025-06-07T23:57:26.693Z,1749340646.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672578 target range: 61.611458 and range: 62.10 m.
2025-06-07T23:57:26.711Z,1749340646.711 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:26.712Z,1749340646.712 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:26.712Z,1749340646.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:26.961Z,1749340646.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255646
2025-06-07T23:57:27.100Z,1749340647.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m.
2025-06-07T23:57:27.102Z,1749340647.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.611458 m,
      nav range: 57.856327 m,
      bearing: 326.738919 deg,
      approach rate: -0.721470 m/s,
      LOS rate: 0.064423 deg/s,
      cmd heading: 325.014798 deg,
      new cmd heading: 325.094139 deg.

2025-06-07T23:57:27.103Z,1749340647.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673963 target range: 61.611458 and range: 62.10 m.
2025-06-07T23:57:27.213Z,1749340647.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507555
2025-06-07T23:57:27.461Z,1749340647.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m.
2025-06-07T23:57:27.464Z,1749340647.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759178
2025-06-07T23:57:27.466Z,1749340647.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.611458 m,
      nav range: 57.595181 m,
      bearing: 326.761574 deg,
      approach rate: -0.721348 m/s,
      LOS rate: 0.062860 deg/s,
      cmd heading: 325.094137 deg,
      new cmd heading: 325.162408 deg.

2025-06-07T23:57:27.467Z,1749340647.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675155 target range: 61.611458 and range: 62.10 m.
2025-06-07T23:57:27.716Z,1749340647.716 [DAT](INFO): DAT read: Rx Time:23:57:26.8102

2025-06-07T23:57:27.717Z,1749340647.717 [DAT](INFO): Rx dataTimestamp_ set to:1749340647.716474
2025-06-07T23:57:27.717Z,1749340647.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012220
2025-06-07T23:57:27.929Z,1749340647.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m.
2025-06-07T23:57:27.937Z,1749340647.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.611458 m,
      nav range: 57.269634 m,
      bearing: 326.791118 deg,
      approach rate: -0.695742 m/s,
      LOS rate: 0.063501 deg/s,
      cmd heading: 325.162412 deg,
      new cmd heading: 325.251550 deg.

2025-06-07T23:57:27.939Z,1749340647.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676711 target range: 61.611458 and range: 62.10 m.
2025-06-07T23:57:27.969Z,1749340647.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263804
2025-06-07T23:57:28.226Z,1749340648.226 [DAT](INFO): DAT read: 23:57:26.8102 LVL= 29488, 32753, 26194, 32755, AGC= 71, IDX= 407,-0.13,-1.248,-2.515,-1.370,-1.813, PHS= 0.653,-0.655, 0.441, RAW= 141.3,  -7.3, CAL= 147.5, -16.8, ROT=   2.5,  16.8

2025-06-07T23:57:28.227Z,1749340648.227 [DAT](INFO): got valid direction response:
 23:57:26.8102 LVL= 29488, 32753, 26194, 32755, AGC= 71, IDX= 407,-0.13,-1.248,-2.515,-1.370,-1.813, PHS= 0.653,-0.655, 0.441, RAW= 141.3,  -7.3, CAL= 147.5, -16.8, ROT=   2.5,  16.8

2025-06-07T23:57:28.228Z,1749340648.228 [DAT](INFO): DAT read: Bearing   2.5,  16.8 (Local)

2025-06-07T23:57:28.228Z,1749340648.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  16.8 (Local)

2025-06-07T23:57:28.230Z,1749340648.230 [DAT](INFO): DAT read: Range 10 to 50 : 59.3 m  (Round-trip  79.1 ms) speed  0.6 m/s

2025-06-07T23:57:28.231Z,1749340648.231 [DAT](INFO): DAT read: user:1966>

2025-06-07T23:57:28.233Z,1749340648.233 [DAT](INFO): DAT read: Tx time:23:57:27.9269

2025-06-07T23:57:28.234Z,1749340648.234 [DAT](INFO): Ping request sent.
2025-06-07T23:57:28.234Z,1749340648.234 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:28.234Z,1749340648.234 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:28.241Z,1749340648.241 [DAT](INFO): direction in FSK: [0.956408,0.041758,-0.289032]
2025-06-07T23:57:28.241Z,1749340648.241 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:28.242Z,1749340648.242 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:28.245Z,1749340648.245 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:28.245Z,1749340648.245 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:28.358Z,1749340648.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.299999 m,
      deltaT: 3.527525 s,
      deltaX: -2.799999 m,
      approachRate: -0.793757 m/s,
      rangeRepo size: 4

2025-06-07T23:57:28.373Z,1749340648.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.833488 m,
      bearing: 328.690486 deg,
      lat: 36.905925 deg,
      lon: -122.115969 deg,
      deltaT: 3.527525 s,
      deltaX: -2.777969 m,
      approachRate: -0.787512 m/s,
      posRepo size: 4

2025-06-07T23:57:28.373Z,1749340648.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:28.374Z,1749340648.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:28.381Z,1749340648.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 56.980968 m,
      bearing: 326.817038 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.063501 deg/s,
      cmd heading: 325.251559 deg,
      new cmd heading: 325.333039 deg.

2025-06-07T23:57:28.382Z,1749340648.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678133 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:28.412Z,1749340648.412 [DockingStepper](INFO): Changing to mode: 2
2025-06-07T23:57:28.412Z,1749340648.412 [DockingStepper](INFO): Armed mode.
2025-06-07T23:57:28.472Z,1749340648.472 [DAT](INFO): DAT read: TxSync time:23:57:27.9261

2025-06-07T23:57:28.474Z,1749340648.474 [DockingStepper](INFO): Commanding negative:54500
2025-06-07T23:57:28.709Z,1749340648.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:28.712Z,1749340648.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:28.712Z,1749340648.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:28.724Z,1749340648.724 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:28.724Z,1749340648.724 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:28.724Z,1749340648.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:28.731Z,1749340648.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 56.717575 m,
      bearing: 326.840920 deg,
      approach rate: -0.742374 m/s,
      LOS rate: 0.067624 deg/s,
      cmd heading: 325.333030 deg,
      new cmd heading: 325.405008 deg.

2025-06-07T23:57:28.732Z,1749340648.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679389 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:28.977Z,1749340648.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743165
2025-06-07T23:57:29.120Z,1749340649.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:29.121Z,1749340649.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:29.124Z,1749340649.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 56.425339 m,
      bearing: 326.861827 deg,
      approach rate: -0.715645 m/s,
      LOS rate: 0.051463 deg/s,
      cmd heading: 325.405020 deg,
      new cmd heading: 325.468065 deg.

2025-06-07T23:57:29.125Z,1749340649.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680490 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:29.229Z,1749340649.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995011
2025-06-07T23:57:29.480Z,1749340649.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246472
2025-06-07T23:57:29.510Z,1749340649.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:29.511Z,1749340649.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:29.514Z,1749340649.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 56.146370 m,
      bearing: 326.881525 deg,
      approach rate: -0.714746 m/s,
      LOS rate: 0.050719 deg/s,
      cmd heading: 325.468076 deg,
      new cmd heading: 325.527463 deg.

2025-06-07T23:57:29.515Z,1749340649.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681526 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:29.733Z,1749340649.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498910
2025-06-07T23:57:29.963Z,1749340649.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:29.964Z,1749340649.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:29.969Z,1749340649.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 55.819366 m,
      bearing: 326.900764 deg,
      approach rate: -0.722778 m/s,
      LOS rate: 0.042773 deg/s,
      cmd heading: 325.527472 deg,
      new cmd heading: 325.585526 deg.

2025-06-07T23:57:29.970Z,1749340649.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682539 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:29.986Z,1749340649.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751711
2025-06-07T23:57:30.236Z,1749340650.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002328
2025-06-07T23:57:30.315Z,1749340650.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:30.315Z,1749340650.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:30.318Z,1749340650.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 55.566826 m,
      bearing: 326.914886 deg,
      approach rate: -0.717757 m/s,
      LOS rate: 0.040320 deg/s,
      cmd heading: 325.585528 deg,
      new cmd heading: 325.628088 deg.

2025-06-07T23:57:30.319Z,1749340650.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683282 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:30.488Z,1749340650.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254377
2025-06-07T23:57:30.711Z,1749340650.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:30.712Z,1749340650.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:30.714Z,1749340650.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 55.268681 m,
      bearing: 326.931136 deg,
      approach rate: -0.752702 m/s,
      LOS rate: 0.041247 deg/s,
      cmd heading: 325.628094 deg,
      new cmd heading: 325.677107 deg.

2025-06-07T23:57:30.731Z,1749340650.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684138 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:30.741Z,1749340650.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506952
2025-06-07T23:57:30.993Z,1749340650.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759058
2025-06-07T23:57:31.169Z,1749340651.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:31.175Z,1749340651.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:31.176Z,1749340651.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:31.178Z,1749340651.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 54.938839 m,
      bearing: 326.945299 deg,
      approach rate: -0.716682 m/s,
      LOS rate: 0.030958 deg/s,
      cmd heading: 325.677107 deg,
      new cmd heading: 325.719850 deg.

2025-06-07T23:57:31.185Z,1749340651.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684884 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:31.246Z,1749340651.246 [DAT](INFO): DAT read: Rx Time:23:57:30.4069

2025-06-07T23:57:31.247Z,1749340651.247 [DAT](INFO): Rx dataTimestamp_ set to:1749340651.246253
2025-06-07T23:57:31.248Z,1749340651.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013982
2025-06-07T23:57:31.496Z,1749340651.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262360
2025-06-07T23:57:31.517Z,1749340651.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:31.518Z,1749340651.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:31.521Z,1749340651.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 54.668949 m,
      bearing: 326.956624 deg,
      approach rate: -0.779103 m/s,
      LOS rate: 0.032855 deg/s,
      cmd heading: 325.719837 deg,
      new cmd heading: 325.753981 deg.

2025-06-07T23:57:31.522Z,1749340651.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685480 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:31.758Z,1749340651.758 [DAT](INFO): DAT read: 23:57:30.4069 LVL= 18992, 28145, 17938, 32627, AGC= 67, IDX= 403, 0.33, 0.976,-0.484, 0.839, 0.344, PHS= 0.720,-0.781, 0.493, RAW= 141.9,  -6.2, CAL= 147.8, -15.6, ROT=   2.2,  15.6

2025-06-07T23:57:31.760Z,1749340651.760 [DAT](INFO): got valid direction response:
 23:57:30.4069 LVL= 18992, 28145, 17938, 32627, AGC= 67, IDX= 403, 0.33, 0.976,-0.484, 0.839, 0.344, PHS= 0.720,-0.781, 0.493, RAW= 141.9,  -6.2, CAL= 147.8, -15.6, ROT=   2.2,  15.6

2025-06-07T23:57:31.760Z,1749340651.760 [DAT](INFO): DAT read: $Error in header

2025-06-07T23:57:31.761Z,1749340651.761 [DAT](INFO): Received a bad header
2025-06-07T23:57:31.771Z,1749340651.771 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-07T23:57:31.772Z,1749340651.772 [DAT](INFO): direction in FSK: [0.962453,0.036974,-0.268920]
2025-06-07T23:57:31.776Z,1749340651.776 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:31.776Z,1749340651.776 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:31.776Z,1749340651.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:31.000Z,1749340652.000 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:31.000Z,1749340652.000 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:31.000Z,1749340652.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:32.008Z,1749340652.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:32.009Z,1749340652.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:32.016Z,1749340652.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 54.316441 m,
      bearing: 326.967611 deg,
      approach rate: -0.718256 m/s,
      LOS rate: 0.022532 deg/s,
      cmd heading: 325.753988 deg,
      new cmd heading: 325.787162 deg.

2025-06-07T23:57:32.021Z,1749340652.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686059 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:32.253Z,1749340652.253 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:32.253Z,1749340652.253 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:32.253Z,1749340652.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:32.338Z,1749340652.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:32.339Z,1749340652.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:32.342Z,1749340652.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 54.052090 m,
      bearing: 326.975619 deg,
      approach rate: -0.801355 m/s,
      LOS rate: 0.024393 deg/s,
      cmd heading: 325.787155 deg,
      new cmd heading: 325.811295 deg.

2025-06-07T23:57:32.342Z,1749340652.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686480 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:32.504Z,1749340652.504 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:32.504Z,1749340652.504 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:32.504Z,1749340652.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:32.752Z,1749340652.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:32.753Z,1749340652.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:32.756Z,1749340652.756 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:32.756Z,1749340652.756 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:32.756Z,1749340652.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:32.768Z,1749340652.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 53.759735 m,
      bearing: 326.984102 deg,
      approach rate: -0.705620 m/s,
      LOS rate: 0.020585 deg/s,
      cmd heading: 325.811307 deg,
      new cmd heading: 325.836894 deg.

2025-06-07T23:57:32.769Z,1749340652.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686927 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:33.008Z,1749340653.008 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:33.009Z,1749340653.009 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:33.009Z,1749340653.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:33.165Z,1749340653.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:33.166Z,1749340653.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:33.169Z,1749340653.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 53.432190 m,
      bearing: 326.994340 deg,
      approach rate: -0.793211 m/s,
      LOS rate: 0.024946 deg/s,
      cmd heading: 325.836906 deg,
      new cmd heading: 325.867810 deg.

2025-06-07T23:57:33.170Z,1749340653.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687466 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:33.260Z,1749340653.260 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:33.260Z,1749340653.260 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:33.260Z,1749340653.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:33.512Z,1749340653.512 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:33.512Z,1749340653.512 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:33.512Z,1749340653.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:33.531Z,1749340653.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:33.549Z,1749340653.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:33.549Z,1749340653.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:33.556Z,1749340653.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 53.156708 m,
      bearing: 327.002273 deg,
      approach rate: -0.718198 m/s,
      LOS rate: 0.020789 deg/s,
      cmd heading: 325.867806 deg,
      new cmd heading: 325.891728 deg.

2025-06-07T23:57:33.557Z,1749340653.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687884 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:33.767Z,1749340653.767 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:33.767Z,1749340653.767 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:33.767Z,1749340653.767 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:34.016Z,1749340654.016 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:34.016Z,1749340654.016 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:34.016Z,1749340654.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:34.025Z,1749340654.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:34.026Z,1749340654.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:34.029Z,1749340654.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 52.777676 m,
      bearing: 327.001655 deg,
      approach rate: -0.795671 m/s,
      LOS rate: -0.001307 deg/s,
      cmd heading: 325.891739 deg,
      new cmd heading: 325.889872 deg.

2025-06-07T23:57:34.030Z,1749340654.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687851 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:34.268Z,1749340654.268 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:34.268Z,1749340654.268 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:34.268Z,1749340654.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:34.376Z,1749340654.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:34.377Z,1749340654.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-06-07T23:57:34.377Z,1749340654.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 59.30 m.
2025-06-07T23:57:34.377Z,1749340654.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-07T23:57:34.380Z,1749340654.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 52.507538 m,
      bearing: 327.001209 deg,
      approach rate: -0.769349 m/s,
      LOS rate: -0.001276 deg/s,
      cmd heading: 325.889881 deg,
      new cmd heading: 325.888537 deg.

2025-06-07T23:57:34.381Z,1749340654.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687828 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:34.521Z,1749340654.521 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:34.521Z,1749340654.521 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:34.521Z,1749340654.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:34.769Z,1749340654.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:34.772Z,1749340654.772 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:34.772Z,1749340654.772 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:34.772Z,1749340654.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:34.776Z,1749340654.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 52.218212 m,
      bearing: 326.999387 deg,
      approach rate: -0.737222 m/s,
      LOS rate: -0.004667 deg/s,
      cmd heading: 325.888543 deg,
      new cmd heading: 325.883048 deg.

2025-06-07T23:57:34.777Z,1749340654.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687732 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:35.024Z,1749340655.024 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:35.024Z,1749340655.024 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:35.024Z,1749340655.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:35.192Z,1749340655.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:35.195Z,1749340655.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 51.887924 m,
      bearing: 326.998943 deg,
      approach rate: -0.779829 m/s,
      LOS rate: -0.001057 deg/s,
      cmd heading: 325.883051 deg,
      new cmd heading: 325.881708 deg.

2025-06-07T23:57:35.196Z,1749340655.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687709 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:35.277Z,1749340655.277 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:35.277Z,1749340655.277 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:35.277Z,1749340655.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:35.528Z,1749340655.528 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:35.528Z,1749340655.528 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:35.528Z,1749340655.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:35.576Z,1749340655.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:35.578Z,1749340655.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:35.585Z,1749340655.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 51.601894 m,
      bearing: 326.996881 deg,
      approach rate: -0.742052 m/s,
      LOS rate: -0.005379 deg/s,
      cmd heading: 325.881712 deg,
      new cmd heading: 325.875492 deg.

2025-06-07T23:57:35.586Z,1749340655.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687600 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:35.780Z,1749340655.780 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:35.781Z,1749340655.781 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:35.781Z,1749340655.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:36.032Z,1749340656.032 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:36.032Z,1749340656.032 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:36.032Z,1749340656.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:36.037Z,1749340656.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:36.040Z,1749340656.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 51.258900 m,
      bearing: 326.997243 deg,
      approach rate: -0.747622 m/s,
      LOS rate: 0.000794 deg/s,
      cmd heading: 325.875483 deg,
      new cmd heading: 325.876577 deg.

2025-06-07T23:57:36.041Z,1749340656.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687619 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:36.284Z,1749340656.284 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:36.284Z,1749340656.284 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:36.284Z,1749340656.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:36.379Z,1749340656.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:36.382Z,1749340656.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 51.003872 m,
      bearing: 326.996494 deg,
      approach rate: -0.745475 m/s,
      LOS rate: -0.002200 deg/s,
      cmd heading: 325.876576 deg,
      new cmd heading: 325.874318 deg.

2025-06-07T23:57:36.383Z,1749340656.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687580 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:36.536Z,1749340656.536 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:36.536Z,1749340656.536 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:36.536Z,1749340656.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:36.788Z,1749340656.788 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:36.788Z,1749340656.788 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:36.788Z,1749340656.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:36.813Z,1749340656.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:36.828Z,1749340656.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 50.698959 m,
      bearing: 326.994381 deg,
      approach rate: -0.701994 m/s,
      LOS rate: -0.004892 deg/s,
      cmd heading: 325.874309 deg,
      new cmd heading: 325.867934 deg.

2025-06-07T23:57:36.829Z,1749340656.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687469 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:37.040Z,1749340657.040 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:37.040Z,1749340657.040 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:37.040Z,1749340657.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:37.196Z,1749340657.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:37.199Z,1749340657.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 50.403908 m,
      bearing: 326.988736 deg,
      approach rate: -0.770203 m/s,
      LOS rate: -0.014823 deg/s,
      cmd heading: 325.867943 deg,
      new cmd heading: 325.850907 deg.

2025-06-07T23:57:37.200Z,1749340657.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687171 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:37.292Z,1749340657.292 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:37.292Z,1749340657.292 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:37.292Z,1749340657.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:37.544Z,1749340657.544 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:37.544Z,1749340657.544 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:37.544Z,1749340657.544 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:37.598Z,1749340657.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:37.608Z,1749340657.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:37.615Z,1749340657.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 50.111519 m,
      bearing: 326.982116 deg,
      approach rate: -0.709384 m/s,
      LOS rate: -0.016156 deg/s,
      cmd heading: 325.850895 deg,
      new cmd heading: 325.830917 deg.

2025-06-07T23:57:37.616Z,1749340657.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686822 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:37.796Z,1749340657.796 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:37.796Z,1749340657.796 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:37.796Z,1749340657.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:38.048Z,1749340658.048 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:38.048Z,1749340658.048 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:38.048Z,1749340658.048 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-07T23:57:38.101Z,1749340658.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:38.108Z,1749340658.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 49.783199 m,
      bearing: 326.975782 deg,
      approach rate: -0.666736 m/s,
      LOS rate: -0.012947 deg/s,
      cmd heading: 325.830923 deg,
      new cmd heading: 325.811796 deg.

2025-06-07T23:57:38.109Z,1749340658.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686489 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:38.302Z,1749340658.302 [DAT](INFO): Reached modem response timeout
2025-06-07T23:57:38.303Z,1749340658.303 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:57:38.303Z,1749340658.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:38.438Z,1749340658.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:38.445Z,1749340658.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 49.526421 m,
      bearing: 326.969974 deg,
      approach rate: -0.761550 m/s,
      LOS rate: -0.017313 deg/s,
      cmd heading: 325.811799 deg,
      new cmd heading: 325.794286 deg.

2025-06-07T23:57:38.446Z,1749340658.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686183 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:38.552Z,1749340658.552 [DAT](INFO): Reached modem response timeout
2025-06-07T23:57:38.552Z,1749340658.552 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:57:38.552Z,1749340658.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:38.804Z,1749340658.804 [DAT](INFO): Reached modem response timeout
2025-06-07T23:57:38.804Z,1749340658.804 [DAT](DEBUG): Acoustic response timeout
2025-06-07T23:57:38.805Z,1749340658.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:38.918Z,1749340658.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:38.921Z,1749340658.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 49.182537 m,
      bearing: 326.961194 deg,
      approach rate: -0.716491 m/s,
      LOS rate: -0.018421 deg/s,
      cmd heading: 325.794286 deg,
      new cmd heading: 325.767762 deg.

2025-06-07T23:57:38.922Z,1749340658.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685720 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:39.057Z,1749340659.057 [DAT](INFO): DAT read: Response Not Received

2025-06-07T23:57:39.057Z,1749340659.057 [DAT](INFO): response not received
2025-06-07T23:57:39.058Z,1749340659.058 [DAT](INFO): DAT read: user:1968>

2025-06-07T23:57:39.059Z,1749340659.059 [DAT](INFO): DAT read: Tx time:23:57:38.8770

2025-06-07T23:57:39.059Z,1749340659.059 [DAT](INFO): Ping request sent.
2025-06-07T23:57:39.059Z,1749340659.059 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:39.059Z,1749340659.059 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:39.060Z,1749340659.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000886
2025-06-07T23:57:39.308Z,1749340659.308 [DAT](INFO): DAT read: TxSync time:23:57:38.8762

2025-06-07T23:57:39.309Z,1749340659.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250103
2025-06-07T23:57:39.388Z,1749340659.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:39.390Z,1749340659.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 48.862877 m,
      bearing: 326.957918 deg,
      approach rate: -0.684788 m/s,
      LOS rate: -0.007064 deg/s,
      cmd heading: 325.767758 deg,
      new cmd heading: 325.757865 deg.

2025-06-07T23:57:39.392Z,1749340659.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685547 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:39.560Z,1749340659.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501125
2025-06-07T23:57:39.748Z,1749340659.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:39.750Z,1749340659.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:39.757Z,1749340659.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 48.608498 m,
      bearing: 326.955430 deg,
      approach rate: -0.696489 m/s,
      LOS rate: -0.006849 deg/s,
      cmd heading: 325.757867 deg,
      new cmd heading: 325.750363 deg.

2025-06-07T23:57:39.758Z,1749340659.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685416 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:39.813Z,1749340659.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754093
2025-06-07T23:57:40.064Z,1749340660.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005125
2025-06-07T23:57:40.175Z,1749340660.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:40.178Z,1749340660.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 48.305527 m,
      bearing: 326.955386 deg,
      approach rate: -0.712936 m/s,
      LOS rate: -0.000103 deg/s,
      cmd heading: 325.750354 deg,
      new cmd heading: 325.750223 deg.

2025-06-07T23:57:40.179Z,1749340660.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685414 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:40.316Z,1749340660.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257467
2025-06-07T23:57:40.529Z,1749340660.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:40.532Z,1749340660.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 48.058205 m,
      bearing: 326.955725 deg,
      approach rate: -0.699298 m/s,
      LOS rate: 0.000963 deg/s,
      cmd heading: 325.750218 deg,
      new cmd heading: 325.751239 deg.

2025-06-07T23:57:40.533Z,1749340660.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685431 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:40.569Z,1749340660.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509460
2025-06-07T23:57:40.820Z,1749340660.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761500
2025-06-07T23:57:40.944Z,1749340660.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:40.949Z,1749340660.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 47.779366 m,
      bearing: 326.956111 deg,
      approach rate: -0.672444 m/s,
      LOS rate: 0.000937 deg/s,
      cmd heading: 325.751229 deg,
      new cmd heading: 325.752394 deg.

2025-06-07T23:57:40.950Z,1749340660.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685452 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:41.077Z,1749340661.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015520
2025-06-07T23:57:41.324Z,1749340661.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265293
2025-06-07T23:57:41.338Z,1749340661.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:41.357Z,1749340661.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 47.495884 m,
      bearing: 326.962916 deg,
      approach rate: -0.717957 m/s,
      LOS rate: 0.017337 deg/s,
      cmd heading: 325.752403 deg,
      new cmd heading: 325.772940 deg.

2025-06-07T23:57:41.358Z,1749340661.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685811 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:41.576Z,1749340661.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517178
2025-06-07T23:57:41.724Z,1749340661.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:41.727Z,1749340661.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 47.229618 m,
      bearing: 326.969198 deg,
      approach rate: -0.690316 m/s,
      LOS rate: 0.016379 deg/s,
      cmd heading: 325.772949 deg,
      new cmd heading: 325.791901 deg.

2025-06-07T23:57:41.728Z,1749340661.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686141 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:41.828Z,1749340661.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769243
2025-06-07T23:57:42.083Z,1749340662.083 [DAT](INFO): DAT read: Rx Time:23:57:41.3462

2025-06-07T23:57:42.084Z,1749340662.084 [DAT](INFO): Rx dataTimestamp_ set to:1749340662.083561
2025-06-07T23:57:42.086Z,1749340662.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026722
2025-06-07T23:57:42.170Z,1749340662.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:42.173Z,1749340662.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:42.175Z,1749340662.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 46.915020 m,
      bearing: 326.979270 deg,
      approach rate: -0.701115 m/s,
      LOS rate: 0.022597 deg/s,
      cmd heading: 325.791909 deg,
      new cmd heading: 325.822328 deg.

2025-06-07T23:57:42.176Z,1749340662.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686672 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:42.332Z,1749340662.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273116
2025-06-07T23:57:42.540Z,1749340662.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.83 m.
2025-06-07T23:57:42.543Z,1749340662.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.833488 m,
      nav range: 46.668640 m,
      bearing: 326.987508 deg,
      approach rate: -0.670292 m/s,
      LOS rate: 0.022530 deg/s,
      cmd heading: 325.822317 deg,
      new cmd heading: 325.847161 deg.

2025-06-07T23:57:42.548Z,1749340662.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687106 target range: 58.833488 and range: 59.30 m.
2025-06-07T23:57:42.588Z,1749340662.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528408
2025-06-07T23:57:42.845Z,1749340662.845 [DAT](INFO): DAT read: 23:57:41.3462 LVL= 25184, 24465, 21042, 32755, AGC= 70, IDX= 326,-0.29, 2.007, 0.646, 2.059, 1.542, PHS= 0.553,-0.850, 0.513, RAW= 148.6,  -3.2, CAL= 153.0, -11.9, ROT= 357.0,  11.9

2025-06-07T23:57:42.846Z,1749340662.846 [DAT](INFO): got valid direction response:
 23:57:41.3462 LVL= 25184, 24465, 21042, 32755, AGC= 70, IDX= 326,-0.29, 2.007, 0.646, 2.059, 1.542, PHS= 0.553,-0.850, 0.513, RAW= 148.6,  -3.2, CAL= 153.0, -11.9, ROT= 357.0,  11.9

2025-06-07T23:57:42.847Z,1749340662.847 [DAT](INFO): DAT read: Bearing 357.0,  11.9 (Local)

2025-06-07T23:57:42.848Z,1749340662.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  11.9 (Local)

2025-06-07T23:57:42.849Z,1749340662.849 [DAT](INFO): DAT read: Range 10 to 50 : 48.7 m  (Round-trip  65.0 ms) speed  0.7 m/s

2025-06-07T23:57:42.850Z,1749340662.850 [DAT](INFO): DAT read: user:1969>

2025-06-07T23:57:42.851Z,1749340662.851 [DAT](INFO): DAT read: Tx time:23:57:42.4271

2025-06-07T23:57:42.851Z,1749340662.851 [DAT](INFO): Ping request sent.
2025-06-07T23:57:42.851Z,1749340662.851 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:42.852Z,1749340662.852 [DAT](INFO): DAT read: TxSync time:23:57:42.4263

2025-06-07T23:57:42.852Z,1749340662.852 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:42.853Z,1749340662.853 [DAT](INFO): direction in FSK: [0.977168,-0.051211,-0.206204]
2025-06-07T23:57:42.854Z,1749340662.854 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:42.854Z,1749340662.854 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:42.858Z,1749340662.858 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:42.858Z,1749340662.858 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:42.999Z,1749340662.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.700001 m,
      deltaT: 14.616334 s,
      deltaX: -10.599998 m,
      approachRate: -0.725216 m/s,
      rangeRepo size: 4

2025-06-07T23:57:43.018Z,1749340663.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.315903 m,
      bearing: 325.896444 deg,
      lat: 36.905925 deg,
      lon: -122.115971 deg,
      deltaT: 14.616334 s,
      deltaX: -10.517586 m,
      approachRate: -0.719578 m/s,
      posRepo size: 4

2025-06-07T23:57:43.018Z,1749340663.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:43.025Z,1749340663.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 46.467201 m,
      bearing: 326.806382 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022530 deg/s,
      cmd heading: 325.847152 deg,
      new cmd heading: 325.877845 deg.

2025-06-07T23:57:43.026Z,1749340663.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687641 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:43.375Z,1749340663.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:43.378Z,1749340663.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 46.169785 m,
      bearing: 326.813024 deg,
      approach rate: -0.780841 m/s,
      LOS rate: 0.017549 deg/s,
      cmd heading: 325.877833 deg,
      new cmd heading: 325.897886 deg.

2025-06-07T23:57:43.379Z,1749340663.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687991 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:43.743Z,1749340663.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:43.746Z,1749340663.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 45.909527 m,
      bearing: 326.820651 deg,
      approach rate: -0.707537 m/s,
      LOS rate: 0.020854 deg/s,
      cmd heading: 325.897886 deg,
      new cmd heading: 325.920899 deg.

2025-06-07T23:57:43.747Z,1749340663.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688393 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:44.167Z,1749340664.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:44.170Z,1749340664.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 45.609848 m,
      bearing: 326.823833 deg,
      approach rate: -0.707060 m/s,
      LOS rate: 0.007555 deg/s,
      cmd heading: 325.920890 deg,
      new cmd heading: 325.930497 deg.

2025-06-07T23:57:44.171Z,1749340664.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688560 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:44.552Z,1749340664.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:44.554Z,1749340664.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:44.557Z,1749340664.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 45.336143 m,
      bearing: 326.826281 deg,
      approach rate: -0.706500 m/s,
      LOS rate: 0.006359 deg/s,
      cmd heading: 325.930507 deg,
      new cmd heading: 325.937898 deg.

2025-06-07T23:57:44.558Z,1749340664.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688690 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:44.601Z,1749340664.601 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:44.601Z,1749340664.601 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:44.601Z,1749340664.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:44.852Z,1749340664.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000724
2025-06-07T23:57:44.986Z,1749340664.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:44.993Z,1749340664.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 45.043850 m,
      bearing: 326.828684 deg,
      approach rate: -0.676413 m/s,
      LOS rate: 0.005596 deg/s,
      cmd heading: 325.937911 deg,
      new cmd heading: 325.945165 deg.

2025-06-07T23:57:44.994Z,1749340664.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688817 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:45.107Z,1749340665.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254979
2025-06-07T23:57:45.356Z,1749340665.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504783
2025-06-07T23:57:45.387Z,1749340665.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:45.410Z,1749340665.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 44.751411 m,
      bearing: 326.829943 deg,
      approach rate: -0.730548 m/s,
      LOS rate: 0.003167 deg/s,
      cmd heading: 325.945179 deg,
      new cmd heading: 325.948982 deg.

2025-06-07T23:57:45.411Z,1749340665.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688883 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:45.609Z,1749340665.609 [DAT](INFO): DAT read: Rx Time:23:57:44.8929

2025-06-07T23:57:45.610Z,1749340665.610 [DAT](INFO): Rx dataTimestamp_ set to:1749340665.609392
2025-06-07T23:57:45.611Z,1749340665.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759183
2025-06-07T23:57:45.766Z,1749340665.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:45.773Z,1749340665.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 44.487225 m,
      bearing: 326.831035 deg,
      approach rate: -0.697420 m/s,
      LOS rate: 0.002900 deg/s,
      cmd heading: 325.948976 deg,
      new cmd heading: 325.952272 deg.

2025-06-07T23:57:45.775Z,1749340665.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688941 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:45.861Z,1749340665.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009655
2025-06-07T23:57:46.116Z,1749340666.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264147
2025-06-07T23:57:46.219Z,1749340666.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.32 m.
2025-06-07T23:57:46.222Z,1749340666.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.315903 m,
      nav range: 44.170235 m,
      bearing: 326.826818 deg,
      approach rate: -0.698733 m/s,
      LOS rate: -0.009363 deg/s,
      cmd heading: 325.952282 deg,
      new cmd heading: 325.939539 deg.

2025-06-07T23:57:46.239Z,1749340666.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688718 target range: 48.315903 and range: 48.70 m.
2025-06-07T23:57:46.370Z,1749340666.370 [DAT](INFO): DAT read: 23:57:44.8929 LVL= 24048, 32017, 21474, 32755, AGC= 67, IDX= 403, 0.24,-1.353,-2.753,-1.323,-1.828, PHS= 0.563,-0.878, 0.502, RAW= 147.9,  -2.7, CAL= 152.2, -11.6, ROT= 357.8,  11.6

2025-06-07T23:57:46.372Z,1749340666.372 [DAT](INFO): got valid direction response:
 23:57:44.8929 LVL= 24048, 32017, 21474, 32755, AGC= 67, IDX= 403, 0.24,-1.353,-2.753,-1.323,-1.828, PHS= 0.563,-0.878, 0.502, RAW= 147.9,  -2.7, CAL= 152.2, -11.6, ROT= 357.8,  11.6

2025-06-07T23:57:46.373Z,1749340666.373 [DAT](INFO): DAT read: Bearing 357.8,  11.6 (Local)

2025-06-07T23:57:46.373Z,1749340666.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  11.6 (Local)

2025-06-07T23:57:46.374Z,1749340666.374 [DAT](INFO): DAT read: Range 10 to 50 : 46.2 m  (Round-trip  61.7 ms) speed  0.8 m/s

2025-06-07T23:57:46.375Z,1749340666.375 [DAT](INFO): DAT read: user:1970>

2025-06-07T23:57:46.376Z,1749340666.376 [DAT](INFO): DAT read: Tx time:23:57:45.9771

2025-06-07T23:57:46.376Z,1749340666.376 [DAT](INFO): Ping request sent.
2025-06-07T23:57:46.376Z,1749340666.376 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:46.377Z,1749340666.377 [DAT](INFO): DAT read: TxSync time:23:57:45.9763

2025-06-07T23:57:46.378Z,1749340666.378 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:46.379Z,1749340666.379 [DAT](INFO): direction in FSK: [0.978853,-0.037604,-0.201078]
2025-06-07T23:57:46.379Z,1749340666.379 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:46.380Z,1749340666.380 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:46.383Z,1749340666.383 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:46.383Z,1749340666.383 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:46.602Z,1749340666.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.200001 m,
      deltaT: 3.527630 s,
      deltaX: -2.500000 m,
      approachRate: -0.708691 m/s,
      rangeRepo size: 4

2025-06-07T23:57:46.604Z,1749340666.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.836330 m,
      bearing: 326.504795 deg,
      lat: 36.905927 deg,
      lon: -122.115975 deg,
      deltaT: 3.527630 s,
      deltaX: -2.479572 m,
      approachRate: -0.702900 m/s,
      posRepo size: 4

2025-06-07T23:57:46.605Z,1749340666.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:46.608Z,1749340666.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 44.265087 m,
      bearing: 326.616499 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009363 deg/s,
      cmd heading: 325.939551 deg,
      new cmd heading: 325.928817 deg.

2025-06-07T23:57:46.609Z,1749340666.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688531 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:47.021Z,1749340667.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:47.023Z,1749340667.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:47.026Z,1749340667.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 43.967541 m,
      bearing: 326.610842 deg,
      approach rate: -0.705044 m/s,
      LOS rate: -0.013495 deg/s,
      cmd heading: 325.928813 deg,
      new cmd heading: 325.911728 deg.

2025-06-07T23:57:47.027Z,1749340667.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688233 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:47.122Z,1749340667.122 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:47.122Z,1749340667.122 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:47.123Z,1749340667.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:47.372Z,1749340667.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995551
2025-06-07T23:57:47.422Z,1749340667.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:47.425Z,1749340667.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 43.687584 m,
      bearing: 326.602906 deg,
      approach rate: -0.701966 m/s,
      LOS rate: -0.020026 deg/s,
      cmd heading: 325.911738 deg,
      new cmd heading: 325.887777 deg.

2025-06-07T23:57:47.426Z,1749340667.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687815 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:47.624Z,1749340667.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247521
2025-06-07T23:57:47.796Z,1749340667.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:47.799Z,1749340667.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 43.423798 m,
      bearing: 326.595044 deg,
      approach rate: -0.704473 m/s,
      LOS rate: -0.021123 deg/s,
      cmd heading: 325.887778 deg,
      new cmd heading: 325.864050 deg.

2025-06-07T23:57:47.800Z,1749340667.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687401 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:47.876Z,1749340667.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499712
2025-06-07T23:57:48.131Z,1749340668.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753789
2025-06-07T23:57:48.232Z,1749340668.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:48.235Z,1749340668.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 43.124226 m,
      bearing: 326.584703 deg,
      approach rate: -0.688223 m/s,
      LOS rate: -0.023922 deg/s,
      cmd heading: 325.864063 deg,
      new cmd heading: 325.832825 deg.

2025-06-07T23:57:48.236Z,1749340668.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686856 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:48.380Z,1749340668.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003527
2025-06-07T23:57:48.610Z,1749340668.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:48.613Z,1749340668.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 42.863770 m,
      bearing: 326.575016 deg,
      approach rate: -0.689291 m/s,
      LOS rate: -0.025794 deg/s,
      cmd heading: 325.832836 deg,
      new cmd heading: 325.803596 deg.

2025-06-07T23:57:48.614Z,1749340668.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686346 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:48.632Z,1749340668.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255762
2025-06-07T23:57:48.884Z,1749340668.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507639
2025-06-07T23:57:49.010Z,1749340669.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:49.013Z,1749340669.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 42.588341 m,
      bearing: 326.564287 deg,
      approach rate: -0.688637 m/s,
      LOS rate: -0.026996 deg/s,
      cmd heading: 325.803602 deg,
      new cmd heading: 325.771210 deg.

2025-06-07T23:57:49.014Z,1749340669.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685780 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:49.137Z,1749340669.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759567
2025-06-07T23:57:49.388Z,1749340669.388 [DAT](INFO): DAT read: Rx Time:23:57:48.4396

2025-06-07T23:57:49.389Z,1749340669.389 [DAT](INFO): Rx dataTimestamp_ set to:1749340669.388471
2025-06-07T23:57:49.389Z,1749340669.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012770
2025-06-07T23:57:49.450Z,1749340669.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:49.452Z,1749340669.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:49.463Z,1749340669.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 42.285519 m,
      bearing: 326.550615 deg,
      approach rate: -0.683837 m/s,
      LOS rate: -0.031097 deg/s,
      cmd heading: 325.771200 deg,
      new cmd heading: 325.729888 deg.

2025-06-07T23:57:49.465Z,1749340669.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685059 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:49.640Z,1749340669.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263708
2025-06-07T23:57:49.838Z,1749340669.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.84 m.
2025-06-07T23:57:49.845Z,1749340669.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.836330 m,
      nav range: 42.027416 m,
      bearing: 326.538552 deg,
      approach rate: -0.669982 m/s,
      LOS rate: -0.031504 deg/s,
      cmd heading: 325.729891 deg,
      new cmd heading: 325.693482 deg.

2025-06-07T23:57:49.848Z,1749340669.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684423 target range: 45.836330 and range: 46.20 m.
2025-06-07T23:57:49.902Z,1749340669.902 [DAT](INFO): DAT read: 23:57:48.4396 LVL= 28048, 32753, 20770, 32755, AGC= 70, IDX= 401, 0.28,-0.639,-2.055,-0.558,-1.099, PHS= 0.548,-0.909, 0.538, RAW= 149.7,  -2.5, CAL= 153.7, -11.2, ROT= 356.3,  11.2

2025-06-07T23:57:49.904Z,1749340669.904 [DAT](INFO): got valid direction response:
 23:57:48.4396 LVL= 28048, 32753, 20770, 32755, AGC= 70, IDX= 401, 0.28,-0.639,-2.055,-0.558,-1.099, PHS= 0.548,-0.909, 0.538, RAW= 149.7,  -2.5, CAL= 153.7, -11.2, ROT= 356.3,  11.2

2025-06-07T23:57:49.908Z,1749340669.908 [DAT](INFO): DAT read: Bearing 356.3,  11.2 (Local)

2025-06-07T23:57:49.910Z,1749340669.910 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,  11.2 (Local)

2025-06-07T23:57:49.913Z,1749340669.913 [DAT](INFO): DAT read: Range 10 to 50 : 43.7 m  (Round-trip  58.3 ms) speed  0.6 m/s

2025-06-07T23:57:49.914Z,1749340669.914 [DAT](INFO): DAT read: user:1971>

2025-06-07T23:57:49.914Z,1749340669.914 [DAT](INFO): DAT read: Tx time:23:57:49.5287

2025-06-07T23:57:49.915Z,1749340669.915 [DAT](INFO): Ping request sent.
2025-06-07T23:57:49.915Z,1749340669.915 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:49.916Z,1749340669.916 [DAT](INFO): DAT read: TxSync time:23:57:49.5279

2025-06-07T23:57:49.916Z,1749340669.916 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:49.917Z,1749340669.917 [DAT](INFO): direction in FSK: [0.978910,-0.063304,-0.194234]
2025-06-07T23:57:49.917Z,1749340669.917 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:49.918Z,1749340669.918 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:49.939Z,1749340669.939 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:49.939Z,1749340669.939 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:50.280Z,1749340670.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.700001 m,
      deltaT: 3.529189 s,
      deltaX: -2.500000 m,
      approachRate: -0.708378 m/s,
      rangeRepo size: 4

2025-06-07T23:57:50.290Z,1749340670.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.356258 m,
      bearing: 325.372864 deg,
      lat: 36.905928 deg,
      lon: -122.115980 deg,
      deltaT: 3.529189 s,
      deltaX: -2.480072 m,
      approachRate: -0.702731 m/s,
      posRepo size: 4

2025-06-07T23:57:50.296Z,1749340670.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.36 m.
2025-06-07T23:57:50.306Z,1749340670.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.356258 m,
      nav range: 42.041451 m,
      bearing: 326.161314 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031504 deg/s,
      cmd heading: 325.693472 deg,
      new cmd heading: 325.652170 deg.

2025-06-07T23:57:50.309Z,1749340670.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683702 target range: 43.356258 and range: 43.70 m.
2025-06-07T23:57:50.646Z,1749340670.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.36 m.
2025-06-07T23:57:50.650Z,1749340670.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.356258 m,
      nav range: 41.780220 m,
      bearing: 326.146593 deg,
      approach rate: -0.703903 m/s,
      LOS rate: -0.039915 deg/s,
      cmd heading: 325.652163 deg,
      new cmd heading: 325.607724 deg.

2025-06-07T23:57:50.651Z,1749340670.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682927 target range: 43.356258 and range: 43.70 m.
2025-06-07T23:57:51.085Z,1749340671.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.36 m.
2025-06-07T23:57:51.088Z,1749340671.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.356258 m,
      nav range: 41.460918 m,
      bearing: 326.128206 deg,
      approach rate: -0.727612 m/s,
      LOS rate: -0.042220 deg/s,
      cmd heading: 325.607713 deg,
      new cmd heading: 325.552129 deg.

2025-06-07T23:57:51.089Z,1749340671.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681957 target range: 43.356258 and range: 43.70 m.
2025-06-07T23:57:51.561Z,1749340671.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:51.563Z,1749340671.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.36 m.
2025-06-07T23:57:51.578Z,1749340671.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.356258 m,
      nav range: 41.130993 m,
      bearing: 326.112876 deg,
      approach rate: -0.689952 m/s,
      LOS rate: -0.032317 deg/s,
      cmd heading: 325.552142 deg,
      new cmd heading: 325.505782 deg.

2025-06-07T23:57:51.579Z,1749340671.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681148 target range: 43.356258 and range: 43.70 m.
2025-06-07T23:57:51.657Z,1749340671.657 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:51.657Z,1749340671.657 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:51.657Z,1749340671.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:51.908Z,1749340671.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993156
2025-06-07T23:57:51.948Z,1749340671.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.36 m.
2025-06-07T23:57:51.956Z,1749340671.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.356258 m,
      nav range: 40.876869 m,
      bearing: 326.100512 deg,
      approach rate: -0.667889 m/s,
      LOS rate: -0.032696 deg/s,
      cmd heading: 325.505779 deg,
      new cmd heading: 325.468457 deg.

2025-06-07T23:57:51.958Z,1749340671.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680496 target range: 43.356258 and range: 43.70 m.
2025-06-07T23:57:52.160Z,1749340672.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245416
2025-06-07T23:57:52.340Z,1749340672.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.36 m.
2025-06-07T23:57:52.342Z,1749340672.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.356258 m,
      nav range: 40.593033 m,
      bearing: 326.084524 deg,
      approach rate: -0.716940 m/s,
      LOS rate: -0.040667 deg/s,
      cmd heading: 325.468459 deg,
      new cmd heading: 325.420159 deg.

2025-06-07T23:57:52.344Z,1749340672.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679653 target range: 43.356258 and range: 43.70 m.
2025-06-07T23:57:52.413Z,1749340672.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498228
2025-06-07T23:57:52.664Z,1749340672.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749363
2025-06-07T23:57:52.707Z,1749340672.707 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:57:52.737Z,1749340672.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.36 m.
2025-06-07T23:57:52.756Z,1749340672.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.356258 m,
      nav range: 40.317120 m,
      bearing: 326.068921 deg,
      approach rate: -0.693476 m/s,
      LOS rate: -0.039484 deg/s,
      cmd heading: 325.420156 deg,
      new cmd heading: 325.373027 deg.

2025-06-07T23:57:52.757Z,1749340672.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678831 target range: 43.356258 and range: 43.70 m.
2025-06-07T23:57:52.916Z,1749340672.916 [DAT](INFO): DAT read: Rx Time:23:57:51.9879

2025-06-07T23:57:52.917Z,1749340672.917 [DAT](INFO): Rx dataTimestamp_ set to:1749340672.916345
2025-06-07T23:57:52.917Z,1749340672.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002272
2025-06-07T23:57:53.120Z,1749340673.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.36 m.
2025-06-07T23:57:53.123Z,1749340673.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.356258 m,
      nav range: 40.057072 m,
      bearing: 326.054326 deg,
      approach rate: -0.678856 m/s,
      LOS rate: -0.038350 deg/s,
      cmd heading: 325.373027 deg,
      new cmd heading: 325.328956 deg.

2025-06-07T23:57:53.128Z,1749340673.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678061 target range: 43.356258 and range: 43.70 m.
2025-06-07T23:57:53.168Z,1749340673.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253426
2025-06-07T23:57:53.426Z,1749340673.426 [DAT](INFO): DAT read: 23:57:51.9879 LVL= 21232, 32753, 21042, 32243, AGC= 69, IDX= 400,-0.22, 2.705, 1.300, 2.789, 2.260, PHS= 0.533,-0.913, 0.526, RAW= 149.8,  -2.1, CAL= 153.7, -10.9, ROT= 356.3,  10.9

2025-06-07T23:57:53.427Z,1749340673.427 [DAT](INFO): got valid direction response:
 23:57:51.9879 LVL= 21232, 32753, 21042, 32243, AGC= 69, IDX= 400,-0.22, 2.705, 1.300, 2.789, 2.260, PHS= 0.533,-0.913, 0.526, RAW= 149.8,  -2.1, CAL= 153.7, -10.9, ROT= 356.3,  10.9

2025-06-07T23:57:53.428Z,1749340673.428 [DAT](INFO): DAT read: Bearing 356.3,  10.9 (Local)

2025-06-07T23:57:53.429Z,1749340673.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,  10.9 (Local)

2025-06-07T23:57:53.430Z,1749340673.430 [DAT](INFO): DAT read: Range 10 to 50 : 41.2 m  (Round-trip  55.0 ms) speed  0.6 m/s

2025-06-07T23:57:53.431Z,1749340673.431 [DAT](INFO): DAT read: user:1972>

2025-06-07T23:57:53.432Z,1749340673.432 [DAT](INFO): DAT read: Tx time:23:57:53.0772

2025-06-07T23:57:53.432Z,1749340673.432 [DAT](INFO): Ping request sent.
2025-06-07T23:57:53.432Z,1749340673.432 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:53.432Z,1749340673.432 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:53.433Z,1749340673.433 [DAT](INFO): direction in FSK: [0.979912,-0.063368,-0.189095]
2025-06-07T23:57:53.434Z,1749340673.434 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:53.434Z,1749340673.434 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:53.444Z,1749340673.444 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:53.444Z,1749340673.444 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:53.652Z,1749340673.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.200001 m,
      deltaT: 3.526941 s,
      deltaX: -2.500000 m,
      approachRate: -0.708830 m/s,
      rangeRepo size: 4

2025-06-07T23:57:53.654Z,1749340673.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.876434 m,
      bearing: 325.209108 deg,
      lat: 36.905928 deg,
      lon: -122.115983 deg,
      deltaT: 3.526941 s,
      deltaX: -2.479824 m,
      approachRate: -0.703109 m/s,
      posRepo size: 4

2025-06-07T23:57:53.660Z,1749340673.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:53.669Z,1749340673.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 39.897339 m,
      bearing: 325.666553 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038350 deg/s,
      cmd heading: 325.328959 deg,
      new cmd heading: 325.268769 deg.

2025-06-07T23:57:53.677Z,1749340673.677 [DAT](INFO): DAT read: TxSync time:23:57:53.0764

2025-06-07T23:57:53.677Z,1749340673.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677011 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:53.712Z,1749340673.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:57:53.982Z,1749340673.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:53.984Z,1749340673.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:53.987Z,1749340673.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 39.628387 m,
      bearing: 325.652664 deg,
      approach rate: -0.788904 m/s,
      LOS rate: -0.041018 deg/s,
      cmd heading: 325.268771 deg,
      new cmd heading: 325.226820 deg.

2025-06-07T23:57:53.988Z,1749340673.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676279 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:54.176Z,1749340674.176 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:54.176Z,1749340674.176 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:54.176Z,1749340674.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-07T23:57:54.414Z,1749340674.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:54.421Z,1749340674.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 39.341946 m,
      bearing: 325.633718 deg,
      approach rate: -0.666488 m/s,
      LOS rate: -0.044403 deg/s,
      cmd heading: 325.226834 deg,
      new cmd heading: 325.169584 deg.

2025-06-07T23:57:54.422Z,1749340674.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675280 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:54.428Z,1749340674.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996180
2025-06-07T23:57:54.680Z,1749340674.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248020
2025-06-07T23:57:54.786Z,1749340674.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:54.794Z,1749340674.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 39.069073 m,
      bearing: 325.615461 deg,
      approach rate: -0.733971 m/s,
      LOS rate: -0.049452 deg/s,
      cmd heading: 325.169597 deg,
      new cmd heading: 325.114442 deg.

2025-06-07T23:57:54.797Z,1749340674.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674317 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:54.932Z,1749340674.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500139
2025-06-07T23:57:55.176Z,1749340675.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:55.179Z,1749340675.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 38.796551 m,
      bearing: 325.596510 deg,
      approach rate: -0.698404 m/s,
      LOS rate: -0.048907 deg/s,
      cmd heading: 325.114436 deg,
      new cmd heading: 325.057185 deg.

2025-06-07T23:57:55.180Z,1749340675.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673318 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:55.184Z,1749340675.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752160
2025-06-07T23:57:55.438Z,1749340675.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005273
2025-06-07T23:57:55.606Z,1749340675.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:55.609Z,1749340675.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 38.494232 m,
      bearing: 325.583032 deg,
      approach rate: -0.702735 m/s,
      LOS rate: -0.031575 deg/s,
      cmd heading: 325.057172 deg,
      new cmd heading: 325.016421 deg.

2025-06-07T23:57:55.610Z,1749340675.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672606 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:55.689Z,1749340675.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256914
2025-06-07T23:57:55.941Z,1749340675.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509249
2025-06-07T23:57:55.996Z,1749340675.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:55.998Z,1749340675.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:56.002Z,1749340676.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 38.218433 m,
      bearing: 325.570891 deg,
      approach rate: -0.703865 m/s,
      LOS rate: -0.031209 deg/s,
      cmd heading: 325.016409 deg,
      new cmd heading: 324.979724 deg.

2025-06-07T23:57:56.003Z,1749340676.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671966 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:56.192Z,1749340676.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759999
2025-06-07T23:57:56.388Z,1749340676.388 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  79.81,  74.37,  77.47
2025-06-07T23:57:56.423Z,1749340676.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:56.430Z,1749340676.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 37.933304 m,
      bearing: 325.558587 deg,
      approach rate: -0.671285 m/s,
      LOS rate: -0.029186 deg/s,
      cmd heading: 324.979718 deg,
      new cmd heading: 324.942527 deg.

2025-06-07T23:57:56.431Z,1749340676.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671317 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:56.444Z,1749340676.444 [DAT](INFO): DAT read: Rx Time:23:57:55.5331

2025-06-07T23:57:56.445Z,1749340676.445 [DAT](INFO): Rx dataTimestamp_ set to:1749340676.444571
2025-06-07T23:57:56.445Z,1749340676.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013330
2025-06-07T23:57:56.696Z,1749340676.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263988
2025-06-07T23:57:56.838Z,1749340676.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m.
2025-06-07T23:57:56.841Z,1749340676.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.876434 m,
      nav range: 37.626793 m,
      bearing: 325.545798 deg,
      approach rate: -0.737591 m/s,
      LOS rate: -0.031026 deg/s,
      cmd heading: 324.942534 deg,
      new cmd heading: 324.903855 deg.

2025-06-07T23:57:56.842Z,1749340676.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670642 target range: 40.876434 and range: 41.20 m.
2025-06-07T23:57:56.958Z,1749340676.958 [DAT](INFO): DAT read: 23:57:55.5331 LVL= 19824, 27057, 16930, 29235, AGC= 66, IDX= 414,-0.42, 2.829, 1.536, 2.865, 2.442, PHS= 0.475,-0.860, 0.420, RAW= 147.9,  -0.5, CAL= 151.5,  -9.5, ROT= 358.5,   9.5

2025-06-07T23:57:56.960Z,1749340676.960 [DAT](INFO): got valid direction response:
 23:57:55.5331 LVL= 19824, 27057, 16930, 29235, AGC= 66, IDX= 414,-0.42, 2.829, 1.536, 2.865, 2.442, PHS= 0.475,-0.860, 0.420, RAW= 147.9,  -0.5, CAL= 151.5,  -9.5, ROT= 358.5,   9.5

2025-06-07T23:57:56.961Z,1749340676.961 [DAT](INFO): DAT read: Bearing 358.5,   9.5 (Local)

2025-06-07T23:57:56.962Z,1749340676.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,   9.5 (Local)

2025-06-07T23:57:56.964Z,1749340676.964 [DAT](INFO): DAT read: Range 10 to 50 : 38.7 m  (Round-trip  51.7 ms) speed  0.7 m/s

2025-06-07T23:57:56.965Z,1749340676.965 [DAT](INFO): DAT read: user:1973>

2025-06-07T23:57:56.966Z,1749340676.966 [DAT](INFO): DAT read: Tx time:23:57:56.6272

2025-06-07T23:57:56.967Z,1749340676.967 [DAT](INFO): Ping request sent.
2025-06-07T23:57:56.967Z,1749340676.967 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:57:56.972Z,1749340676.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:57:56.973Z,1749340676.973 [DAT](INFO): direction in FSK: [0.985948,-0.025818,-0.165048]
2025-06-07T23:57:56.974Z,1749340676.974 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:56.974Z,1749340676.974 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:56.981Z,1749340676.981 [DAT](INFO): publishing transmit ping time
2025-06-07T23:57:56.981Z,1749340676.981 [DAT](INFO): publishing direction and range info
2025-06-07T23:57:57.200Z,1749340677.200 [DAT](INFO): DAT read: TxSync time:23:57:56.6264

2025-06-07T23:57:57.236Z,1749340677.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.700001 m,
      deltaT: 3.529043 s,
      deltaX: -2.500000 m,
      approachRate: -0.708407 m/s,
      rangeRepo size: 4

2025-06-07T23:57:57.244Z,1749340677.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.396637 m,
      bearing: 326.878160 deg,
      lat: 36.905928 deg,
      lon: -122.115983 deg,
      deltaT: 3.529043 s,
      deltaX: -2.479797 m,
      approachRate: -0.702683 m/s,
      posRepo size: 4

2025-06-07T23:57:57.245Z,1749340677.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.40 m.
2025-06-07T23:57:57.252Z,1749340677.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.396637 m,
      nav range: 37.364697 m,
      bearing: 325.535081 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031026 deg/s,
      cmd heading: 324.903848 deg,
      new cmd heading: 324.866864 deg.

2025-06-07T23:57:57.253Z,1749340677.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669996 target range: 38.396637 and range: 38.70 m.
2025-06-07T23:57:57.628Z,1749340677.628 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-07T23:57:57.628Z,1749340677.628 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-07T23:57:57.629Z,1749340677.629 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-07T23:57:57.630Z,1749340677.630 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.700001 m (mode  2.000000 count ).
2025-06-07T23:57:57.630Z,1749340677.630 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-07T23:57:57.630Z,1749340677.630 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-07T23:57:57.633Z,1749340677.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.40 m.
2025-06-07T23:57:57.652Z,1749340677.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.396637 m,
      nav range: 37.069202 m,
      bearing: 325.520011 deg,
      approach rate: -0.744233 m/s,
      LOS rate: -0.038258 deg/s,
      cmd heading: 324.866856 deg,
      new cmd heading: 324.821285 deg.

2025-06-07T23:57:57.653Z,1749340677.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669201 target range: 38.396637 and range: 38.70 m.
2025-06-07T23:57:58.003Z,1749340678.003 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-07T23:57:58.003Z,1749340678.003 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-07T23:57:58.020Z,1749340678.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:57:58.022Z,1749340678.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.40 m.
2025-06-07T23:57:58.025Z,1749340678.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.396637 m,
      nav range: 36.804955 m,
      bearing: 325.507008 deg,
      approach rate: -0.678510 m/s,
      LOS rate: -0.033626 deg/s,
      cmd heading: 324.821285 deg,
      new cmd heading: 324.781997 deg.

2025-06-07T23:57:58.026Z,1749340678.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668515 target range: 38.396637 and range: 38.70 m.
2025-06-07T23:57:58.209Z,1749340678.209 [DAT](INFO): ****** received valid address query ******
2025-06-07T23:57:58.209Z,1749340678.209 [DAT](INFO): ****** received valid ping request ******
2025-06-07T23:57:58.210Z,1749340678.210 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-07T23:57:58.426Z,1749340678.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-07T23:57:58.426Z,1749340678.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-07T23:57:58.429Z,1749340678.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.40 m.
2025-06-07T23:57:58.447Z,1749340678.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.396637 m,
      nav range: 36.506996 m,
      bearing: 325.497999 deg,
      approach rate: -0.733357 m/s,
      LOS rate: -0.022356 deg/s,
      cmd heading: 324.781997 deg,
      new cmd heading: 324.754749 deg.

2025-06-07T23:57:58.448Z,1749340678.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668040 target range: 38.396637 and range: 38.70 m.
2025-06-07T23:57:58.460Z,1749340678.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493662
2025-06-07T23:57:58.712Z,1749340678.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745455
2025-06-07T23:57:58.815Z,1749340678.815 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-07T23:57:58.815Z,1749340678.815 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-07T23:57:58.815Z,1749340678.815 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-07T23:57:58.815Z,1749340678.815 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-07T23:57:58.818Z,1749340678.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.40 m.
2025-06-07T23:57:58.821Z,1749340678.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.396637 m,
      nav range: 36.231865 m,
      bearing: 325.489039 deg,
      approach rate: -0.706860 m/s,
      LOS rate: -0.023195 deg/s,
      cmd heading: 324.754759 deg,
      new cmd heading: 324.727674 deg.

2025-06-07T23:57:58.822Z,1749340678.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667567 target range: 38.396637 and range: 38.70 m.
2025-06-07T23:57:58.965Z,1749340678.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997824
2025-06-07T23:57:59.216Z,1749340679.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249555
2025-06-07T23:57:59.220Z,1749340679.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.40 m.
2025-06-07T23:57:59.223Z,1749340679.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.396637 m,
      nav range: 35.948475 m,
      bearing: 325.479965 deg,
      approach rate: -0.703728 m/s,
      LOS rate: -0.022711 deg/s,
      cmd heading: 324.727684 deg,
      new cmd heading: 324.700247 deg.

2025-06-07T23:57:59.224Z,1749340679.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667089 target range: 38.396637 and range: 38.70 m.
2025-06-07T23:57:59.468Z,1749340679.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501622
2025-06-07T23:57:59.654Z,1749340679.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.40 m.
2025-06-07T23:57:59.656Z,1749340679.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.396637 m,
      nav range: 35.643326 m,
      bearing: 325.472174 deg,
      approach rate: -0.704581 m/s,
      LOS rate: -0.018143 deg/s,
      cmd heading: 324.700254 deg,
      new cmd heading: 324.676681 deg.

2025-06-07T23:57:59.658Z,1749340679.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666677 target range: 38.396637 and range: 38.70 m.
2025-06-07T23:57:59.720Z,1749340679.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753703
2025-06-07T23:57:59.973Z,1749340679.973 [DAT](INFO): DAT read: Rx Time:23:57:59.0797

2025-06-07T23:57:59.974Z,1749340679.974 [DAT](INFO): Rx dataTimestamp_ set to:1749340679.973359
2025-06-07T23:57:59.974Z,1749340679.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007510
2025-06-07T23:58:00.044Z,1749340680.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:00.047Z,1749340680.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.40 m.
2025-06-07T23:58:00.053Z,1749340680.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.396637 m,
      nav range: 35.375153 m,
      bearing: 325.465827 deg,
      approach rate: -0.682300 m/s,
      LOS rate: -0.016271 deg/s,
      cmd heading: 324.676676 deg,
      new cmd heading: 324.657490 deg.

2025-06-07T23:58:00.054Z,1749340680.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666342 target range: 38.396637 and range: 38.70 m.
2025-06-07T23:58:00.225Z,1749340680.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257854
2025-06-07T23:58:00.482Z,1749340680.482 [DAT](INFO): DAT read: 23:57:59.0797 LVL= 21984, 24897, 19218, 26819, AGC= 66, IDX= 412,-0.27, 1.326,-0.089, 1.402, 0.836, PHS= 0.578,-0.878, 0.562, RAW= 149.5,  -3.7, CAL= 153.9, -12.3, ROT= 356.1,  12.3

2025-06-07T23:58:00.483Z,1749340680.483 [DAT](INFO): got valid direction response:
 23:57:59.0797 LVL= 21984, 24897, 19218, 26819, AGC= 66, IDX= 412,-0.27, 1.326,-0.089, 1.402, 0.836, PHS= 0.578,-0.878, 0.562, RAW= 149.5,  -3.7, CAL= 153.9, -12.3, ROT= 356.1,  12.3

2025-06-07T23:58:00.488Z,1749340680.488 [DAT](INFO): DAT read: Bearing 356.1,  12.3 (Local)

2025-06-07T23:58:00.488Z,1749340680.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  12.3 (Local)

2025-06-07T23:58:00.490Z,1749340680.490 [DAT](INFO): DAT read: Range 10 to 50 : 36.3 m  (Round-trip  48.4 ms) speed  0.6 m/s

2025-06-07T23:58:00.490Z,1749340680.490 [DAT](INFO): DAT read: user:1974>

2025-06-07T23:58:00.491Z,1749340680.491 [DAT](INFO): DAT read: Tx time:23:58:00.1772

2025-06-07T23:58:00.492Z,1749340680.492 [DAT](INFO): Ping request sent.
2025-06-07T23:58:00.492Z,1749340680.492 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:00.492Z,1749340680.492 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-07T23:58:00.493Z,1749340680.493 [DAT](INFO): direction in FSK: [0.974783,-0.066454,-0.213030]
2025-06-07T23:58:00.493Z,1749340680.493 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:00.493Z,1749340680.493 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:00.497Z,1749340680.497 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:00.497Z,1749340680.497 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:00.516Z,1749340680.516 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.024343
2025-06-07T23:58:00.587Z,1749340680.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 3.526748 s,
      deltaX: -2.400002 m,
      approachRate: -0.680514 m/s,
      rangeRepo size: 4

2025-06-07T23:58:00.589Z,1749340680.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.016380 m,
      bearing: 324.073393 deg,
      lat: 36.905928 deg,
      lon: -122.115987 deg,
      deltaT: 3.526748 s,
      deltaX: -2.380257 m,
      approachRate: -0.674915 m/s,
      posRepo size: 4

2025-06-07T23:58:00.590Z,1749340680.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:00.597Z,1749340680.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 35.205002 m,
      bearing: 325.000087 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016271 deg/s,
      cmd heading: 324.657497 deg,
      new cmd heading: 324.631534 deg.

2025-06-07T23:58:00.598Z,1749340680.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665889 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:00.728Z,1749340680.728 [DAT](INFO): DAT read: TxSync time:23:58:00.1764

2025-06-07T23:58:00.729Z,1749340680.729 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.237388
2025-06-07T23:58:00.966Z,1749340680.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:00.980Z,1749340680.980 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.488575
2025-06-07T23:58:00.975Z,1749340680.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 34.929092 m,
      bearing: 324.993139 deg,
      approach rate: -0.712431 m/s,
      LOS rate: -0.018083 deg/s,
      cmd heading: 324.631542 deg,
      new cmd heading: 324.610533 deg.

2025-06-07T23:58:00.982Z,1749340680.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665523 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:01.232Z,1749340681.232 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.740474
2025-06-07T23:58:01.339Z,1749340681.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:01.373Z,1749340681.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 34.663017 m,
      bearing: 324.989236 deg,
      approach rate: -0.715500 m/s,
      LOS rate: -0.010578 deg/s,
      cmd heading: 324.610532 deg,
      new cmd heading: 324.598732 deg.

2025-06-07T23:58:01.381Z,1749340681.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665317 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:01.485Z,1749340681.485 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.993186
2025-06-07T23:58:01.736Z,1749340681.736 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.244571
2025-06-07T23:58:01.756Z,1749340681.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:01.759Z,1749340681.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 34.367096 m,
      bearing: 324.982939 deg,
      approach rate: -0.706698 m/s,
      LOS rate: -0.015166 deg/s,
      cmd heading: 324.598730 deg,
      new cmd heading: 324.579678 deg.

2025-06-07T23:58:01.760Z,1749340681.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664984 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:01.988Z,1749340681.988 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.496517
2025-06-07T23:58:02.132Z,1749340682.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:02.134Z,1749340682.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:02.137Z,1749340682.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 34.102001 m,
      bearing: 324.977206 deg,
      approach rate: -0.701675 m/s,
      LOS rate: -0.015293 deg/s,
      cmd heading: 324.579687 deg,
      new cmd heading: 324.562354 deg.

2025-06-07T23:58:02.138Z,1749340682.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664682 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:02.240Z,1749340682.240 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.748560
2025-06-07T23:58:02.492Z,1749340682.492 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.000575
2025-06-07T23:58:02.556Z,1749340682.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:02.563Z,1749340682.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 33.826702 m,
      bearing: 324.982398 deg,
      approach rate: -0.652265 m/s,
      LOS rate: 0.012401 deg/s,
      cmd heading: 324.562366 deg,
      new cmd heading: 324.578068 deg.

2025-06-07T23:58:02.564Z,1749340682.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664956 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:02.744Z,1749340682.744 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.252350
2025-06-07T23:58:02.922Z,1749340682.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:02.925Z,1749340682.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 33.562820 m,
      bearing: 324.986941 deg,
      approach rate: -0.721982 m/s,
      LOS rate: 0.012528 deg/s,
      cmd heading: 324.578075 deg,
      new cmd heading: 324.591812 deg.

2025-06-07T23:58:02.926Z,1749340682.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665196 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:02.996Z,1749340682.996 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.504587
2025-06-07T23:58:03.248Z,1749340683.248 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.756460
2025-06-07T23:58:03.462Z,1749340683.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:03.465Z,1749340683.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 33.203304 m,
      bearing: 324.978199 deg,
      approach rate: -0.665821 m/s,
      LOS rate: -0.016365 deg/s,
      cmd heading: 324.591818 deg,
      new cmd heading: 324.565308 deg.

2025-06-07T23:58:03.466Z,1749340683.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664733 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:03.500Z,1749340683.500 [DAT](INFO): DAT read: Rx Time:23:58:02.6264

2025-06-07T23:58:03.501Z,1749340683.501 [DAT](INFO): Rx dataTimestamp_ set to:1749340683.500537
2025-06-07T23:58:03.501Z,1749340683.501 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.009652
2025-06-07T23:58:03.752Z,1749340683.752 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.260370
2025-06-07T23:58:03.856Z,1749340683.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-07T23:58:03.873Z,1749340683.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.016380 m,
      nav range: 32.966137 m,
      bearing: 324.971372 deg,
      approach rate: -0.611628 m/s,
      LOS rate: -0.017734 deg/s,
      cmd heading: 324.565316 deg,
      new cmd heading: 324.544687 deg.

2025-06-07T23:58:03.881Z,1749340683.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664373 target range: 36.016380 and range: 36.30 m.
2025-06-07T23:58:04.010Z,1749340684.010 [DAT](INFO): DAT read: 23:58:02.6264 LVL= 26352, 30289, 22674, 32755, AGC= 66, IDX= 409,-0.14,-1.022,-2.316,-1.067,-1.460, PHS= 0.526,-0.809, 0.390, RAW= 144.7,  -1.7, CAL= 149.0, -10.8, ROT=   1.0,  10.8

2025-06-07T23:58:04.011Z,1749340684.011 [DAT](INFO): got valid direction response:
 23:58:02.6264 LVL= 26352, 30289, 22674, 32755, AGC= 66, IDX= 409,-0.14,-1.022,-2.316,-1.067,-1.460, PHS= 0.526,-0.809, 0.390, RAW= 144.7,  -1.7, CAL= 149.0, -10.8, ROT=   1.0,  10.8

2025-06-07T23:58:04.012Z,1749340684.012 [DAT](INFO): DAT read: Bearing   1.0,  10.8 (Local)

2025-06-07T23:58:04.013Z,1749340684.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  10.8 (Local)

2025-06-07T23:58:04.014Z,1749340684.014 [DAT](INFO): DAT read: Range 10 to 50 : 33.7 m  (Round-trip  45.0 ms) speed  0.5 m/s

2025-06-07T23:58:04.015Z,1749340684.015 [DAT](INFO): DAT read: user:1975>

2025-06-07T23:58:04.016Z,1749340684.016 [DAT](INFO): DAT read: Tx time:23:58:03.7273

2025-06-07T23:58:04.016Z,1749340684.016 [DAT](INFO): Ping request sent.
2025-06-07T23:58:04.016Z,1749340684.016 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:04.016Z,1749340684.016 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-07T23:58:04.017Z,1749340684.017 [DAT](INFO): direction in FSK: [0.982138,0.017143,-0.187381]
2025-06-07T23:58:04.018Z,1749340684.018 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:04.018Z,1749340684.018 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:04.033Z,1749340684.033 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:04.033Z,1749340684.033 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:04.054Z,1749340684.054 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.037688
2025-06-07T23:58:04.256Z,1749340684.256 [DAT](INFO): DAT read: TxSync time:23:58:03.7265

2025-06-07T23:58:04.257Z,1749340684.257 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.240865
2025-06-07T23:58:04.292Z,1749340684.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.700001 m,
      deltaT: 3.528189 s,
      deltaX: -2.599998 m,
      approachRate: -0.736922 m/s,
      rangeRepo size: 4

2025-06-07T23:58:04.294Z,1749340684.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.437798 m,
      bearing: 328.478891 deg,
      lat: 36.905928 deg,
      lon: -122.115987 deg,
      deltaT: 3.528189 s,
      deltaX: -2.578583 m,
      approachRate: -0.730852 m/s,
      posRepo size: 4

2025-06-07T23:58:04.295Z,1749340684.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-06-07T23:58:04.298Z,1749340684.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.437798 m,
      nav range: 32.653400 m,
      bearing: 324.962444 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017734 deg/s,
      cmd heading: 324.544689 deg,
      new cmd heading: 324.521177 deg.

2025-06-07T23:58:04.300Z,1749340684.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663963 target range: 33.437798 and range: 33.70 m.
2025-06-07T23:58:04.511Z,1749340684.511 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.494175
2025-06-07T23:58:04.760Z,1749340684.760 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.744084
2025-06-07T23:58:04.808Z,1749340684.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:04.810Z,1749340684.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-06-07T23:58:04.817Z,1749340684.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.437798 m,
      nav range: 32.314896 m,
      bearing: 324.955380 deg,
      approach rate: -0.652119 m/s,
      LOS rate: -0.013751 deg/s,
      cmd heading: 324.521166 deg,
      new cmd heading: 324.499752 deg.

2025-06-07T23:58:04.818Z,1749340684.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663589 target range: 33.437798 and range: 33.70 m.
2025-06-07T23:58:05.013Z,1749340685.013 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.996240
2025-06-07T23:58:05.244Z,1749340685.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-06-07T23:58:05.247Z,1749340685.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.437798 m,
      nav range: 32.024590 m,
      bearing: 324.949621 deg,
      approach rate: -0.671257 m/s,
      LOS rate: -0.013437 deg/s,
      cmd heading: 324.499747 deg,
      new cmd heading: 324.482313 deg.

2025-06-07T23:58:05.248Z,1749340685.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663285 target range: 33.437798 and range: 33.70 m.
2025-06-07T23:58:05.264Z,1749340685.264 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.247943
2025-06-07T23:58:05.516Z,1749340685.516 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.500002
2025-06-07T23:58:05.684Z,1749340685.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-06-07T23:58:05.687Z,1749340685.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.437798 m,
      nav range: 31.727798 m,
      bearing: 324.948513 deg,
      approach rate: -0.672927 m/s,
      LOS rate: -0.002536 deg/s,
      cmd heading: 324.482316 deg,
      new cmd heading: 324.478961 deg.

2025-06-07T23:58:05.688Z,1749340685.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663226 target range: 33.437798 and range: 33.70 m.
2025-06-07T23:58:05.769Z,1749340685.769 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.752870
2025-06-07T23:58:06.020Z,1749340686.020 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.004215
2025-06-07T23:58:06.085Z,1749340686.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-06-07T23:58:06.100Z,1749340686.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.437798 m,
      nav range: 31.476984 m,
      bearing: 324.946594 deg,
      approach rate: -0.626296 m/s,
      LOS rate: -0.004829 deg/s,
      cmd heading: 324.478956 deg,
      new cmd heading: 324.473154 deg.

2025-06-07T23:58:06.101Z,1749340686.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663125 target range: 33.437798 and range: 33.70 m.
2025-06-07T23:58:06.272Z,1749340686.272 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.255982
2025-06-07T23:58:06.503Z,1749340686.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-06-07T23:58:06.506Z,1749340686.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.437798 m,
      nav range: 31.173538 m,
      bearing: 324.935907 deg,
      approach rate: -0.725770 m/s,
      LOS rate: -0.025811 deg/s,
      cmd heading: 324.473164 deg,
      new cmd heading: 324.440789 deg.

2025-06-07T23:58:06.507Z,1749340686.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662560 target range: 33.437798 and range: 33.70 m.
2025-06-07T23:58:06.546Z,1749340686.546 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.529165
2025-06-07T23:58:06.796Z,1749340686.796 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.779954
2025-06-07T23:58:06.873Z,1749340686.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:06.875Z,1749340686.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-06-07T23:58:06.882Z,1749340686.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.437798 m,
      nav range: 30.921257 m,
      bearing: 324.926949 deg,
      approach rate: -0.677305 m/s,
      LOS rate: -0.024246 deg/s,
      cmd heading: 324.440788 deg,
      new cmd heading: 324.413696 deg.

2025-06-07T23:58:06.884Z,1749340686.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662087 target range: 33.437798 and range: 33.70 m.
2025-06-07T23:58:07.048Z,1749340687.048 [DAT](INFO): DAT read: Rx Time:23:58:06.1734

2025-06-07T23:58:07.049Z,1749340687.049 [DAT](INFO): Rx dataTimestamp_ set to:1749340687.048419
2025-06-07T23:58:07.049Z,1749340687.049 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.033077
2025-06-07T23:58:07.269Z,1749340687.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-06-07T23:58:07.277Z,1749340687.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.437798 m,
      nav range: 30.652987 m,
      bearing: 324.917588 deg,
      approach rate: -0.680308 m/s,
      LOS rate: -0.023946 deg/s,
      cmd heading: 324.413686 deg,
      new cmd heading: 324.385358 deg.

2025-06-07T23:58:07.279Z,1749340687.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661592 target range: 33.437798 and range: 33.70 m.
2025-06-07T23:58:07.300Z,1749340687.300 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.284031
2025-06-07T23:58:07.558Z,1749340687.558 [DAT](INFO): DAT read: 23:58:06.1734 LVL= 21792, 27121, 23378, 32499, AGC= 66, IDX= 409, 0.46,-1.488,-2.794,-1.561,-1.945, PHS= 0.545,-0.801, 0.381, RAW= 143.6,  -2.0, CAL= 148.1, -11.1, ROT=   1.9,  11.1

2025-06-07T23:58:07.559Z,1749340687.559 [DAT](INFO): got valid direction response:
 23:58:06.1734 LVL= 21792, 27121, 23378, 32499, AGC= 66, IDX= 409, 0.46,-1.488,-2.794,-1.561,-1.945, PHS= 0.545,-0.801, 0.381, RAW= 143.6,  -2.0, CAL= 148.1, -11.1, ROT=   1.9,  11.1

2025-06-07T23:58:07.560Z,1749340687.560 [DAT](INFO): DAT read: Bearing   1.9,  11.1 (Local)

2025-06-07T23:58:07.560Z,1749340687.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  11.1 (Local)

2025-06-07T23:58:07.562Z,1749340687.562 [DAT](INFO): DAT read: Range 10 to 50 : 31.4 m  (Round-trip  41.9 ms) speed  0.7 m/s

2025-06-07T23:58:07.562Z,1749340687.562 [DAT](INFO): DAT read: user:1976>

2025-06-07T23:58:07.576Z,1749340687.576 [DAT](INFO): DAT read: Tx time:23:58:07.2773

2025-06-07T23:58:07.576Z,1749340687.576 [DAT](INFO): Ping request sent.
2025-06-07T23:58:07.576Z,1749340687.576 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:07.576Z,1749340687.576 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-07T23:58:07.577Z,1749340687.577 [DAT](INFO): direction in FSK: [0.980753,0.032535,-0.192522]
2025-06-07T23:58:07.578Z,1749340687.578 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:07.578Z,1749340687.578 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:07.581Z,1749340687.581 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:07.581Z,1749340687.581 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:07.601Z,1749340687.601 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.024482
2025-06-07T23:58:07.753Z,1749340687.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.400000 m,
      deltaT: 3.547884 s,
      deltaX: -2.300001 m,
      approachRate: -0.648274 m/s,
      rangeRepo size: 4

2025-06-07T23:58:07.755Z,1749340687.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.155638 m,
      bearing: 329.165282 deg,
      lat: 36.905936 deg,
      lon: -122.115978 deg,
      deltaT: 3.547884 s,
      deltaX: -2.282160 m,
      approachRate: -0.643245 m/s,
      posRepo size: 4

2025-06-07T23:58:07.764Z,1749340687.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:07.766Z,1749340687.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 30.569876 m,
      bearing: 327.106388 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023946 deg/s,
      cmd heading: 324.385355 deg,
      new cmd heading: 324.350670 deg.

2025-06-07T23:58:07.772Z,1749340687.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660987 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:07.804Z,1749340687.804 [DAT](INFO): DAT read: TxSync time:23:58:07.2765

2025-06-07T23:58:07.805Z,1749340687.805 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.229036
2025-06-07T23:58:08.056Z,1749340688.056 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.480085
2025-06-07T23:58:08.085Z,1749340688.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:08.088Z,1749340688.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 30.330854 m,
      bearing: 327.117637 deg,
      approach rate: -0.717616 m/s,
      LOS rate: 0.034038 deg/s,
      cmd heading: 324.350657 deg,
      new cmd heading: 324.384669 deg.

2025-06-07T23:58:08.089Z,1749340688.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661581 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:08.308Z,1749340688.308 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.731975
2025-06-07T23:58:08.522Z,1749340688.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:08.525Z,1749340688.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 30.021795 m,
      bearing: 327.129735 deg,
      approach rate: -0.707137 m/s,
      LOS rate: 0.027967 deg/s,
      cmd heading: 324.384672 deg,
      new cmd heading: 324.421341 deg.

2025-06-07T23:58:08.526Z,1749340688.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662220 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:08.560Z,1749340688.560 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.984085
2025-06-07T23:58:08.812Z,1749340688.812 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.235994
2025-06-07T23:58:08.894Z,1749340688.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:08.897Z,1749340688.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:08.899Z,1749340688.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 29.758543 m,
      bearing: 327.140913 deg,
      approach rate: -0.703460 m/s,
      LOS rate: 0.030134 deg/s,
      cmd heading: 324.421336 deg,
      new cmd heading: 324.455167 deg.

2025-06-07T23:58:08.900Z,1749340688.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662811 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:09.064Z,1749340689.064 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.488030
2025-06-07T23:58:09.296Z,1749340689.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:09.298Z,1749340689.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 29.475740 m,
      bearing: 327.153952 deg,
      approach rate: -0.708905 m/s,
      LOS rate: 0.032998 deg/s,
      cmd heading: 324.455159 deg,
      new cmd heading: 324.494651 deg.

2025-06-07T23:58:09.300Z,1749340689.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663500 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:09.319Z,1749340689.319 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.742417
2025-06-07T23:58:09.568Z,1749340689.568 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.992003
2025-06-07T23:58:09.692Z,1749340689.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:09.694Z,1749340689.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 29.195726 m,
      bearing: 327.168112 deg,
      approach rate: -0.707272 m/s,
      LOS rate: 0.036108 deg/s,
      cmd heading: 324.494638 deg,
      new cmd heading: 324.537524 deg.

2025-06-07T23:58:09.696Z,1749340689.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664248 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:09.821Z,1749340689.821 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.244824
2025-06-07T23:58:10.072Z,1749340690.072 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.496160
2025-06-07T23:58:10.115Z,1749340690.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:10.118Z,1749340690.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 28.896461 m,
      bearing: 327.184594 deg,
      approach rate: -0.706383 m/s,
      LOS rate: 0.039308 deg/s,
      cmd heading: 324.537531 deg,
      new cmd heading: 324.587491 deg.

2025-06-07T23:58:10.119Z,1749340690.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665121 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:10.325Z,1749340690.325 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.749357
2025-06-07T23:58:10.567Z,1749340690.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:10.578Z,1749340690.578 [DAT](INFO): DAT read: Rx Time:23:58:09.7201

2025-06-07T23:58:10.578Z,1749340690.578 [DAT](INFO): Rx dataTimestamp_ set to:1749340690.577870
2025-06-07T23:58:10.579Z,1749340690.579 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.002612
2025-06-07T23:58:10.593Z,1749340690.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 28.577135 m,
      bearing: 327.202521 deg,
      approach rate: -0.706101 m/s,
      LOS rate: 0.040084 deg/s,
      cmd heading: 324.587501 deg,
      new cmd heading: 324.641883 deg.

2025-06-07T23:58:10.594Z,1749340690.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666070 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:10.831Z,1749340690.831 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.254886
2025-06-07T23:58:10.902Z,1749340690.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:10.916Z,1749340690.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.16 m.
2025-06-07T23:58:10.923Z,1749340690.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.155638 m,
      nav range: 28.339520 m,
      bearing: 327.215467 deg,
      approach rate: -0.680929 m/s,
      LOS rate: 0.037409 deg/s,
      cmd heading: 324.641897 deg,
      new cmd heading: 324.681059 deg.

2025-06-07T23:58:10.924Z,1749340690.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666753 target range: 31.155638 and range: 31.40 m.
2025-06-07T23:58:11.086Z,1749340691.086 [DAT](INFO): DAT read: 23:58:09.7201 LVL= 24112, 28241, 20882, 31347, AGC= 61, IDX= 407, 0.38, 2.881, 1.425, 2.768, 2.444, PHS= 0.525,-0.972, 0.321, RAW= 142.8,   1.8, CAL= 146.6,  -6.9, ROT=   3.4,   6.9

2025-06-07T23:58:11.088Z,1749340691.088 [DAT](INFO): got valid direction response:
 23:58:09.7201 LVL= 24112, 28241, 20882, 31347, AGC= 61, IDX= 407, 0.38, 2.881, 1.425, 2.768, 2.444, PHS= 0.525,-0.972, 0.321, RAW= 142.8,   1.8, CAL= 146.6,  -6.9, ROT=   3.4,   6.9

2025-06-07T23:58:11.089Z,1749340691.089 [DAT](INFO): DAT read: Bearing   3.4,   6.9 (Local)

2025-06-07T23:58:11.089Z,1749340691.089 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,   6.9 (Local)

2025-06-07T23:58:11.090Z,1749340691.090 [DAT](INFO): DAT read: Range 10 to 50 : 28.9 m  (Round-trip  38.6 ms) speed  0.7 m/s

2025-06-07T23:58:11.091Z,1749340691.091 [DAT](INFO): DAT read: user:1977>

2025-06-07T23:58:11.092Z,1749340691.092 [DAT](INFO): DAT read: Tx time:23:58:10.8273

2025-06-07T23:58:11.092Z,1749340691.092 [DAT](INFO): Ping request sent.
2025-06-07T23:58:11.093Z,1749340691.093 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:11.093Z,1749340691.093 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-07T23:58:11.094Z,1749340691.094 [DAT](INFO): direction in FSK: [0.991010,0.058877,-0.120137]
2025-06-07T23:58:11.094Z,1749340691.094 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:11.094Z,1749340691.094 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:11.106Z,1749340691.106 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:11.106Z,1749340691.106 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:11.130Z,1749340691.130 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.037789
2025-06-07T23:58:11.328Z,1749340691.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.900000 m,
      deltaT: 3.528556 s,
      deltaX: -2.500000 m,
      approachRate: -0.708505 m/s,
      rangeRepo size: 4

2025-06-07T23:58:11.330Z,1749340691.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.674997 m,
      bearing: 329.898423 deg,
      lat: 36.905939 deg,
      lon: -122.115969 deg,
      deltaT: 3.528556 s,
      deltaX: -2.480640 m,
      approachRate: -0.703019 m/s,
      posRepo size: 4

2025-06-07T23:58:11.332Z,1749340691.332 [DAT](INFO): DAT read: TxSync time:23:58:10.8265

2025-06-07T23:58:11.333Z,1749340691.333 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.240548
2025-06-07T23:58:11.333Z,1749340691.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:11.336Z,1749340691.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 27.937298 m,
      bearing: 328.962042 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037409 deg/s,
      cmd heading: 324.681047 deg,
      new cmd heading: 324.727191 deg.

2025-06-07T23:58:11.337Z,1749340691.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667559 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:11.584Z,1749340691.584 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.491558
2025-06-07T23:58:11.755Z,1749340691.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:11.757Z,1749340691.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 27.633322 m,
      bearing: 328.985499 deg,
      approach rate: -0.711619 m/s,
      LOS rate: 0.055519 deg/s,
      cmd heading: 324.727192 deg,
      new cmd heading: 324.798338 deg.

2025-06-07T23:58:11.758Z,1749340691.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668800 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:11.836Z,1749340691.836 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.743655
2025-06-07T23:58:12.088Z,1749340692.088 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.995839
2025-06-07T23:58:12.133Z,1749340692.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:12.136Z,1749340692.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 27.365906 m,
      bearing: 329.005687 deg,
      approach rate: -0.705803 m/s,
      LOS rate: 0.053802 deg/s,
      cmd heading: 324.798335 deg,
      new cmd heading: 324.859489 deg.

2025-06-07T23:58:12.137Z,1749340692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669868 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:12.341Z,1749340692.341 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.248230
2025-06-07T23:58:12.592Z,1749340692.592 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.499467
2025-06-07T23:58:12.611Z,1749340692.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:12.614Z,1749340692.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 27.034733 m,
      bearing: 329.023041 deg,
      approach rate: -0.693450 m/s,
      LOS rate: 0.036783 deg/s,
      cmd heading: 324.859479 deg,
      new cmd heading: 324.912178 deg.

2025-06-07T23:58:12.615Z,1749340692.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670787 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:12.851Z,1749340692.851 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.757810
2025-06-07T23:58:12.930Z,1749340692.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:12.932Z,1749340692.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:12.935Z,1749340692.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 26.812447 m,
      bearing: 329.032656 deg,
      approach rate: -0.691838 m/s,
      LOS rate: 0.030174 deg/s,
      cmd heading: 324.912181 deg,
      new cmd heading: 324.941265 deg.

2025-06-07T23:58:12.937Z,1749340692.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671295 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:13.100Z,1749340693.100 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.007578
2025-06-07T23:58:13.340Z,1749340693.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:13.342Z,1749340693.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 26.529375 m,
      bearing: 329.043311 deg,
      approach rate: -0.694756 m/s,
      LOS rate: 0.026431 deg/s,
      cmd heading: 324.941277 deg,
      new cmd heading: 324.973584 deg.

2025-06-07T23:58:13.344Z,1749340693.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671859 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:13.352Z,1749340693.352 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.259585
2025-06-07T23:58:13.604Z,1749340693.604 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.511571
2025-06-07T23:58:13.764Z,1749340693.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:13.767Z,1749340693.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 26.235193 m,
      bearing: 329.060925 deg,
      approach rate: -0.693168 m/s,
      LOS rate: 0.041969 deg/s,
      cmd heading: 324.973598 deg,
      new cmd heading: 325.027033 deg.

2025-06-07T23:58:13.768Z,1749340693.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672792 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:13.857Z,1749340693.857 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.764276
2025-06-07T23:58:14.108Z,1749340694.108 [DAT](INFO): DAT read: Rx Time:23:58:13.2666

2025-06-07T23:58:14.109Z,1749340694.109 [DAT](INFO): Rx dataTimestamp_ set to:1749340694.108340
2025-06-07T23:58:14.109Z,1749340694.109 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.016572
2025-06-07T23:58:14.141Z,1749340694.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:14.144Z,1749340694.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 25.974207 m,
      bearing: 329.075928 deg,
      approach rate: -0.691671 m/s,
      LOS rate: 0.040161 deg/s,
      cmd heading: 325.027037 deg,
      new cmd heading: 325.072499 deg.

2025-06-07T23:58:14.145Z,1749340694.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673585 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:14.360Z,1749340694.360 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.267592
2025-06-07T23:58:14.607Z,1749340694.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:14.610Z,1749340694.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 25.651791 m,
      bearing: 329.093788 deg,
      approach rate: -0.692738 m/s,
      LOS rate: 0.038856 deg/s,
      cmd heading: 325.072499 deg,
      new cmd heading: 325.126753 deg.

2025-06-07T23:58:14.617Z,1749340694.617 [DAT](INFO): DAT read: 23:58:13.2666 LVL= 25552, 29809, 22930, 32755, AGC= 65, IDX= 404, 0.03,-2.555, 2.397,-2.709,-2.9 0.451,-0.921, 0.207, RAW= 140.4,   4.2, CAL= 144.2,  -4.0, ROT=   .0

2025-06-07T23:58:14.618Z,1749340694.618 [DAT](INFO): unknown deviceResponse_: 23:58:13.2666 LVL= 25552, 29809, 22930, 32755, AGC= 65, IDX= 404, 0.03,-2.555, 2.397,-2.709,-2.9 0.451,-0.921, 0.207, RAW= 140.4,   4.2, CAL= 144.2,  -4.0, ROT=   .0

2025-06-07T23:58:14.620Z,1749340694.620 [DAT](INFO): DAT read: Bearing   5.8,   4.0 (Local)

2025-06-07T23:58:14.620Z,1749340694.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,   4.0 (Local)

2025-06-07T23:58:14.621Z,1749340694.621 [DAT](INFO): DAT read: Range 10 to 50 : 26.3 m  (Round-trip  35.1 ms) speed  0.6 m/s

2025-06-07T23:58:14.622Z,1749340694.622 [DAT](INFO): DAT read: user:1978>

2025-06-07T23:58:14.623Z,1749340694.623 [DAT](INFO): DAT read: Tx time:23:58:14.3774

2025-06-07T23:58:14.623Z,1749340694.623 [DAT](INFO): Ping request sent.
2025-06-07T23:58:14.623Z,1749340694.623 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:14.624Z,1749340694.624 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-06-07T23:58:14.624Z,1749340694.624 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:14.624Z,1749340694.624 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:14.625Z,1749340694.625 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.001864
2025-06-07T23:58:14.611Z,1749340694.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674532 target range: 28.674997 and range: 28.90 m.
2025-06-07T23:58:14.865Z,1749340694.865 [DAT](INFO): DAT read: TxSync time:23:58:14.3766

2025-06-07T23:58:14.866Z,1749340694.866 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.242504
2025-06-07T23:58:14.981Z,1749340694.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:14.988Z,1749340694.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 3.531626 s,
      deltaX: -2.600000 m,
      approachRate: -0.736205 m/s,
      rangeRepo size: 4

2025-06-07T23:58:14.988Z,1749340694.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:14.995Z,1749340694.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 25.402384 m,
      bearing: 329.107255 deg,
      approach rate: -0.663598 m/s,
      LOS rate: 0.036183 deg/s,
      cmd heading: 325.126758 deg,
      new cmd heading: 325.167555 deg.

2025-06-07T23:58:14.996Z,1749340694.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675244 target range: 28.674997 and range: 26.30 m.
2025-06-07T23:58:15.116Z,1749340695.116 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.492812
2025-06-07T23:58:15.348Z,1749340695.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:15.351Z,1749340695.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 25.138620 m,
      bearing: 329.123338 deg,
      approach rate: -0.721977 m/s,
      LOS rate: 0.044483 deg/s,
      cmd heading: 325.167548 deg,
      new cmd heading: 325.216301 deg.

2025-06-07T23:58:15.368Z,1749340695.368 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.744697
2025-06-07T23:58:15.370Z,1749340695.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676095 target range: 28.674997 and range: 26.30 m.
2025-06-07T23:58:15.620Z,1749340695.620 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996808
2025-06-07T23:58:15.783Z,1749340695.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:15.786Z,1749340695.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 24.838575 m,
      bearing: 329.156631 deg,
      approach rate: -0.690638 m/s,
      LOS rate: 0.077560 deg/s,
      cmd heading: 325.216288 deg,
      new cmd heading: 325.317375 deg.

2025-06-07T23:58:15.819Z,1749340695.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677859 target range: 28.674997 and range: 26.30 m.
2025-06-07T23:58:15.873Z,1749340695.873 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.249274
2025-06-07T23:58:16.124Z,1749340696.124 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.500735
2025-06-07T23:58:16.164Z,1749340696.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:16.168Z,1749340696.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 24.574852 m,
      bearing: 329.185869 deg,
      approach rate: -0.690748 m/s,
      LOS rate: 0.077401 deg/s,
      cmd heading: 325.317375 deg,
      new cmd heading: 325.406029 deg.

2025-06-07T23:58:16.169Z,1749340696.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679407 target range: 28.674997 and range: 26.30 m.
2025-06-07T23:58:16.376Z,1749340696.376 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.752674
2025-06-07T23:58:16.628Z,1749340696.628 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.004765
2025-06-07T23:58:16.652Z,1749340696.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:16.654Z,1749340696.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 24.254765 m,
      bearing: 329.232024 deg,
      approach rate: -0.668097 m/s,
      LOS rate: 0.097607 deg/s,
      cmd heading: 325.406031 deg,
      new cmd heading: 325.546323 deg.

2025-06-07T23:58:16.660Z,1749340696.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681855 target range: 28.674997 and range: 26.30 m.
2025-06-07T23:58:16.880Z,1749340696.880 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.256828
2025-06-07T23:58:16.981Z,1749340696.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:16.984Z,1749340696.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 24.013735 m,
      bearing: 329.266785 deg,
      approach rate: -0.714006 m/s,
      LOS rate: 0.104009 deg/s,
      cmd heading: 325.546323 deg,
      new cmd heading: 325.651655 deg.

2025-06-07T23:58:16.985Z,1749340696.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683693 target range: 28.674997 and range: 26.30 m.
2025-06-07T23:58:17.132Z,1749340697.132 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508659
2025-06-07T23:58:17.384Z,1749340697.384 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.760875
2025-06-07T23:58:17.391Z,1749340697.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:17.393Z,1749340697.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:17.396Z,1749340697.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 23.730171 m,
      bearing: 329.307892 deg,
      approach rate: -0.687879 m/s,
      LOS rate: 0.100909 deg/s,
      cmd heading: 325.651644 deg,
      new cmd heading: 325.776438 deg.

2025-06-07T23:58:17.397Z,1749340697.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685872 target range: 28.674997 and range: 26.30 m.
2025-06-07T23:58:17.636Z,1749340697.636 [DAT](INFO): DAT read: Rx Time:23:58:16.8135

2025-06-07T23:58:17.637Z,1749340697.637 [DAT](INFO): Rx dataTimestamp_ set to:1749340697.636414
2025-06-07T23:58:17.637Z,1749340697.637 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.013842
2025-06-07T23:58:17.884Z,1749340697.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.67 m.
2025-06-07T23:58:17.891Z,1749340697.891 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.264829
2025-06-07T23:58:17.892Z,1749340697.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.674997 m,
      nav range: 23.405943 m,
      bearing: 329.351599 deg,
      approach rate: -0.660397 m/s,
      LOS rate: 0.090258 deg/s,
      cmd heading: 325.776446 deg,
      new cmd heading: 325.909384 deg.

2025-06-07T23:58:17.893Z,1749340697.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688192 target range: 28.674997 and range: 26.30 m.
2025-06-07T23:58:18.146Z,1749340698.146 [DAT](INFO): DAT read: 23:58:16.8135 LVL= 25840, 32753, 21426, 32755, AGC= 65, IDX= 403, 0.31, 0.785,-0.732, 0.676, 0.378, PHS= 0.495,-1.063, 0.295, RAW= 143.2,   3.8, CAL= 146.6,  -4.7, ROT=   3.4,   4.7

2025-06-07T23:58:18.147Z,1749340698.147 [DAT](INFO): got valid direction response:
 23:58:16.8135 LVL= 25840, 32753, 21426, 32755, AGC= 65, IDX= 403, 0.31, 0.785,-0.732, 0.676, 0.378, PHS= 0.495,-1.063, 0.295, RAW= 143.2,   3.8, CAL= 146.6,  -4.7, ROT=   3.4,   4.7

2025-06-07T23:58:18.148Z,1749340698.148 [DAT](INFO): DAT read: Bearing   3.4,   4.7 (Local)

2025-06-07T23:58:18.149Z,1749340698.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,   4.7 (Local)

2025-06-07T23:58:18.150Z,1749340698.150 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m  (Round-trip  32.0 ms) speed  0.8 m/s

2025-06-07T23:58:18.151Z,1749340698.151 [DAT](INFO): DAT read: user:1979>

2025-06-07T23:58:18.152Z,1749340698.152 [DAT](INFO): DAT read: Tx time:23:58:17.9274

2025-06-07T23:58:18.152Z,1749340698.152 [DAT](INFO): Ping request sent.
2025-06-07T23:58:18.152Z,1749340698.152 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:18.152Z,1749340698.152 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-07T23:58:18.153Z,1749340698.153 [DAT](INFO): direction in FSK: [0.994883,0.059107,-0.081939]
2025-06-07T23:58:18.154Z,1749340698.154 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:18.154Z,1749340698.154 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:18.157Z,1749340698.157 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:18.157Z,1749340698.157 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:18.160Z,1749340698.160 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.008312
2025-06-07T23:58:18.250Z,1749340698.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 3.528050 s,
      deltaX: -2.299999 m,
      approachRate: -0.651918 m/s,
      rangeRepo size: 4

2025-06-07T23:58:18.257Z,1749340698.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.813780 m,
      bearing: 330.877931 deg,
      lat: 36.905940 deg,
      lon: -122.115967 deg,
      deltaT: 7.059676 s,
      deltaX: -4.861217 m,
      approachRate: -0.688589 m/s,
      posRepo size: 4

2025-06-07T23:58:18.257Z,1749340698.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:18.268Z,1749340698.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 23.190107 m,
      bearing: 329.927309 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.090258 deg/s,
      cmd heading: 325.909388 deg,
      new cmd heading: 326.008341 deg.

2025-06-07T23:58:18.269Z,1749340698.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689919 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:18.393Z,1749340698.393 [DAT](INFO): DAT read: TxSync time:23:58:17.9266

2025-06-07T23:58:18.394Z,1749340698.394 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.241610
2025-06-07T23:58:18.644Z,1749340698.644 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492176
2025-06-07T23:58:18.696Z,1749340698.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:18.699Z,1749340698.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 22.874243 m,
      bearing: 329.991167 deg,
      approach rate: -0.707300 m/s,
      LOS rate: 0.144968 deg/s,
      cmd heading: 326.008344 deg,
      new cmd heading: 326.202562 deg.

2025-06-07T23:58:18.700Z,1749340698.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693309 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:18.896Z,1749340698.896 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.744054
2025-06-07T23:58:19.039Z,1749340699.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:19.042Z,1749340699.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 22.652658 m,
      bearing: 330.038744 deg,
      approach rate: -0.646616 m/s,
      LOS rate: 0.140194 deg/s,
      cmd heading: 326.202567 deg,
      new cmd heading: 326.346693 deg.

2025-06-07T23:58:19.043Z,1749340699.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695824 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:19.148Z,1749340699.148 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996217
2025-06-07T23:58:19.400Z,1749340699.400 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248058
2025-06-07T23:58:19.463Z,1749340699.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:19.465Z,1749340699.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:19.468Z,1749340699.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 22.350603 m,
      bearing: 330.104550 deg,
      approach rate: -0.708732 m/s,
      LOS rate: 0.156493 deg/s,
      cmd heading: 326.346684 deg,
      new cmd heading: 326.546772 deg.

2025-06-07T23:58:19.469Z,1749340699.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699317 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:19.655Z,1749340699.655 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.502422
2025-06-07T23:58:19.901Z,1749340699.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:19.909Z,1749340699.909 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.755746
2025-06-07T23:58:19.910Z,1749340699.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 22.049665 m,
      bearing: 330.178655 deg,
      approach rate: -0.690848 m/s,
      LOS rate: 0.172440 deg/s,
      cmd heading: 326.546782 deg,
      new cmd heading: 326.772128 deg.

2025-06-07T23:58:19.911Z,1749340699.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703249 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:20.156Z,1749340700.156 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004040
2025-06-07T23:58:20.331Z,1749340700.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:20.334Z,1749340700.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 21.752668 m,
      bearing: 330.250396 deg,
      approach rate: -0.689900 m/s,
      LOS rate: 0.168923 deg/s,
      cmd heading: 326.772123 deg,
      new cmd heading: 326.990283 deg.

2025-06-07T23:58:20.335Z,1749340700.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707057 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:20.408Z,1749340700.408 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256236
2025-06-07T23:58:20.660Z,1749340700.660 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.508194
2025-06-07T23:58:20.797Z,1749340700.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:20.804Z,1749340700.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 21.452114 m,
      bearing: 330.319616 deg,
      approach rate: -0.644838 m/s,
      LOS rate: 0.150592 deg/s,
      cmd heading: 326.990279 deg,
      new cmd heading: 327.200848 deg.

2025-06-07T23:58:20.805Z,1749340700.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710732 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:20.913Z,1749340700.913 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.760652
2025-06-07T23:58:21.140Z,1749340701.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:21.147Z,1749340701.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 21.208614 m,
      bearing: 330.376677 deg,
      approach rate: -0.709961 m/s,
      LOS rate: 0.168281 deg/s,
      cmd heading: 327.200841 deg,
      new cmd heading: 327.373989 deg.

2025-06-07T23:58:21.148Z,1749340701.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713754 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:21.164Z,1749340701.164 [DAT](INFO): DAT read: Rx Time:23:58:20.3602

2025-06-07T23:58:21.165Z,1749340701.165 [DAT](INFO): Rx dataTimestamp_ set to:1749340701.164509
2025-06-07T23:58:21.165Z,1749340701.165 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.013278
2025-06-07T23:58:21.416Z,1749340701.416 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.264121
2025-06-07T23:58:21.536Z,1749340701.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:21.538Z,1749340701.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-07T23:58:21.541Z,1749340701.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.813780 m,
      nav range: 20.929314 m,
      bearing: 330.443033 deg,
      approach rate: -0.702795 m/s,
      LOS rate: 0.169199 deg/s,
      cmd heading: 327.374000 deg,
      new cmd heading: 327.575725 deg.

2025-06-07T23:58:21.542Z,1749340701.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717275 target range: 23.813780 and range: 24.00 m.
2025-06-07T23:58:21.695Z,1749340701.695 [DAT](INFO): DAT read: 23:58:20.3602 LVL= 24992, 32753, 20418, 32755, AGC= 62, IDX= 402,-0.44, 0.060,-1.290,-0.120,-0.250, PHS= 0.398,-0.992, 0.128, RAW= 139.4,   7.4, CAL= 143.1,  -0.0, ROT=   6.9,   0.0

2025-06-07T23:58:21.696Z,1749340701.696 [DAT](INFO): got valid direction response:
 23:58:20.3602 LVL= 24992, 32753, 20418, 32755, AGC= 62, IDX= 402,-0.44, 0.060,-1.290,-0.120,-0.250, PHS= 0.398,-0.992, 0.128, RAW= 139.4,   7.4, CAL= 143.1,  -0.0, ROT=   6.9,   0.0

2025-06-07T23:58:21.697Z,1749340701.697 [DAT](INFO): DAT read: Bearing   6.9,   0.0 (Local)

2025-06-07T23:58:21.698Z,1749340701.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.9,   0.0 (Local)

2025-06-07T23:58:21.703Z,1749340701.703 [DAT](INFO): DAT read: Range 10 to 50 : 21.5 m  (Round-trip  28.7 ms) speed  0.5 m/s

2025-06-07T23:58:21.704Z,1749340701.704 [DAT](INFO): DAT read: user:1980>

2025-06-07T23:58:21.705Z,1749340701.705 [DAT](INFO): DAT read: Tx time:23:58:21.4774

2025-06-07T23:58:21.705Z,1749340701.705 [DAT](INFO): Ping request sent.
2025-06-07T23:58:21.705Z,1749340701.705 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:21.705Z,1749340701.705 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-07T23:58:21.706Z,1749340701.706 [DAT](INFO): direction in FSK: [0.992757,0.120137,-0.000000]
2025-06-07T23:58:21.707Z,1749340701.707 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:21.715Z,1749340701.715 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:21.718Z,1749340701.718 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:21.718Z,1749340701.718 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:21.766Z,1749340701.766 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.061101
2025-06-07T23:58:21.920Z,1749340701.920 [DAT](INFO): DAT read: TxSync time:23:58:21.4766

2025-06-07T23:58:21.921Z,1749340701.921 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.215780
2025-06-07T23:58:22.022Z,1749340702.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 3.529273 s,
      deltaX: -2.500000 m,
      approachRate: -0.708361 m/s,
      rangeRepo size: 4

2025-06-07T23:58:22.024Z,1749340702.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.332901 m,
      bearing: 334.506137 deg,
      lat: 36.905944 deg,
      lon: -122.115967 deg,
      deltaT: 3.529273 s,
      deltaX: -2.480879 m,
      approachRate: -0.702943 m/s,
      posRepo size: 4

2025-06-07T23:58:22.025Z,1749340702.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-07T23:58:22.032Z,1749340702.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.332901 m,
      nav range: 21.012054 m,
      bearing: 331.227369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.169199 deg/s,
      cmd heading: 327.575736 deg,
      new cmd heading: 327.821144 deg.

2025-06-07T23:58:22.033Z,1749340702.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721558 target range: 21.332901 and range: 21.50 m.
2025-06-07T23:58:22.172Z,1749340702.172 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.467204
2025-06-07T23:58:22.341Z,1749340702.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-07T23:58:22.344Z,1749340702.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.332901 m,
      nav range: 20.777763 m,
      bearing: 331.280421 deg,
      approach rate: -0.733305 m/s,
      LOS rate: 0.167918 deg/s,
      cmd heading: 327.821131 deg,
      new cmd heading: 327.982080 deg.

2025-06-07T23:58:22.345Z,1749340702.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724367 target range: 21.332901 and range: 21.50 m.
2025-06-07T23:58:22.425Z,1749340702.425 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.719770
2025-06-07T23:58:22.679Z,1749340702.679 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.973622
2025-06-07T23:58:22.807Z,1749340702.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-07T23:58:22.810Z,1749340702.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.332901 m,
      nav range: 20.482487 m,
      bearing: 331.349555 deg,
      approach rate: -0.638798 m/s,
      LOS rate: 0.151719 deg/s,
      cmd heading: 327.982078 deg,
      new cmd heading: 328.192467 deg.

2025-06-07T23:58:22.811Z,1749340702.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728039 target range: 21.332901 and range: 21.50 m.
2025-06-07T23:58:22.929Z,1749340702.929 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.223556
2025-06-07T23:58:23.148Z,1749340703.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-07T23:58:23.150Z,1749340703.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.332901 m,
      nav range: 20.233292 m,
      bearing: 331.408246 deg,
      approach rate: -0.723395 m/s,
      LOS rate: 0.172475 deg/s,
      cmd heading: 328.192475 deg,
      new cmd heading: 328.370717 deg.

2025-06-07T23:58:23.151Z,1749340703.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731150 target range: 21.332901 and range: 21.50 m.
2025-06-07T23:58:23.180Z,1749340703.180 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.474878
2025-06-07T23:58:23.432Z,1749340703.432 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.726869
2025-06-07T23:58:23.561Z,1749340703.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:23.563Z,1749340703.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-07T23:58:23.566Z,1749340703.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.332901 m,
      nav range: 19.953133 m,
      bearing: 331.472024 deg,
      approach rate: -0.674481 m/s,
      LOS rate: 0.155701 deg/s,
      cmd heading: 328.370715 deg,
      new cmd heading: 328.564736 deg.

2025-06-07T23:58:23.567Z,1749340703.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734537 target range: 21.332901 and range: 21.50 m.
2025-06-07T23:58:23.688Z,1749340703.688 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.981705
2025-06-07T23:58:23.832Z,1749340703.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:58:23.936Z,1749340703.936 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.231065
2025-06-07T23:58:24.012Z,1749340704.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-07T23:58:24.014Z,1749340704.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.332901 m,
      nav range: 19.669891 m,
      bearing: 331.506973 deg,
      approach rate: -0.634170 m/s,
      LOS rate: 0.079377 deg/s,
      cmd heading: 328.564747 deg,
      new cmd heading: 328.671104 deg.

2025-06-07T23:58:24.015Z,1749340704.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736393 target range: 21.332901 and range: 21.50 m.
2025-06-07T23:58:24.188Z,1749340704.188 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.483104
2025-06-07T23:58:24.373Z,1749340704.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-07T23:58:24.376Z,1749340704.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.332901 m,
      nav range: 19.415438 m,
      bearing: 331.535707 deg,
      approach rate: -0.700393 m/s,
      LOS rate: 0.080127 deg/s,
      cmd heading: 328.671107 deg,
      new cmd heading: 328.758438 deg.

2025-06-07T23:58:24.377Z,1749340704.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737917 target range: 21.332901 and range: 21.50 m.
2025-06-07T23:58:24.440Z,1749340704.440 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.735117
2025-06-07T23:58:24.695Z,1749340704.695 [DAT](INFO): DAT read: Rx Time:23:58:23.9070

2025-06-07T23:58:24.696Z,1749340704.696 [DAT](INFO): Rx dataTimestamp_ set to:1749340704.695384
2025-06-07T23:58:24.698Z,1749340704.698 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.992047
2025-06-07T23:58:24.806Z,1749340704.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-07T23:58:24.808Z,1749340704.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.332901 m,
      nav range: 19.124693 m,
      bearing: 331.564927 deg,
      approach rate: -0.671706 m/s,
      LOS rate: 0.068534 deg/s,
      cmd heading: 328.758424 deg,
      new cmd heading: 328.847418 deg.

2025-06-07T23:58:24.809Z,1749340704.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739470 target range: 21.332901 and range: 21.50 m.
2025-06-07T23:58:24.848Z,1749340704.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:58:24.945Z,1749340704.945 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.239305
2025-06-07T23:58:25.202Z,1749340705.202 [DAT](INFO): DAT read: 23:58:23.9070 LVL= 28448, 32753, 23698, 32755, AGC= 65, IDX= 400, 0.19, 0.302,-1.076, 0.187, 0.015, PHS= 0.375,-1.044, 0.169, RAW= 142.3,   7.6, CAL= 145.1,  -0.3, ROT=   4.9,   0.3

2025-06-07T23:58:25.204Z,1749340705.204 [DAT](INFO): got valid direction response:
 23:58:23.9070 LVL= 28448, 32753, 23698, 32755, AGC= 65, IDX= 400, 0.19, 0.302,-1.076, 0.187, 0.015, PHS= 0.375,-1.044, 0.169, RAW= 142.3,   7.6, CAL= 145.1,  -0.3, ROT=   4.9,   0.3

2025-06-07T23:58:25.205Z,1749340705.205 [DAT](INFO): DAT read: Bearing   4.9,   0.3 (Local)

2025-06-07T23:58:25.205Z,1749340705.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,   0.3 (Local)

2025-06-07T23:58:25.207Z,1749340705.207 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m  (Round-trip  25.3 ms) speed  0.8 m/s

2025-06-07T23:58:25.207Z,1749340705.207 [DAT](INFO): DAT read: user:1981>

2025-06-07T23:58:25.208Z,1749340705.208 [DAT](INFO): DAT read: Tx time:23:58:25.0275

2025-06-07T23:58:25.208Z,1749340705.208 [DAT](INFO): Ping request sent.
2025-06-07T23:58:25.209Z,1749340705.209 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:25.209Z,1749340705.209 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-07T23:58:25.210Z,1749340705.210 [DAT](INFO): direction in FSK: [0.996332,0.085416,-0.005236]
2025-06-07T23:58:25.210Z,1749340705.210 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:25.210Z,1749340705.210 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:25.243Z,1749340705.243 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:25.256Z,1749340705.256 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:25.261Z,1749340705.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 3.526634 s,
      deltaX: -2.600000 m,
      approachRate: -0.737247 m/s,
      rangeRepo size: 4

2025-06-07T23:58:25.263Z,1749340705.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.752928 m,
      bearing: 333.881287 deg,
      lat: 36.905946 deg,
      lon: -122.115966 deg,
      deltaT: 3.526634 s,
      deltaX: -2.579973 m,
      approachRate: -0.731568 m/s,
      posRepo size: 4

2025-06-07T23:58:25.280Z,1749340705.280 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.071097
2025-06-07T23:58:25.281Z,1749340705.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:25.288Z,1749340705.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 18.924503 m,
      bearing: 331.953899 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.068534 deg/s,
      cmd heading: 328.847408 deg,
      new cmd heading: 328.940886 deg.

2025-06-07T23:58:25.289Z,1749340705.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741102 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:25.448Z,1749340705.448 [DAT](INFO): DAT read: TxSync time:23:58:25.0267

2025-06-07T23:58:25.449Z,1749340705.449 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.240576
2025-06-07T23:58:25.621Z,1749340705.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:25.628Z,1749340705.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 18.663099 m,
      bearing: 331.980346 deg,
      approach rate: -0.736347 m/s,
      LOS rate: 0.075542 deg/s,
      cmd heading: 328.940900 deg,
      new cmd heading: 329.021352 deg.

2025-06-07T23:58:25.629Z,1749340705.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742506 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:25.702Z,1749340705.702 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.493343
2025-06-07T23:58:25.961Z,1749340705.961 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.752310
2025-06-07T23:58:26.054Z,1749340706.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:26.061Z,1749340706.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:26.084Z,1749340706.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 18.349594 m,
      bearing: 332.011538 deg,
      approach rate: -0.703688 m/s,
      LOS rate: 0.071208 deg/s,
      cmd heading: 329.021359 deg,
      new cmd heading: 329.116533 deg.

2025-06-07T23:58:26.085Z,1749340706.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744167 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:26.212Z,1749340706.212 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.003586
2025-06-07T23:58:26.405Z,1749340706.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:26.407Z,1749340706.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 18.114862 m,
      bearing: 332.032503 deg,
      approach rate: -0.682685 m/s,
      LOS rate: 0.061764 deg/s,
      cmd heading: 329.116545 deg,
      new cmd heading: 329.180255 deg.

2025-06-07T23:58:26.408Z,1749340706.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745279 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:26.465Z,1749340706.465 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.256347
2025-06-07T23:58:26.719Z,1749340706.719 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.509560
2025-06-07T23:58:26.830Z,1749340706.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:26.835Z,1749340706.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 17.818045 m,
      bearing: 332.072591 deg,
      approach rate: -0.697961 m/s,
      LOS rate: 0.095836 deg/s,
      cmd heading: 329.180257 deg,
      new cmd heading: 329.302523 deg.

2025-06-07T23:58:26.836Z,1749340706.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747413 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:26.969Z,1749340706.969 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.759960
2025-06-07T23:58:27.214Z,1749340707.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:27.217Z,1749340707.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 17.549803 m,
      bearing: 332.109987 deg,
      approach rate: -0.698567 m/s,
      LOS rate: 0.098877 deg/s,
      cmd heading: 329.302517 deg,
      new cmd heading: 329.416420 deg.

2025-06-07T23:58:27.218Z,1749340707.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749401 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:27.220Z,1749340707.220 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.011632
2025-06-07T23:58:27.472Z,1749340707.472 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.263529
2025-06-07T23:58:27.602Z,1749340707.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:27.605Z,1749340707.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 17.278738 m,
      bearing: 332.141774 deg,
      approach rate: -0.698146 m/s,
      LOS rate: 0.083153 deg/s,
      cmd heading: 329.416417 deg,
      new cmd heading: 329.513274 deg.

2025-06-07T23:58:27.606Z,1749340707.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751091 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:27.727Z,1749340707.727 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.517631
2025-06-07T23:58:27.976Z,1749340707.976 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.767640
2025-06-07T23:58:28.050Z,1749340708.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:28.053Z,1749340708.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 16.965445 m,
      bearing: 332.175108 deg,
      approach rate: -0.699616 m/s,
      LOS rate: 0.075813 deg/s,
      cmd heading: 329.513269 deg,
      new cmd heading: 329.615119 deg.

2025-06-07T23:58:28.054Z,1749340708.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752869 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:28.228Z,1749340708.228 [DAT](INFO): DAT read: Rx Time:23:58:27.4538

2025-06-07T23:58:28.229Z,1749340708.229 [DAT](INFO): Rx dataTimestamp_ set to:1749340708.228411
2025-06-07T23:58:28.229Z,1749340708.229 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.020629
2025-06-07T23:58:28.407Z,1749340708.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:28.410Z,1749340708.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-07T23:58:28.412Z,1749340708.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.752928 m,
      nav range: 16.704678 m,
      bearing: 332.201610 deg,
      approach rate: -0.724981 m/s,
      LOS rate: 0.074832 deg/s,
      cmd heading: 329.615121 deg,
      new cmd heading: 329.695870 deg.

2025-06-07T23:58:28.413Z,1749340708.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754279 target range: 18.752928 and range: 18.90 m.
2025-06-07T23:58:28.480Z,1749340708.480 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.271632
2025-06-07T23:58:28.752Z,1749340708.752 [DAT](INFO): DAT read: 23:58:27.4538 LVL= 31936, 32753, 20722, 32755, AGC= 63, IDX= 415, 0.05,-2.093, 2.690,-2.029,-2.340, PHS= 0.335,-1.206, 0.308, RAW= 149.1,   7.4, CAL= 150.2,  -1.4, ROT= 359.8,   1.4

2025-06-07T23:58:28.757Z,1749340708.757 [DAT](INFO): got valid direction response:
 23:58:27.4538 LVL= 31936, 32753, 20722, 32755, AGC= 63, IDX= 415, 0.05,-2.093, 2.690,-2.029,-2.340, PHS= 0.335,-1.206, 0.308, RAW= 149.1,   7.4, CAL= 150.2,  -1.4, ROT= 359.8,   1.4

2025-06-07T23:58:28.761Z,1749340708.761 [DAT](INFO): DAT read: Bearing 359.8,   1.4 (Local)

2025-06-07T23:58:28.762Z,1749340708.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,   1.4 (Local)

2025-06-07T23:58:28.766Z,1749340708.766 [DAT](INFO): DAT read: Range 10 to 50 : 16.5 m  (Round-trip  22.1 ms) speed  0.5 m/s

2025-06-07T23:58:28.769Z,1749340708.769 [DAT](INFO): DAT read: user:1982>

2025-06-07T23:58:28.803Z,1749340708.803 [DAT](INFO): DAT read: Tx time:23:58:28.5775

2025-06-07T23:58:28.804Z,1749340708.804 [DAT](INFO): Ping request sent.
2025-06-07T23:58:28.804Z,1749340708.804 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:28.804Z,1749340708.804 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-07T23:58:28.805Z,1749340708.805 [DAT](INFO): direction in FSK: [0.999695,-0.003490,-0.024432]
2025-06-07T23:58:28.805Z,1749340708.805 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:28.806Z,1749340708.806 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:28.817Z,1749340708.817 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:28.817Z,1749340708.817 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:28.841Z,1749340708.841 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.036874
2025-06-07T23:58:28.959Z,1749340708.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 3.538129 s,
      deltaX: -2.400000 m,
      approachRate: -0.678325 m/s,
      rangeRepo size: 4

2025-06-07T23:58:28.966Z,1749340708.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.371580 m,
      bearing: 330.232057 deg,
      lat: 36.905947 deg,
      lon: -122.115959 deg,
      deltaT: 3.538129 s,
      deltaX: -2.381348 m,
      approachRate: -0.673053 m/s,
      posRepo size: 4

2025-06-07T23:58:28.972Z,1749340708.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-07T23:58:28.979Z,1749340708.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.371580 m,
      nav range: 16.185730 m,
      bearing: 334.265986 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.074832 deg/s,
      cmd heading: 329.695881 deg,
      new cmd heading: 329.818915 deg.

2025-06-07T23:58:28.980Z,1749340708.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756426 target range: 16.371580 and range: 16.50 m.
2025-06-07T23:58:28.987Z,1749340708.987 [DAT](INFO): DAT read: TxSync time:23:58:28.5767

2025-06-07T23:58:28.988Z,1749340708.988 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.184529
2025-06-07T23:58:29.236Z,1749340709.236 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.432509
2025-06-07T23:58:29.286Z,1749340709.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-07T23:58:29.289Z,1749340709.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.371580 m,
      nav range: 15.913827 m,
      bearing: 334.336105 deg,
      approach rate: -0.828061 m/s,
      LOS rate: 0.217190 deg/s,
      cmd heading: 329.818907 deg,
      new cmd heading: 330.032856 deg.

2025-06-07T23:58:29.290Z,1749340709.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760160 target range: 16.371580 and range: 16.50 m.
2025-06-07T23:58:29.489Z,1749340709.489 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.685565
2025-06-07T23:58:29.674Z,1749340709.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-07T23:58:29.677Z,1749340709.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.371580 m,
      nav range: 15.632397 m,
      bearing: 334.411262 deg,
      approach rate: -0.724833 m/s,
      LOS rate: 0.197056 deg/s,
      cmd heading: 330.032856 deg,
      new cmd heading: 330.262386 deg.

2025-06-07T23:58:29.678Z,1749340709.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764166 target range: 16.371580 and range: 16.50 m.
2025-06-07T23:58:29.750Z,1749340709.750 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.945201
2025-06-07T23:58:29.997Z,1749340709.997 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.192789
2025-06-07T23:58:30.106Z,1749340710.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-07T23:58:30.109Z,1749340710.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.371580 m,
      nav range: 15.316964 m,
      bearing: 334.490733 deg,
      approach rate: -0.730075 m/s,
      LOS rate: 0.187725 deg/s,
      cmd heading: 330.262377 deg,
      new cmd heading: 330.505698 deg.

2025-06-07T23:58:30.110Z,1749340710.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768413 target range: 16.371580 and range: 16.50 m.
2025-06-07T23:58:30.248Z,1749340710.248 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.444340
2025-06-07T23:58:30.485Z,1749340710.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:30.487Z,1749340710.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-07T23:58:30.490Z,1749340710.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.371580 m,
      nav range: 15.039191 m,
      bearing: 334.561046 deg,
      approach rate: -0.729712 m/s,
      LOS rate: 0.188124 deg/s,
      cmd heading: 330.505696 deg,
      new cmd heading: 330.720529 deg.

2025-06-07T23:58:30.492Z,1749340710.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772162 target range: 16.371580 and range: 16.50 m.
2025-06-07T23:58:30.500Z,1749340710.500 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.696540
2025-06-07T23:58:30.755Z,1749340710.755 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.950780
2025-06-07T23:58:31.004Z,1749340711.004 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.200478
2025-06-07T23:58:31.023Z,1749340711.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-07T23:58:31.026Z,1749340711.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.371580 m,
      nav range: 14.654988 m,
      bearing: 334.656848 deg,
      approach rate: -0.716863 m/s,
      LOS rate: 0.183438 deg/s,
      cmd heading: 330.720519 deg,
      new cmd heading: 331.015457 deg.

2025-06-07T23:58:31.027Z,1749340711.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777309 target range: 16.371580 and range: 16.50 m.
2025-06-07T23:58:31.260Z,1749340711.260 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.456429
2025-06-07T23:58:31.442Z,1749340711.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-07T23:58:31.445Z,1749340711.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.371580 m,
      nav range: 14.354426 m,
      bearing: 334.729938 deg,
      approach rate: -0.716594 m/s,
      LOS rate: 0.177909 deg/s,
      cmd heading: 331.015447 deg,
      new cmd heading: 331.239307 deg.

2025-06-07T23:58:31.446Z,1749340711.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781217 target range: 16.371580 and range: 16.50 m.
2025-06-07T23:58:31.508Z,1749340711.508 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.704540
2025-06-07T23:58:31.761Z,1749340711.761 [DAT](INFO): DAT read: Rx Time:23:58:31.0003

2025-06-07T23:58:31.762Z,1749340711.762 [DAT](INFO): Rx dataTimestamp_ set to:1749340711.761295
2025-06-07T23:58:31.762Z,1749340711.762 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.958502
2025-06-07T23:58:31.932Z,1749340711.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-07T23:58:31.934Z,1749340711.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.371580 m,
      nav range: 14.006210 m,
      bearing: 334.812027 deg,
      approach rate: -0.711442 m/s,
      LOS rate: 0.171887 deg/s,
      cmd heading: 331.239313 deg,
      new cmd heading: 331.491703 deg.

2025-06-07T23:58:31.936Z,1749340711.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785622 target range: 16.371580 and range: 16.50 m.
2025-06-07T23:58:32.013Z,1749340712.013 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.209467
2025-06-07T23:58:32.276Z,1749340712.276 [DAT](INFO): DAT read: 23:58:31.0003 LVL= 25072, 29169, 23538, 32755, AGC= 59, IDX= 412,-0.01, 2.104, 0.719, 2.389, 1.997, PHS= 0.195,-1.231, 0.390, RAW= 156.3,   8.5, CAL= 156.2,  -1.0, ROT= 353.8,   1.0

2025-06-07T23:58:32.277Z,1749340712.277 [DAT](INFO): got valid direction response:
 23:58:31.0003 LVL= 25072, 29169, 23538, 32755, AGC= 59, IDX= 412,-0.01, 2.104, 0.719, 2.389, 1.997, PHS= 0.195,-1.231, 0.390, RAW= 156.3,   8.5, CAL= 156.2,  -1.0, ROT= 353.8,   1.0

2025-06-07T23:58:32.278Z,1749340712.278 [DAT](INFO): DAT read: Bearing 353.8,   1.0 (Local)

2025-06-07T23:58:32.279Z,1749340712.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,   1.0 (Local)

2025-06-07T23:58:32.289Z,1749340712.289 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m  (Round-trip  18.7 ms) speed  0.5 m/s

2025-06-07T23:58:32.289Z,1749340712.289 [DAT](INFO): DAT read: user:1983>

2025-06-07T23:58:32.290Z,1749340712.290 [DAT](INFO): DAT read: Tx time:23:58:32.1275

2025-06-07T23:58:32.290Z,1749340712.290 [DAT](INFO): Ping request sent.
2025-06-07T23:58:32.290Z,1749340712.290 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:32.291Z,1749340712.291 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-07T23:58:32.297Z,1749340712.297 [DAT](INFO): direction in FSK: [0.994000,-0.107983,-0.017452]
2025-06-07T23:58:32.297Z,1749340712.297 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:32.297Z,1749340712.297 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:32.300Z,1749340712.300 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:32.300Z,1749340712.300 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:32.328Z,1749340712.328 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.037520
2025-06-07T23:58:32.425Z,1749340712.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 3.531290 s,
      deltaX: -2.500000 m,
      approachRate: -0.707957 m/s,
      rangeRepo size: 4

2025-06-07T23:58:32.431Z,1749340712.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.891298 m,
      bearing: 325.239929 deg,
      lat: 36.905947 deg,
      lon: -122.115959 deg,
      deltaT: 3.531290 s,
      deltaX: -2.480282 m,
      approachRate: -0.702373 m/s,
      posRepo size: 4

2025-06-07T23:58:32.432Z,1749340712.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:32.434Z,1749340712.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 13.668907 m,
      bearing: 334.892110 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.171887 deg/s,
      cmd heading: 331.491702 deg,
      new cmd heading: 331.745672 deg.

2025-06-07T23:58:32.440Z,1749340712.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790054 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:32.518Z,1749340712.518 [DAT](INFO): DAT read: TxSync time:23:58:32.1267

2025-06-07T23:58:32.518Z,1749340712.518 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.227910
2025-06-07T23:58:32.746Z,1749340712.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:32.753Z,1749340712.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:32.760Z,1749340712.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 13.435732 m,
      bearing: 334.947245 deg,
      approach rate: -0.708485 m/s,
      LOS rate: 0.170431 deg/s,
      cmd heading: 331.745676 deg,
      new cmd heading: 331.913951 deg.

2025-06-07T23:58:32.761Z,1749340712.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792991 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:32.772Z,1749340712.772 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.480426
2025-06-07T23:58:33.020Z,1749340713.020 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.729556
2025-06-07T23:58:33.178Z,1749340713.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:33.181Z,1749340713.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 13.124117 m,
      bearing: 335.019810 deg,
      approach rate: -0.733476 m/s,
      LOS rate: 0.174857 deg/s,
      cmd heading: 331.913944 deg,
      new cmd heading: 332.136806 deg.

2025-06-07T23:58:33.182Z,1749340713.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796881 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:33.273Z,1749340713.273 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.982301
2025-06-07T23:58:33.524Z,1749340713.524 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.233808
2025-06-07T23:58:33.557Z,1749340713.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:33.561Z,1749340713.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 12.875980 m,
      bearing: 335.077808 deg,
      approach rate: -0.654237 m/s,
      LOS rate: 0.155865 deg/s,
      cmd heading: 332.136800 deg,
      new cmd heading: 332.314146 deg.

2025-06-07T23:58:33.562Z,1749340713.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799976 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:33.776Z,1749340713.776 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.485622
2025-06-07T23:58:33.983Z,1749340713.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:33.986Z,1749340713.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 12.568499 m,
      bearing: 335.163252 deg,
      approach rate: -0.723134 m/s,
      LOS rate: 0.205864 deg/s,
      cmd heading: 332.314139 deg,
      new cmd heading: 332.576742 deg.

2025-06-07T23:58:33.987Z,1749340713.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804559 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:34.028Z,1749340714.028 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.737934
2025-06-07T23:58:34.280Z,1749340714.280 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.989759
2025-06-07T23:58:34.356Z,1749340714.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:34.359Z,1749340714.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 12.323971 m,
      bearing: 335.229230 deg,
      approach rate: -0.655230 m/s,
      LOS rate: 0.180300 deg/s,
      cmd heading: 332.576746 deg,
      new cmd heading: 332.778606 deg.

2025-06-07T23:58:34.364Z,1749340714.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808083 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:34.536Z,1749340714.536 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.245705
2025-06-07T23:58:34.744Z,1749340714.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:34.747Z,1749340714.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 12.046810 m,
      bearing: 335.303463 deg,
      approach rate: -0.714449 m/s,
      LOS rate: 0.195754 deg/s,
      cmd heading: 332.778619 deg,
      new cmd heading: 333.006438 deg.

2025-06-07T23:58:34.748Z,1749340714.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812059 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:34.790Z,1749340714.790 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.499434
2025-06-07T23:58:35.040Z,1749340715.040 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.749656
2025-06-07T23:58:35.170Z,1749340715.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:35.174Z,1749340715.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:35.177Z,1749340715.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 11.752825 m,
      bearing: 335.397831 deg,
      approach rate: -0.683723 m/s,
      LOS rate: 0.224962 deg/s,
      cmd heading: 333.006447 deg,
      new cmd heading: 333.296630 deg.

2025-06-07T23:58:35.178Z,1749340715.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817123 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:35.292Z,1749340715.292 [DAT](INFO): DAT read: Rx Time:23:58:34.5470

2025-06-07T23:58:35.293Z,1749340715.293 [DAT](INFO): Rx dataTimestamp_ set to:1749340715.292427
2025-06-07T23:58:35.293Z,1749340715.293 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.002794
2025-06-07T23:58:35.544Z,1749340715.544 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.253752
2025-06-07T23:58:35.553Z,1749340715.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.89 m.
2025-06-07T23:58:35.556Z,1749340715.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.891298 m,
      nav range: 11.493254 m,
      bearing: 335.480669 deg,
      approach rate: -0.684911 m/s,
      LOS rate: 0.223515 deg/s,
      cmd heading: 333.296620 deg,
      new cmd heading: 333.550746 deg.

2025-06-07T23:58:35.557Z,1749340715.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821559 target range: 13.891298 and range: 14.00 m.
2025-06-07T23:58:35.820Z,1749340715.820 [DAT](INFO): DAT read: 23:58:34.5470 LVL= 26832, 32753, 17442, 32755, AGC= 61, IDX= 410,-0.08, 2.312, 1.011, 2.770, 2.318, PHS= 0.083,-1.260, 0.449, RAW= 161.8,   9.4, CAL= 160.8,  -0.6, ROT= 349.2,   0.6

2025-06-07T23:58:35.821Z,1749340715.821 [DAT](INFO): got valid direction response:
 23:58:34.5470 LVL= 26832, 32753, 17442, 32755, AGC= 61, IDX= 410,-0.08, 2.312, 1.011, 2.770, 2.318, PHS= 0.083,-1.260, 0.449, RAW= 161.8,   9.4, CAL= 160.8,  -0.6, ROT= 349.2,   0.6

2025-06-07T23:58:35.822Z,1749340715.822 [DAT](INFO): DAT read: Bearing 349.2,   0.6 (Local)

2025-06-07T23:58:35.822Z,1749340715.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,   0.6 (Local)

2025-06-07T23:58:35.837Z,1749340715.837 [DAT](INFO): DAT read: Range 10 to 50 : 11.5 m  (Round-trip  15.4 ms) speed  0.7 m/s

2025-06-07T23:58:35.840Z,1749340715.840 [DAT](INFO): DAT read: user:1984>

2025-06-07T23:58:35.842Z,1749340715.842 [DAT](INFO): DAT read: Tx time:23:58:35.6275

2025-06-07T23:58:35.843Z,1749340715.843 [DAT](INFO): Ping request sent.
2025-06-07T23:58:35.844Z,1749340715.844 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:35.845Z,1749340715.845 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-07T23:58:35.849Z,1749340715.849 [DAT](INFO): direction in FSK: [0.982233,-0.187371,-0.010472]
2025-06-07T23:58:35.849Z,1749340715.849 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:35.850Z,1749340715.850 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:35.907Z,1749340715.907 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:35.907Z,1749340715.907 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:35.911Z,1749340715.911 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.067891
2025-06-07T23:58:36.048Z,1749340716.048 [DAT](INFO): DAT read: TxSync time:23:58:35.6267

2025-06-07T23:58:36.049Z,1749340716.049 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.206420
2025-06-07T23:58:36.080Z,1749340716.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.500000 m,
      deltaT: 3.532361 s,
      deltaX: -2.500000 m,
      approachRate: -0.707742 m/s,
      rangeRepo size: 4

2025-06-07T23:58:36.082Z,1749340716.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.411462 m,
      bearing: 322.039638 deg,
      lat: 36.905943 deg,
      lon: -122.115971 deg,
      deltaT: 3.532361 s,
      deltaX: -2.479836 m,
      approachRate: -0.702034 m/s,
      posRepo size: 4

2025-06-07T23:58:36.083Z,1749340716.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:36.101Z,1749340716.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 11.293112 m,
      bearing: 329.740835 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.223515 deg/s,
      cmd heading: 333.550758 deg,
      new cmd heading: 333.901072 deg.

2025-06-07T23:58:36.102Z,1749340716.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827673 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:36.306Z,1749340716.306 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.462453
2025-06-07T23:58:36.408Z,1749340716.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:36.410Z,1749340716.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 11.071979 m,
      bearing: 329.695809 deg,
      approach rate: -0.665667 m/s,
      LOS rate: -0.138249 deg/s,
      cmd heading: 333.901065 deg,
      new cmd heading: 333.763287 deg.

2025-06-07T23:58:36.412Z,1749340716.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825268 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:36.552Z,1749340716.552 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.709608
2025-06-07T23:58:36.801Z,1749340716.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:36.804Z,1749340716.804 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.961548
2025-06-07T23:58:36.820Z,1749340716.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 10.797444 m,
      bearing: 329.635801 deg,
      approach rate: -0.698209 m/s,
      LOS rate: -0.156494 deg/s,
      cmd heading: 333.763286 deg,
      new cmd heading: 333.578688 deg.

2025-06-07T23:58:36.821Z,1749340716.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822046 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:37.056Z,1749340717.056 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.213534
2025-06-07T23:58:37.215Z,1749340717.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:37.217Z,1749340717.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:37.221Z,1749340717.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 10.522862 m,
      bearing: 329.609232 deg,
      approach rate: -0.658675 m/s,
      LOS rate: -0.065398 deg/s,
      cmd heading: 333.578680 deg,
      new cmd heading: 333.496893 deg.

2025-06-07T23:58:37.222Z,1749340717.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820619 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:37.308Z,1749340717.308 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.465652
2025-06-07T23:58:37.560Z,1749340717.560 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.717375
2025-06-07T23:58:37.619Z,1749340717.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:37.621Z,1749340717.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 10.258045 m,
      bearing: 329.577044 deg,
      approach rate: -0.660282 m/s,
      LOS rate: -0.082329 deg/s,
      cmd heading: 333.496882 deg,
      new cmd heading: 333.397823 deg.

2025-06-07T23:58:37.622Z,1749340717.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818890 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:37.812Z,1749340717.812 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.969392
2025-06-07T23:58:38.010Z,1749340718.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:38.013Z,1749340718.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 10.000087 m,
      bearing: 329.537487 deg,
      approach rate: -0.659715 m/s,
      LOS rate: -0.103774 deg/s,
      cmd heading: 333.397817 deg,
      new cmd heading: 333.276086 deg.

2025-06-07T23:58:38.014Z,1749340718.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816765 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:38.066Z,1749340718.066 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.223369
2025-06-07T23:58:38.316Z,1749340718.316 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.473406
2025-06-07T23:58:38.417Z,1749340718.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:38.420Z,1749340718.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 9.731677 m,
      bearing: 329.487237 deg,
      approach rate: -0.658177 m/s,
      LOS rate: -0.126618 deg/s,
      cmd heading: 333.276075 deg,
      new cmd heading: 333.121168 deg.

2025-06-07T23:58:38.421Z,1749340718.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814061 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:38.568Z,1749340718.568 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.725412
2025-06-07T23:58:38.820Z,1749340718.820 [DAT](INFO): DAT read: Rx Time:23:58:38.0442

2025-06-07T23:58:38.821Z,1749340718.821 [DAT](INFO): Rx dataTimestamp_ set to:1749340718.820340
2025-06-07T23:58:38.821Z,1749340718.821 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.978455
2025-06-07T23:58:38.835Z,1749340718.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:38.844Z,1749340718.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 9.469148 m,
      bearing: 329.429085 deg,
      approach rate: -0.634828 m/s,
      LOS rate: -0.144517 deg/s,
      cmd heading: 333.121167 deg,
      new cmd heading: 332.941874 deg.

2025-06-07T23:58:38.845Z,1749340718.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810932 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:39.072Z,1749340719.072 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.229603
2025-06-07T23:58:39.222Z,1749340719.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:39.241Z,1749340719.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.41 m.
2025-06-07T23:58:39.251Z,1749340719.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.411462 m,
      nav range: 9.199286 m,
      bearing: 329.360475 deg,
      approach rate: -0.658366 m/s,
      LOS rate: -0.172294 deg/s,
      cmd heading: 332.941888 deg,
      new cmd heading: 332.730020 deg.

2025-06-07T23:58:39.263Z,1749340719.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807234 target range: 11.411462 and range: 11.50 m.
2025-06-07T23:58:39.330Z,1749340719.330 [DAT](INFO): DAT read: 23:58:38.0442 LVL= 29744, 32689, 18674, 32755, AGC= 57, IDX= 411, 0.03,-2.403, 2.623,-1.763,-2.244, PHS=-0.071,-1.369, 0.478, RAW= 166.8,  11.7, CAL= 166.0,   2.5, ROT= 344.0,  -2.5

2025-06-07T23:58:39.331Z,1749340719.331 [DAT](INFO): got valid direction response:
 23:58:38.0442 LVL= 29744, 32689, 18674, 32755, AGC= 57, IDX= 411, 0.03,-2.403, 2.623,-1.763,-2.244, PHS=-0.071,-1.369, 0.478, RAW= 166.8,  11.7, CAL= 166.0,   2.5, ROT= 344.0,  -2.5

2025-06-07T23:58:39.332Z,1749340719.332 [DAT](INFO): DAT read: Bearing 344.0,  -2.5 (Local)

2025-06-07T23:58:39.333Z,1749340719.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.0,  -2.5 (Local)

2025-06-07T23:58:39.334Z,1749340719.334 [DAT](INFO): DAT read: Range 10 to 50 : 9.3 m  (Round-trip  12.5 ms) speed  0.6 m/s

2025-06-07T23:58:39.335Z,1749340719.335 [DAT](INFO): DAT read: user:1985>

2025-06-07T23:58:39.336Z,1749340719.336 [DAT](INFO): DAT read: Tx time:23:58:39.1276

2025-06-07T23:58:39.336Z,1749340719.336 [DAT](INFO): Ping request sent.
2025-06-07T23:58:39.336Z,1749340719.336 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:39.336Z,1749340719.336 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-07T23:58:39.337Z,1749340719.337 [DAT](INFO): direction in FSK: [0.960347,-0.275375,0.043619]
2025-06-07T23:58:39.338Z,1749340719.338 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:39.338Z,1749340719.338 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:39.345Z,1749340719.345 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:39.345Z,1749340719.345 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:39.357Z,1749340719.357 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.020771
2025-06-07T23:58:39.576Z,1749340719.576 [DAT](INFO): DAT read: TxSync time:23:58:39.1268

2025-06-07T23:58:39.577Z,1749340719.577 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.241264
2025-06-07T23:58:39.659Z,1749340719.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 3.526249 s,
      deltaX: -2.200000 m,
      approachRate: -0.623892 m/s,
      rangeRepo size: 4

2025-06-07T23:58:39.661Z,1749340719.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.228161 m,
      bearing: 318.216046 deg,
      lat: 36.905938 deg,
      lon: -122.115983 deg,
      deltaT: 3.526249 s,
      deltaX: -2.183301 m,
      approachRate: -0.619157 m/s,
      posRepo size: 4

2025-06-07T23:58:39.662Z,1749340719.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.23 m.
2025-06-07T23:58:39.662Z,1749340719.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.30 m.
2025-06-07T23:58:39.663Z,1749340719.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-07T23:58:39.670Z,1749340719.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 9.020324 m,
      bearing: 321.778484 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.172294 deg/s,
      cmd heading: 332.730015 deg,
      new cmd heading: 332.516226 deg.

2025-06-07T23:58:39.674Z,1749340719.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803503 target range: 9.228161 and range: 9.30 m.
2025-06-07T23:58:39.828Z,1749340719.828 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.492335
2025-06-07T23:58:40.057Z,1749340720.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:40.060Z,1749340720.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 8.740960 m,
      bearing: 321.420604 deg,
      approach rate: -0.694100 m/s,
      LOS rate: -0.917592 deg/s,
      cmd heading: 332.516230 deg,
      new cmd heading: 331.408423 deg.

2025-06-07T23:58:40.061Z,1749340720.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784168 target range: 9.228161 and range: 9.30 m.
2025-06-07T23:58:40.080Z,1749340720.080 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.744240
2025-06-07T23:58:40.332Z,1749340720.332 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.996136
2025-06-07T23:58:40.441Z,1749340720.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:40.444Z,1749340720.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 8.489831 m,
      bearing: 321.075733 deg,
      approach rate: -0.654794 m/s,
      LOS rate: -0.925812 deg/s,
      cmd heading: 331.408428 deg,
      new cmd heading: 330.343338 deg.

2025-06-07T23:58:40.445Z,1749340720.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765579 target range: 9.228161 and range: 9.30 m.
2025-06-07T23:58:40.584Z,1749340720.584 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.248142
2025-06-07T23:58:40.836Z,1749340720.836 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.500211
2025-06-07T23:58:40.858Z,1749340720.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:40.861Z,1749340720.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 8.223219 m,
      bearing: 320.680337 deg,
      approach rate: -0.639170 m/s,
      LOS rate: -0.978639 deg/s,
      cmd heading: 330.343329 deg,
      new cmd heading: 329.118879 deg.

2025-06-07T23:58:40.862Z,1749340720.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744208 target range: 9.228161 and range: 9.30 m.
2025-06-07T23:58:41.088Z,1749340721.088 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.752145
2025-06-07T23:58:41.276Z,1749340721.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:41.278Z,1749340721.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:41.282Z,1749340721.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 7.925422 m,
      bearing: 320.183008 deg,
      approach rate: -0.708446 m/s,
      LOS rate: -1.227562 deg/s,
      cmd heading: 329.118867 deg,
      new cmd heading: 327.571215 deg.

2025-06-07T23:58:41.283Z,1749340721.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717196 target range: 9.228161 and range: 9.30 m.
2025-06-07T23:58:41.340Z,1749340721.340 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.004238
2025-06-07T23:58:41.592Z,1749340721.592 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.256135
2025-06-07T23:58:41.652Z,1749340721.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:41.654Z,1749340721.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 7.672950 m,
      bearing: 319.730741 deg,
      approach rate: -0.676434 m/s,
      LOS rate: -1.251593 deg/s,
      cmd heading: 327.571228 deg,
      new cmd heading: 326.170077 deg.

2025-06-07T23:58:41.656Z,1749340721.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692742 target range: 9.228161 and range: 9.30 m.
2025-06-07T23:58:41.845Z,1749340721.845 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.508991
2025-06-07T23:58:42.080Z,1749340722.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:42.082Z,1749340722.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 7.380492 m,
      bearing: 319.164334 deg,
      approach rate: -0.683031 m/s,
      LOS rate: -1.375231 deg/s,
      cmd heading: 326.170083 deg,
      new cmd heading: 324.404116 deg.

2025-06-07T23:58:42.084Z,1749340722.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661920 target range: 9.228161 and range: 9.30 m.
2025-06-07T23:58:42.096Z,1749340722.096 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.760179
2025-06-07T23:58:42.350Z,1749340722.350 [DAT](INFO): DAT read: Rx Time:23:58:41.5412

2025-06-07T23:58:42.350Z,1749340722.350 [DAT](INFO): Rx dataTimestamp_ set to:1749340722.349686
2025-06-07T23:58:42.350Z,1749340722.350 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.014506
2025-06-07T23:58:42.570Z,1749340722.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:42.573Z,1749340722.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 7.046250 m,
      bearing: 318.468742 deg,
      approach rate: -0.681884 m/s,
      LOS rate: -1.486349 deg/s,
      cmd heading: 324.404124 deg,
      new cmd heading: 322.219475 deg.

2025-06-07T23:58:42.574Z,1749340722.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623791 target range: 9.228161 and range: 9.30 m.
2025-06-07T23:58:42.600Z,1749340722.600 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.264165
2025-06-07T23:58:42.860Z,1749340722.860 [DAT](INFO): DAT read: 23:58:41.5412 LVL= 23632, 29681, 20146, 32755, AGC= 51, IDX= 413,-0.40,-2.643, 2.597,-1.741,-2.285, PHS=-0.270,-1.354, 0.541, RAW= 175.2,  13.1, CAL= 174.7,   5.5, ROT= 335.3,  -5.5

2025-06-07T23:58:42.861Z,1749340722.861 [DAT](INFO): got valid direction response:
 23:58:41.5412 LVL= 23632, 29681, 20146, 32755, AGC= 51, IDX= 413,-0.40,-2.643, 2.597,-1.741,-2.285, PHS=-0.270,-1.354, 0.541, RAW= 175.2,  13.1, CAL= 174.7,   5.5, ROT= 335.3,  -5.5

2025-06-07T23:58:42.862Z,1749340722.862 [DAT](INFO): DAT read: Bearing 335.3,  -5.5 (Local)

2025-06-07T23:58:42.862Z,1749340722.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.3,  -5.5 (Local)

2025-06-07T23:58:42.864Z,1749340722.864 [DAT](INFO): DAT read: Range 10 to 50 : 7.0 m  (Round-trip  9.4 ms) speed  0.5 m/s

2025-06-07T23:58:42.865Z,1749340722.865 [DAT](INFO): DAT read: user:1986>

2025-06-07T23:58:42.865Z,1749340722.865 [DAT](INFO): DAT read: Tx time:23:58:42.6276

2025-06-07T23:58:42.866Z,1749340722.866 [DAT](INFO): Ping request sent.
2025-06-07T23:58:42.866Z,1749340722.866 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:42.866Z,1749340722.866 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-07T23:58:42.867Z,1749340722.867 [DAT](INFO): direction in FSK: [0.904326,-0.415943,0.095846]
2025-06-07T23:58:42.868Z,1749340722.868 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:42.868Z,1749340722.868 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:42.871Z,1749340722.871 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:42.871Z,1749340722.871 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:42.874Z,1749340722.874 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.008572
2025-06-07T23:58:43.108Z,1749340723.108 [DAT](INFO): DAT read: TxSync time:23:58:42.6268

2025-06-07T23:58:43.109Z,1749340723.109 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.243320
2025-06-07T23:58:43.125Z,1749340723.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.000000 m,
      deltaT: 3.529950 s,
      deltaX: -2.300000 m,
      approachRate: -0.651567 m/s,
      rangeRepo size: 4

2025-06-07T23:58:43.132Z,1749340723.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.946287 m,
      bearing: 309.680356 deg,
      lat: 36.905936 deg,
      lon: -122.115986 deg,
      deltaT: 3.529950 s,
      deltaX: -2.281874 m,
      approachRate: -0.646432 m/s,
      posRepo size: 4

2025-06-07T23:58:43.133Z,1749340723.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.95 m. 9.23 m.
2025-06-07T23:58:43.140Z,1749340723.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 6.679797 m,
      bearing: 317.568284 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.172294 deg/s,
      cmd heading: 322.219474 deg,
      new cmd heading: 321.932428 deg.

2025-06-07T23:58:43.141Z,1749340723.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618781 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:43.360Z,1749340723.360 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.494362
2025-06-07T23:58:43.387Z,1749340723.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:43.390Z,1749340723.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:43.393Z,1749340723.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 6.482155 m,
      bearing: 317.061399 deg,
      approach rate: -0.746824 m/s,
      LOS rate: -1.973727 deg/s,
      cmd heading: 321.932415 deg,
      new cmd heading: 320.365806 deg.

2025-06-07T23:58:43.394Z,1749340723.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591438 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:43.612Z,1749340723.612 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.746316
2025-06-07T23:58:43.788Z,1749340723.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:43.790Z,1749340723.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 6.208076 m,
      bearing: 316.331386 deg,
      approach rate: -0.689047 m/s,
      LOS rate: -1.916256 deg/s,
      cmd heading: 320.365816 deg,
      new cmd heading: 318.080364 deg.

2025-06-07T23:58:43.792Z,1749340723.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551549 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:43.864Z,1749340723.864 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.998486
2025-06-07T23:58:44.116Z,1749340724.116 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.250376
2025-06-07T23:58:44.228Z,1749340724.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:44.231Z,1749340724.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 5.919992 m,
      bearing: 315.513695 deg,
      approach rate: -0.653912 m/s,
      LOS rate: -1.946310 deg/s,
      cmd heading: 318.080352 deg,
      new cmd heading: 315.509720 deg.

2025-06-07T23:58:44.236Z,1749340724.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506683 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:44.368Z,1749340724.368 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.502331
2025-06-07T23:58:44.620Z,1749340724.620 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.754353
2025-06-07T23:58:44.664Z,1749340724.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:44.667Z,1749340724.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 5.602380 m,
      bearing: 314.545039 deg,
      approach rate: -0.728393 m/s,
      LOS rate: -2.347286 deg/s,
      cmd heading: 315.509715 deg,
      new cmd heading: 312.442083 deg.

2025-06-07T23:58:44.668Z,1749340724.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453143 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:44.872Z,1749340724.872 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.006431
2025-06-07T23:58:45.103Z,1749340725.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:45.110Z,1749340725.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 5.301425 m,
      bearing: 313.546978 deg,
      approach rate: -0.686105 m/s,
      LOS rate: -2.404381 deg/s,
      cmd heading: 312.442086 deg,
      new cmd heading: 309.281295 deg.

2025-06-07T23:58:45.111Z,1749340725.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397977 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:45.124Z,1749340725.124 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.258530
2025-06-07T23:58:45.376Z,1749340725.376 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.510304
2025-06-07T23:58:45.443Z,1749340725.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:45.445Z,1749340725.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:45.448Z,1749340725.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 5.063559 m,
      bearing: 312.707901 deg,
      approach rate: -0.694211 m/s,
      LOS rate: -2.563787 deg/s,
      cmd heading: 309.281293 deg,
      new cmd heading: 306.647765 deg.

2025-06-07T23:58:45.449Z,1749340725.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352013 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:45.628Z,1749340725.628 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.762394
2025-06-07T23:58:45.837Z,1749340725.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:45.842Z,1749340725.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 4.791636 m,
      bearing: 311.696821 deg,
      approach rate: -0.694291 m/s,
      LOS rate: -2.727919 deg/s,
      cmd heading: 306.647763 deg,
      new cmd heading: 303.445891 deg.

2025-06-07T23:58:45.843Z,1749340725.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296130 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:45.881Z,1749340725.881 [DAT](INFO): DAT read: Rx Time:23:58:45.0385

2025-06-07T23:58:45.882Z,1749340725.882 [DAT](INFO): Rx dataTimestamp_ set to:1749340725.881433
2025-06-07T23:58:45.882Z,1749340725.882 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.016492
2025-06-07T23:58:46.132Z,1749340726.132 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.266372
2025-06-07T23:58:46.252Z,1749340726.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:46.280Z,1749340726.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 4.510702 m,
      bearing: 310.583959 deg,
      approach rate: -0.682430 m/s,
      LOS rate: -2.871491 deg/s,
      cmd heading: 303.445880 deg,
      new cmd heading: 299.904104 deg.

2025-06-07T23:58:46.289Z,1749340726.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234314 target range: 9.228161 and range: 7.00 m.
2025-06-07T23:58:46.392Z,1749340726.392 [DAT](INFO): DAT read: 23:58:45.0385 LVL= 18272, 27585, 15858, 30067, AGC= 48, IDX= 417, 0.39,-1.004,-1.442, 0.476,-0.137, PHS=-0.779,-1.258, 0.610, RAW= 195.7,  16.7, CAL= 194.0,  19.4, ROT= 316.0, -19.4

2025-06-07T23:58:46.393Z,1749340726.393 [DAT](INFO): got valid direction response:
 23:58:45.0385 LVL= 18272, 27585, 15858, 30067, AGC= 48, IDX= 417, 0.39,-1.004,-1.442, 0.476,-0.137, PHS=-0.779,-1.258, 0.610, RAW= 195.7,  16.7, CAL= 194.0,  19.4, ROT= 316.0, -19.4

2025-06-07T23:58:46.394Z,1749340726.394 [DAT](INFO): DAT read: Bearing 316.0, -19.4 (Local)

2025-06-07T23:58:46.395Z,1749340726.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.0, -19.4 (Local)

2025-06-07T23:58:46.397Z,1749340726.397 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m  (Round-trip  6.8 ms) speed  0.5 m/s

2025-06-07T23:58:46.398Z,1749340726.398 [DAT](INFO): DAT read: user:1987>

2025-06-07T23:58:46.403Z,1749340726.403 [DAT](INFO): DAT read: Tx time:23:58:46.1276

2025-06-07T23:58:46.404Z,1749340726.404 [DAT](INFO): Ping request sent.
2025-06-07T23:58:46.404Z,1749340726.404 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:46.404Z,1749340726.404 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-07T23:58:46.406Z,1749340726.406 [DAT](INFO): direction in FSK: [0.678498,-0.655217,0.332161]
2025-06-07T23:58:46.406Z,1749340726.406 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:46.406Z,1749340726.406 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:46.414Z,1749340726.414 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:46.414Z,1749340726.414 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:46.422Z,1749340726.422 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.018133
2025-06-07T23:58:46.636Z,1749340726.636 [DAT](INFO): DAT read: TxSync time:23:58:46.1268

2025-06-07T23:58:46.637Z,1749340726.637 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.233403
2025-06-07T23:58:46.640Z,1749340726.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 3.531359 s,
      deltaX: -1.900000 m,
      approachRate: -0.538037 m/s,
      rangeRepo size: 4

2025-06-07T23:58:46.642Z,1749340726.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.060852 m,
      bearing: 284.067757 deg,
      lat: 36.905936 deg,
      lon: -122.115989 deg,
      deltaT: 7.061309 s,
      deltaX: -4.167309 m,
      approachRate: -0.590161 m/s,
      posRepo size: 4

2025-06-07T23:58:46.664Z,1749340726.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.06 m. 9.23 m.
2025-06-07T23:58:46.674Z,1749340726.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 4.244380 m,
      bearing: 309.456474 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.172294 deg/s,
      cmd heading: 299.904099 deg,
      new cmd heading: 299.702042 deg.

2025-06-07T23:58:46.679Z,1749340726.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230787 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:46.889Z,1749340726.889 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.484752
2025-06-07T23:58:47.101Z,1749340727.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:47.104Z,1749340727.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 3.931937 m,
      bearing: 308.054913 deg,
      approach rate: -0.676638 m/s,
      LOS rate: -3.276128 deg/s,
      cmd heading: 299.702035 deg,
      new cmd heading: 295.173145 deg.

2025-06-07T23:58:47.105Z,1749340727.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151743 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:47.144Z,1749340727.144 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.739860
2025-06-07T23:58:47.392Z,1749340727.392 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.988362
2025-06-07T23:58:47.434Z,1749340727.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:47.437Z,1749340727.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 3.709892 m,
      bearing: 306.987598 deg,
      approach rate: -0.667762 m/s,
      LOS rate: -3.401673 deg/s,
      cmd heading: 295.173155 deg,
      new cmd heading: 291.783720 deg.

2025-06-07T23:58:47.438Z,1749340727.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.092587 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:47.645Z,1749340727.645 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.240984
2025-06-07T23:58:47.846Z,1749340727.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:47.849Z,1749340727.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:47.852Z,1749340727.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 3.433769 m,
      bearing: 305.554275 deg,
      approach rate: -0.665039 m/s,
      LOS rate: -3.729361 deg/s,
      cmd heading: 291.783714 deg,
      new cmd heading: 287.148593 deg.

2025-06-07T23:58:47.853Z,1749340727.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.011688 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:47.897Z,1749340727.897 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.492968
2025-06-07T23:58:48.148Z,1749340728.148 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.744452
2025-06-07T23:58:48.294Z,1749340728.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:48.297Z,1749340728.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 3.162653 m,
      bearing: 304.009151 deg,
      approach rate: -0.613600 m/s,
      LOS rate: -3.796299 deg/s,
      cmd heading: 287.148584 deg,
      new cmd heading: 282.129336 deg.

2025-06-07T23:58:48.298Z,1749340728.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924086 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:48.400Z,1749340728.400 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.996653
2025-06-07T23:58:48.649Z,1749340728.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:48.652Z,1749340728.652 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.248597
2025-06-07T23:58:48.654Z,1749340728.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 2.916493 m,
      bearing: 302.434277 deg,
      approach rate: -0.688137 m/s,
      LOS rate: -4.773519 deg/s,
      cmd heading: 282.129324 deg,
      new cmd heading: 277.020159 deg.

2025-06-07T23:58:48.655Z,1749340728.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834914 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:48.906Z,1749340728.906 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.501473
2025-06-07T23:58:49.142Z,1749340729.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:49.149Z,1749340729.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 2.617838 m,
      bearing: 300.202779 deg,
      approach rate: -0.606037 m/s,
      LOS rate: -5.043525 deg/s,
      cmd heading: 277.020151 deg,
      new cmd heading: 269.605474 deg.

2025-06-07T23:58:49.149Z,1749340729.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705503 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:49.156Z,1749340729.156 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.752480
2025-06-07T23:58:49.408Z,1749340729.408 [DAT](INFO): DAT read: Rx Time:23:58:48.5362

2025-06-07T23:58:49.409Z,1749340729.409 [DAT](INFO): Rx dataTimestamp_ set to:1749340729.408448
2025-06-07T23:58:49.409Z,1749340729.409 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.005558
2025-06-07T23:58:49.479Z,1749340729.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:49.482Z,1749340729.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 2.400139 m,
      bearing: 298.284368 deg,
      approach rate: -0.669090 m/s,
      LOS rate: -6.429778 deg/s,
      cmd heading: 269.605462 deg,
      new cmd heading: 263.354310 deg.

2025-06-07T23:58:49.487Z,1749340729.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596400 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:49.660Z,1749340729.660 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.256369
2025-06-07T23:58:49.869Z,1749340729.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:49.872Z,1749340729.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:49.874Z,1749340729.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 2.150301 m,
      bearing: 295.559056 deg,
      approach rate: -0.617236 m/s,
      LOS rate: -7.512446 deg/s,
      cmd heading: 263.354309 deg,
      new cmd heading: 254.307802 deg.

2025-06-07T23:58:49.876Z,1749340729.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438509 target range: 9.228161 and range: 5.10 m.
2025-06-07T23:58:49.920Z,1749340729.920 [DAT](INFO): DAT read: 23:58:48.5362 LVL= 20784, 18497, 13346, 26259, AGC= 43, IDX= 408, 0.49, 0.355,-0.152, 1.442, 1.601, PHS=-1.158,-1.706,-0.162, RAW= 189.5,  38.3, CAL= 191.0,  45.5, ROT= 319.0, -45.5

2025-06-07T23:58:49.922Z,1749340729.922 [DAT](INFO): got valid direction response:
 23:58:48.5362 LVL= 20784, 18497, 13346, 26259, AGC= 43, IDX= 408, 0.49, 0.355,-0.152, 1.442, 1.601, PHS=-1.158,-1.706,-0.162, RAW= 189.5,  38.3, CAL= 191.0,  45.5, ROT= 319.0, -45.5

2025-06-07T23:58:49.923Z,1749340729.923 [DAT](INFO): DAT read: Bearing 319.0, -45.5 (Local)

2025-06-07T23:58:49.924Z,1749340729.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0, -45.5 (Local)

2025-06-07T23:58:49.926Z,1749340729.926 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m  (Round-trip  4.3 ms) speed  0.2 m/s

2025-06-07T23:58:49.927Z,1749340729.927 [DAT](INFO): DAT read: user:1988>

2025-06-07T23:58:49.932Z,1749340729.932 [DAT](INFO): DAT read: Tx time:23:58:49.6277

2025-06-07T23:58:49.933Z,1749340729.933 [DAT](INFO): Ping request sent.
2025-06-07T23:58:49.933Z,1749340729.933 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:49.933Z,1749340729.933 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-07T23:58:49.934Z,1749340729.934 [DAT](INFO): direction in FSK: [0.528983,-0.459838,0.713250]
2025-06-07T23:58:49.934Z,1749340729.934 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:49.935Z,1749340729.935 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:49.952Z,1749340729.952 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:49.953Z,1749340729.953 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:49.966Z,1749340729.966 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.033336
2025-06-07T23:58:50.164Z,1749340730.164 [DAT](INFO): DAT read: TxSync time:23:58:49.6269

2025-06-07T23:58:50.165Z,1749340730.165 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.232487
2025-06-07T23:58:50.334Z,1749340730.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 3.526596 s,
      deltaX: -1.900000 m,
      approachRate: -0.538763 m/s,
      rangeRepo size: 4

2025-06-07T23:58:50.340Z,1749340730.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.175602 m,
      bearing: 277.366090 deg,
      lat: 36.905934 deg,
      lon: -122.115989 deg,
      deltaT: 10.587905 s,
      deltaX: -6.052558 m,
      approachRate: -0.571648 m/s,
      posRepo size: 4

2025-06-07T23:58:50.341Z,1749340730.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.23 m.
2025-06-07T23:58:50.348Z,1749340730.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 1.883980 m,
      bearing: 292.248658 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.172294 deg/s,
      cmd heading: 254.307805 deg,
      new cmd heading: 254.068958 deg.

2025-06-07T23:58:50.349Z,1749340730.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434340 target range: 9.228161 and range: 3.20 m.
2025-06-07T23:58:50.417Z,1749340730.417 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.484392
2025-06-07T23:58:50.664Z,1749340730.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:50.668Z,1749340730.668 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.735507
2025-06-07T23:58:50.669Z,1749340730.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.228161 m,
      nav range: 1.679808 m,
      bearing: 289.088880 deg,
      approach rate: -0.617524 m/s,
      LOS rate: -10.712993 deg/s,
      cmd heading: 254.068967 deg,
      new cmd heading: 243.562232 deg.

2025-06-07T23:58:50.670Z,1749340730.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250963 target range: 9.228161 and range: 3.20 m.
2025-06-07T23:58:50.920Z,1749340730.920 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.987457
2025-06-07T23:58:51.146Z,1749340731.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:51.147Z,1749340731.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.776195 deg/s. Setting heading cmd to target acoustic bearing of 318.216046 deg.
2025-06-07T23:58:51.148Z,1749340731.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553918 target range: 9.228161 and range: 3.20 m.
2025-06-07T23:58:51.174Z,1749340731.174 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.240747
2025-06-07T23:58:51.424Z,1749340731.424 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.491356
2025-06-07T23:58:51.472Z,1749340731.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:51.474Z,1749340731.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.319382 deg/s. Setting heading cmd to target acoustic bearing of 318.216046 deg.
2025-06-07T23:58:51.474Z,1749340731.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553918 target range: 9.228161 and range: 3.20 m.
2025-06-07T23:58:51.676Z,1749340731.676 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.743365
2025-06-07T23:58:51.880Z,1749340731.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:51.883Z,1749340731.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:51.885Z,1749340731.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.965628 deg/s. Setting heading cmd to target acoustic bearing of 318.216046 deg.
2025-06-07T23:58:51.886Z,1749340731.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553918 target range: 9.228161 and range: 3.20 m.
2025-06-07T23:58:51.929Z,1749340731.929 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.995815
2025-06-07T23:58:52.180Z,1749340732.180 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.247379
2025-06-07T23:58:52.344Z,1749340732.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:52.345Z,1749340732.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -33.788937 deg/s. Setting heading cmd to target acoustic bearing of 318.216046 deg.
2025-06-07T23:58:52.346Z,1749340732.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553918 target range: 9.228161 and range: 3.20 m.
2025-06-07T23:58:52.433Z,1749340732.433 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.499959
2025-06-07T23:58:52.684Z,1749340732.684 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.751398
2025-06-07T23:58:52.706Z,1749340732.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:52.716Z,1749340732.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -45.386091 deg/s. Setting heading cmd to target acoustic bearing of 318.216046 deg.
2025-06-07T23:58:52.717Z,1749340732.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553918 target range: 9.228161 and range: 3.20 m.
2025-06-07T23:58:52.937Z,1749340732.937 [DAT](INFO): DAT read: Rx Time:23:58:52.0355

2025-06-07T23:58:52.938Z,1749340732.938 [DAT](INFO): Rx dataTimestamp_ set to:1749340732.937261
2025-06-07T23:58:52.939Z,1749340732.939 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.005451
2025-06-07T23:58:53.169Z,1749340733.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.23 m.
2025-06-07T23:58:53.170Z,1749340733.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -55.636557 deg/s. Setting heading cmd to target acoustic bearing of 318.216046 deg.
2025-06-07T23:58:53.180Z,1749340733.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553918 target range: 9.228161 and range: 3.20 m.
2025-06-07T23:58:53.188Z,1749340733.188 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.255560
2025-06-07T23:58:53.443Z,1749340733.443 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.7 ms) speed -0.2 m/s

2025-06-07T23:58:53.443Z,1749340733.443 [DAT](INFO): DAT read: user:1989>

2025-06-07T23:58:53.444Z,1749340733.444 [DAT](INFO): DAT read: Tx time:23:58:53.1277

2025-06-07T23:58:53.444Z,1749340733.444 [DAT](INFO): Ping request sent.
2025-06-07T23:58:53.445Z,1749340733.445 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:53.445Z,1749340733.445 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-07T23:58:53.445Z,1749340733.445 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:53.446Z,1749340733.446 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:53.446Z,1749340733.446 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.001849
2025-06-07T23:58:53.575Z,1749340733.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.528846 s,
      deltaX: -0.500000 m,
      approachRate: -0.141689 m/s,
      rangeRepo size: 4

2025-06-07T23:58:53.580Z,1749340733.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-06-07T23:58:53.580Z,1749340733.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-07T23:58:53.692Z,1749340733.692 [DAT](INFO): DAT read: TxSync time:23:58:53.1269

2025-06-07T23:58:53.693Z,1749340733.693 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.248582
2025-06-07T23:58:53.896Z,1749340733.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:53.945Z,1749340733.945 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.500524
2025-06-07T23:58:54.196Z,1749340734.196 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.751583
2025-06-07T23:58:54.452Z,1749340734.452 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.007021
2025-06-07T23:58:54.700Z,1749340734.700 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.255733
2025-06-07T23:58:54.952Z,1749340734.952 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.507857
2025-06-07T23:58:54.972Z,1749340734.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:58:55.205Z,1749340735.205 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.760135
2025-06-07T23:58:55.456Z,1749340735.456 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.011550
2025-06-07T23:58:55.709Z,1749340735.709 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.264123
2025-06-07T23:58:55.961Z,1749340735.961 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.516290
2025-06-07T23:58:55.972Z,1749340735.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:58:56.030Z,1749340736.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:56.213Z,1749340736.213 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.768195
2025-06-07T23:58:56.464Z,1749340736.464 [DAT](INFO): DAT read: Rx Time:23:58:55.5366

2025-06-07T23:58:56.465Z,1749340736.465 [DAT](INFO): Rx dataTimestamp_ set to:1749340736.464425
2025-06-07T23:58:56.465Z,1749340736.465 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.020705
2025-06-07T23:58:56.716Z,1749340736.716 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.271555
2025-06-07T23:58:56.977Z,1749340736.977 [DAT](INFO): DAT read: 23:58:55.5366 LVL= 20208, 28337, 11954, 25171, AGC= 41, IDX= 429,-0.20,-0.444, 1.683, 1.735, 1.613, PHS=-1.969, 0.116, 0.119, RAW= 269.9,  16.4, CAL= 278.9,  22.2, ROT= 231.1, -22.2

2025-06-07T23:58:56.978Z,1749340736.978 [DAT](INFO): got valid direction response:
 23:58:55.5366 LVL= 20208, 28337, 11954, 25171, AGC= 41, IDX= 429,-0.20,-0.444, 1.683, 1.735, 1.613, PHS=-1.969, 0.116, 0.119, RAW= 269.9,  16.4, CAL= 278.9,  22.2, ROT= 231.1, -22.2

2025-06-07T23:58:56.986Z,1749340736.986 [DAT](INFO): DAT read: Bearing 231.1, -22.2 (Local)

2025-06-07T23:58:56.986Z,1749340736.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.1, -22.2 (Local)

2025-06-07T23:58:56.989Z,1749340736.989 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m  (Round-trip  4.7 ms) speed -0.4 m/s

2025-06-07T23:58:56.990Z,1749340736.990 [DAT](INFO): DAT read: user:1990>

2025-06-07T23:58:56.990Z,1749340736.990 [DAT](INFO): DAT read: Tx time:23:58:56.6277

2025-06-07T23:58:56.991Z,1749340736.991 [DAT](INFO): Ping request sent.
2025-06-07T23:58:56.991Z,1749340736.991 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:58:56.991Z,1749340736.991 [DAT](INFO): DAT read: TxSync time:23:58:56.6269

2025-06-07T23:58:56.992Z,1749340736.992 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-07T23:58:56.994Z,1749340736.994 [DAT](INFO): direction in FSK: [-0.581413,-0.720552,0.377841]
2025-06-07T23:58:56.994Z,1749340736.994 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:56.994Z,1749340736.994 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:56.000Z,1749340737.000 [DAT](INFO): publishing transmit ping time
2025-06-07T23:58:57.000Z,1749340737.000 [DAT](INFO): publishing direction and range info
2025-06-07T23:58:57.048Z,1749340737.048 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.057728
2025-06-07T23:58:57.220Z,1749340737.220 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.229355
2025-06-07T23:58:57.294Z,1749340737.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 3.528558 s,
      deltaX: 0.800000 m,
      approachRate: 0.226721 m/s,
      rangeRepo size: 4

2025-06-07T23:58:57.301Z,1749340737.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.473554 m,
      bearing: 170.004024 deg,
      lat: 36.905933 deg,
      lon: -122.115992 deg,
      deltaT: 17.645309 s,
      deltaX: -5.754607 m,
      approachRate: -0.326127 m/s,
      posRepo size: 4

2025-06-07T23:58:57.472Z,1749340737.472 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.481369
2025-06-07T23:58:57.725Z,1749340737.725 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.734500
2025-06-07T23:58:57.976Z,1749340737.976 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.985572
2025-06-07T23:58:58.228Z,1749340738.228 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.237432
2025-06-07T23:58:58.252Z,1749340738.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:58:58.480Z,1749340738.480 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.489538
2025-06-07T23:58:58.732Z,1749340738.732 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.741347
2025-06-07T23:58:58.986Z,1749340738.986 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.995386
2025-06-07T23:58:59.236Z,1749340739.236 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.245517
2025-06-07T23:58:59.489Z,1749340739.489 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.498684
2025-06-07T23:58:59.741Z,1749340739.741 [DAT](INFO): DAT read: Rx Time:23:58:59.0389

2025-06-07T23:58:59.742Z,1749340739.742 [DAT](INFO): Rx dataTimestamp_ set to:1749340739.741157
2025-06-07T23:58:59.742Z,1749340739.742 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.751581
2025-06-07T23:58:59.992Z,1749340739.992 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.001470
2025-06-07T23:59:00.246Z,1749340740.246 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.255272
2025-06-07T23:59:00.497Z,1749340740.497 [DAT](INFO): DAT read: Range 10 to 50 : 5.2 m  (Round-trip  7.0 ms) speed -0.5 m/s

2025-06-07T23:59:00.498Z,1749340740.498 [DAT](INFO): DAT read: user:1991>

2025-06-07T23:59:00.499Z,1749340740.499 [DAT](INFO): DAT read: Tx time:23:59:00.1278

2025-06-07T23:59:00.499Z,1749340740.499 [DAT](INFO): Ping request sent.
2025-06-07T23:59:00.499Z,1749340740.499 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:00.500Z,1749340740.500 [DAT](INFO): DAT read: TxSync time:23:59:00.1270

2025-06-07T23:59:00.501Z,1749340740.501 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-07T23:59:00.501Z,1749340740.501 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:00.501Z,1749340740.501 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:00.502Z,1749340740.502 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.002675
2025-06-07T23:59:00.525Z,1749340740.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:59:00.532Z,1749340740.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.200000 m,
      deltaT: 3.526656 s,
      deltaX: 1.700000 m,
      approachRate: 0.482043 m/s,
      rangeRepo size: 4

2025-06-07T23:59:00.748Z,1749340740.748 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.248760
2025-06-07T23:59:00.886Z,1749340740.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.20 m.
2025-06-07T23:59:01.001Z,1749340741.001 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.501836
2025-06-07T23:59:01.254Z,1749340741.254 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.754381
2025-06-07T23:59:01.330Z,1749340741.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.20 m.
2025-06-07T23:59:01.504Z,1749340741.504 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.004832
2025-06-07T23:59:01.681Z,1749340741.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.20 m.
2025-06-07T23:59:01.756Z,1749340741.756 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.256873
2025-06-07T23:59:02.008Z,1749340742.008 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.508964
2025-06-07T23:59:02.263Z,1749340742.263 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.762806
2025-06-07T23:59:02.512Z,1749340742.512 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.012801
2025-06-07T23:59:02.520Z,1749340742.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.20 m.
2025-06-07T23:59:02.764Z,1749340742.764 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.264690
2025-06-07T23:59:02.890Z,1749340742.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:59:02.892Z,1749340742.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.20 m.
2025-06-07T23:59:03.017Z,1749340743.017 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.517162
2025-06-07T23:59:03.274Z,1749340743.274 [DAT](INFO): DAT read: Rx Time:23:59:02.5418

2025-06-07T23:59:03.276Z,1749340743.276 [DAT](INFO): Rx dataTimestamp_ set to:1749340743.274628
2025-06-07T23:59:03.278Z,1749340743.278 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.777752
2025-06-07T23:59:03.354Z,1749340743.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.20 m.
2025-06-07T23:59:03.524Z,1749340743.524 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.024708
2025-06-07T23:59:03.702Z,1749340743.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.20 m.
2025-06-07T23:59:03.781Z,1749340743.781 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.280762
2025-06-07T23:59:04.034Z,1749340744.034 [DAT](INFO): DAT read: 23:59:02.5418 LVL= 19440, 19441, 12466, 22819, AGC= 52, IDX= 450, 0.12, 1.069,-2.739, 1.725, 2.384, PHS=-1.227, 1.207,-0.662, RAW= 317.2,   6.2, CAL= 320.1,   9.1, ROT= 189.9,  -9.1

2025-06-07T23:59:04.035Z,1749340744.035 [DAT](INFO): got valid direction response:
 23:59:02.5418 LVL= 19440, 19441, 12466, 22819, AGC= 52, IDX= 450, 0.12, 1.069,-2.739, 1.725, 2.384, PHS=-1.227, 1.207,-0.662, RAW= 317.2,   6.2, CAL= 320.1,   9.1, ROT= 189.9,  -9.1

2025-06-07T23:59:04.037Z,1749340744.037 [DAT](INFO): DAT read: Bearing 189.9,  -9.1 (Local)

2025-06-07T23:59:04.037Z,1749340744.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.9,  -9.1 (Local)

2025-06-07T23:59:04.038Z,1749340744.038 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m  (Round-trip  9.9 ms) speed -0.6 m/s

2025-06-07T23:59:04.045Z,1749340744.045 [DAT](INFO): DAT read: user:1992>

2025-06-07T23:59:04.046Z,1749340744.046 [DAT](INFO): DAT read: Tx time:23:59:03.6278

2025-06-07T23:59:04.046Z,1749340744.046 [DAT](INFO): Ping request sent.
2025-06-07T23:59:04.046Z,1749340744.046 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:04.047Z,1749340744.047 [DAT](INFO): DAT read: TxSync time:23:59:03.6270

2025-06-07T23:59:04.048Z,1749340744.048 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-07T23:59:04.049Z,1749340744.049 [DAT](INFO): direction in FSK: [-0.972711,-0.169765,0.158158]
2025-06-07T23:59:04.049Z,1749340744.049 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:04.049Z,1749340744.049 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:04.066Z,1749340744.066 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:04.066Z,1749340744.066 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:04.069Z,1749340744.069 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.022836
2025-06-07T23:59:04.170Z,1749340744.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 3.531838 s,
      deltaX: 2.200000 m,
      approachRate: 0.622905 m/s,
      rangeRepo size: 4

2025-06-07T23:59:04.184Z,1749340744.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.344557 m,
      bearing: 128.452912 deg,
      lat: 36.905933 deg,
      lon: -122.115992 deg,
      deltaT: 7.058494 s,
      deltaX: 3.871003 m,
      approachRate: 0.548418 m/s,
      posRepo size: 4

2025-06-07T23:59:04.185Z,1749340744.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.40 m.
2025-06-07T23:59:04.286Z,1749340744.286 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.236049
2025-06-07T23:59:04.534Z,1749340744.534 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.488002
2025-06-07T23:59:04.784Z,1749340744.784 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.737759
2025-06-07T23:59:04.927Z,1749340744.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:59:05.036Z,1749340745.036 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.989727
2025-06-07T23:59:05.295Z,1749340745.295 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.248188
2025-06-07T23:59:05.544Z,1749340745.544 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.497747
2025-06-07T23:59:05.797Z,1749340745.797 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.750645
2025-06-07T23:59:06.048Z,1749340746.048 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.001727
2025-06-07T23:59:06.303Z,1749340746.303 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.256220
2025-06-07T23:59:06.552Z,1749340746.552 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.505854
2025-06-07T23:59:06.805Z,1749340746.805 [DAT](INFO): DAT read: Rx Time:23:59:06.0450

2025-06-07T23:59:06.805Z,1749340746.805 [DAT](INFO): Rx dataTimestamp_ set to:1749340746.804913
2025-06-07T23:59:06.806Z,1749340746.806 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.759370
2025-06-07T23:59:06.973Z,1749340746.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-07T23:59:07.057Z,1749340747.057 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.010559
2025-06-07T23:59:07.344Z,1749340747.344 [DAT](INFO): DAT read: 23:59:06.0450 LVL= 19536, 19153, 20546, 24995, AGC= 57, IDX= 451, 0.48,-1.713, 0.485,-1.543,-0.745, PHS=-0.880, 1.277,-0.801, RAW= 328.1,   3.9, CAL= 330.4,   5.4, ROT= 179.6,  -5.4

2025-06-07T23:59:07.347Z,1749340747.347 [DAT](INFO): got valid direction response:
 23:59:06.0450 LVL= 19536, 19153, 20546, 24995, AGC= 57, IDX= 451, 0.48,-1.713, 0.485,-1.543,-0.745, PHS=-0.880, 1.277,-0.801, RAW= 328.1,   3.9, CAL= 330.4,   5.4, ROT= 179.6,  -5.4

2025-06-07T23:59:07.348Z,1749340747.348 [DAT](INFO): DAT read: Bearing 179.6,  -5.4 (Local)

2025-06-07T23:59:07.348Z,1749340747.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.6,  -5.4 (Local)

2025-06-07T23:59:07.349Z,1749340747.349 [DAT](INFO): DAT read: Range 10 to 50 : 9.7 m  (Round-trip  13.0 ms) speed -0.7 m/s

2025-06-07T23:59:07.350Z,1749340747.350 [DAT](INFO): DAT read: user:1993>

2025-06-07T23:59:07.379Z,1749340747.379 [DAT](INFO): DAT read: Tx time:23:59:07.1278

2025-06-07T23:59:07.379Z,1749340747.379 [DAT](INFO): Ping request sent.
2025-06-07T23:59:07.380Z,1749340747.380 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:07.380Z,1749340747.380 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-07T23:59:07.381Z,1749340747.381 [DAT](INFO): direction in FSK: [-0.995538,0.006950,0.094108]
2025-06-07T23:59:07.381Z,1749340747.381 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:07.381Z,1749340747.381 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:07.397Z,1749340747.397 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:07.397Z,1749340747.397 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:07.409Z,1749340747.409 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.029355
2025-06-07T23:59:07.508Z,1749340747.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.700000 m,
      deltaT: 3.282472 s,
      deltaX: 2.300000 m,
      approachRate: 0.700691 m/s,
      rangeRepo size: 4

2025-06-07T23:59:07.510Z,1749340747.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.627748 m,
      bearing: 132.578547 deg,
      lat: 36.905928 deg,
      lon: -122.115988 deg,
      deltaT: 3.282472 s,
      deltaX: 2.283191 m,
      approachRate: 0.695571 m/s,
      posRepo size: 4

2025-06-07T23:59:07.511Z,1749340747.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 9.70 m. Rolling out.
2025-06-07T23:59:07.515Z,1749340747.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-06-07T23:59:07.561Z,1749340747.561 [DAT](INFO): DAT read: TxSync time:23:59:07.1270

2025-06-07T23:59:07.562Z,1749340747.562 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.182674
2025-06-07T23:59:07.684Z,1749340747.684 [DockingStepper](INFO): Changing to mode: 1
2025-06-07T23:59:07.684Z,1749340747.684 [DockingStepper](INFO): Standby mode.
2025-06-07T23:59:07.747Z,1749340747.747 [DockingStepper](INFO): Commanding positive:54414
2025-06-07T23:59:07.812Z,1749340747.812 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.432486
2025-06-07T23:59:07.888Z,1749340747.888 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-07T23:59:07.889Z,1749340747.889 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-07T23:59:07.889Z,1749340747.889 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-07T23:59:07.890Z,1749340747.890 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 9.700000 m (mode  5.000000 count ).
2025-06-07T23:59:07.890Z,1749340747.890 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-07T23:59:07.890Z,1749340747.890 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-07T23:59:07.891Z,1749340747.891 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-07T23:59:07.891Z,1749340747.891 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-07T23:59:07.892Z,1749340747.892 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-07T23:59:07.893Z,1749340747.893 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  9.700000 m (mode  5.000000 count ).
2025-06-07T23:59:07.893Z,1749340747.893 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-07T23:59:07.893Z,1749340747.893 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-07T23:59:07.911Z,1749340747.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.63 m.
2025-06-07T23:59:08.065Z,1749340748.065 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.684921
2025-06-07T23:59:08.278Z,1749340748.278 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-07T23:59:08.279Z,1749340748.279 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-07T23:59:08.279Z,1749340748.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-07T23:59:08.279Z,1749340748.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-07T23:59:08.281Z,1749340748.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.63 m.
2025-06-07T23:59:08.319Z,1749340748.319 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.939059
2025-06-07T23:59:08.568Z,1749340748.568 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.188454
2025-06-07T23:59:08.702Z,1749340748.702 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-07T23:59:08.702Z,1749340748.702 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-07T23:59:08.703Z,1749340748.703 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-07T23:59:08.703Z,1749340748.703 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-07T23:59:08.705Z,1749340748.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.63 m.
2025-06-07T23:59:08.820Z,1749340748.820 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.440501
2025-06-07T23:59:09.072Z,1749340749.072 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.692680
2025-06-07T23:59:09.080Z,1749340749.080 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-07T23:59:09.080Z,1749340749.080 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-07T23:59:09.080Z,1749340749.080 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-07T23:59:09.080Z,1749340749.080 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-07T23:59:09.081Z,1749340749.081 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-07T23:59:09.081Z,1749340749.081 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-07T23:59:09.081Z,1749340749.081 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-07T23:59:09.081Z,1749340749.081 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-07T23:59:09.084Z,1749340749.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.63 m.
2025-06-07T23:59:09.328Z,1749340749.328 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.947354
2025-06-07T23:59:09.508Z,1749340749.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.63 m.
2025-06-07T23:59:09.576Z,1749340749.576 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.196675
2025-06-07T23:59:09.828Z,1749340749.828 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.448507
2025-06-07T23:59:09.902Z,1749340749.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.63 m.
2025-06-07T23:59:10.080Z,1749340750.080 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.700489
2025-06-07T23:59:10.312Z,1749340750.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.63 m.
2025-06-07T23:59:10.333Z,1749340750.333 [DAT](INFO): DAT read: Rx Time:23:59:09.5478

2025-06-07T23:59:10.334Z,1749340750.334 [DAT](INFO): Rx dataTimestamp_ set to:1749340750.333737
2025-06-07T23:59:10.336Z,1749340750.336 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.956270
2025-06-07T23:59:10.584Z,1749340750.584 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.204660
2025-06-07T23:59:10.716Z,1749340750.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.63 m.
2025-06-07T23:59:10.843Z,1749340750.843 [DAT](INFO): DAT read: 23:59:09.5479 LVL= 22688, 20913, 28978, 32755, AGC= 57, IDX= 446, 0.43,-2.880,-0.880,-2.866,-2.089, PHS=-0.704, 1.256,-0.780, RAW= 331.9,   2.3, CAL= 333.7,   3.0, ROT= 176.3,  -3.0

2025-06-07T23:59:10.845Z,1749340750.845 [DAT](INFO): got valid direction response:
 23:59:09.5479 LVL= 22688, 20913, 28978, 32755, AGC= 57, IDX= 446, 0.43,-2.880,-0.880,-2.866,-2.089, PHS=-0.704, 1.256,-0.780, RAW= 331.9,   2.3, CAL= 333.7,   3.0, ROT= 176.3,  -3.0

2025-06-07T23:59:10.846Z,1749340750.846 [DAT](INFO): DAT read: Bearing 176.3,  -3.0 (Local)

2025-06-07T23:59:10.847Z,1749340750.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.3,  -3.0 (Local)

2025-06-07T23:59:10.850Z,1749340750.850 [DAT](INFO): DAT read: Range 10 to 50 : 11.9 m  (Round-trip  15.9 ms) speed -0.6 m/s

2025-06-07T23:59:10.851Z,1749340750.851 [DAT](INFO): DAT read: user:1994>

2025-06-07T23:59:10.856Z,1749340750.856 [DAT](INFO): DAT read: Tx time:23:59:10.6279

2025-06-07T23:59:10.856Z,1749340750.856 [DAT](INFO): Ping request sent.
2025-06-07T23:59:10.856Z,1749340750.856 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:10.857Z,1749340750.857 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-07T23:59:10.857Z,1749340750.857 [DAT](INFO): direction in FSK: [-0.996548,0.064444,0.052336]
2025-06-07T23:59:10.858Z,1749340750.858 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:10.858Z,1749340750.858 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:10.874Z,1749340750.874 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:10.874Z,1749340750.874 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:10.877Z,1749340750.877 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.021247
2025-06-07T23:59:11.088Z,1749340751.088 [DAT](INFO): DAT read: TxSync time:23:59:10.6271

2025-06-07T23:59:11.089Z,1749340751.089 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.232685
2025-06-07T23:59:11.110Z,1749340751.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 3.525666 s,
      deltaX: 2.200000 m,
      approachRate: 0.623996 m/s,
      rangeRepo size: 4

2025-06-07T23:59:11.113Z,1749340751.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.811011 m,
      bearing: 136.487992 deg,
      lat: 36.905928 deg,
      lon: -122.115988 deg,
      deltaT: 3.525666 s,
      deltaX: 2.183264 m,
      approachRate: 0.619249 m/s,
      posRepo size: 4

2025-06-07T23:59:11.113Z,1749340751.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.81 m.
2025-06-07T23:59:11.343Z,1749340751.343 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.486189
2025-06-07T23:59:11.591Z,1749340751.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.81 m.
2025-06-07T23:59:11.592Z,1749340751.592 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.735992
2025-06-07T23:59:11.844Z,1749340751.844 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.987901
2025-06-07T23:59:11.917Z,1749340751.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.81 m.
2025-06-07T23:59:12.096Z,1749340752.096 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.240035
2025-06-07T23:59:12.327Z,1749340752.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.81 m.
2025-06-07T23:59:12.352Z,1749340752.352 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.495676
2025-06-07T23:59:12.601Z,1749340752.601 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.744598
2025-06-07T23:59:12.768Z,1749340752.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.81 m.
2025-06-07T23:59:12.852Z,1749340752.852 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.996052
2025-06-07T23:59:13.105Z,1749340753.105 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.248218
2025-06-07T23:59:13.179Z,1749340753.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.81 m.
2025-06-07T23:59:13.356Z,1749340753.356 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.499826
2025-06-07T23:59:13.608Z,1749340753.608 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.751967
2025-06-07T23:59:13.627Z,1749340753.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.81 m.
2025-06-07T23:59:13.860Z,1749340753.860 [DAT](INFO): DAT read: Rx Time:23:59:13.0514

2025-06-07T23:59:13.861Z,1749340753.861 [DAT](INFO): Rx dataTimestamp_ set to:1749340753.860487
2025-06-07T23:59:13.861Z,1749340753.861 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.005115
2025-06-07T23:59:14.061Z,1749340754.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.81 m.
2025-06-07T23:59:14.113Z,1749340754.113 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.256699
2025-06-07T23:59:14.370Z,1749340754.370 [DAT](INFO): DAT read: 23:59:13.0514 LVL= 19680, 32753, 26642, 32755, AGC= 64, IDX= 467, 0.02,-1.571, 0.585,-1.555,-0.851, PHS=-0.632, 1.483,-0.707, RAW= 331.7,  -1.4, CAL= 333.5,  -2.2, ROT= 176.5,   2.2

2025-06-07T23:59:14.372Z,1749340754.372 [DAT](INFO): got valid direction response:
 23:59:13.0514 LVL= 19680, 32753, 26642, 32755, AGC= 64, IDX= 467, 0.02,-1.571, 0.585,-1.555,-0.851, PHS=-0.632, 1.483,-0.707, RAW= 331.7,  -1.4, CAL= 333.5,  -2.2, ROT= 176.5,   2.2

2025-06-07T23:59:14.373Z,1749340754.373 [DAT](INFO): DAT read: Bearing 176.5,   2.2 (Local)

2025-06-07T23:59:14.373Z,1749340754.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5,   2.2 (Local)

2025-06-07T23:59:14.379Z,1749340754.379 [DAT](INFO): DAT read: Range 10 to 50 : 14.5 m  (Round-trip  19.4 ms) speed -0.5 m/s

2025-06-07T23:59:14.381Z,1749340754.381 [DAT](INFO): DAT read: user:1995>

2025-06-07T23:59:14.392Z,1749340754.392 [DAT](INFO): DAT read: Tx time:23:59:14.1779

2025-06-07T23:59:14.392Z,1749340754.392 [DAT](INFO): Ping request sent.
2025-06-07T23:59:14.392Z,1749340754.392 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:14.392Z,1749340754.392 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-07T23:59:14.393Z,1749340754.393 [DAT](INFO): direction in FSK: [-0.997399,0.061004,-0.038388]
2025-06-07T23:59:14.394Z,1749340754.394 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:14.394Z,1749340754.394 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:14.450Z,1749340754.450 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:14.462Z,1749340754.462 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:14.478Z,1749340754.478 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.085886
2025-06-07T23:59:14.616Z,1749340754.616 [DAT](INFO): DAT read: TxSync time:23:59:14.1771

2025-06-07T23:59:14.617Z,1749340754.617 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.224974
2025-06-07T23:59:14.641Z,1749340754.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.500000 m,
      deltaT: 3.527924 s,
      deltaX: 2.600000 m,
      approachRate: 0.736977 m/s,
      rangeRepo size: 4

2025-06-07T23:59:14.648Z,1749340754.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.390449 m,
      bearing: 134.397868 deg,
      lat: 36.905928 deg,
      lon: -122.115990 deg,
      deltaT: 3.527924 s,
      deltaX: 2.579437 m,
      approachRate: 0.731149 m/s,
      posRepo size: 4

2025-06-07T23:59:14.648Z,1749340754.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:14.870Z,1749340754.870 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.477484
2025-06-07T23:59:14.944Z,1749340754.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:15.120Z,1749340755.120 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.727963
2025-06-07T23:59:15.348Z,1749340755.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:15.372Z,1749340755.372 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.980015
2025-06-07T23:59:15.624Z,1749340755.624 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.231933
2025-06-07T23:59:15.775Z,1749340755.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:15.877Z,1749340755.877 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.485284
2025-06-07T23:59:16.128Z,1749340756.128 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.735950
2025-06-07T23:59:16.146Z,1749340756.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:16.381Z,1749340756.381 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.988256
2025-06-07T23:59:16.571Z,1749340756.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:16.633Z,1749340756.633 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.240856
2025-06-07T23:59:16.884Z,1749340756.884 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.491945
2025-06-07T23:59:16.981Z,1749340756.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:17.137Z,1749340757.137 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.743961
2025-06-07T23:59:17.352Z,1749340757.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:17.391Z,1749340757.391 [DAT](INFO): DAT read: Rx Time:23:59:16.6052

2025-06-07T23:59:17.392Z,1749340757.392 [DAT](INFO): Rx dataTimestamp_ set to:1749340757.391618
2025-06-07T23:59:17.392Z,1749340757.392 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.000310
2025-06-07T23:59:17.640Z,1749340757.640 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.247998
2025-06-07T23:59:17.809Z,1749340757.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:17.896Z,1749340757.896 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m  (Round-trip  23.2 ms) speed -0.6 m/s

2025-06-07T23:59:17.897Z,1749340757.897 [DAT](INFO): DAT read: user:1996>

2025-06-07T23:59:17.897Z,1749340757.897 [DAT](INFO): DAT read: Tx time:23:59:17.7279

2025-06-07T23:59:17.898Z,1749340757.898 [DAT](INFO): Ping request sent.
2025-06-07T23:59:17.898Z,1749340757.898 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:17.898Z,1749340757.898 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-06-07T23:59:17.898Z,1749340757.898 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:17.899Z,1749340757.899 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:17.900Z,1749340757.900 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.002426
2025-06-07T23:59:18.148Z,1749340758.148 [DAT](INFO): DAT read: TxSync time:23:59:17.7271

2025-06-07T23:59:18.149Z,1749340758.149 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.251326
2025-06-07T23:59:18.187Z,1749340758.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 3.530546 s,
      deltaX: 2.900000 m,
      approachRate: 0.821403 m/s,
      rangeRepo size: 4

2025-06-07T23:59:18.188Z,1749340758.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:18.401Z,1749340758.401 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.503060
2025-06-07T23:59:18.602Z,1749340758.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:18.653Z,1749340758.653 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.755000
2025-06-07T23:59:18.904Z,1749340758.904 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.006482
2025-06-07T23:59:18.982Z,1749340758.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:19.156Z,1749340759.156 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.258501
2025-06-07T23:59:19.388Z,1749340759.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:19.408Z,1749340759.408 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.510362
2025-06-07T23:59:19.664Z,1749340759.664 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.766280
2025-06-07T23:59:19.803Z,1749340759.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:19.916Z,1749340759.916 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.018473
2025-06-07T23:59:20.168Z,1749340760.168 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.270808
2025-06-07T23:59:20.193Z,1749340760.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:20.420Z,1749340760.420 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.522487
2025-06-07T23:59:20.628Z,1749340760.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:20.673Z,1749340760.673 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.775160
2025-06-07T23:59:20.924Z,1749340760.924 [DAT](INFO): DAT read: Rx Time:23:59:20.1593

2025-06-07T23:59:20.925Z,1749340760.925 [DAT](INFO): Rx dataTimestamp_ set to:1749340760.924378
2025-06-07T23:59:20.925Z,1749340760.925 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.027532
2025-06-07T23:59:21.029Z,1749340761.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-07T23:59:21.176Z,1749340761.176 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.278466
2025-06-07T23:59:21.442Z,1749340761.442 [DAT](INFO): DAT read: 23:59:20.1593 LVL= 30384, 26657, 31362, 32755, AGC= 66, IDX= 469,-0.15,-2.701,-1.197,-2.853,-2.211, PHS=-0.403, 1.061,-0.645, RAW= 337.6,  -0.2, CAL= 338.9,  -0.7, ROT= 171.1,   0.7

2025-06-07T23:59:21.443Z,1749340761.443 [DAT](INFO): got valid direction response:
 23:59:20.1593 LVL= 30384, 26657, 31362, 32755, AGC= 66, IDX= 469,-0.15,-2.701,-1.197,-2.853,-2.211, PHS=-0.403, 1.061,-0.645, RAW= 337.6,  -0.2, CAL= 338.9,  -0.7, ROT= 171.1,   0.7

2025-06-07T23:59:21.444Z,1749340761.444 [DAT](INFO): DAT read: Bearing 171.1,   0.7 (Local)

2025-06-07T23:59:21.444Z,1749340761.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.1,   0.7 (Local)

2025-06-07T23:59:21.446Z,1749340761.446 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m  (Round-trip  27.3 ms) speed -0.7 m/s

2025-06-07T23:59:21.446Z,1749340761.446 [DAT](INFO): DAT read: user:1997>

2025-06-07T23:59:21.447Z,1749340761.447 [DAT](INFO): DAT read: Tx time:23:59:21.2779

2025-06-07T23:59:21.448Z,1749340761.448 [DAT](INFO): Ping request sent.
2025-06-07T23:59:21.448Z,1749340761.448 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:21.448Z,1749340761.448 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-07T23:59:21.449Z,1749340761.449 [DAT](INFO): direction in FSK: [-0.987886,0.154699,-0.012217]
2025-06-07T23:59:21.449Z,1749340761.449 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:21.450Z,1749340761.450 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:21.453Z,1749340761.453 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:21.453Z,1749340761.453 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:21.460Z,1749340761.460 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.012454
2025-06-07T23:59:21.567Z,1749340761.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 3.536198 s,
      deltaX: 3.000000 m,
      approachRate: 0.848369 m/s,
      rangeRepo size: 4

2025-06-07T23:59:21.569Z,1749340761.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.244057 m,
      bearing: 129.273750 deg,
      lat: 36.905930 deg,
      lon: -122.115987 deg,
      deltaT: 7.066744 s,
      deltaX: 5.853608 m,
      approachRate: 0.828332 m/s,
      posRepo size: 4

2025-06-07T23:59:21.570Z,1749340761.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:21.681Z,1749340761.681 [DAT](INFO): DAT read: TxSync time:23:59:21.2771

2025-06-07T23:59:21.683Z,1749340761.683 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.234372
2025-06-07T23:59:21.932Z,1749340761.932 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.484471
2025-06-07T23:59:21.957Z,1749340761.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:22.184Z,1749340762.184 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.736342
2025-06-07T23:59:22.301Z,1749340762.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:22.436Z,1749340762.436 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.988300
2025-06-07T23:59:22.689Z,1749340762.689 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.241176
2025-06-07T23:59:22.797Z,1749340762.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:22.941Z,1749340762.941 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.493029
2025-06-07T23:59:23.141Z,1749340763.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:23.192Z,1749340763.192 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.744386
2025-06-07T23:59:23.444Z,1749340763.444 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.996352
2025-06-07T23:59:23.638Z,1749340763.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:23.697Z,1749340763.697 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.248696
2025-06-07T23:59:23.949Z,1749340763.949 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.500993
2025-06-07T23:59:24.000Z,1749340764.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:24.202Z,1749340764.202 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.754075
2025-06-07T23:59:24.367Z,1749340764.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:24.453Z,1749340764.453 [DAT](INFO): DAT read: Rx Time:23:59:23.7139

2025-06-07T23:59:24.453Z,1749340764.453 [DAT](INFO): Rx dataTimestamp_ set to:1749340764.452843
2025-06-07T23:59:24.454Z,1749340764.454 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.005858
2025-06-07T23:59:24.704Z,1749340764.704 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.256269
2025-06-07T23:59:24.818Z,1749340764.818 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060716004177,35.0, +10.6,   0.0,1492

2025-06-07T23:59:24.834Z,1749340764.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:24.959Z,1749340764.959 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.510466
2025-06-07T23:59:25.195Z,1749340765.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.24 m.
2025-06-07T23:59:25.214Z,1749340765.214 [DAT](INFO): DAT read: 23:59:23.7139 LVL= 32752, 22513, 27282, 32755, AGC= 66, IDX= 467,-0.49,-0.952, 0.643,-1.028,-0.445, PHS=-0.419, 1.135,-0.585, RAW= 335.0,  -1.6, CAL= 336.7,  -2.6, ROT= 173.3,   2.6

2025-06-07T23:59:25.216Z,1749340765.216 [DAT](INFO): got valid direction response:
 23:59:23.7139 LVL= 32752, 22513, 27282, 32755, AGC= 66, IDX= 467,-0.49,-0.952, 0.643,-1.028,-0.445, PHS=-0.419, 1.135,-0.585, RAW= 335.0,  -1.6, CAL= 336.7,  -2.6, ROT= 173.3,   2.6

2025-06-07T23:59:25.217Z,1749340765.217 [DAT](INFO): DAT read: Bearing 173.3,   2.6 (Local)

2025-06-07T23:59:25.217Z,1749340765.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.3,   2.6 (Local)

2025-06-07T23:59:25.219Z,1749340765.219 [DAT](INFO): DAT read: Range 10 to 50 : 23.8 m  (Round-trip  31.8 ms) speed -0.8 m/s

2025-06-07T23:59:25.219Z,1749340765.219 [DAT](INFO): DAT read: user:1998>

2025-06-07T23:59:25.220Z,1749340765.220 [DAT](INFO): DAT read: Tx time:23:59:24.8295

2025-06-07T23:59:25.221Z,1749340765.221 [DAT](INFO): Ping request sent.
2025-06-07T23:59:25.221Z,1749340765.221 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:25.221Z,1749340765.221 [DAT](INFO): DAT read: TxSync time:23:59:24.8288

2025-06-07T23:59:25.222Z,1749340765.222 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-07T23:59:25.223Z,1749340765.223 [DAT](INFO): direction in FSK: [-0.992148,0.116551,-0.045363]
2025-06-07T23:59:25.231Z,1749340765.231 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:25.231Z,1749340765.231 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:25.234Z,1749340765.234 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:25.235Z,1749340765.235 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:25.246Z,1749340765.246 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.025368
2025-06-07T23:59:25.461Z,1749340765.461 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.240144
2025-06-07T23:59:25.674Z,1749340765.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.799999 m,
      deltaT: 3.777311 s,
      deltaX: 3.400000 m,
      approachRate: 0.900111 m/s,
      rangeRepo size: 4

2025-06-07T23:59:25.680Z,1749340765.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.616465 m,
      bearing: 131.276945 deg,
      lat: 36.905930 deg,
      lon: -122.115987 deg,
      deltaT: 3.777311 s,
      deltaX: 3.372408 m,
      approachRate: 0.892807 m/s,
      posRepo size: 4

2025-06-07T23:59:25.680Z,1749340765.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.62 m.
2025-06-07T23:59:25.712Z,1749340765.712 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.491606
2025-06-07T23:59:25.965Z,1749340765.965 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.744051
2025-06-07T23:59:26.016Z,1749340766.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.62 m.
2025-06-07T23:59:26.092Z,1749340766.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:59:26.220Z,1749340766.220 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.999407
2025-06-07T23:59:26.380Z,1749340766.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.62 m.
2025-06-07T23:59:26.469Z,1749340766.469 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.247911
2025-06-07T23:59:26.720Z,1749340766.720 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.499415
2025-06-07T23:59:26.818Z,1749340766.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.62 m.
2025-06-07T23:59:26.973Z,1749340766.973 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.752119
2025-06-07T23:59:27.096Z,1749340767.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:59:27.187Z,1749340767.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.62 m.
2025-06-07T23:59:27.226Z,1749340767.226 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.005459
2025-06-07T23:59:27.476Z,1749340767.476 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.255366
2025-06-07T23:59:27.662Z,1749340767.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.62 m.
2025-06-07T23:59:27.729Z,1749340767.729 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.508443
2025-06-07T23:59:27.980Z,1749340767.980 [DAT](INFO): DAT read: Rx Time:23:59:27.2700

2025-06-07T23:59:27.981Z,1749340767.981 [DAT](INFO): Rx dataTimestamp_ set to:1749340767.980475
2025-06-07T23:59:27.981Z,1749340767.981 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.760642
2025-06-07T23:59:28.021Z,1749340768.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.62 m.
2025-06-07T23:59:28.232Z,1749340768.232 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.011406
2025-06-07T23:59:28.411Z,1749340768.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.62 m.
2025-06-07T23:59:28.488Z,1749340768.488 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.266124
2025-06-07T23:59:28.744Z,1749340768.744 [DAT](INFO): DAT read: 23:59:27.2700 LVL= 31856, 29841, 28402, 32755, AGC= 67, IDX= 465,-0.39,-1.098, 0.664,-1.139,-0.456, PHS=-0.554, 1.167,-0.686, RAW= 333.7,   0.8, CAL= 335.2,   0.8, ROT= 174.8,  -0.8

2025-06-07T23:59:28.745Z,1749340768.745 [DAT](INFO): got valid direction response:
 23:59:27.2700 LVL= 31856, 29841, 28402, 32755, AGC= 67, IDX= 465,-0.39,-1.098, 0.664,-1.139,-0.456, PHS=-0.554, 1.167,-0.686, RAW= 333.7,   0.8, CAL= 335.2,   0.8, ROT= 174.8,  -0.8

2025-06-07T23:59:28.746Z,1749340768.746 [DAT](INFO): DAT read: Bearing 174.8,  -0.8 (Local)

2025-06-07T23:59:28.747Z,1749340768.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.8,  -0.8 (Local)

2025-06-07T23:59:28.748Z,1749340768.748 [DAT](INFO): DAT read: Range 10 to 50 : 27.2 m  (Round-trip  36.3 ms) speed -0.4 m/s

2025-06-07T23:59:28.749Z,1749340768.749 [DAT](INFO): DAT read: user:1999>

2025-06-07T23:59:28.750Z,1749340768.750 [DAT](INFO): DAT read: Tx time:23:59:28.3780

2025-06-07T23:59:28.750Z,1749340768.750 [DAT](INFO): Ping request sent.
2025-06-07T23:59:28.750Z,1749340768.750 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:28.751Z,1749340768.751 [DAT](INFO): DAT read: TxSync time:23:59:28.3772

2025-06-07T23:59:28.752Z,1749340768.752 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-07T23:59:28.753Z,1749340768.753 [DAT](INFO): direction in FSK: [-0.995787,0.090624,0.013962]
2025-06-07T23:59:28.753Z,1749340768.753 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:28.753Z,1749340768.753 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:28.780Z,1749340768.780 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:28.781Z,1749340768.781 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:28.811Z,1749340768.811 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.044837
2025-06-07T23:59:28.941Z,1749340768.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 3.529390 s,
      deltaX: 3.400002 m,
      approachRate: 0.963340 m/s,
      rangeRepo size: 4

2025-06-07T23:59:28.949Z,1749340768.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.989412 m,
      bearing: 132.888109 deg,
      lat: 36.905940 deg,
      lon: -122.115982 deg,
      deltaT: 3.529390 s,
      deltaX: 3.372948 m,
      approachRate: 0.955674 m/s,
      posRepo size: 4

2025-06-07T23:59:28.950Z,1749340768.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:28.988Z,1749340768.988 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.238018
2025-06-07T23:59:29.240Z,1749340769.240 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.490062
2025-06-07T23:59:29.263Z,1749340769.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:29.494Z,1749340769.494 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.743259
2025-06-07T23:59:29.738Z,1749340769.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:29.744Z,1749340769.744 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.994013
2025-06-07T23:59:29.996Z,1749340769.996 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.246055
2025-06-07T23:59:30.065Z,1749340770.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:30.248Z,1749340770.248 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.498195
2025-06-07T23:59:30.467Z,1749340770.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:30.514Z,1749340770.514 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.763573
2025-06-07T23:59:30.764Z,1749340770.764 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.014192
2025-06-07T23:59:30.906Z,1749340770.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:31.016Z,1749340771.016 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.266018
2025-06-07T23:59:31.268Z,1749340771.268 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.518034
2025-06-07T23:59:31.270Z,1749340771.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:31.520Z,1749340771.520 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.769998
2025-06-07T23:59:31.726Z,1749340771.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:31.773Z,1749340771.773 [DAT](INFO): DAT read: Rx Time:23:59:30.8227

2025-06-07T23:59:31.774Z,1749340771.774 [DAT](INFO): Rx dataTimestamp_ set to:1749340771.773455
2025-06-07T23:59:31.775Z,1749340771.775 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.024470
2025-06-07T23:59:32.024Z,1749340772.024 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.273963
2025-06-07T23:59:32.156Z,1749340772.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-07T23:59:32.283Z,1749340772.283 [DAT](INFO): DAT read: 23:59:30.8227 LVL= 32752, 22241, 27778, 32755, AGC= 66, IDX= 476,-0.37,-0.097, 1.701,-0.204, 0.446, PHS=-0.455, 1.302,-0.653, RAW= 335.3,  -2.1, CAL= 336.9,  -3.2, ROT= 173.1,   3.2

2025-06-07T23:59:32.287Z,1749340772.287 [DAT](INFO): got valid direction response:
 23:59:30.8227 LVL= 32752, 22241, 27778, 32755, AGC= 66, IDX= 476,-0.37,-0.097, 1.701,-0.204, 0.446, PHS=-0.455, 1.302,-0.653, RAW= 335.3,  -2.1, CAL= 336.9,  -3.2, ROT= 173.1,   3.2

2025-06-07T23:59:32.288Z,1749340772.288 [DAT](INFO): DAT read: Bearing 173.1,   3.2 (Local)

2025-06-07T23:59:32.289Z,1749340772.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.1,   3.2 (Local)

2025-06-07T23:59:32.290Z,1749340772.290 [DAT](INFO): DAT read: Range 10 to 50 : 30.4 m  (Round-trip  40.6 ms) speed -0.7 m/s

2025-06-07T23:59:32.294Z,1749340772.294 [DAT](INFO): DAT read: user:2000>

2025-06-07T23:59:32.299Z,1749340772.299 [DAT](INFO): DAT read: Tx time:23:59:31.9280

2025-06-07T23:59:32.300Z,1749340772.300 [DAT](INFO): Ping request sent.
2025-06-07T23:59:32.300Z,1749340772.300 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:32.300Z,1749340772.300 [DAT](INFO): DAT read: TxSync time:23:59:31.9272

2025-06-07T23:59:32.301Z,1749340772.301 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-07T23:59:32.302Z,1749340772.302 [DAT](INFO): direction in FSK: [-0.991209,0.119949,-0.055822]
2025-06-07T23:59:32.302Z,1749340772.302 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:32.303Z,1749340772.303 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:32.306Z,1749340772.306 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:32.306Z,1749340772.306 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:32.346Z,1749340772.346 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.045917
2025-06-07T23:59:32.508Z,1749340772.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.400000 m,
      deltaT: 3.538488 s,
      deltaX: 3.199999 m,
      approachRate: 0.904341 m/s,
      rangeRepo size: 4

2025-06-07T23:59:32.510Z,1749340772.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.164932 m,
      bearing: 131.993784 deg,
      lat: 36.905945 deg,
      lon: -122.115982 deg,
      deltaT: 3.538488 s,
      deltaX: 3.175520 m,
      approachRate: 0.897423 m/s,
      posRepo size: 4

2025-06-07T23:59:32.511Z,1749340772.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:32.528Z,1749340772.528 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.228401
2025-06-07T23:59:32.780Z,1749340772.780 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.480226
2025-06-07T23:59:32.940Z,1749340772.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:33.032Z,1749340773.032 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.732324
2025-06-07T23:59:33.284Z,1749340773.284 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.984377
2025-06-07T23:59:33.312Z,1749340773.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:33.536Z,1749340773.536 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.236188
2025-06-07T23:59:33.777Z,1749340773.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:33.788Z,1749340773.788 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.488383
2025-06-07T23:59:34.040Z,1749340774.040 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.740299
2025-06-07T23:59:34.102Z,1749340774.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:34.292Z,1749340774.292 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.992247
2025-06-07T23:59:34.514Z,1749340774.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:34.545Z,1749340774.545 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.245048
2025-06-07T23:59:34.796Z,1749340774.796 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.496317
2025-06-07T23:59:34.933Z,1749340774.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:35.048Z,1749340775.048 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.748337
2025-06-07T23:59:35.300Z,1749340775.300 [DAT](INFO): DAT read: Rx Time:23:59:34.3770

2025-06-07T23:59:35.301Z,1749340775.301 [DAT](INFO): Rx dataTimestamp_ set to:1749340775.300638
2025-06-07T23:59:35.301Z,1749340775.301 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.001622
2025-06-07T23:59:35.315Z,1749340775.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:35.552Z,1749340775.552 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.252324
2025-06-07T23:59:35.786Z,1749340775.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.16 m.
2025-06-07T23:59:35.810Z,1749340775.810 [DAT](INFO): DAT read: 23:59:34.3770 LVL= 30496, 29809, 26322, 32755, AGC= 69, IDX= 472,-0.14, 0.999, 2.785, 0.957, 1.508, PHS=-0.421, 1.324,-0.554, RAW= 333.6,  -3.9, CAL= 335.6,  -5.5, ROT= 174.4,   5.5

2025-06-07T23:59:35.812Z,1749340775.812 [DAT](INFO): got valid direction response:
 23:59:34.3770 LVL= 30496, 29809, 26322, 32755, AGC= 69, IDX= 472,-0.14, 0.999, 2.785, 0.957, 1.508, PHS=-0.421, 1.324,-0.554, RAW= 333.6,  -3.9, CAL= 335.6,  -5.5, ROT= 174.4,   5.5

2025-06-07T23:59:35.813Z,1749340775.813 [DAT](INFO): DAT read: Bearing 174.4,   5.5 (Local)

2025-06-07T23:59:35.813Z,1749340775.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.4,   5.5 (Local)

2025-06-07T23:59:35.815Z,1749340775.815 [DAT](INFO): DAT read: Range 10 to 50 : 33.6 m  (Round-trip  44.9 ms) speed -0.8 m/s

2025-06-07T23:59:35.815Z,1749340775.815 [DAT](INFO): DAT read: user:2001>

2025-06-07T23:59:35.816Z,1749340775.816 [DAT](INFO): DAT read: Tx time:23:59:35.4780

2025-06-07T23:59:35.816Z,1749340775.816 [DAT](INFO): Ping request sent.
2025-06-07T23:59:35.816Z,1749340775.816 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:35.817Z,1749340775.817 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-07T23:59:35.818Z,1749340775.818 [DAT](INFO): direction in FSK: [-0.990646,0.097134,-0.095846]
2025-06-07T23:59:35.818Z,1749340775.818 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:35.818Z,1749340775.818 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:35.826Z,1749340775.826 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:35.826Z,1749340775.826 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:35.845Z,1749340775.845 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.028551
2025-06-07T23:59:36.056Z,1749340776.056 [DAT](INFO): DAT read: TxSync time:23:59:35.4772

2025-06-07T23:59:36.057Z,1749340776.057 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.240643
2025-06-07T23:59:36.164Z,1749340776.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.599998 m,
      deltaT: 3.528143 s,
      deltaX: 3.199999 m,
      approachRate: 0.906992 m/s,
      rangeRepo size: 4

2025-06-07T23:59:36.166Z,1749340776.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.339455 m,
      bearing: 132.862688 deg,
      lat: 36.905945 deg,
      lon: -122.115982 deg,
      deltaT: 3.528143 s,
      deltaX: 3.174522 m,
      approachRate: 0.899771 m/s,
      posRepo size: 4

2025-06-07T23:59:36.166Z,1749340776.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-06-07T23:59:36.308Z,1749340776.308 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.491845
2025-06-07T23:59:36.540Z,1749340776.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-06-07T23:59:36.560Z,1749340776.560 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.743750
2025-06-07T23:59:36.812Z,1749340776.812 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.995624
2025-06-07T23:59:36.976Z,1749340776.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-06-07T23:59:37.065Z,1749340777.065 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.248443
2025-06-07T23:59:37.316Z,1749340777.316 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.499616
2025-06-07T23:59:37.335Z,1749340777.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-06-07T23:59:37.568Z,1749340777.568 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.751590
2025-06-07T23:59:37.813Z,1749340777.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-06-07T23:59:37.820Z,1749340777.820 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.003829
2025-06-07T23:59:38.072Z,1749340778.072 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.255698
2025-06-07T23:59:38.324Z,1749340778.324 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.507666
2025-06-07T23:59:38.339Z,1749340778.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-06-07T23:59:38.576Z,1749340778.576 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.759696
2025-06-07T23:59:38.689Z,1749340778.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-06-07T23:59:38.828Z,1749340778.828 [DAT](INFO): DAT read: Rx Time:23:59:37.9318

2025-06-07T23:59:38.829Z,1749340778.829 [DAT](INFO): Rx dataTimestamp_ set to:1749340778.828474
2025-06-07T23:59:38.829Z,1749340778.829 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.012820
2025-06-07T23:59:39.080Z,1749340779.080 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.263686
2025-06-07T23:59:39.142Z,1749340779.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.34 m.
2025-06-07T23:59:39.338Z,1749340779.338 [DAT](INFO): DAT read: 23:59:37.9318 LVL= 29872, 28561, 26594, 32755, AGC= 70, IDX= 472,-0.42, 1.702,-2.697, 1.719, 2.230, PHS=-0.440, 1.403,-0.514, RAW= 331.9,  -4.8, CAL= 334.2,  -6.7, ROT= 175.8,   6.7

2025-06-07T23:59:39.339Z,1749340779.339 [DAT](INFO): got valid direction response:
 23:59:37.9318 LVL= 29872, 28561, 26594, 32755, AGC= 70, IDX= 472,-0.42, 1.702,-2.697, 1.719, 2.230, PHS=-0.440, 1.403,-0.514, RAW= 331.9,  -4.8, CAL= 334.2,  -6.7, ROT= 175.8,   6.7

2025-06-07T23:59:39.340Z,1749340779.340 [DAT](INFO): DAT read: Bearing 175.8,   6.7 (Local)

2025-06-07T23:59:39.340Z,1749340779.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.8,   6.7 (Local)

2025-06-07T23:59:39.342Z,1749340779.342 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m  (Round-trip  49.6 ms) speed -0.7 m/s

2025-06-07T23:59:39.343Z,1749340779.343 [DAT](INFO): DAT read: user:2002>

2025-06-07T23:59:39.344Z,1749340779.344 [DAT](INFO): DAT read: Tx time:23:59:39.0281

2025-06-07T23:59:39.344Z,1749340779.344 [DAT](INFO): Ping request sent.
2025-06-07T23:59:39.344Z,1749340779.344 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:39.344Z,1749340779.344 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-07T23:59:39.345Z,1749340779.345 [DAT](INFO): direction in FSK: [-0.990503,0.072738,-0.116671]
2025-06-07T23:59:39.345Z,1749340779.345 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:39.346Z,1749340779.346 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:39.349Z,1749340779.349 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:39.349Z,1749340779.349 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:39.353Z,1749340779.353 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.008720
2025-06-07T23:59:39.550Z,1749340779.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 3.527920 s,
      deltaX: 3.600002 m,
      approachRate: 1.020432 m/s,
      rangeRepo size: 4

2025-06-07T23:59:39.564Z,1749340779.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.911041 m,
      bearing: 134.275601 deg,
      lat: 36.905945 deg,
      lon: -122.115982 deg,
      deltaT: 3.527920 s,
      deltaX: 3.571587 m,
      approachRate: 1.012377 m/s,
      posRepo size: 4

2025-06-07T23:59:39.573Z,1749340779.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-07T23:59:39.584Z,1749340779.584 [DAT](INFO): DAT read: TxSync time:23:59:39.0273

2025-06-07T23:59:39.585Z,1749340779.585 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.241171
2025-06-07T23:59:39.836Z,1749340779.836 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.492253
2025-06-07T23:59:39.947Z,1749340779.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-07T23:59:40.088Z,1749340780.088 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.744354
2025-06-07T23:59:40.310Z,1749340780.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-07T23:59:40.341Z,1749340780.341 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.996968
2025-06-07T23:59:40.592Z,1749340780.592 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.248179
2025-06-07T23:59:40.708Z,1749340780.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-07T23:59:40.847Z,1749340780.847 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.502324
2025-06-07T23:59:41.096Z,1749340781.096 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.752269
2025-06-07T23:59:41.174Z,1749340781.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-07T23:59:41.349Z,1749340781.349 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.005109
2025-06-07T23:59:41.600Z,1749340781.600 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.256353
2025-06-07T23:59:41.634Z,1749340781.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-07T23:59:41.855Z,1749340781.855 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.510464
2025-06-07T23:59:42.104Z,1749340782.104 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.760309
2025-06-07T23:59:42.113Z,1749340782.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-07T23:59:42.356Z,1749340782.356 [DAT](INFO): DAT read: Rx Time:23:59:41.4864

2025-06-07T23:59:42.357Z,1749340782.357 [DAT](INFO): Rx dataTimestamp_ set to:1749340782.356429
2025-06-07T23:59:42.357Z,1749340782.357 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.013336
2025-06-07T23:59:42.468Z,1749340782.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-07T23:59:42.608Z,1749340782.608 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.264165
2025-06-07T23:59:42.884Z,1749340782.884 [DAT](INFO): DAT read: 23:59:41.4864 LVL= 28208, 20529, 25842, 32755, AGC= 66, IDX= 471,-0.02, 2.687,-1.666, 2.730,-3.112, PHS=-0.397, 1.493,-0.445, RAW= 331.2,  -6.9, CAL= 333.8,  -9.4, ROT= 176.2,   9.4

2025-06-07T23:59:42.886Z,1749340782.886 [DAT](INFO): got valid direction response:
 23:59:41.4864 LVL= 28208, 20529, 25842, 32755, AGC= 66, IDX= 471,-0.02, 2.687,-1.666, 2.730,-3.112, PHS=-0.397, 1.493,-0.445, RAW= 331.2,  -6.9, CAL= 333.8,  -9.4, ROT= 176.2,   9.4

2025-06-07T23:59:42.895Z,1749340782.895 [DAT](INFO): DAT read: Bearing 176.2,   9.4 (Local)

2025-06-07T23:59:42.896Z,1749340782.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.2,   9.4 (Local)

2025-06-07T23:59:42.897Z,1749340782.897 [DAT](INFO): DAT read: Range 10 to 50 : 40.5 m  (Round-trip  54.1 ms) speed -0.8 m/s

2025-06-07T23:59:42.898Z,1749340782.898 [DAT](INFO): DAT read: user:2003>

2025-06-07T23:59:42.898Z,1749340782.898 [DAT](INFO): DAT read: Tx time:23:59:42.5781

2025-06-07T23:59:42.899Z,1749340782.899 [DAT](INFO): Ping request sent.
2025-06-07T23:59:42.899Z,1749340782.899 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:42.903Z,1749340782.903 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-07T23:59:42.904Z,1749340782.904 [DAT](INFO): direction in FSK: [-0.984403,0.065384,-0.163326]
2025-06-07T23:59:42.905Z,1749340782.905 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:42.905Z,1749340782.905 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:42.912Z,1749340782.912 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:42.912Z,1749340782.912 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:42.920Z,1749340782.920 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.020928
2025-06-07T23:59:43.033Z,1749340783.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.529208 s,
      deltaX: 3.299999 m,
      approachRate: 0.935054 m/s,
      rangeRepo size: 4

2025-06-07T23:59:43.045Z,1749340783.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.185329 m,
      bearing: 135.323446 deg,
      lat: 36.905942 deg,
      lon: -122.115984 deg,
      deltaT: 3.529208 s,
      deltaX: 3.274288 m,
      approachRate: 0.927769 m/s,
      posRepo size: 4

2025-06-07T23:59:43.046Z,1749340783.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:43.113Z,1749340783.113 [DAT](INFO): DAT read: TxSync time:23:59:42.5773

2025-06-07T23:59:43.114Z,1749340783.114 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.215431
2025-06-07T23:59:43.350Z,1749340783.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:43.364Z,1749340783.364 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.465334
2025-06-07T23:59:43.616Z,1749340783.616 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.717219
2025-06-07T23:59:43.727Z,1749340783.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:43.870Z,1749340783.870 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.971221
2025-06-07T23:59:44.120Z,1749340784.120 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.221317
2025-06-07T23:59:44.187Z,1749340784.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:44.376Z,1749340784.376 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.476543
2025-06-07T23:59:44.544Z,1749340784.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:44.625Z,1749340784.625 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.725765
2025-06-07T23:59:44.878Z,1749340784.878 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.979025
2025-06-07T23:59:44.985Z,1749340784.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:45.128Z,1749340785.128 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.229204
2025-06-07T23:59:45.372Z,1749340785.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:45.380Z,1749340785.380 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.481240
2025-06-07T23:59:45.632Z,1749340785.632 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.733209
2025-06-07T23:59:45.752Z,1749340785.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:45.887Z,1749340785.887 [DAT](INFO): DAT read: Rx Time:23:59:45.0408

2025-06-07T23:59:45.888Z,1749340785.888 [DAT](INFO): Rx dataTimestamp_ set to:1749340785.887265
2025-06-07T23:59:45.890Z,1749340785.890 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.990532
2025-06-07T23:59:46.136Z,1749340786.136 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.237321
2025-06-07T23:59:46.182Z,1749340786.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.19 m.
2025-06-07T23:59:46.394Z,1749340786.394 [DAT](INFO): DAT read: 23:59:45.0408 LVL= 29680, 24561, 26066, 32755, AGC= 70, IDX= 468, 0.22,-0.813, 1.207,-0.777,-0.350, PHS=-0.375, 1.604,-0.430, RAW= 331.4,  -8.0, CAL= 334.0, -10.9, ROT= 176.0,  10.9

2025-06-07T23:59:46.395Z,1749340786.395 [DAT](INFO): got valid direction response:
 23:59:45.0408 LVL= 29680, 24561, 26066, 32755, AGC= 70, IDX= 468, 0.22,-0.813, 1.207,-0.777,-0.350, PHS=-0.375, 1.604,-0.430, RAW= 331.4,  -8.0, CAL= 334.0, -10.9, ROT= 176.0,  10.9

2025-06-07T23:59:46.397Z,1749340786.397 [DAT](INFO): DAT read: Bearing 176.0,  10.9 (Local)

2025-06-07T23:59:46.398Z,1749340786.398 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.0,  10.9 (Local)

2025-06-07T23:59:46.401Z,1749340786.401 [DAT](INFO): DAT read: Range 10 to 50 : 43.8 m  (Round-trip  58.5 ms) speed -0.8 m/s

2025-06-07T23:59:46.402Z,1749340786.402 [DAT](INFO): DAT read: user:2004>

2025-06-07T23:59:46.408Z,1749340786.408 [DAT](INFO): DAT read: Tx time:23:59:46.1281

2025-06-07T23:59:46.408Z,1749340786.408 [DAT](INFO): Ping request sent.
2025-06-07T23:59:46.409Z,1749340786.409 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:46.409Z,1749340786.409 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-07T23:59:46.416Z,1749340786.416 [DAT](INFO): direction in FSK: [-0.979567,0.068498,-0.189095]
2025-06-07T23:59:46.417Z,1749340786.417 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:46.418Z,1749340786.418 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:46.452Z,1749340786.452 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:46.453Z,1749340786.453 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:46.463Z,1749340786.463 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.054007
2025-06-07T23:59:46.584Z,1749340786.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.799999 m,
      deltaT: 3.526700 s,
      deltaX: 3.299999 m,
      approachRate: 0.935719 m/s,
      rangeRepo size: 4

2025-06-07T23:59:46.586Z,1749340786.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.459572 m,
      bearing: 134.526701 deg,
      lat: 36.905944 deg,
      lon: -122.115986 deg,
      deltaT: 3.526700 s,
      deltaX: 3.274242 m,
      approachRate: 0.928415 m/s,
      posRepo size: 4

2025-06-07T23:59:46.587Z,1749340786.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:46.641Z,1749340786.641 [DAT](INFO): DAT read: TxSync time:23:59:46.1273

2025-06-07T23:59:46.642Z,1749340786.642 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.233561
2025-06-07T23:59:46.895Z,1749340786.895 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.485646
2025-06-07T23:59:47.023Z,1749340787.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:47.144Z,1749340787.144 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.735496
2025-06-07T23:59:47.376Z,1749340787.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:47.396Z,1749340787.396 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.987927
2025-06-07T23:59:47.648Z,1749340787.648 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.239620
2025-06-07T23:59:47.768Z,1749340787.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:47.903Z,1749340787.903 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.493599
2025-06-07T23:59:48.152Z,1749340788.152 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.743548
2025-06-07T23:59:48.194Z,1749340788.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:48.405Z,1749340788.405 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.996864
2025-06-07T23:59:48.582Z,1749340788.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:48.661Z,1749340788.661 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.252311
2025-06-07T23:59:48.916Z,1749340788.916 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.506243
2025-06-07T23:59:49.029Z,1749340789.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:49.164Z,1749340789.164 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.755603
2025-06-07T23:59:49.384Z,1749340789.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:49.416Z,1749340789.416 [DAT](INFO): DAT read: Rx Time:23:59:48.5950

2025-06-07T23:59:49.417Z,1749340789.417 [DAT](INFO): Rx dataTimestamp_ set to:1749340789.416573
2025-06-07T23:59:49.417Z,1749340789.417 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.008845
2025-06-07T23:59:49.668Z,1749340789.668 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.259567
2025-06-07T23:59:49.802Z,1749340789.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-06-07T23:59:49.959Z,1749340789.959 [DAT](INFO): DAT read: 23:59:48.5951 LVL= 25936, 21057, 25970, 32755, AGC= 67, IDX= 463,-0.44,-1.783, 0.178,-1.718,-1.315, PHS=-0.380, 1.539,-0.407, RAW= 330.7,  -7.8, CAL= 333.4, -10.7, ROT= 176.6,  10.7

2025-06-07T23:59:49.968Z,1749340789.968 [DAT](INFO): got valid direction response:
 23:59:48.5951 LVL= 25936, 21057, 25970, 32755, AGC= 67, IDX= 463,-0.44,-1.783, 0.178,-1.718,-1.315, PHS=-0.380, 1.539,-0.407, RAW= 330.7,  -7.8, CAL= 333.4, -10.7, ROT= 176.6,  10.7

2025-06-07T23:59:49.971Z,1749340789.971 [DAT](INFO): DAT read: Bearing 176.6,  10.7 (Local)

2025-06-07T23:59:49.979Z,1749340789.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.6,  10.7 (Local)

2025-06-07T23:59:49.981Z,1749340789.981 [DAT](INFO): DAT read: Range 10 to 50 : 47.0 m  (Round-trip  62.7 ms) speed -1.0 m/s

2025-06-07T23:59:49.982Z,1749340789.982 [DAT](INFO): DAT read: user:2005>

2025-06-07T23:59:49.982Z,1749340789.982 [DAT](INFO): DAT read: Tx time:23:59:49.6782

2025-06-07T23:59:49.983Z,1749340789.983 [DAT](INFO): Ping request sent.
2025-06-07T23:59:49.983Z,1749340789.983 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:49.987Z,1749340789.987 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-07T23:59:49.988Z,1749340789.988 [DAT](INFO): direction in FSK: [-0.980883,0.058275,-0.185667]
2025-06-07T23:59:49.989Z,1749340789.989 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:49.989Z,1749340789.989 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:49.996Z,1749340789.996 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:49.996Z,1749340789.996 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:50.012Z,1749340790.012 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.028803
2025-06-07T23:59:50.172Z,1749340790.172 [DAT](INFO): DAT read: TxSync time:23:59:49.6774

2025-06-07T23:59:50.173Z,1749340790.173 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.190095
2025-06-07T23:59:50.268Z,1749340790.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.000000 m,
      deltaT: 3.533543 s,
      deltaX: 3.200001 m,
      approachRate: 0.905607 m/s,
      rangeRepo size: 4

2025-06-07T23:59:50.270Z,1749340790.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.634766 m,
      bearing: 135.223221 deg,
      lat: 36.905942 deg,
      lon: -122.115987 deg,
      deltaT: 3.533543 s,
      deltaX: 3.175194 m,
      approachRate: 0.898586 m/s,
      posRepo size: 4

2025-06-07T23:59:50.270Z,1749340790.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:50.424Z,1749340790.424 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.441273
2025-06-07T23:59:50.600Z,1749340790.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:50.676Z,1749340790.676 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.693539
2025-06-07T23:59:50.929Z,1749340790.929 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.945641
2025-06-07T23:59:51.071Z,1749340791.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:51.180Z,1749340791.180 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.197318
2025-06-07T23:59:51.419Z,1749340791.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:51.432Z,1749340791.432 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.449462
2025-06-07T23:59:51.684Z,1749340791.684 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.701252
2025-06-07T23:59:51.890Z,1749340791.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:51.942Z,1749340791.942 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.958646
2025-06-07T23:59:52.188Z,1749340792.188 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.205427
2025-06-07T23:59:52.292Z,1749340792.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:52.440Z,1749340792.440 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.457182
2025-06-07T23:59:52.635Z,1749340792.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:52.693Z,1749340792.693 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.710202
2025-06-07T23:59:52.945Z,1749340792.945 [DAT](INFO): DAT read: Rx Time:23:59:52.1495

2025-06-07T23:59:52.946Z,1749340792.946 [DAT](INFO): Rx dataTimestamp_ set to:1749340792.945273
2025-06-07T23:59:52.946Z,1749340792.946 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.963621
2025-06-07T23:59:53.112Z,1749340793.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:53.196Z,1749340793.196 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.213439
2025-06-07T23:59:53.467Z,1749340793.467 [DAT](INFO): DAT read: 23:59:52.1495 LVL= 25840, 23201, 21458, 32755, AGC= 67, IDX= 476, 0.17, 2.684,-1.571, 2.764,-3.096, PHS=-0.415, 1.572,-0.426, RAW= 330.3,  -7.4, CAL= 332.9, -10.1, ROT= 177.1,  10.1

2025-06-07T23:59:53.468Z,1749340793.468 [DAT](INFO): got valid direction response:
 23:59:52.1495 LVL= 25840, 23201, 21458, 32755, AGC= 67, IDX= 476, 0.17, 2.684,-1.571, 2.764,-3.096, PHS=-0.415, 1.572,-0.426, RAW= 330.3,  -7.4, CAL= 332.9, -10.1, ROT= 177.1,  10.1

2025-06-07T23:59:53.469Z,1749340793.469 [DAT](INFO): DAT read: Bearing 177.1,  10.1 (Local)

2025-06-07T23:59:53.469Z,1749340793.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.1,  10.1 (Local)

2025-06-07T23:59:53.471Z,1749340793.471 [DAT](INFO): DAT read: Range 10 to 50 : 50.3 m  (Round-trip  67.1 ms) speed -0.7 m/s

2025-06-07T23:59:53.480Z,1749340793.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.63 m.
2025-06-07T23:59:53.496Z,1749340793.496 [DAT](INFO): DAT read: user:2006>

2025-06-07T23:59:53.496Z,1749340793.496 [DAT](INFO): DAT read: Tx time:23:59:53.2282

2025-06-07T23:59:53.497Z,1749340793.497 [DAT](INFO): Ping request sent.
2025-06-07T23:59:53.497Z,1749340793.497 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:53.497Z,1749340793.497 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-07T23:59:53.498Z,1749340793.498 [DAT](INFO): direction in FSK: [-0.983242,0.049809,-0.175367]
2025-06-07T23:59:53.498Z,1749340793.498 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:53.510Z,1749340793.510 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:53.532Z,1749340793.532 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:53.532Z,1749340793.532 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:53.540Z,1749340793.540 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.043332
2025-06-07T23:59:53.702Z,1749340793.702 [DAT](INFO): DAT read: TxSync time:23:59:53.2274

2025-06-07T23:59:53.703Z,1749340793.703 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.205548
2025-06-07T23:59:53.852Z,1749340793.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.299999 m,
      deltaT: 3.526888 s,
      deltaX: 3.299999 m,
      approachRate: 0.935669 m/s,
      rangeRepo size: 4

2025-06-07T23:59:53.854Z,1749340793.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.909157 m,
      bearing: 135.790936 deg,
      lat: 36.905942 deg,
      lon: -122.115992 deg,
      deltaT: 3.526888 s,
      deltaX: 3.274391 m,
      approachRate: 0.928408 m/s,
      posRepo size: 4

2025-06-07T23:59:53.855Z,1749340793.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.91 m.
2025-06-07T23:59:53.954Z,1749340793.954 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.457353
2025-06-07T23:59:54.204Z,1749340794.204 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.707380
2025-06-07T23:59:54.282Z,1749340794.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.91 m.
2025-06-07T23:59:54.457Z,1749340794.457 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.959736
2025-06-07T23:59:54.708Z,1749340794.708 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.211413
2025-06-07T23:59:54.775Z,1749340794.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.91 m.
2025-06-07T23:59:54.960Z,1749340794.960 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.463329
2025-06-07T23:59:55.158Z,1749340795.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.91 m.
2025-06-07T23:59:55.212Z,1749340795.212 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.715476
2025-06-07T23:59:55.464Z,1749340795.464 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.967313
2025-06-07T23:59:55.580Z,1749340795.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.91 m.
2025-06-07T23:59:55.716Z,1749340795.716 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.219304
2025-06-07T23:59:55.969Z,1749340795.969 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.471893
2025-06-07T23:59:56.067Z,1749340796.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.91 m.
2025-06-07T23:59:56.220Z,1749340796.220 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.723313
2025-06-07T23:59:56.416Z,1749340796.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.91 m.
2025-06-07T23:59:56.472Z,1749340796.472 [DAT](INFO): DAT read: Rx Time:23:59:55.7041

2025-06-07T23:59:56.473Z,1749340796.473 [DAT](INFO): Rx dataTimestamp_ set to:1749340796.472403
2025-06-07T23:59:56.473Z,1749340796.473 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.976468
2025-06-07T23:59:56.724Z,1749340796.724 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.227415
2025-06-07T23:59:56.787Z,1749340796.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.91 m.
2025-06-07T23:59:56.982Z,1749340796.982 [DAT](INFO): DAT read: 23:59:55.7041 LVL= 26992, 23585, 22306, 32755, AGC= 69, IDX= 476,-0.29,-0.602, 1.423,-0.454,-0.088, PHS=-0.426, 1.558,-0.369, RAW= 328.6,  -7.9, CAL= 331.4, -10.7, ROT= 178.6,  10.7

2025-06-07T23:59:56.985Z,1749340796.985 [DAT](INFO): got valid direction response:
 23:59:55.7041 LVL= 26992, 23585, 22306, 32755, AGC= 69, IDX= 476,-0.29,-0.602, 1.423,-0.454,-0.088, PHS=-0.426, 1.558,-0.369, RAW= 328.6,  -7.9, CAL= 331.4, -10.7, ROT= 178.6,  10.7

2025-06-07T23:59:56.988Z,1749340796.988 [DAT](INFO): DAT read: Bearing 178.6,  10.7 (Local)

2025-06-07T23:59:56.988Z,1749340796.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.6,  10.7 (Local)

2025-06-07T23:59:56.989Z,1749340796.989 [DAT](INFO): DAT read: Range 10 to 50 : 53.8 m  (Round-trip  71.8 ms) speed -0.7 m/s

2025-06-07T23:59:56.990Z,1749340796.990 [DAT](INFO): DAT read: user:2007>

2025-06-07T23:59:56.991Z,1749340796.991 [DAT](INFO): DAT read: Tx time:23:59:56.8282

2025-06-07T23:59:56.991Z,1749340796.991 [DAT](INFO): Ping request sent.
2025-06-07T23:59:56.991Z,1749340796.991 [DAT](INFO): transmitted an acoustic signal
2025-06-07T23:59:56.992Z,1749340796.992 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-07T23:59:56.993Z,1749340796.993 [DAT](INFO): direction in FSK: [-0.982319,0.024007,-0.185667]
2025-06-07T23:59:56.993Z,1749340796.993 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:56.993Z,1749340796.993 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:56.996Z,1749340796.996 [DAT](INFO): publishing transmit ping time
2025-06-07T23:59:56.996Z,1749340796.996 [DAT](INFO): publishing direction and range info
2025-06-07T23:59:57.024Z,1749340797.024 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.032523
2025-06-07T23:59:57.228Z,1749340797.228 [DAT](INFO): DAT read: TxSync time:23:59:56.8274

2025-06-07T23:59:57.229Z,1749340797.229 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.237707
2025-06-07T23:59:57.230Z,1749340797.230 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-07T23:59:57.290Z,1749340797.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.799999 m,
      deltaT: 3.527894 s,
      deltaX: 3.500000 m,
      approachRate: 0.992093 m/s,
      rangeRepo size: 4

2025-06-07T23:59:57.296Z,1749340797.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.383789 m,
      bearing: 136.591547 deg,
      lat: 36.905941 deg,
      lon: -122.115992 deg,
      deltaT: 3.527894 s,
      deltaX: 3.474632 m,
      approachRate: 0.984903 m/s,
      posRepo size: 4

2025-06-07T23:59:57.297Z,1749340797.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-07T23:59:57.480Z,1749340797.480 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.488823
2025-06-07T23:59:57.611Z,1749340797.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-07T23:59:57.732Z,1749340797.732 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.740794
2025-06-07T23:59:57.984Z,1749340797.984 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.992896
2025-06-07T23:59:58.016Z,1749340798.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-07T23:59:58.232Z,1749340798.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-07T23:59:58.238Z,1749340798.238 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.247149
2025-06-07T23:59:58.437Z,1749340798.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-07T23:59:58.489Z,1749340798.489 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.498106
2025-06-07T23:59:58.740Z,1749340798.740 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.749017
2025-06-07T23:59:58.815Z,1749340798.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-07T23:59:58.992Z,1749340798.992 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.000918
2025-06-07T23:59:59.236Z,1749340799.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-07T23:59:59.244Z,1749340799.244 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.252773
2025-06-07T23:59:59.496Z,1749340799.496 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.504912
2025-06-07T23:59:59.636Z,1749340799.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-07T23:59:59.748Z,1749340799.748 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.756840
2025-06-08T00:00:00.000Z,1749340800.000 [DAT](INFO): DAT read: Rx Time:23:59:59.3085

2025-06-08T00:00:00.001Z,1749340800.001 [DAT](INFO): Rx dataTimestamp_ set to:1749340800.000432
2025-06-08T00:00:00.001Z,1749340800.001 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.009934
2025-06-08T00:00:00.021Z,1749340800.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-08T00:00:00.252Z,1749340800.252 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.260899
2025-06-08T00:00:00.440Z,1749340800.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.38 m.
2025-06-08T00:00:00.505Z,1749340800.505 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.513505
2025-06-08T00:00:00.762Z,1749340800.762 [DAT](INFO): DAT read: 20:30:29.7086 LVL= 32752, 27121, 28594, 32755, AGC= 70, IDX= 473, 0.47, 2.889,-1.345, 3.003,-2.852, PHS=-0.454, 1.554,-0.431, RAW= 329.4,  -6.8, CAL= 332.1,  -9.3, ROT= 177.9,   9.3

2025-06-08T00:00:00.763Z,1749340800.763 [DAT](INFO): got valid direction response:
 20:30:29.7086 LVL= 32752, 27121, 28594, 32755, AGC= 70, IDX= 473, 0.47, 2.889,-1.345, 3.003,-2.852, PHS=-0.454, 1.554,-0.431, RAW= 329.4,  -6.8, CAL= 332.1,  -9.3, ROT= 177.9,   9.3

2025-06-08T00:00:00.764Z,1749340800.764 [DAT](INFO): DAT read: Bearing 177.9,   9.3 (Local)

2025-06-08T00:00:00.764Z,1749340800.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.9,   9.3 (Local)

2025-06-08T00:00:00.766Z,1749340800.766 [DAT](INFO): DAT read: Range 10 to 50 : 57.1 m  (Round-trip  76.2 ms) speed -0.8 m/s

2025-06-08T00:00:00.767Z,1749340800.767 [DAT](INFO): DAT read: user:2008>

2025-06-08T00:00:00.772Z,1749340800.772 [DAT](INFO): DAT read: Tx time:00:00:00.4283

2025-06-08T00:00:00.772Z,1749340800.772 [DAT](INFO): Ping request sent.
2025-06-08T00:00:00.772Z,1749340800.772 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:00.772Z,1749340800.772 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-08T00:00:00.773Z,1749340800.773 [DAT](INFO): direction in FSK: [-0.986193,0.036162,-0.161604]
2025-06-08T00:00:00.774Z,1749340800.774 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:00.774Z,1749340800.774 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:00.777Z,1749340800.777 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:00.777Z,1749340800.777 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:00.789Z,1749340800.789 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.017302
2025-06-08T00:00:00.853Z,1749340800.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.099998 m,
      deltaT: 3.779792 s,
      deltaX: 3.299999 m,
      approachRate: 0.873064 m/s,
      rangeRepo size: 4

2025-06-08T00:00:00.863Z,1749340800.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.658775 m,
      bearing: 136.039908 deg,
      lat: 36.905941 deg,
      lon: -122.115992 deg,
      deltaT: 3.779792 s,
      deltaX: 3.274986 m,
      approachRate: 0.866446 m/s,
      posRepo size: 4

2025-06-08T00:00:00.864Z,1749340800.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:01.009Z,1749340801.009 [DAT](INFO): DAT read: TxSync time:00:00:00.4275

2025-06-08T00:00:01.009Z,1749340801.009 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.237276
2025-06-08T00:00:01.260Z,1749340801.260 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.488108
2025-06-08T00:00:01.276Z,1749340801.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:01.512Z,1749340801.512 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.740014
2025-06-08T00:00:01.636Z,1749340801.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:01.764Z,1749340801.764 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.991961
2025-06-08T00:00:02.016Z,1749340802.016 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.243982
2025-06-08T00:00:02.057Z,1749340802.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:02.269Z,1749340802.269 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.496547
2025-06-08T00:00:02.477Z,1749340802.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:02.521Z,1749340802.521 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.748757
2025-06-08T00:00:02.772Z,1749340802.772 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.000021
2025-06-08T00:00:02.849Z,1749340802.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:03.024Z,1749340803.024 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.251964
2025-06-08T00:00:03.269Z,1749340803.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:03.276Z,1749340803.276 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.504092
2025-06-08T00:00:03.528Z,1749340803.528 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.756029
2025-06-08T00:00:03.655Z,1749340803.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:03.780Z,1749340803.780 [DAT](INFO): DAT read: Rx Time:00:00:02.9128

2025-06-08T00:00:03.781Z,1749340803.781 [DAT](INFO): Rx dataTimestamp_ set to:1749340803.780393
2025-06-08T00:00:03.781Z,1749340803.781 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.009064
2025-06-08T00:00:04.032Z,1749340804.032 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.259960
2025-06-08T00:00:04.057Z,1749340804.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.66 m.
2025-06-08T00:00:04.292Z,1749340804.292 [DAT](INFO): DAT read: 00:00:02.9128 LVL= 32752, 26065, 32754, 32755, AGC= 67, IDX= 468, 0.39, 1.447,-2.846, 1.569, 1.967, PHS=-0.432, 1.518,-0.401, RAW= 329.2,  -7.1, CAL= 331.9,  -9.8, ROT= 178.1,   9.8

2025-06-08T00:00:04.294Z,1749340804.294 [DAT](INFO): got valid direction response:
 00:00:02.9128 LVL= 32752, 26065, 32754, 32755, AGC= 67, IDX= 468, 0.39, 1.447,-2.846, 1.569, 1.967, PHS=-0.432, 1.518,-0.401, RAW= 329.2,  -7.1, CAL= 331.9,  -9.8, ROT= 178.1,   9.8

2025-06-08T00:00:04.295Z,1749340804.295 [DAT](INFO): DAT read: Bearing 178.1,   9.8 (Local)

2025-06-08T00:00:04.295Z,1749340804.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.1,   9.8 (Local)

2025-06-08T00:00:04.297Z,1749340804.297 [DAT](INFO): DAT read: Range 10 to 50 : 60.3 m  (Round-trip  80.4 ms) speed -0.8 m/s

2025-06-08T00:00:04.297Z,1749340804.297 [DAT](INFO): DAT read: user:2009>

2025-06-08T00:00:04.298Z,1749340804.298 [DAT](INFO): DAT read: Tx time:00:00:04.0283

2025-06-08T00:00:04.298Z,1749340804.298 [DAT](INFO): Ping request sent.
2025-06-08T00:00:04.298Z,1749340804.298 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:04.299Z,1749340804.299 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-08T00:00:04.324Z,1749340804.324 [DAT](INFO): direction in FSK: [-0.984866,0.032671,-0.170209]
2025-06-08T00:00:04.324Z,1749340804.324 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:04.325Z,1749340804.325 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:04.343Z,1749340804.343 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:04.344Z,1749340804.344 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:04.347Z,1749340804.347 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.048298
2025-06-08T00:00:04.536Z,1749340804.536 [DAT](INFO): DAT read: TxSync time:00:00:04.0275

2025-06-08T00:00:04.537Z,1749340804.537 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.238601
2025-06-08T00:00:04.554Z,1749340804.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.299999 m,
      deltaT: 3.528056 s,
      deltaX: 3.200001 m,
      approachRate: 0.907015 m/s,
      rangeRepo size: 4

2025-06-08T00:00:04.560Z,1749340804.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.834949 m,
      bearing: 136.096623 deg,
      lat: 36.905938 deg,
      lon: -122.115993 deg,
      deltaT: 3.528056 s,
      deltaX: 3.176174 m,
      approachRate: 0.900262 m/s,
      posRepo size: 4

2025-06-08T00:00:04.561Z,1749340804.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.83 m.
2025-06-08T00:00:04.789Z,1749340804.789 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.490410
2025-06-08T00:00:05.040Z,1749340805.040 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.741742
2025-06-08T00:00:05.083Z,1749340805.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.83 m.
2025-06-08T00:00:05.297Z,1749340805.297 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.998842
2025-06-08T00:00:05.544Z,1749340805.544 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.246034
2025-06-08T00:00:05.560Z,1749340805.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.83 m.
2025-06-08T00:00:05.796Z,1749340805.796 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.497743
2025-06-08T00:00:06.023Z,1749340806.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.83 m.
2025-06-08T00:00:06.048Z,1749340806.048 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.749790
2025-06-08T00:00:06.300Z,1749340806.300 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.001592
2025-06-08T00:00:06.437Z,1749340806.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.83 m.
2025-06-08T00:00:06.553Z,1749340806.553 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.254084
2025-06-08T00:00:06.796Z,1749340806.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.83 m.
2025-06-08T00:00:06.804Z,1749340806.804 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.505748
2025-06-08T00:00:07.056Z,1749340807.056 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.757684
2025-06-08T00:00:07.261Z,1749340807.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:00:07.270Z,1749340807.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.83 m.
2025-06-08T00:00:07.308Z,1749340807.308 [DAT](INFO): DAT read: Rx Time:00:00:06.5175

2025-06-08T00:00:07.309Z,1749340807.309 [DAT](INFO): Rx dataTimestamp_ set to:1749340807.308505
2025-06-08T00:00:07.309Z,1749340807.309 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.010909
2025-06-08T00:00:07.560Z,1749340807.560 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.261674
2025-06-08T00:00:07.643Z,1749340807.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.83 m.
2025-06-08T00:00:07.822Z,1749340807.822 [DAT](INFO): DAT read: 00:00:06.5175 LVL= 23232, 16929, 20210, 32755, AGC= 68, IDX= 468,-0.19, 3.136,-1.042,-2.998,-2.506, PHS=-0.554, 1.511,-0.495, RAW= 328.6,  -4.6, CAL= 331.0,  -6.4, ROT= 179.0,   6.4

2025-06-08T00:00:07.824Z,1749340807.824 [DAT](INFO): got valid direction response:
 00:00:06.5175 LVL= 23232, 16929, 20210, 32755, AGC= 68, IDX= 468,-0.19, 3.136,-1.042,-2.998,-2.506, PHS=-0.554, 1.511,-0.495, RAW= 328.6,  -4.6, CAL= 331.0,  -6.4, ROT= 179.0,   6.4

2025-06-08T00:00:07.826Z,1749340807.826 [DAT](INFO): DAT read: Bearing 179.0,   6.4 (Local)

2025-06-08T00:00:07.826Z,1749340807.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.0,   6.4 (Local)

2025-06-08T00:00:07.829Z,1749340807.829 [DAT](INFO): DAT read: Range 10 to 50 : 63.8 m  (Round-trip  85.1 ms) speed -0.8 m/s

2025-06-08T00:00:07.831Z,1749340807.831 [DAT](INFO): DAT read: user:2010>

2025-06-08T00:00:07.832Z,1749340807.832 [DAT](INFO): DAT read: Tx time:00:00:07.6283

2025-06-08T00:00:07.832Z,1749340807.832 [DAT](INFO): Ping request sent.
2025-06-08T00:00:07.833Z,1749340807.833 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:07.833Z,1749340807.833 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-08T00:00:07.835Z,1749340807.835 [DAT](INFO): direction in FSK: [-0.993617,0.017344,-0.111469]
2025-06-08T00:00:07.836Z,1749340807.836 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:07.837Z,1749340807.837 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:07.848Z,1749340807.848 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:07.848Z,1749340807.848 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:07.852Z,1749340807.852 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.019211
2025-06-08T00:00:08.045Z,1749340808.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 3.528349 s,
      deltaX: 3.500000 m,
      approachRate: 0.991965 m/s,
      rangeRepo size: 4

2025-06-08T00:00:08.047Z,1749340808.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.308586 m,
      bearing: 136.387802 deg,
      lat: 36.905937 deg,
      lon: -122.115993 deg,
      deltaT: 3.528349 s,
      deltaX: 3.473637 m,
      approachRate: 0.984493 m/s,
      posRepo size: 4

2025-06-08T00:00:08.051Z,1749340808.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:08.064Z,1749340808.064 [DAT](INFO): DAT read: TxSync time:00:00:07.6275

2025-06-08T00:00:08.065Z,1749340808.065 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.232645
2025-06-08T00:00:08.316Z,1749340808.316 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.483534
2025-06-08T00:00:08.442Z,1749340808.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:08.568Z,1749340808.568 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.735616
2025-06-08T00:00:08.816Z,1749340808.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:08.828Z,1749340808.828 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.995751
2025-06-08T00:00:09.080Z,1749340809.080 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.247598
2025-06-08T00:00:09.288Z,1749340809.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:09.333Z,1749340809.333 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.500166
2025-06-08T00:00:09.585Z,1749340809.585 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.752015
2025-06-08T00:00:09.674Z,1749340809.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:09.836Z,1749340809.836 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.003494
2025-06-08T00:00:10.037Z,1749340810.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:10.090Z,1749340810.090 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.257222
2025-06-08T00:00:10.340Z,1749340810.340 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.507575
2025-06-08T00:00:10.460Z,1749340810.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:10.592Z,1749340810.592 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.759454
2025-06-08T00:00:10.844Z,1749340810.844 [DAT](INFO): DAT read: Rx Time:00:00:10.1220

2025-06-08T00:00:10.845Z,1749340810.845 [DAT](INFO): Rx dataTimestamp_ set to:1749340810.844505
2025-06-08T00:00:10.845Z,1749340810.845 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.012734
2025-06-08T00:00:10.861Z,1749340810.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:11.097Z,1749340811.097 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.264108
2025-06-08T00:00:11.324Z,1749340811.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.31 m.
2025-06-08T00:00:11.352Z,1749340811.352 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.518440
2025-06-08T00:00:11.620Z,1749340811.620 [DAT](INFO): DAT read: 00:00:10.1220 LVL= 30192, 21921, 23026, 32755, AGC= 66, IDX= 466, 0.04,-0.901, 1.138,-0.762,-0.371, PHS=-0.442, 1.556,-0.394, RAW= 328.8,  -7.3, CAL= 331.6, -10.1, ROT= 178.4,  10.1

2025-06-08T00:00:11.621Z,1749340811.621 [DAT](INFO): got valid direction response:
 00:00:10.1220 LVL= 30192, 21921, 23026, 32755, AGC= 66, IDX= 466, 0.04,-0.901, 1.138,-0.762,-0.371, PHS=-0.442, 1.556,-0.394, RAW= 328.8,  -7.3, CAL= 331.6, -10.1, ROT= 178.4,  10.1

2025-06-08T00:00:11.622Z,1749340811.622 [DAT](INFO): DAT read: Bearing 178.4,  10.1 (Local)

2025-06-08T00:00:11.622Z,1749340811.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.4,  10.1 (Local)

2025-06-08T00:00:11.624Z,1749340811.624 [DAT](INFO): DAT read: Range 10 to 50 : 67.2 m  (Round-trip  89.6 ms) speed -0.8 m/s

2025-06-08T00:00:11.625Z,1749340811.625 [DAT](INFO): DAT read: user:2011>

2025-06-08T00:00:11.626Z,1749340811.626 [DAT](INFO): DAT read: Tx time:00:00:11.2283

2025-06-08T00:00:11.626Z,1749340811.626 [DAT](INFO): Ping request sent.
2025-06-08T00:00:11.626Z,1749340811.626 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:11.627Z,1749340811.627 [DAT](INFO): DAT read: TxSync time:00:00:11.2276

2025-06-08T00:00:11.663Z,1749340811.663 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-08T00:00:11.664Z,1749340811.664 [DAT](INFO): direction in FSK: [-0.984119,0.027489,-0.175367]
2025-06-08T00:00:11.665Z,1749340811.665 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:11.665Z,1749340811.665 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:11.680Z,1749340811.680 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:11.680Z,1749340811.680 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:11.696Z,1749340811.696 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.069767
2025-06-08T00:00:11.796Z,1749340811.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.199997 m,
      deltaT: 3.787970 s,
      deltaX: 3.399998 m,
      approachRate: 0.897578 m/s,
      rangeRepo size: 4

2025-06-08T00:00:11.798Z,1749340811.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.688568 m,
      bearing: 135.608339 deg,
      lat: 36.905937 deg,
      lon: -122.115993 deg,
      deltaT: 3.787970 s,
      deltaX: 3.379982 m,
      approachRate: 0.892294 m/s,
      posRepo size: 4

2025-06-08T00:00:11.798Z,1749340811.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.69 m.
2025-06-08T00:00:11.853Z,1749340811.853 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.226874
2025-06-08T00:00:12.098Z,1749340812.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.69 m.
2025-06-08T00:00:12.104Z,1749340812.104 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.478093
2025-06-08T00:00:12.358Z,1749340812.358 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.731374
2025-06-08T00:00:12.516Z,1749340812.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.69 m.
2025-06-08T00:00:12.609Z,1749340812.609 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.982812
2025-06-08T00:00:12.860Z,1749340812.860 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.234054
2025-06-08T00:00:12.907Z,1749340812.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.69 m.
2025-06-08T00:00:13.113Z,1749340813.113 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.486739
2025-06-08T00:00:13.364Z,1749340813.364 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.738154
2025-06-08T00:00:13.426Z,1749340813.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.69 m.
2025-06-08T00:00:13.617Z,1749340813.617 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.990691
2025-06-08T00:00:13.850Z,1749340813.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.69 m.
2025-06-08T00:00:13.868Z,1749340813.868 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.241992
2025-06-08T00:00:14.120Z,1749340814.120 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.494012
2025-06-08T00:00:14.349Z,1749340814.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.69 m.
2025-06-08T00:00:14.375Z,1749340814.375 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.749088
2025-06-08T00:00:14.624Z,1749340814.624 [DAT](INFO): DAT read: Rx Time:00:00:13.7267

2025-06-08T00:00:14.625Z,1749340814.625 [DAT](INFO): Rx dataTimestamp_ set to:1749340814.624435
2025-06-08T00:00:14.625Z,1749340814.625 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.999160
2025-06-08T00:00:14.822Z,1749340814.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.69 m.
2025-06-08T00:00:14.876Z,1749340814.876 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.250200
2025-06-08T00:00:15.134Z,1749340815.134 [DAT](INFO): DAT read: 00:00:13.7267 LVL= 27168, 19633, 23282, 32755, AGC= 69, IDX= 465, 0.13,-0.697, 1.266,-0.631,-0.218, PHS=-0.391, 1.530,-0.417, RAW= 330.7,  -7.5, CAL= 333.3, -10.3, ROT= 176.7,  10.3

2025-06-08T00:00:15.135Z,1749340815.135 [DAT](INFO): got valid direction response:
 00:00:13.7267 LVL= 27168, 19633, 23282, 32755, AGC= 69, IDX= 465, 0.13,-0.697, 1.266,-0.631,-0.218, PHS=-0.391, 1.530,-0.417, RAW= 330.7,  -7.5, CAL= 333.3, -10.3, ROT= 176.7,  10.3

2025-06-08T00:00:15.136Z,1749340815.136 [DAT](INFO): DAT read: Bearing 176.7,  10.3 (Local)

2025-06-08T00:00:15.136Z,1749340815.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.7,  10.3 (Local)

2025-06-08T00:00:15.138Z,1749340815.138 [DAT](INFO): DAT read: Range 10 to 50 : 70.6 m  (Round-trip  94.2 ms) speed -0.9 m/s

2025-06-08T00:00:15.138Z,1749340815.138 [DAT](INFO): DAT read: user:2012>

2025-06-08T00:00:15.139Z,1749340815.139 [DAT](INFO): DAT read: Tx time:00:00:14.8284

2025-06-08T00:00:15.139Z,1749340815.139 [DAT](INFO): Ping request sent.
2025-06-08T00:00:15.140Z,1749340815.140 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:15.140Z,1749340815.140 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-08T00:00:15.141Z,1749340815.141 [DAT](INFO): direction in FSK: [-0.982254,0.056636,-0.178802]
2025-06-08T00:00:15.141Z,1749340815.141 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:15.141Z,1749340815.141 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:15.145Z,1749340815.145 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:15.145Z,1749340815.145 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:15.148Z,1749340815.148 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.008343
2025-06-08T00:00:15.380Z,1749340815.380 [DAT](INFO): DAT read: TxSync time:00:00:14.8276

2025-06-08T00:00:15.381Z,1749340815.381 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.241504
2025-06-08T00:00:15.389Z,1749340815.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.599998 m,
      deltaT: 3.527484 s,
      deltaX: 3.400002 m,
      approachRate: 0.963860 m/s,
      rangeRepo size: 4

2025-06-08T00:00:15.400Z,1749340815.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.067894 m,
      bearing: 133.733565 deg,
      lat: 36.905938 deg,
      lon: -122.115992 deg,
      deltaT: 3.527484 s,
      deltaX: 3.379326 m,
      approachRate: 0.957999 m/s,
      posRepo size: 4

2025-06-08T00:00:15.400Z,1749340815.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:15.633Z,1749340815.633 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.493262
2025-06-08T00:00:15.836Z,1749340815.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:15.885Z,1749340815.885 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.745703
2025-06-08T00:00:16.136Z,1749340816.136 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.996427
2025-06-08T00:00:16.274Z,1749340816.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:16.389Z,1749340816.389 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.249064
2025-06-08T00:00:16.640Z,1749340816.640 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.500348
2025-06-08T00:00:16.785Z,1749340816.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:16.892Z,1749340816.892 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.752501
2025-06-08T00:00:17.144Z,1749340817.144 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.004601
2025-06-08T00:00:17.244Z,1749340817.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:17.401Z,1749340817.401 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.260455
2025-06-08T00:00:17.648Z,1749340817.648 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.508585
2025-06-08T00:00:17.711Z,1749340817.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:17.901Z,1749340817.901 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.761134
2025-06-08T00:00:18.079Z,1749340818.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:18.152Z,1749340818.152 [DAT](INFO): DAT read: Rx Time:00:00:17.3314

2025-06-08T00:00:18.153Z,1749340818.153 [DAT](INFO): Rx dataTimestamp_ set to:1749340818.152347
2025-06-08T00:00:18.153Z,1749340818.153 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.013561
2025-06-08T00:00:18.405Z,1749340818.405 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.265158
2025-06-08T00:00:18.509Z,1749340818.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:18.664Z,1749340818.664 [DAT](INFO): DAT read: 00:00:17.3314 LVL= 27312, 20273, 21170, 32755, AGC= 69, IDX= 481,-0.33, 0.038, 2.018, 0.098, 0.532, PHS=-0.406, 1.533,-0.436, RAW= 330.8,  -7.1, CAL= 333.4,  -9.8, ROT= 176.6,   9.8

2025-06-08T00:00:18.665Z,1749340818.665 [DAT](INFO): got valid direction response:
 00:00:17.3314 LVL= 27312, 20273, 21170, 32755, AGC= 69, IDX= 481,-0.33, 0.038, 2.018, 0.098, 0.532, PHS=-0.406, 1.533,-0.436, RAW= 330.8,  -7.1, CAL= 333.4,  -9.8, ROT= 176.6,   9.8

2025-06-08T00:00:18.666Z,1749340818.666 [DAT](INFO): DAT read: $Error in header

2025-06-08T00:00:18.666Z,1749340818.666 [DAT](INFO): Received a bad header
2025-06-08T00:00:18.679Z,1749340818.679 [DAT](INFO): #Rx 40: Read direction message, but no range.
2025-06-08T00:00:18.680Z,1749340818.680 [DAT](INFO): direction in FSK: [-0.983673,0.058441,-0.170209]
2025-06-08T00:00:18.693Z,1749340818.693 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.553115
2025-06-08T00:00:18.908Z,1749340818.908 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.768587
2025-06-08T00:00:18.923Z,1749340818.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:19.160Z,1749340819.160 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.020517
2025-06-08T00:00:19.345Z,1749340819.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:19.415Z,1749340819.415 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.275134
2025-06-08T00:00:19.664Z,1749340819.664 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.524477
2025-06-08T00:00:19.812Z,1749340819.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:19.916Z,1749340819.916 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.776591
2025-06-08T00:00:20.168Z,1749340820.168 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.028628
2025-06-08T00:00:20.226Z,1749340820.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:20.423Z,1749340820.423 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.282671
2025-06-08T00:00:20.612Z,1749340820.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:20.673Z,1749340820.673 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.533786
2025-06-08T00:00:20.924Z,1749340820.924 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.784531
2025-06-08T00:00:21.005Z,1749340821.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:21.176Z,1749340821.176 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.036480
2025-06-08T00:00:21.431Z,1749340821.431 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.290577
2025-06-08T00:00:21.485Z,1749340821.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:21.681Z,1749340821.681 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.540889
2025-06-08T00:00:21.848Z,1749340821.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:21.932Z,1749340821.932 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.792435
2025-06-08T00:00:22.184Z,1749340822.184 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.044852
2025-06-08T00:00:22.220Z,1749340822.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:22.439Z,1749340822.439 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.298570
2025-06-08T00:00:22.636Z,1749340822.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:22.689Z,1749340822.689 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.549226
2025-06-08T00:00:22.941Z,1749340822.941 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.801094
2025-06-08T00:00:23.015Z,1749340823.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:23.192Z,1749340823.192 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.052530
2025-06-08T00:00:23.447Z,1749340823.447 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.306427
2025-06-08T00:00:23.491Z,1749340823.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:23.699Z,1749340823.699 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.559292
2025-06-08T00:00:23.917Z,1749340823.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:23.949Z,1749340823.949 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.809077
2025-06-08T00:00:24.200Z,1749340824.200 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.060536
2025-06-08T00:00:24.245Z,1749340824.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:24.460Z,1749340824.460 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.320207
2025-06-08T00:00:24.677Z,1749340824.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:24.708Z,1749340824.708 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.568672
2025-06-08T00:00:24.961Z,1749340824.961 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.821160
2025-06-08T00:00:25.060Z,1749340825.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:25.212Z,1749340825.212 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.072582
2025-06-08T00:00:25.467Z,1749340825.467 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.326457
2025-06-08T00:00:25.518Z,1749340825.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:25.716Z,1749340825.716 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.576529
2025-06-08T00:00:25.904Z,1749340825.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:25.970Z,1749340825.970 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:00:25.970Z,1749340825.970 [DAT](INFO): response not received
2025-06-08T00:00:25.971Z,1749340825.971 [DAT](INFO): DAT read: user:2014>

2025-06-08T00:00:25.972Z,1749340825.972 [DAT](INFO): DAT read: Tx time:00:00:25.7785

2025-06-08T00:00:25.972Z,1749340825.972 [DAT](INFO): Ping request sent.
2025-06-08T00:00:25.972Z,1749340825.972 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:25.973Z,1749340825.973 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:25.973Z,1749340825.973 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.000924
2025-06-08T00:00:26.220Z,1749340826.220 [DAT](INFO): DAT read: TxSync time:00:00:25.7777

2025-06-08T00:00:26.221Z,1749340826.221 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.248901
2025-06-08T00:00:26.278Z,1749340826.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:26.476Z,1749340826.476 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.502363
2025-06-08T00:00:26.686Z,1749340826.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:26.724Z,1749340826.724 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.751990
2025-06-08T00:00:26.976Z,1749340826.976 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.003932
2025-06-08T00:00:27.057Z,1749340827.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:27.228Z,1749340827.228 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.255849
2025-06-08T00:00:27.472Z,1749340827.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:27.483Z,1749340827.483 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.510098
2025-06-08T00:00:27.733Z,1749340827.733 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.760567
2025-06-08T00:00:27.888Z,1749340827.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:27.985Z,1749340827.985 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.012295
2025-06-08T00:00:28.236Z,1749340828.236 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.264074
2025-06-08T00:00:28.269Z,1749340828.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:28.352Z,1749340828.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:00:28.490Z,1749340828.490 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.517657
2025-06-08T00:00:28.691Z,1749340828.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:28.741Z,1749340828.741 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.769014
2025-06-08T00:00:28.993Z,1749340828.993 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.020549
2025-06-08T00:00:29.087Z,1749340829.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:29.246Z,1749340829.246 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.273485
2025-06-08T00:00:29.355Z,1749340829.355 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:00:29.496Z,1749340829.496 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.523974
2025-06-08T00:00:29.505Z,1749340829.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:29.750Z,1749340829.750 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.777646
2025-06-08T00:00:29.904Z,1749340829.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:30.001Z,1749340830.001 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.028815
2025-06-08T00:00:30.252Z,1749340830.252 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.279838
2025-06-08T00:00:30.301Z,1749340830.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:30.504Z,1749340830.504 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.531921
2025-06-08T00:00:30.721Z,1749340830.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:30.757Z,1749340830.757 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.784341
2025-06-08T00:00:31.008Z,1749340831.008 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.035781
2025-06-08T00:00:31.103Z,1749340831.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:31.260Z,1749340831.260 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.287800
2025-06-08T00:00:31.514Z,1749340831.514 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.541396
2025-06-08T00:00:31.517Z,1749340831.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:31.764Z,1749340831.764 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.791797
2025-06-08T00:00:31.930Z,1749340831.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:32.017Z,1749340832.017 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.044519
2025-06-08T00:00:32.268Z,1749340832.268 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.295890
2025-06-08T00:00:32.332Z,1749340832.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:32.523Z,1749340832.523 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.550710
2025-06-08T00:00:32.772Z,1749340832.772 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.799970
2025-06-08T00:00:32.775Z,1749340832.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:33.025Z,1749340833.025 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.052403
2025-06-08T00:00:33.139Z,1749340833.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:33.276Z,1749340833.276 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.303828
2025-06-08T00:00:33.528Z,1749340833.528 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.555923
2025-06-08T00:00:33.533Z,1749340833.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:33.780Z,1749340833.780 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.808049
2025-06-08T00:00:33.957Z,1749340833.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:34.033Z,1749340834.033 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.060270
2025-06-08T00:00:34.285Z,1749340834.285 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.312255
2025-06-08T00:00:34.327Z,1749340834.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:34.536Z,1749340834.536 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.564005
2025-06-08T00:00:34.750Z,1749340834.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:34.788Z,1749340834.788 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.816050
2025-06-08T00:00:35.040Z,1749340835.040 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.067837
2025-06-08T00:00:35.140Z,1749340835.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:35.295Z,1749340835.295 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.322415
2025-06-08T00:00:35.544Z,1749340835.544 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.571829
2025-06-08T00:00:35.561Z,1749340835.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:35.796Z,1749340835.796 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.823816
2025-06-08T00:00:35.993Z,1749340835.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:36.048Z,1749340836.048 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.076026
2025-06-08T00:00:36.300Z,1749340836.300 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.327825
2025-06-08T00:00:36.357Z,1749340836.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:36.553Z,1749340836.553 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.580353
2025-06-08T00:00:36.779Z,1749340836.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:36.804Z,1749340836.804 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.831968
2025-06-08T00:00:37.056Z,1749340837.056 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:00:37.056Z,1749340837.056 [DAT](INFO): response not received
2025-06-08T00:00:37.057Z,1749340837.057 [DAT](INFO): DAT read: user:2015>

2025-06-08T00:00:37.058Z,1749340837.058 [DAT](INFO): DAT read: Tx time:00:00:36.7286

2025-06-08T00:00:37.058Z,1749340837.058 [DAT](INFO): Ping request sent.
2025-06-08T00:00:37.058Z,1749340837.058 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:37.058Z,1749340837.058 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:37.059Z,1749340837.059 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.000737
2025-06-08T00:00:37.198Z,1749340837.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:37.308Z,1749340837.308 [DAT](INFO): DAT read: TxSync time:00:00:36.7278

2025-06-08T00:00:37.309Z,1749340837.309 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.250964
2025-06-08T00:00:37.560Z,1749340837.560 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.502210
2025-06-08T00:00:37.563Z,1749340837.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:37.812Z,1749340837.812 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.754011
2025-06-08T00:00:37.977Z,1749340837.977 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD +0.00,        +0.00,        +0.00,  20.00,587.69
2025-06-08T00:00:37.992Z,1749340837.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:38.065Z,1749340838.065 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.006791
2025-06-08T00:00:38.316Z,1749340838.316 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.258024
2025-06-08T00:00:38.386Z,1749340838.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:38.568Z,1749340838.568 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.510008
2025-06-08T00:00:38.814Z,1749340838.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:38.820Z,1749340838.820 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.762162
2025-06-08T00:00:39.072Z,1749340839.072 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.014094
2025-06-08T00:00:39.177Z,1749340839.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:39.324Z,1749340839.324 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.266032
2025-06-08T00:00:39.576Z,1749340839.576 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.518099
2025-06-08T00:00:39.588Z,1749340839.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:39.828Z,1749340839.828 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.770209
2025-06-08T00:00:40.015Z,1749340840.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:40.080Z,1749340840.080 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.022159
2025-06-08T00:00:40.332Z,1749340840.332 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.274299
2025-06-08T00:00:40.389Z,1749340840.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:40.584Z,1749340840.584 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.526123
2025-06-08T00:00:40.812Z,1749340840.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:40.836Z,1749340840.836 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.778008
2025-06-08T00:00:41.088Z,1749340841.088 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.030073
2025-06-08T00:00:41.202Z,1749340841.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:41.340Z,1749340841.340 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.282041
2025-06-08T00:00:41.592Z,1749340841.592 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.533996
2025-06-08T00:00:41.630Z,1749340841.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:41.844Z,1749340841.844 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=4.786112
2025-06-08T00:00:42.052Z,1749340842.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:42.096Z,1749340842.096 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.038250
2025-06-08T00:00:42.348Z,1749340842.348 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.289969
2025-06-08T00:00:42.459Z,1749340842.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:42.600Z,1749340842.600 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.542069
2025-06-08T00:00:42.864Z,1749340842.864 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=5.806128
2025-06-08T00:00:42.876Z,1749340842.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:43.116Z,1749340843.116 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.058063
2025-06-08T00:00:43.237Z,1749340843.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:43.368Z,1749340843.368 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.309994
2025-06-08T00:00:43.620Z,1749340843.620 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.562027
2025-06-08T00:00:43.709Z,1749340843.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:43.872Z,1749340843.872 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.814053
2025-06-08T00:00:44.046Z,1749340844.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:44.125Z,1749340844.125 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.066602
2025-06-08T00:00:44.376Z,1749340844.376 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.318161
2025-06-08T00:00:44.438Z,1749340844.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:44.628Z,1749340844.628 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.570090
2025-06-08T00:00:44.860Z,1749340844.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:44.880Z,1749340844.880 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=7.822113
2025-06-08T00:00:45.132Z,1749340845.132 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.074080
2025-06-08T00:00:45.236Z,1749340845.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:45.384Z,1749340845.384 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.326100
2025-06-08T00:00:45.636Z,1749340845.636 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.578061
2025-06-08T00:00:45.710Z,1749340845.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:45.888Z,1749340845.888 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=8.830025
2025-06-08T00:00:46.106Z,1749340846.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:46.140Z,1749340846.140 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.082103
2025-06-08T00:00:46.392Z,1749340846.392 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.334286
2025-06-08T00:00:46.481Z,1749340846.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:46.644Z,1749340846.644 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.586166
2025-06-08T00:00:46.896Z,1749340846.896 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=9.838158
2025-06-08T00:00:46.898Z,1749340846.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:47.148Z,1749340847.148 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.090059
2025-06-08T00:00:47.257Z,1749340847.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:47.400Z,1749340847.400 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.342154
2025-06-08T00:00:47.652Z,1749340847.652 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=10.594096
2025-06-08T00:00:47.674Z,1749340847.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:47.905Z,1749340847.905 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:00:47.905Z,1749340847.905 [DAT](INFO): response not received
2025-06-08T00:00:47.905Z,1749340847.905 [DAT](INFO): DAT read: user:2016>

2025-06-08T00:00:47.906Z,1749340847.906 [DAT](INFO): DAT read: Tx time:00:00:47.6787

2025-06-08T00:00:47.906Z,1749340847.906 [DAT](INFO): Ping request sent.
2025-06-08T00:00:47.907Z,1749340847.907 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:47.907Z,1749340847.907 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:47.907Z,1749340847.907 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.000870
2025-06-08T00:00:48.104Z,1749340848.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:48.157Z,1749340848.157 [DAT](INFO): DAT read: TxSync time:00:00:47.6779

2025-06-08T00:00:48.159Z,1749340848.159 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.251980
2025-06-08T00:00:48.409Z,1749340848.409 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.502724
2025-06-08T00:00:48.479Z,1749340848.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:48.660Z,1749340848.660 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.753536
2025-06-08T00:00:48.912Z,1749340848.912 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.005749
2025-06-08T00:00:48.938Z,1749340848.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:49.165Z,1749340849.165 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.258156
2025-06-08T00:00:49.284Z,1749340849.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:49.416Z,1749340849.416 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.509495
2025-06-08T00:00:49.668Z,1749340849.668 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.761508
2025-06-08T00:00:49.701Z,1749340849.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:49.921Z,1749340849.921 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.014804
2025-06-08T00:00:50.133Z,1749340850.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:50.172Z,1749340850.172 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.265606
2025-06-08T00:00:50.424Z,1749340850.424 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.517579
2025-06-08T00:00:50.498Z,1749340850.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:50.680Z,1749340850.680 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.772811
2025-06-08T00:00:50.928Z,1749340850.928 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.021589
2025-06-08T00:00:50.975Z,1749340850.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:51.180Z,1749340851.180 [DAT](INFO): DAT read: Rx Time:00:00:50.3038

2025-06-08T00:00:51.181Z,1749340851.181 [DAT](INFO): Rx dataTimestamp_ set to:1749340851.180512
2025-06-08T00:00:51.181Z,1749340851.181 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.274760
2025-06-08T00:00:51.311Z,1749340851.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.07 m.
2025-06-08T00:00:51.432Z,1749340851.432 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.525511
2025-06-08T00:00:51.690Z,1749340851.690 [DAT](INFO): DAT read: 00:00:50.3038 LVL= 32752, 17105, 26274, 30371, AGC= 70, IDX=  83, 0.25,-1.570, 0.155,-1.529,-1.853, PHS= 0.371, 2.055, 0.321, RAW= 331.4, -29.6, CAL= 334.8, -43.0, ROT= 175.2,  43.0

2025-06-08T00:00:51.691Z,1749340851.691 [DAT](INFO): got valid direction response:
 00:00:50.3038 LVL= 32752, 17105, 26274, 30371, AGC= 70, IDX=  83, 0.25,-1.570, 0.155,-1.529,-1.853, PHS= 0.371, 2.055, 0.321, RAW= 331.4, -29.6, CAL= 334.8, -43.0, ROT= 175.2,  43.0

2025-06-08T00:00:51.692Z,1749340851.692 [DAT](INFO): DAT read: Bearing 175.2,  43.0 (Local)

2025-06-08T00:00:51.693Z,1749340851.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.2,  43.0 (Local)

2025-06-08T00:00:51.694Z,1749340851.694 [DAT](INFO): DAT read: Range 10 to 50 : 165.6 m  (Round-trip  220.9 ms) speed -0.4 m/s

2025-06-08T00:00:51.695Z,1749340851.695 [DAT](INFO): DAT read: user:2017>

2025-06-08T00:00:51.696Z,1749340851.696 [DAT](INFO): DAT read: Tx time:00:00:51.4287

2025-06-08T00:00:51.696Z,1749340851.696 [DAT](INFO): Ping request sent.
2025-06-08T00:00:51.696Z,1749340851.696 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:51.696Z,1749340851.696 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-08T00:00:51.697Z,1749340851.697 [DAT](INFO): direction in FSK: [-0.728789,0.061198,-0.681998]
2025-06-08T00:00:51.698Z,1749340851.698 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:51.698Z,1749340851.698 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:51.705Z,1749340851.705 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:51.705Z,1749340851.705 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:51.709Z,1749340851.709 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.012624
2025-06-08T00:00:51.782Z,1749340851.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 165.600006 m,
      deltaT: 36.556168 s,
      deltaX: 95.000008 m,
      approachRate: 2.598741 m/s,
      rangeRepo size: 4

2025-06-08T00:00:51.796Z,1749340851.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.317551 m,
      bearing: 133.720314 deg,
      lat: 36.905938 deg,
      lon: -122.115988 deg,
      deltaT: 36.556168 s,
      deltaX: 94.249657 m,
      approachRate: 2.578215 m/s,
      posRepo size: 4

2025-06-08T00:00:51.797Z,1749340851.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.32 m.
2025-06-08T00:00:51.797Z,1749340851.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 165.60 m. Resuming terminal guidance.
2025-06-08T00:00:51.798Z,1749340851.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-08T00:00:51.938Z,1749340851.938 [DAT](INFO): DAT read: TxSync time:00:00:51.4279

2025-06-08T00:00:51.940Z,1749340851.940 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.243602
2025-06-08T00:00:52.187Z,1749340852.187 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-08T00:00:52.187Z,1749340852.187 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-08T00:00:52.188Z,1749340852.188 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.492182
2025-06-08T00:00:52.189Z,1749340852.189 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-08T00:00:52.190Z,1749340852.190 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 165.600006 m (mode  1.000000 count ).
2025-06-08T00:00:52.190Z,1749340852.190 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-08T00:00:52.190Z,1749340852.190 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-08T00:00:52.441Z,1749340852.441 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.745074
2025-06-08T00:00:52.558Z,1749340852.558 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-08T00:00:52.558Z,1749340852.558 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-08T00:00:52.559Z,1749340852.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:00:52.692Z,1749340852.692 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.996155
2025-06-08T00:00:52.945Z,1749340852.945 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.249008
2025-06-08T00:00:53.028Z,1749340853.028 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-08T00:00:53.028Z,1749340853.028 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-08T00:00:53.197Z,1749340853.197 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.500505
2025-06-08T00:00:53.437Z,1749340853.437 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-08T00:00:53.437Z,1749340853.437 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-08T00:00:53.437Z,1749340853.437 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-08T00:00:53.437Z,1749340853.437 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-08T00:00:53.452Z,1749340853.452 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.755746
2025-06-08T00:00:53.700Z,1749340853.700 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.004093
2025-06-08T00:00:53.953Z,1749340853.953 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.256852
2025-06-08T00:00:54.205Z,1749340854.205 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.508555
2025-06-08T00:00:54.456Z,1749340854.456 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.760013
2025-06-08T00:00:54.692Z,1749340854.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:00:54.711Z,1749340854.711 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.015021
2025-06-08T00:00:54.961Z,1749340854.961 [DAT](INFO): DAT read: Rx Time:00:00:54.0575

2025-06-08T00:00:54.962Z,1749340854.962 [DAT](INFO): Rx dataTimestamp_ set to:1749340854.961227
2025-06-08T00:00:54.962Z,1749340854.962 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.266368
2025-06-08T00:00:55.212Z,1749340855.212 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.516142
2025-06-08T00:00:55.470Z,1749340855.470 [DAT](INFO): DAT read: 00:00:54.0575 LVL= 23536, 16289, 19762, 32755, AGC= 68, IDX=  61, 0.44, 2.595,-1.934, 2.517, 2.995, PHS=-0.312, 1.401,-0.482, RAW= 334.7,  -6.8, CAL= 336.9,  -9.3, ROT= 173.1,   9.3

2025-06-08T00:00:55.472Z,1749340855.472 [DAT](INFO): got valid direction response:
 00:00:54.0575 LVL= 23536, 16289, 19762, 32755, AGC= 68, IDX=  61, 0.44, 2.595,-1.934, 2.517, 2.995, PHS=-0.312, 1.401,-0.482, RAW= 334.7,  -6.8, CAL= 336.9,  -9.3, ROT= 173.1,   9.3

2025-06-08T00:00:55.473Z,1749340855.473 [DAT](INFO): DAT read: Bearing 173.1,   9.3 (Local)

2025-06-08T00:00:55.473Z,1749340855.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.1,   9.3 (Local)

2025-06-08T00:00:55.474Z,1749340855.474 [DAT](INFO): DAT read: Range 10 to 50 : 168.4 m  (Round-trip  224.6 ms) speed -0.6 m/s

2025-06-08T00:00:55.477Z,1749340855.477 [DAT](INFO): DAT read: user:2018>

2025-06-08T00:00:55.478Z,1749340855.478 [DAT](INFO): DAT read: Tx time:00:00:55.1788

2025-06-08T00:00:55.478Z,1749340855.478 [DAT](INFO): Ping request sent.
2025-06-08T00:00:55.478Z,1749340855.478 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:55.479Z,1749340855.479 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-08T00:00:55.480Z,1749340855.480 [DAT](INFO): direction in FSK: [-0.979708,0.118558,-0.161604]
2025-06-08T00:00:55.480Z,1749340855.480 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:55.499Z,1749340855.499 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:55.502Z,1749340855.502 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:55.502Z,1749340855.502 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:55.522Z,1749340855.522 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.043287
2025-06-08T00:00:55.717Z,1749340855.717 [DAT](INFO): DAT read: TxSync time:00:00:55.1780

2025-06-08T00:00:55.718Z,1749340855.718 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.239782
2025-06-08T00:00:55.868Z,1749340855.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.399994 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-08T00:00:55.870Z,1749340855.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 167.088577 m,
      bearing: 134.513386 deg,
      lat: 36.905934 deg,
      lon: -122.115970 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-08T00:00:55.871Z,1749340855.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:55.874Z,1749340855.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 109.509270 m,
      bearing: 135.890580 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 138.216055 deg,
      new cmd heading: 135.890580 deg.

2025-06-08T00:00:55.875Z,1749340855.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371738 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:55.969Z,1749340855.969 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.490672
2025-06-08T00:00:56.221Z,1749340856.221 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.742747
2025-06-08T00:00:56.312Z,1749340856.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:56.321Z,1749340856.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 109.886162 m,
      bearing: 135.916209 deg,
      approach rate: 0.846570 m/s,
      LOS rate: 0.057371 deg/s,
      cmd heading: 135.890575 deg,
      new cmd heading: 135.916209 deg.

2025-06-08T00:00:56.323Z,1749340856.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.372185 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:56.472Z,1749340856.472 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.993935
2025-06-08T00:00:56.676Z,1749340856.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:56.678Z,1749340856.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 110.209038 m,
      bearing: 135.943209 deg,
      approach rate: 0.888863 m/s,
      LOS rate: 0.074110 deg/s,
      cmd heading: 135.916216 deg,
      new cmd heading: 135.943209 deg.

2025-06-08T00:00:56.679Z,1749340856.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.372657 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:56.725Z,1749340856.725 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.246699
2025-06-08T00:00:56.976Z,1749340856.976 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.497888
2025-06-08T00:00:57.100Z,1749340857.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:00:57.102Z,1749340857.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:57.104Z,1749340857.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 110.585846 m,
      bearing: 135.977880 deg,
      approach rate: 0.883862 m/s,
      LOS rate: 0.081049 deg/s,
      cmd heading: 135.943208 deg,
      new cmd heading: 135.977880 deg.

2025-06-08T00:00:57.105Z,1749340857.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373262 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:57.228Z,1749340857.228 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.750012
2025-06-08T00:00:57.480Z,1749340857.480 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.001963
2025-06-08T00:00:57.482Z,1749340857.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:57.486Z,1749340857.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 110.909828 m,
      bearing: 136.013836 deg,
      approach rate: 0.851619 m/s,
      LOS rate: 0.094238 deg/s,
      cmd heading: 135.977879 deg,
      new cmd heading: 136.013836 deg.

2025-06-08T00:00:57.486Z,1749340857.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373889 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:57.732Z,1749340857.732 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.253863
2025-06-08T00:00:57.875Z,1749340857.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:57.878Z,1749340857.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 111.244537 m,
      bearing: 136.057503 deg,
      approach rate: 0.851292 m/s,
      LOS rate: 0.110729 deg/s,
      cmd heading: 136.013833 deg,
      new cmd heading: 136.057503 deg.

2025-06-08T00:00:57.879Z,1749340857.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374651 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:57.988Z,1749340857.988 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.508691
2025-06-08T00:00:58.236Z,1749340858.236 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.757937
2025-06-08T00:00:58.320Z,1749340858.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:58.323Z,1749340858.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 111.599243 m,
      bearing: 136.111363 deg,
      approach rate: 0.797160 m/s,
      LOS rate: 0.120658 deg/s,
      cmd heading: 136.057505 deg,
      new cmd heading: 136.111363 deg.

2025-06-08T00:00:58.328Z,1749340858.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375592 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:58.488Z,1749340858.488 [DAT](INFO): DAT read: Rx Time:00:00:57.7719

2025-06-08T00:00:58.489Z,1749340858.489 [DAT](INFO): Rx dataTimestamp_ set to:1749340858.488340
2025-06-08T00:00:58.489Z,1749340858.489 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.010954
2025-06-08T00:00:58.683Z,1749340858.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:58.685Z,1749340858.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 111.896065 m,
      bearing: 136.162324 deg,
      approach rate: 0.818656 m/s,
      LOS rate: 0.140182 deg/s,
      cmd heading: 136.111368 deg,
      new cmd heading: 136.162324 deg.

2025-06-08T00:00:58.686Z,1749340858.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376481 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:58.741Z,1749340858.741 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.262554
2025-06-08T00:00:58.996Z,1749340858.996 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.517594
2025-06-08T00:00:59.193Z,1749340859.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:00:59.195Z,1749340859.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:59.197Z,1749340859.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 112.298561 m,
      bearing: 136.239467 deg,
      approach rate: 0.786167 m/s,
      LOS rate: 0.150136 deg/s,
      cmd heading: 136.162321 deg,
      new cmd heading: 136.239467 deg.

2025-06-08T00:00:59.198Z,1749340859.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.377827 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:59.254Z,1749340859.254 [DAT](INFO): DAT read: 00:00:57.7719 LVL= 30480, 24769, 23490, 32755, AGC= 72, IDX=  59, 0.14, 1.840,-2.969, 1.087, 2.154, PHS=-0.227, 1.207,-1.070, RAW= 351.5,   0.9, CAL= 352.2,   0.6, ROT= 157.8,  -0.6

2025-06-08T00:00:59.256Z,1749340859.256 [DAT](INFO): got valid direction response:
 00:00:57.7719 LVL= 30480, 24769, 23490, 32755, AGC= 72, IDX=  59, 0.14, 1.840,-2.969, 1.087, 2.154, PHS=-0.227, 1.207,-1.070, RAW= 351.5,   0.9, CAL= 352.2,   0.6, ROT= 157.8,  -0.6

2025-06-08T00:00:59.257Z,1749340859.257 [DAT](INFO): DAT read: Bearing 157.8,  -0.6 (Local)

2025-06-08T00:00:59.258Z,1749340859.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.8,  -0.6 (Local)

2025-06-08T00:00:59.259Z,1749340859.259 [DAT](INFO): DAT read: Range 10 to 50 : 141.7 m  (Round-trip  189.0 ms) speed -0.5 m/s

2025-06-08T00:00:59.260Z,1749340859.260 [DAT](INFO): DAT read: user:2019>

2025-06-08T00:00:59.261Z,1749340859.261 [DAT](INFO): DAT read: Tx time:00:00:58.8788

2025-06-08T00:00:59.261Z,1749340859.261 [DAT](INFO): Ping request sent.
2025-06-08T00:00:59.261Z,1749340859.261 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:00:59.262Z,1749340859.262 [DAT](INFO): DAT read: TxSync time:00:00:58.8780

2025-06-08T00:00:59.262Z,1749340859.262 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-06-08T00:00:59.272Z,1749340859.272 [DAT](INFO): direction in FSK: [-0.925820,0.377820,0.010472]
2025-06-08T00:00:59.272Z,1749340859.272 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:59.272Z,1749340859.272 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:59.280Z,1749340859.280 [DAT](INFO): publishing transmit ping time
2025-06-08T00:00:59.280Z,1749340859.280 [DAT](INFO): publishing direction and range info
2025-06-08T00:00:59.286Z,1749340859.286 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.024939
2025-06-08T00:00:59.492Z,1749340859.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:00:59.496Z,1749340859.496 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.235022
2025-06-08T00:00:59.544Z,1749340859.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 141.699997 m,
 deltaT: 3.780366 s,
 deltaX: -26.699997 m,
 approachRate: -7.062808 m/s,
 rangeRepo size: 1
2025-06-08T00:00:59.544Z,1749340859.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:59.551Z,1749340859.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 112.546631 m,
      bearing: 136.291894 deg,
      approach rate: 0.722006 m/s,
      LOS rate: 0.152252 deg/s,
      cmd heading: 136.239461 deg,
      new cmd heading: 136.291894 deg.

2025-06-08T00:00:59.552Z,1749340859.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378742 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:00:59.748Z,1749340859.748 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.486913
2025-06-08T00:00:59.911Z,1749340859.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:00:59.914Z,1749340859.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 112.850647 m,
      bearing: 136.362044 deg,
      approach rate: 0.815932 m/s,
      LOS rate: 0.187764 deg/s,
      cmd heading: 136.291890 deg,
      new cmd heading: 136.362044 deg.

2025-06-08T00:00:59.915Z,1749340859.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379967 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:00.003Z,1749340860.003 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.741249
2025-06-08T00:01:00.252Z,1749340860.252 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.990923
2025-06-08T00:01:00.342Z,1749340860.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:00.345Z,1749340860.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 113.155510 m,
      bearing: 136.443148 deg,
      approach rate: 0.706657 m/s,
      LOS rate: 0.187490 deg/s,
      cmd heading: 136.362049 deg,
      new cmd heading: 136.443148 deg.

2025-06-08T00:01:00.346Z,1749340860.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381382 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:00.496Z,1749340860.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:01:00.504Z,1749340860.504 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.242945
2025-06-08T00:01:00.749Z,1749340860.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:00.752Z,1749340860.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 113.437538 m,
      bearing: 136.524587 deg,
      approach rate: 0.693106 m/s,
      LOS rate: 0.199645 deg/s,
      cmd heading: 136.443151 deg,
      new cmd heading: 136.524587 deg.

2025-06-08T00:01:00.753Z,1749340860.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.382804 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:00.756Z,1749340860.756 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.495009
2025-06-08T00:01:01.012Z,1749340861.012 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.750733
2025-06-08T00:01:01.164Z,1749340861.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:01.166Z,1749340861.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 113.714867 m,
      bearing: 136.607233 deg,
      approach rate: 0.669840 m/s,
      LOS rate: 0.199130 deg/s,
      cmd heading: 136.524594 deg,
      new cmd heading: 136.607233 deg.

2025-06-08T00:01:01.167Z,1749340861.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384246 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:01.260Z,1749340861.260 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.998906
2025-06-08T00:01:01.513Z,1749340861.513 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.251560
2025-06-08T00:01:01.587Z,1749340861.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:01.589Z,1749340861.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:01.592Z,1749340861.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 113.994530 m,
      bearing: 136.696636 deg,
      approach rate: 0.656332 m/s,
      LOS rate: 0.209302 deg/s,
      cmd heading: 136.607239 deg,
      new cmd heading: 136.696636 deg.

2025-06-08T00:01:01.593Z,1749340861.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385806 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:01.764Z,1749340861.764 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.502924
2025-06-08T00:01:02.019Z,1749340862.019 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.756906
2025-06-08T00:01:02.077Z,1749340862.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:02.083Z,1749340862.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 114.284294 m,
      bearing: 136.795588 deg,
      approach rate: 0.594880 m/s,
      LOS rate: 0.202630 deg/s,
      cmd heading: 136.696633 deg,
      new cmd heading: 136.795588 deg.

2025-06-08T00:01:02.084Z,1749340862.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387533 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:02.268Z,1749340862.268 [DAT](INFO): DAT read: Rx Time:00:01:01.4363

2025-06-08T00:01:02.269Z,1749340862.269 [DAT](INFO): Rx dataTimestamp_ set to:1749340862.268381
2025-06-08T00:01:02.269Z,1749340862.269 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.007966
2025-06-08T00:01:02.445Z,1749340862.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:02.452Z,1749340862.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 114.517967 m,
      bearing: 136.882267 deg,
      approach rate: 0.633424 m/s,
      LOS rate: 0.234483 deg/s,
      cmd heading: 136.795589 deg,
      new cmd heading: 136.882267 deg.

2025-06-08T00:01:02.453Z,1749340862.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389046 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:02.521Z,1749340862.521 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.259747
2025-06-08T00:01:02.778Z,1749340862.778 [DAT](INFO): DAT read: 00:01:01.4363 LVL= 32752, 23457, 32722, 32691, AGC= 68, IDX=  63,-0.35,-0.604, 0.488,-1.890,-0.649, PHS= 0.134, 1.184,-1.244, RAW=   4.4,  -0.7, CAL=   4.5,  -2.2, ROT= 145.5,   2.2

2025-06-08T00:01:02.779Z,1749340862.779 [DAT](INFO): got valid direction response:
 00:01:01.4363 LVL= 32752, 23457, 32722, 32691, AGC= 68, IDX=  63,-0.35,-0.604, 0.488,-1.890,-0.649, PHS= 0.134, 1.184,-1.244, RAW=   4.4,  -0.7, CAL=   4.5,  -2.2, ROT= 145.5,   2.2

2025-06-08T00:01:02.780Z,1749340862.780 [DAT](INFO): DAT read: Bearing 145.5,   2.2 (Local)

2025-06-08T00:01:02.781Z,1749340862.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.5,   2.2 (Local)

2025-06-08T00:01:02.782Z,1749340862.782 [DAT](INFO): DAT read: Range 10 to 50 : 114.9 m  (Round-trip  153.3 ms) speed -0.8 m/s

2025-06-08T00:01:02.783Z,1749340862.783 [DAT](INFO): DAT read: user:2020>

2025-06-08T00:01:02.784Z,1749340862.784 [DAT](INFO): DAT read: Tx time:00:01:02.5289

2025-06-08T00:01:02.784Z,1749340862.784 [DAT](INFO): Ping request sent.
2025-06-08T00:01:02.784Z,1749340862.784 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:01:02.784Z,1749340862.784 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-08T00:01:02.785Z,1749340862.785 [DAT](INFO): direction in FSK: [-0.823519,0.565989,-0.038388]
2025-06-08T00:01:02.786Z,1749340862.786 [DAT](INFO): publishing transmit ping time
2025-06-08T00:01:02.786Z,1749340862.786 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:02.800Z,1749340862.800 [DAT](INFO): publishing transmit ping time
2025-06-08T00:01:02.800Z,1749340862.800 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:02.803Z,1749340862.803 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.018941
2025-06-08T00:01:02.912Z,1749340862.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 114.900002 m,
 deltaT: 7.307904 s,
 deltaX: -53.499992 m,
 approachRate: -7.320839 m/s,
 rangeRepo size: 1
2025-06-08T00:01:02.912Z,1749340862.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:02.915Z,1749340862.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 114.791107 m,
      bearing: 136.983018 deg,
      approach rate: 0.592057 m/s,
      LOS rate: 0.217868 deg/s,
      cmd heading: 136.882264 deg,
      new cmd heading: 136.983018 deg.

2025-06-08T00:01:02.928Z,1749340862.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390805 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:03.028Z,1749340863.028 [DAT](INFO): DAT read: TxSync time:00:01:02.5281

2025-06-08T00:01:03.030Z,1749340863.030 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.245809
2025-06-08T00:01:03.276Z,1749340863.276 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.492262
2025-06-08T00:01:03.284Z,1749340863.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:03.286Z,1749340863.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 115.022827 m,
      bearing: 137.077899 deg,
      approach rate: 0.621947 m/s,
      LOS rate: 0.254152 deg/s,
      cmd heading: 136.983023 deg,
      new cmd heading: 137.077899 deg.

2025-06-08T00:01:03.291Z,1749340863.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392461 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:03.529Z,1749340863.529 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.744933
2025-06-08T00:01:03.717Z,1749340863.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:03.719Z,1749340863.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:03.722Z,1749340863.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 115.272133 m,
      bearing: 137.186124 deg,
      approach rate: 0.567036 m/s,
      LOS rate: 0.245620 deg/s,
      cmd heading: 137.077894 deg,
      new cmd heading: 137.186124 deg.

2025-06-08T00:01:03.723Z,1749340863.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394350 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:03.781Z,1749340863.781 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.997111
2025-06-08T00:01:04.035Z,1749340864.035 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.250316
2025-06-08T00:01:04.149Z,1749340864.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:04.152Z,1749340864.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 115.498962 m,
      bearing: 137.294625 deg,
      approach rate: 0.527582 m/s,
      LOS rate: 0.251867 deg/s,
      cmd heading: 137.186125 deg,
      new cmd heading: 137.294625 deg.

2025-06-08T00:01:04.153Z,1749340864.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396243 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:04.285Z,1749340864.285 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.501040
2025-06-08T00:01:04.536Z,1749340864.536 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.752185
2025-06-08T00:01:04.596Z,1749340864.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:04.598Z,1749340864.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 115.708618 m,
      bearing: 137.407920 deg,
      approach rate: 0.478100 m/s,
      LOS rate: 0.257890 deg/s,
      cmd heading: 137.294630 deg,
      new cmd heading: 137.407920 deg.

2025-06-08T00:01:04.607Z,1749340864.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398221 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:04.788Z,1749340864.788 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.004138
2025-06-08T00:01:04.971Z,1749340864.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:04.974Z,1749340864.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 115.886131 m,
      bearing: 137.509553 deg,
      approach rate: 0.467814 m/s,
      LOS rate: 0.267431 deg/s,
      cmd heading: 137.407915 deg,
      new cmd heading: 137.509553 deg.

2025-06-08T00:01:04.980Z,1749340864.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399994 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:05.043Z,1749340865.043 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.258709
2025-06-08T00:01:05.293Z,1749340865.293 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.509341
2025-06-08T00:01:05.413Z,1749340865.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:05.424Z,1749340865.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 116.089226 m,
      bearing: 137.627527 deg,
      approach rate: 0.455194 m/s,
      LOS rate: 0.263951 deg/s,
      cmd heading: 137.509548 deg,
      new cmd heading: 137.627527 deg.

2025-06-08T00:01:05.425Z,1749340865.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402054 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:05.544Z,1749340865.544 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.760097
2025-06-08T00:01:05.769Z,1749340865.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:05.771Z,1749340865.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:05.774Z,1749340865.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 116.266510 m,
      bearing: 137.729942 deg,
      approach rate: 0.494988 m/s,
      LOS rate: 0.285512 deg/s,
      cmd heading: 137.627533 deg,
      new cmd heading: 137.729942 deg.

2025-06-08T00:01:05.775Z,1749340865.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.403841 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:05.797Z,1749340865.797 [DAT](INFO): DAT read: Rx Time:00:01:05.0892

2025-06-08T00:01:05.797Z,1749340865.797 [DAT](INFO): Rx dataTimestamp_ set to:1749340865.797187
2025-06-08T00:01:05.798Z,1749340865.798 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.013991
2025-06-08T00:01:06.051Z,1749340866.051 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.266951
2025-06-08T00:01:06.179Z,1749340866.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.09 m.
2025-06-08T00:01:06.198Z,1749340866.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 167.088577 m,
      nav range: 116.438210 m,
      bearing: 137.838753 deg,
      approach rate: 0.421331 m/s,
      LOS rate: 0.266615 deg/s,
      cmd heading: 137.729945 deg,
      new cmd heading: 137.838753 deg.

2025-06-08T00:01:06.198Z,1749340866.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405740 target range: 167.088577 and range: 168.40 m.
2025-06-08T00:01:06.300Z,1749340866.300 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.516157
2025-06-08T00:01:06.558Z,1749340866.558 [DAT](INFO): DAT read: 00:01:05.0892 LVL= 16592, 22209, 18242, 26067, AGC= 58, IDX= 460,-0.07, 2.718,-2.750, 1.165, 2.385, PHS= 0.422, 1.195,-1.222, RAW=  11.7,  -3.7, CAL=  11.5,  -6.5, ROT= 138.5,   6.5

2025-06-08T00:01:06.560Z,1749340866.560 [DAT](INFO): got valid direction response:
 00:01:05.0892 LVL= 16592, 22209, 18242, 26067, AGC= 58, IDX= 460,-0.07, 2.718,-2.750, 1.165, 2.385, PHS= 0.422, 1.195,-1.222, RAW=  11.7,  -3.7, CAL=  11.5,  -6.5, ROT= 138.5,   6.5

2025-06-08T00:01:06.561Z,1749340866.561 [DAT](INFO): DAT read: Bearing 138.5,   6.5 (Local)

2025-06-08T00:01:06.561Z,1749340866.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.5,   6.5 (Local)

2025-06-08T00:01:06.563Z,1749340866.563 [DAT](INFO): DAT read: Range 10 to 50 : 117.1 m  (Round-trip  156.2 ms) speed -0.6 m/s

2025-06-08T00:01:06.564Z,1749340866.564 [DAT](INFO): DAT read: user:2021>

2025-06-08T00:01:06.564Z,1749340866.564 [DAT](INFO): DAT read: Tx time:00:01:06.1789

2025-06-08T00:01:06.565Z,1749340866.565 [DAT](INFO): Ping request sent.
2025-06-08T00:01:06.565Z,1749340866.565 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:01:06.565Z,1749340866.565 [DAT](INFO): DAT read: TxSync time:00:01:06.1781

2025-06-08T00:01:06.566Z,1749340866.566 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-08T00:01:06.567Z,1749340866.567 [DAT](INFO): direction in FSK: [-0.744141,0.658361,-0.113203]
2025-06-08T00:01:06.567Z,1749340866.567 [DAT](INFO): publishing transmit ping time
2025-06-08T00:01:06.568Z,1749340866.568 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:06.570Z,1749340866.570 [DAT](INFO): publishing transmit ping time
2025-06-08T00:01:06.571Z,1749340866.571 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:06.582Z,1749340866.582 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.017557
2025-06-08T00:01:06.633Z,1749340866.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.099998 m,
      deltaT: 11.087837 s,
      deltaX: -51.299995 m,
      approachRate: -4.626691 m/s,
      rangeRepo size: 2

2025-06-08T00:01:06.635Z,1749340866.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.180527 m,
      bearing: 153.072941 deg,
      lat: 36.905781 deg,
      lon: -122.115864 deg,
      deltaT: 11.087837 s,
      deltaX: -50.908051 m,
      approachRate: -4.591342 m/s,
      posRepo size: 2

2025-06-08T00:01:06.652Z,1749340866.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:06.654Z,1749340866.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 135.543640 m,
      bearing: 139.800434 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.266615 deg/s,
      cmd heading: 137.838750 deg,
      new cmd heading: 138.201201 deg.

2025-06-08T00:01:06.668Z,1749340866.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.412066 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:06.804Z,1749340866.804 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.239346
2025-06-08T00:01:07.005Z,1749340867.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:07.012Z,1749340867.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 135.701965 m,
      bearing: 139.891441 deg,
      approach rate: 0.424748 m/s,
      LOS rate: 0.243864 deg/s,
      cmd heading: 138.201201 deg,
      new cmd heading: 138.473901 deg.

2025-06-08T00:01:07.013Z,1749340867.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416826 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:07.060Z,1749340867.060 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.494104
2025-06-08T00:01:07.308Z,1749340867.308 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.743160
2025-06-08T00:01:07.415Z,1749340867.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:07.418Z,1749340867.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 135.851730 m,
      bearing: 139.981162 deg,
      approach rate: 0.368623 m/s,
      LOS rate: 0.220591 deg/s,
      cmd heading: 138.473903 deg,
      new cmd heading: 138.742767 deg.

2025-06-08T00:01:07.419Z,1749340867.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421518 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:07.560Z,1749340867.560 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.995192
2025-06-08T00:01:07.785Z,1749340867.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:07.787Z,1749340867.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:07.790Z,1749340867.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 135.991440 m,
      bearing: 140.070490 deg,
      approach rate: 0.371777 m/s,
      LOS rate: 0.237466 deg/s,
      cmd heading: 138.742766 deg,
      new cmd heading: 139.010475 deg.

2025-06-08T00:01:07.792Z,1749340867.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426190 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:07.812Z,1749340867.812 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.247342
2025-06-08T00:01:08.064Z,1749340868.064 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.499290
2025-06-08T00:01:08.214Z,1749340868.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:08.217Z,1749340868.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 136.140244 m,
      bearing: 140.169465 deg,
      approach rate: 0.348125 m/s,
      LOS rate: 0.231298 deg/s,
      cmd heading: 139.010469 deg,
      new cmd heading: 139.307066 deg.

2025-06-08T00:01:08.218Z,1749340868.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431367 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:08.316Z,1749340868.316 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.751418
2025-06-08T00:01:08.568Z,1749340868.568 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.003203
2025-06-08T00:01:08.602Z,1749340868.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:08.605Z,1749340868.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 136.265320 m,
      bearing: 140.258173 deg,
      approach rate: 0.322736 m/s,
      LOS rate: 0.228683 deg/s,
      cmd heading: 139.307063 deg,
      new cmd heading: 139.572939 deg.

2025-06-08T00:01:08.606Z,1749340868.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436007 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:08.821Z,1749340868.821 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.255863
2025-06-08T00:01:09.009Z,1749340869.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:09.012Z,1749340869.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 136.386246 m,
      bearing: 140.349513 deg,
      approach rate: 0.296861 m/s,
      LOS rate: 0.224033 deg/s,
      cmd heading: 139.572935 deg,
      new cmd heading: 139.846711 deg.

2025-06-08T00:01:09.013Z,1749340869.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440786 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:09.072Z,1749340869.072 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.507507
2025-06-08T00:01:09.324Z,1749340869.324 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.759304
2025-06-08T00:01:09.417Z,1749340869.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:09.420Z,1749340869.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 136.511459 m,
      bearing: 140.445360 deg,
      approach rate: 0.307133 m/s,
      LOS rate: 0.234884 deg/s,
      cmd heading: 139.846716 deg,
      new cmd heading: 140.133991 deg.

2025-06-08T00:01:09.421Z,1749340869.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445800 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:09.576Z,1749340869.576 [DAT](INFO): DAT read: Rx Time:00:01:08.7415

2025-06-08T00:01:09.577Z,1749340869.577 [DAT](INFO): Rx dataTimestamp_ set to:1749340869.576314
2025-06-08T00:01:09.577Z,1749340869.577 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.012278
2025-06-08T00:01:09.813Z,1749340869.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:09.816Z,1749340869.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.18 m.
2025-06-08T00:01:09.818Z,1749340869.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.180527 m,
      nav range: 136.629486 m,
      bearing: 140.535281 deg,
      approach rate: 0.296133 m/s,
      LOS rate: 0.225419 deg/s,
      cmd heading: 140.133994 deg,
      new cmd heading: 140.403521 deg.

2025-06-08T00:01:09.820Z,1749340869.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450504 target range: 116.180527 and range: 117.10 m.
2025-06-08T00:01:09.838Z,1749340869.838 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.272527
2025-06-08T00:01:10.098Z,1749340870.098 [DAT](INFO): DAT read: 00:01:08.7416 LVL= 21760, 18833, 22850, 28115, AGC= 59, IDX= 450, 0.48, 1.690, 1.414,-0.412, 0.669, PHS= 1.108, 0.792,-1.084, RAW=  37.7,  -8.0, CAL=  40.1, -13.6, ROT= 109.9,  13.6

2025-06-08T00:01:10.099Z,1749340870.099 [DAT](INFO): got valid direction response:
 00:01:08.7416 LVL= 21760, 18833, 22850, 28115, AGC= 59, IDX= 450, 0.48, 1.690, 1.414,-0.412, 0.669, PHS= 1.108, 0.792,-1.084, RAW=  37.7,  -8.0, CAL=  40.1, -13.6, ROT= 109.9,  13.6

2025-06-08T00:01:10.100Z,1749340870.100 [DAT](INFO): DAT read: Bearing 109.9,  13.6 (Local)

2025-06-08T00:01:10.100Z,1749340870.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 109.9,  13.6 (Local)

2025-06-08T00:01:10.102Z,1749340870.102 [DAT](INFO): DAT read: Range 10 to 50 : 118.8 m  (Round-trip  158.4 ms) speed -0.1 m/s

2025-06-08T00:01:10.103Z,1749340870.103 [DAT](INFO): DAT read: user:2022>

2025-06-08T00:01:10.126Z,1749340870.126 [DAT](INFO): DAT read: Tx time:00:01:09.8290

2025-06-08T00:01:10.141Z,1749340870.141 [DAT](INFO): Ping request sent.
2025-06-08T00:01:10.141Z,1749340870.141 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:01:10.143Z,1749340870.143 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-08T00:01:10.181Z,1749340870.181 [DAT](INFO): direction in FSK: [-0.330836,0.913923,-0.235142]
2025-06-08T00:01:10.181Z,1749340870.181 [DAT](INFO): publishing transmit ping time
2025-06-08T00:01:10.181Z,1749340870.181 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:10.197Z,1749340870.197 [DAT](INFO): publishing transmit ping time
2025-06-08T00:01:10.197Z,1749340870.197 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:10.208Z,1749340870.208 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.067019
2025-06-08T00:01:10.340Z,1749340870.340 [DAT](INFO): DAT read: TxSync time:00:01:09.8282

2025-06-08T00:01:10.341Z,1749340870.341 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.200002
2025-06-08T00:01:10.342Z,1749340870.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.800003 m,
      deltaT: 3.537814 s,
      deltaX: 1.700005 m,
      approachRate: 0.480524 m/s,
      rangeRepo size: 3

2025-06-08T00:01:10.349Z,1749340870.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.866409 m,
      bearing: 139.576534 deg,
      lat: 36.905781 deg,
      lon: -122.115980 deg,
      deltaT: 3.537814 s,
      deltaX: 1.685883 m,
      approachRate: 0.476532 m/s,
      posRepo size: 3

2025-06-08T00:01:10.349Z,1749340870.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:10.356Z,1749340870.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.866409 m,
      nav range: 130.481277 m,
      bearing: 144.147257 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.225419 deg/s,
      cmd heading: 140.403527 deg,
      new cmd heading: 140.755101 deg.

2025-06-08T00:01:10.357Z,1749340870.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456640 target range: 117.866409 and range: 118.80 m.
2025-06-08T00:01:10.592Z,1749340870.592 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.451310
2025-06-08T00:01:10.649Z,1749340870.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:10.652Z,1749340870.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.866409 m,
      nav range: 130.573669 m,
      bearing: 144.225791 deg,
      approach rate: 0.293966 m/s,
      LOS rate: 0.249699 deg/s,
      cmd heading: 140.755104 deg,
      new cmd heading: 140.990540 deg.

2025-06-08T00:01:10.653Z,1749340870.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460749 target range: 117.866409 and range: 118.80 m.
2025-06-08T00:01:10.845Z,1749340870.845 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.703575
2025-06-08T00:01:11.036Z,1749340871.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:11.039Z,1749340871.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.866409 m,
      nav range: 130.676117 m,
      bearing: 144.318909 deg,
      approach rate: 0.264888 m/s,
      LOS rate: 0.240577 deg/s,
      cmd heading: 140.990541 deg,
      new cmd heading: 141.269673 deg.

2025-06-08T00:01:11.040Z,1749340871.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465621 target range: 117.866409 and range: 118.80 m.
2025-06-08T00:01:11.097Z,1749340871.097 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.955849
2025-06-08T00:01:11.348Z,1749340871.348 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.206908
2025-06-08T00:01:11.462Z,1749340871.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:11.465Z,1749340871.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.866409 m,
      nav range: 130.780212 m,
      bearing: 144.423092 deg,
      approach rate: 0.244354 m/s,
      LOS rate: 0.244364 deg/s,
      cmd heading: 141.269677 deg,
      new cmd heading: 141.581972 deg.

2025-06-08T00:01:11.466Z,1749340871.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471071 target range: 117.866409 and range: 118.80 m.
2025-06-08T00:01:11.600Z,1749340871.600 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.459299
2025-06-08T00:01:11.842Z,1749340871.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:11.845Z,1749340871.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:11.848Z,1749340871.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.866409 m,
      nav range: 130.868347 m,
      bearing: 144.517354 deg,
      approach rate: 0.230226 m/s,
      LOS rate: 0.246066 deg/s,
      cmd heading: 141.581967 deg,
      new cmd heading: 141.864560 deg.

2025-06-08T00:01:11.849Z,1749340871.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476004 target range: 117.866409 and range: 118.80 m.
2025-06-08T00:01:11.852Z,1749340871.852 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.711081
2025-06-08T00:01:12.106Z,1749340872.106 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.965042
2025-06-08T00:01:12.330Z,1749340872.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:12.333Z,1749340872.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.866409 m,
      nav range: 130.975769 m,
      bearing: 144.642780 deg,
      approach rate: 0.221310 m/s,
      LOS rate: 0.258189 deg/s,
      cmd heading: 141.864559 deg,
      new cmd heading: 142.240522 deg.

2025-06-08T00:01:12.334Z,1749340872.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.482565 target range: 117.866409 and range: 118.80 m.
2025-06-08T00:01:12.356Z,1749340872.356 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.215066
2025-06-08T00:01:12.608Z,1749340872.608 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.466929
2025-06-08T00:01:12.734Z,1749340872.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:12.741Z,1749340872.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.866409 m,
      nav range: 131.056885 m,
      bearing: 144.745658 deg,
      approach rate: 0.201018 m/s,
      LOS rate: 0.254791 deg/s,
      cmd heading: 142.240520 deg,
      new cmd heading: 142.548961 deg.

2025-06-08T00:01:12.742Z,1749340872.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487949 target range: 117.866409 and range: 118.80 m.
2025-06-08T00:01:12.861Z,1749340872.861 [DAT](INFO): DAT read: Rx Time:00:01:12.1178 

2025-06-08T00:01:12.861Z,1749340872.861 [DAT](INFO): Rx dataTimestamp_ set to:1749340872.860948
2025-06-08T00:01:12.863Z,1749340872.863 [DAT](INFO): DAT read: Bearing  90.1,  18.9 (Local)

2025-06-08T00:01:12.863Z,1749340872.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.1,  18.9 (Local)

2025-06-08T00:01:12.865Z,1749340872.865 [DAT](INFO): DAT read: Range 10 to 50 :   119.7 m (trip time 79.8 ms) speed -0.2

2025-06-08T00:01:12.894Z,1749340872.894 [DAT](INFO): DAT read: 00:01:12.1178 LVL= 13008, 18369, 15266, 18419, AGC= 62, IDX= 175, 0.39, 0.142,-0.716,-2.176,-1.265, PHS= 1.495, 0.596,-0.914, RAW=  51.7, -11.2, CAL=  59.9, -18.9, ROT=  90.1,  18.9

2025-06-08T00:01:12.895Z,1749340872.895 [DAT](INFO): got valid direction response:
 00:01:12.1178 LVL= 13008, 18369, 15266, 18419, AGC= 62, IDX= 175, 0.39, 0.142,-0.716,-2.176,-1.265, PHS= 1.495, 0.596,-0.914, RAW=  51.7, -11.2, CAL=  59.9, -18.9, ROT=  90.1,  18.9

2025-06-08T00:01:12.912Z,1749340872.912 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-08T00:01:12.913Z,1749340872.913 [DAT](INFO): direction in FSK: [-0.001651,0.946084,-0.323917]
2025-06-08T00:01:12.914Z,1749340872.914 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:12.922Z,1749340872.922 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.780927
2025-06-08T00:01:13.088Z,1749340873.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.699997 m,
      deltaT: 2.771587 s,
      deltaX: 0.899994 m,
      approachRate: 0.324722 m/s,
      rangeRepo size: 4

2025-06-08T00:01:13.090Z,1749340873.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.759003 m,
      bearing: 129.777973 deg,
      lat: 36.905893 deg,
      lon: -122.115980 deg,
      deltaT: 2.771587 s,
      deltaX: 0.892593 m,
      approachRate: 0.322051 m/s,
      posRepo size: 4

2025-06-08T00:01:13.091Z,1749340873.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.76 m.
2025-06-08T00:01:13.093Z,1749340873.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.759003 m,
      nav range: 121.177612 m,
      bearing: 141.451025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.254791 deg/s,
      cmd heading: 142.548958 deg,
      new cmd heading: 142.818846 deg.

2025-06-08T00:01:13.094Z,1749340873.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492659 target range: 118.759003 and range: 119.70 m.
2025-06-08T00:01:13.112Z,1749340873.112 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.970922
2025-06-08T00:01:13.365Z,1749340873.365 [DAT](INFO): DAT read: Rx Time:00:01:12.6177 

2025-06-08T00:01:13.365Z,1749340873.365 [DAT](INFO): Rx dataTimestamp_ set to:1749340873.364855
2025-06-08T00:01:13.366Z,1749340873.366 [DAT](INFO): DAT read: Bearing  89.6,  17.6 (Local)

2025-06-08T00:01:13.367Z,1749340873.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.6,  17.6 (Local)

2025-06-08T00:01:13.371Z,1749340873.371 [DAT](INFO): DAT read: Range 10 to 50 :   119.6 m (trip time 79.7 ms) speed -0.2

2025-06-08T00:01:13.376Z,1749340873.376 [DAT](INFO): DAT read: 00:01:12.6177 LVL= 15600, 21345, 18418, 29555, AGC= 62, IDX= 511, 0.19,-1.633,-2.534, 2.303,-3.035, PHS= 1.489, 0.548,-0.948, RAW=  52.5, -10.2, CAL=  60.4, -17.6, ROT=  89.6,  17.6

2025-06-08T00:01:13.377Z,1749340873.377 [DAT](INFO): got valid direction response:
 00:01:12.6177 LVL= 15600, 21345, 18418, 29555, AGC= 62, IDX= 511, 0.19,-1.633,-2.534, 2.303,-3.035, PHS= 1.489, 0.548,-0.948, RAW=  52.5, -10.2, CAL=  60.4, -17.6, ROT=  89.6,  17.6

2025-06-08T00:01:13.377Z,1749340873.377 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-08T00:01:13.378Z,1749340873.378 [DAT](INFO): direction in FSK: [0.006654,0.953167,-0.302370]
2025-06-08T00:01:13.378Z,1749340873.378 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:13.392Z,1749340873.392 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.250370
2025-06-08T00:01:13.572Z,1749340873.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.599998 m,
      deltaT: 0.503907 s,
      deltaX: -0.099998 m,
      approachRate: -0.198446 m/s,
      rangeRepo size: 4

2025-06-08T00:01:13.574Z,1749340873.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.659790 m,
      bearing: 129.320243 deg,
      lat: 36.905926 deg,
      lon: -122.115980 deg,
      deltaT: 0.503907 s,
      deltaX: -0.099213 m,
      approachRate: -0.196887 m/s,
      posRepo size: 4

2025-06-08T00:01:13.575Z,1749340873.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.66 m.
2025-06-08T00:01:13.590Z,1749340873.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.659790 m,
      nav range: 118.456291 m,
      bearing: 140.506768 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.254791 deg/s,
      cmd heading: 142.818846 deg,
      new cmd heading: 143.185713 deg.

2025-06-08T00:01:13.600Z,1749340873.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.499062 target range: 118.659790 and range: 119.60 m.
2025-06-08T00:01:13.616Z,1749340873.616 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.474991
2025-06-08T00:01:13.869Z,1749340873.869 [DAT](INFO): DAT read: Rx Time:00:01:13.1178 

2025-06-08T00:01:13.869Z,1749340873.869 [DAT](INFO): Rx dataTimestamp_ set to:1749340873.869068
2025-06-08T00:01:13.871Z,1749340873.871 [DAT](INFO): DAT read: Bearing  88.6,  15.7 (Local)

2025-06-08T00:01:13.871Z,1749340873.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.6,  15.7 (Local)

2025-06-08T00:01:13.873Z,1749340873.873 [DAT](INFO): DAT read: Range 10 to 50 :   119.7 m (trip time 79.8 ms) speed -0.1

2025-06-08T00:01:13.890Z,1749340873.890 [DAT](INFO): DAT read: 00:01:13.1178 LVL= 19056, 27633, 20882, 32291, AGC= 63, IDX= 512, 0.01, 1.893, 0.956,-0.399, 0.553, PHS= 1.427, 0.450,-0.955, RAW=  54.1,  -8.9, CAL=  61.4, -15.7, ROT=  88.6,  15.7

2025-06-08T00:01:13.891Z,1749340873.891 [DAT](INFO): got valid direction response:
 00:01:13.1178 LVL= 19056, 27633, 20882, 32291, AGC= 63, IDX= 512, 0.01, 1.893, 0.956,-0.399, 0.553, PHS= 1.427, 0.450,-0.955, RAW=  54.1,  -8.9, CAL=  61.4, -15.7, ROT=  88.6,  15.7

2025-06-08T00:01:13.891Z,1749340873.891 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-08T00:01:13.892Z,1749340873.892 [DAT](INFO): direction in FSK: [0.023521,0.962404,-0.270600]
2025-06-08T00:01:13.893Z,1749340873.893 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:13.912Z,1749340873.912 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.771141
2025-06-08T00:01:13.964Z,1749340873.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.699997 m,
      deltaT: 0.504213 s,
      deltaX: 0.099998 m,
      approachRate: 0.198326 m/s,
      rangeRepo size: 4

2025-06-08T00:01:13.975Z,1749340873.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.758888 m,
      bearing: 133.107599 deg,
      lat: 36.906020 deg,
      lon: -122.115851 deg,
      deltaT: 0.504213 s,
      deltaX: 0.099098 m,
      approachRate: 0.196540 m/s,
      posRepo size: 4

2025-06-08T00:01:13.984Z,1749340873.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.76 m.
2025-06-08T00:01:13.986Z,1749340873.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.758888 m,
      nav range: 118.758034 m,
      bearing: 133.107169 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.254791 deg/s,
      cmd heading: 143.185709 deg,
      new cmd heading: 143.478890 deg.

2025-06-08T00:01:13.996Z,1749340873.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504179 target range: 118.758888 and range: 119.70 m.
2025-06-08T00:01:14.120Z,1749340874.120 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.979201
2025-06-08T00:01:14.328Z,1749340874.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:14.330Z,1749340874.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.76 m.
2025-06-08T00:01:14.356Z,1749340874.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.758888 m,
      nav range: 118.765907 m,
      bearing: 133.240933 deg,
      approach rate: 0.020730 m/s,
      LOS rate: 0.352162 deg/s,
      cmd heading: 143.478888 deg,
      new cmd heading: 143.880146 deg.

2025-06-08T00:01:14.358Z,1749340874.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511182 target range: 118.758888 and range: 119.70 m.
2025-06-08T00:01:14.372Z,1749340874.372 [DAT](INFO): DAT read: Rx Time:00:01:13.6178 

2025-06-08T00:01:14.373Z,1749340874.373 [DAT](INFO): Rx dataTimestamp_ set to:1749340874.372615
2025-06-08T00:01:14.374Z,1749340874.374 [DAT](INFO): DAT read: Range 10 to 50 :   119.7 m (trip time 79.8 ms) speed -0.2

2025-06-08T00:01:14.375Z,1749340874.375 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-06-08T00:01:14.376Z,1749340874.376 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=4.234574
2025-06-08T00:01:14.625Z,1749340874.625 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=4.483719
2025-06-08T00:01:14.723Z,1749340874.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.699997 m,
      deltaT: 0.503547 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:14.724Z,1749340874.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.76 m.
2025-06-08T00:01:14.727Z,1749340874.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.758888 m,
      nav range: 118.766350 m,
      bearing: 133.370236 deg,
      approach rate: 0.001129 m/s,
      LOS rate: 0.329766 deg/s,
      cmd heading: 143.880148 deg,
      new cmd heading: 144.268051 deg.

2025-06-08T00:01:14.728Z,1749340874.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517952 target range: 118.758888 and range: 119.70 m.
2025-06-08T00:01:14.876Z,1749340874.876 [DAT](INFO): DAT read: Rx Time:00:01:14.1179 

2025-06-08T00:01:14.877Z,1749340874.877 [DAT](INFO): Rx dataTimestamp_ set to:1749340874.876514
2025-06-08T00:01:14.878Z,1749340874.878 [DAT](INFO): DAT read: Range 10 to 50 :   119.9 m (trip time 79.9 ms) speed 0.0

2025-06-08T00:01:14.879Z,1749340874.879 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-06-08T00:01:14.880Z,1749340874.880 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=4.738472
2025-06-08T00:01:15.128Z,1749340875.128 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=4.987037
2025-06-08T00:01:15.162Z,1749340875.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.900002 m,
      deltaT: 0.503899 s,
      deltaX: 0.200005 m,
      approachRate: 0.396914 m/s,
      rangeRepo size: 4

2025-06-08T00:01:15.174Z,1749340875.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.76 m.
2025-06-08T00:01:15.220Z,1749340875.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.758888 m,
      nav range: 118.759911 m,
      bearing: 133.500955 deg,
      approach rate: -0.014952 m/s,
      LOS rate: 0.303545 deg/s,
      cmd heading: 144.268048 deg,
      new cmd heading: 144.660219 deg.

2025-06-08T00:01:15.228Z,1749340875.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524797 target range: 118.758888 and range: 119.90 m.
2025-06-08T00:01:15.381Z,1749340875.381 [DAT](INFO): DAT read: Rx Time:00:01:14.6179 

2025-06-08T00:01:15.381Z,1749340875.381 [DAT](INFO): Rx dataTimestamp_ set to:1749340875.380917
2025-06-08T00:01:15.382Z,1749340875.382 [DAT](INFO): DAT read: Bearing 108.1,   4.1 (Local)

2025-06-08T00:01:15.383Z,1749340875.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.1,   4.1 (Local)

2025-06-08T00:01:15.385Z,1749340875.385 [DAT](INFO): DAT read: Range 10 to 50 :   119.9 m (trip time 79.9 ms) speed 0.0

2025-06-08T00:01:15.395Z,1749340875.395 [DAT](INFO): DAT read: 00:01:14.6179 LVL= 18928, 30385, 26610, 32755, AGC= 64, IDX= 513, 0.18,-0.044,-0.346,-1.586,-0.652, PHS= 0.696, 0.353,-0.937, RAW=  41.5,  -1.5, CAL=  41.9,  -4.1, ROT= 108.1,   4.1

2025-06-08T00:01:15.396Z,1749340875.396 [DAT](INFO): got valid direction response:
 00:01:14.6179 LVL= 18928, 30385, 26610, 32755, AGC= 64, IDX= 513, 0.18,-0.044,-0.346,-1.586,-0.652, PHS= 0.696, 0.353,-0.937, RAW=  41.5,  -1.5, CAL=  41.9,  -4.1, ROT= 108.1,   4.1

2025-06-08T00:01:15.397Z,1749340875.397 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-08T00:01:15.398Z,1749340875.398 [DAT](INFO): direction in FSK: [-0.309881,0.948083,-0.071497]
2025-06-08T00:01:15.398Z,1749340875.398 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:15.401Z,1749340875.401 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=5.260207
2025-06-08T00:01:15.590Z,1749340875.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.900002 m,
      deltaT: 0.504403 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:15.592Z,1749340875.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.957291 m,
      bearing: 157.831020 deg,
      lat: 36.906020 deg,
      lon: -122.115851 deg,
      deltaT: 1.511849 s,
      deltaX: 0.198402 m,
      approachRate: 0.131232 m/s,
      posRepo size: 4

2025-06-08T00:01:15.593Z,1749340875.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-06-08T00:01:15.595Z,1749340875.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.957291 m,
      nav range: 118.758614 m,
      bearing: 133.654922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.303545 deg/s,
      cmd heading: 144.660224 deg,
      new cmd heading: 145.057025 deg.

2025-06-08T00:01:15.596Z,1749340875.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531723 target range: 118.957291 and range: 119.90 m.
2025-06-08T00:01:15.633Z,1749340875.633 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=5.491696
2025-06-08T00:01:15.885Z,1749340875.885 [DAT](INFO): DAT read: Rx Time:00:01:15.1181 

2025-06-08T00:01:15.885Z,1749340875.885 [DAT](INFO): Rx dataTimestamp_ set to:1749340875.884928
2025-06-08T00:01:15.886Z,1749340875.886 [DAT](INFO): DAT read: Bearing  96.4,  10.5 (Local)

2025-06-08T00:01:15.887Z,1749340875.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.4,  10.5 (Local)

2025-06-08T00:01:15.890Z,1749340875.890 [DAT](INFO): DAT read: Range 10 to 50 :   120.2 m (trip time 80.1 ms) speed 0.0

2025-06-08T00:01:15.894Z,1749340875.894 [DAT](INFO): DAT read: 00:01:15.1181 LVL= 17488, 22513, 25826, 30371, AGC= 66, IDX=   3,-0.07, 1.659, 0.991,-0.317, 0.655, PHS= 1.093, 0.383,-0.975, RAW=  49.7,  -5.6, CAL=  53.6, -10.5, ROT=  96.4,  10.5

2025-06-08T00:01:15.899Z,1749340875.899 [DAT](INFO): got valid direction response:
 00:01:15.1181 LVL= 17488, 22513, 25826, 30371, AGC= 66, IDX=   3,-0.07, 1.659, 0.991,-0.317, 0.655, PHS= 1.093, 0.383,-0.975, RAW=  49.7,  -5.6, CAL=  53.6, -10.5, ROT=  96.4,  10.5

2025-06-08T00:01:15.900Z,1749340875.900 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-08T00:01:15.901Z,1749340875.901 [DAT](INFO): direction in FSK: [-0.109602,0.977127,-0.182236]
2025-06-08T00:01:15.901Z,1749340875.901 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:15.910Z,1749340875.910 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=5.768981
2025-06-08T00:01:16.014Z,1749340876.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.199997 m,
      deltaT: 0.504011 s,
      deltaX: 0.299995 m,
      approachRate: 0.595216 m/s,
      rangeRepo size: 4

2025-06-08T00:01:16.020Z,1749340876.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.254837 m,
      bearing: 148.829881 deg,
      lat: 36.906020 deg,
      lon: -122.115851 deg,
      deltaT: 0.504011 s,
      deltaX: 0.297546 m,
      approachRate: 0.590357 m/s,
      posRepo size: 4

2025-06-08T00:01:16.021Z,1749340876.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.25 m.
2025-06-08T00:01:16.028Z,1749340876.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.254837 m,
      nav range: 118.742882 m,
      bearing: 133.790654 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.303545 deg/s,
      cmd heading: 145.057030 deg,
      new cmd heading: 145.443216 deg.

2025-06-08T00:01:16.029Z,1749340876.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538463 target range: 119.254837 and range: 120.20 m.
2025-06-08T00:01:16.140Z,1749340876.140 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=5.998782
2025-06-08T00:01:16.389Z,1749340876.389 [DAT](INFO): DAT read: Rx Time:00:01:15.6180 

2025-06-08T00:01:16.389Z,1749340876.389 [DAT](INFO): Rx dataTimestamp_ set to:1749340876.389000
2025-06-08T00:01:16.391Z,1749340876.391 [DAT](INFO): DAT read: Bearing  95.5,  11.4 (Local)

2025-06-08T00:01:16.391Z,1749340876.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing  95.5,  11.4 (Local)

2025-06-08T00:01:16.393Z,1749340876.393 [DAT](INFO): DAT read: Range 10 to 50 :   120.0 m (trip time 80.0 ms) speed -0.1

2025-06-08T00:01:16.398Z,1749340876.398 [DAT](INFO): DAT read: 00:01:15.6180 LVL= 17312, 31665, 28626, 32755, AGC= 63, IDX= 498, 0.48, 1.730, 1.061,-0.210, 0.724, PHS= 1.095, 0.384,-0.937, RAW=  50.2,  -6.1, CAL=  54.5, -11.4, ROT=  95.5,  11.4

2025-06-08T00:01:16.399Z,1749340876.399 [DAT](INFO): got valid direction response:
 00:01:15.6180 LVL= 17312, 31665, 28626, 32755, AGC= 63, IDX= 498, 0.48, 1.730, 1.061,-0.210, 0.724, PHS= 1.095, 0.384,-0.937, RAW=  50.2,  -6.1, CAL=  54.5, -11.4, ROT=  95.5,  11.4

2025-06-08T00:01:16.399Z,1749340876.399 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-08T00:01:16.400Z,1749340876.400 [DAT](INFO): direction in FSK: [-0.093955,0.975758,-0.197657]
2025-06-08T00:01:16.401Z,1749340876.401 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:16.408Z,1749340876.408 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=6.267018
2025-06-08T00:01:16.425Z,1749340876.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.000000 m,
      deltaT: 0.504072 s,
      deltaX: -0.199997 m,
      approachRate: -0.396763 m/s,
      rangeRepo size: 4

2025-06-08T00:01:16.431Z,1749340876.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.056419 m,
      bearing: 149.560544 deg,
      lat: 36.905844 deg,
      lon: -122.116123 deg,
      deltaT: 0.504072 s,
      deltaX: -0.198418 m,
      approachRate: -0.393630 m/s,
      posRepo size: 4

2025-06-08T00:01:16.432Z,1749340876.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.06 m.
2025-06-08T00:01:16.435Z,1749340876.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.056419 m,
      nav range: 118.858253 m,
      bearing: 148.962515 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.303545 deg/s,
      cmd heading: 145.443209 deg,
      new cmd heading: 145.817775 deg.

2025-06-08T00:01:16.440Z,1749340876.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545000 target range: 119.056419 and range: 120.00 m.
2025-06-08T00:01:16.645Z,1749340876.645 [DAT](INFO): DAT read: Rx Time:00:01:16.1182 

2025-06-08T00:01:16.647Z,1749340876.647 [DAT](INFO): Rx dataTimestamp_ set to:1749340876.645729
2025-06-08T00:01:16.649Z,1749340876.649 [DAT](INFO): DAT read: Bearing  94.7,  12.0 (Local)

2025-06-08T00:01:16.650Z,1749340876.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.7,  12.0 (Local)

2025-06-08T00:01:16.652Z,1749340876.652 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=6.510428
2025-06-08T00:01:16.780Z,1749340876.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:16.782Z,1749340876.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.06 m.
2025-06-08T00:01:16.789Z,1749340876.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.056419 m,
      nav range: 118.907372 m,
      bearing: 149.091375 deg,
      approach rate: 0.137233 m/s,
      LOS rate: 0.359877 deg/s,
      cmd heading: 145.817777 deg,
      new cmd heading: 146.204190 deg.

2025-06-08T00:01:16.790Z,1749340876.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551744 target range: 119.056419 and range: 120.00 m.
2025-06-08T00:01:16.895Z,1749340876.895 [DAT](INFO): DAT read: Range 10 to 50 :   120.3 m (trip time 80.2 ms) speed 0.0

2025-06-08T00:01:16.902Z,1749340876.902 [DAT](INFO): DAT read: 00:01:16.1182 LVL= 17232, 28241, 26818, 32755, AGC= 62, IDX= 500,-0.03, 2.746, 2.057, 0.791, 1.714, PHS= 1.119, 0.390,-0.926, RAW=  50.6,  -6.5, CAL=  55.3, -12.0, ROT=  94.7,  12.0

2025-06-08T00:01:16.903Z,1749340876.903 [DAT](INFO): got valid direction response:
 00:01:16.1182 LVL= 17232, 28241, 26818, 32755, AGC= 62, IDX= 500,-0.03, 2.746, 2.057, 0.791, 1.714, PHS= 1.119, 0.390,-0.926, RAW=  50.6,  -6.5, CAL=  55.3, -12.0, ROT=  94.7,  12.0

2025-06-08T00:01:16.903Z,1749340876.903 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-08T00:01:16.904Z,1749340876.904 [DAT](INFO): direction in FSK: [-0.080148,0.974858,-0.207912]
2025-06-08T00:01:16.904Z,1749340876.904 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:16.908Z,1749340876.908 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=6.767038
2025-06-08T00:01:17.148Z,1749340877.148 [DAT](INFO): DAT read: Rx Time:00:01:16.6181 

2025-06-08T00:01:17.150Z,1749340877.150 [DAT](INFO): Rx dataTimestamp_ set to:1749340877.148489
2025-06-08T00:01:17.153Z,1749340877.153 [DAT](INFO): DAT read: Bearing  91.1,  13.7 (Local)

2025-06-08T00:01:17.155Z,1749340877.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.1,  13.7 (Local)

2025-06-08T00:01:17.177Z,1749340877.177 [DAT](INFO): DAT read: Range 10 to 50 :   120.2 m (trip time 80.1 ms) speed 0.0

2025-06-08T00:01:17.192Z,1749340877.192 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-06-08T00:01:17.209Z,1749340877.209 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=7.066854
2025-06-08T00:01:17.300Z,1749340877.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.199997 m,
      deltaT: 0.759489 s,
      deltaX: 0.199997 m,
      approachRate: 0.263331 m/s,
      rangeRepo size: 4

2025-06-08T00:01:17.302Z,1749340877.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.255035 m,
      bearing: 151.909374 deg,
      lat: 36.905839 deg,
      lon: -122.116136 deg,
      deltaT: 0.759489 s,
      deltaX: 0.198616 m,
      approachRate: 0.261513 m/s,
      posRepo size: 4

2025-06-08T00:01:17.303Z,1749340877.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.26 m.
2025-06-08T00:01:17.306Z,1749340877.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.255035 m,
      nav range: 118.859924 m,
      bearing: 149.838513 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.359877 deg/s,
      cmd heading: 146.204188 deg,
      new cmd heading: 146.757951 deg.

2025-06-08T00:01:17.307Z,1749340877.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561409 target range: 119.255035 and range: 120.20 m.
2025-06-08T00:01:17.400Z,1749340877.400 [DAT](INFO): DAT read: 00:01:16.6181 LVL= 18384, 29025, 28914, 32755, AGC= 63, IDX= 499, 0.31,-2.945, 2.552, 1.318, 2.216, PHS= 1.210, 0.383,-0.901, RAW=  52.9,  -7.6, CAL=  58.9, -13.7, ROT=  91.1,  13.7

2025-06-08T00:01:17.401Z,1749340877.401 [DAT](INFO): got valid direction response:
 00:01:16.6181 LVL= 18384, 29025, 28914, 32755, AGC= 63, IDX= 499, 0.31,-2.945, 2.552, 1.318, 2.216, PHS= 1.210, 0.383,-0.901, RAW=  52.9,  -7.6, CAL=  58.9, -13.7, ROT=  91.1,  13.7

2025-06-08T00:01:17.402Z,1749340877.402 [DAT](INFO): #Rx 57: Read direction message, but no range.
2025-06-08T00:01:17.402Z,1749340877.402 [DAT](INFO): direction in FSK: [-0.018651,0.971370,-0.236838]
2025-06-08T00:01:17.406Z,1749340877.406 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=7.264687
2025-06-08T00:01:17.651Z,1749340877.651 [DAT](INFO): DAT read: Rx Time:00:01:17.1183 

2025-06-08T00:01:17.653Z,1749340877.653 [DAT](INFO): Rx dataTimestamp_ set to:1749340877.651765
2025-06-08T00:01:17.658Z,1749340877.658 [DAT](INFO): DAT read: Bearing  90.7,  14.7 (Local)

2025-06-08T00:01:17.660Z,1749340877.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.7,  14.7 (Local)

2025-06-08T00:01:17.664Z,1749340877.664 [DAT](INFO): DAT read: Range 10 to 50 :   120.5 m (trip time 80.3 ms) speed 0.0

2025-06-08T00:01:17.667Z,1749340877.667 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-06-08T00:01:17.671Z,1749340877.671 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=7.528929
2025-06-08T00:01:17.790Z,1749340877.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.500000 m,
      deltaT: 0.503276 s,
      deltaX: 0.300003 m,
      approachRate: 0.596100 m/s,
      rangeRepo size: 4

2025-06-08T00:01:17.794Z,1749340877.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.552979 m,
      bearing: 151.455939 deg,
      lat: 36.905822 deg,
      lon: -122.116162 deg,
      deltaT: 0.503276 s,
      deltaX: 0.297943 m,
      approachRate: 0.592007 m/s,
      posRepo size: 4

2025-06-08T00:01:17.803Z,1749340877.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-06-08T00:01:17.806Z,1749340877.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.552979 m,
      nav range: 119.498749 m,
      bearing: 151.455596 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.359877 deg/s,
      cmd heading: 146.757952 deg,
      new cmd heading: 147.291740 deg.

2025-06-08T00:01:17.807Z,1749340877.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570726 target range: 119.552979 and range: 120.50 m.
2025-06-08T00:01:17.904Z,1749340877.904 [DAT](INFO): DAT read: 00:01:17.1183 LVL= 19152, 29921, 28194, 32755, AGC= 63, IDX= 500,-0.20, 1.956, 1.157,-0.103, 0.790, PHS= 1.255, 0.415,-0.896, RAW=  52.8,  -8.3, CAL=  59.3, -14.7, ROT=  90.7,  14.7

2025-06-08T00:01:17.906Z,1749340877.906 [DAT](INFO): got valid direction response:
 00:01:17.1183 LVL= 19152, 29921, 28194, 32755, AGC= 63, IDX= 500,-0.20, 1.956, 1.157,-0.103, 0.790, PHS= 1.255, 0.415,-0.896, RAW=  52.8,  -8.3, CAL=  59.3, -14.7, ROT=  90.7,  14.7

2025-06-08T00:01:17.906Z,1749340877.906 [DAT](INFO): #Rx 59: Read direction message, but no range.
2025-06-08T00:01:17.908Z,1749340877.908 [DAT](INFO): direction in FSK: [-0.011817,0.967196,-0.253758]
2025-06-08T00:01:17.913Z,1749340877.913 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=7.771988
2025-06-08T00:01:18.083Z,1749340878.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-06-08T00:01:18.085Z,1749340878.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.552979 m,
      nav range: 119.519943 m,
      bearing: 151.561042 deg,
      approach rate: 0.072344 m/s,
      LOS rate: 0.359862 deg/s,
      cmd heading: 147.291745 deg,
      new cmd heading: 147.608024 deg.

2025-06-08T00:01:18.086Z,1749340878.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576246 target range: 119.552979 and range: 120.50 m.
2025-06-08T00:01:18.157Z,1749340878.157 [DAT](INFO): DAT read: Rx Time:00:01:17.6182 

2025-06-08T00:01:18.158Z,1749340878.158 [DAT](INFO): Rx dataTimestamp_ set to:1749340878.157543
2025-06-08T00:01:18.162Z,1749340878.162 [DAT](INFO): DAT read: Bearing  88.2,  17.3 (Local)

2025-06-08T00:01:18.163Z,1749340878.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.2,  17.3 (Local)

2025-06-08T00:01:18.169Z,1749340878.169 [DAT](INFO): DAT read: Range 10 to 50 :   120.3 m (trip time 80.2 ms) speed 0.0

2025-06-08T00:01:18.172Z,1749340878.172 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-06-08T00:01:18.176Z,1749340878.176 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=8.033884
2025-06-08T00:01:18.408Z,1749340878.408 [DAT](INFO): DAT read: 00:01:17.6182 LVL= 18672, 29425, 28034, 32755, AGC= 64, IDX= 499, 0.01, 1.777, 0.938,-0.307, 0.530, PHS= 1.335, 0.455,-0.840, RAW=  53.7, -10.1, CAL=  61.8, -17.3, ROT=  88.2,  17.3

2025-06-08T00:01:18.409Z,1749340878.409 [DAT](INFO): got valid direction response:
 00:01:17.6182 LVL= 18672, 29425, 28034, 32755, AGC= 64, IDX= 499, 0.01, 1.777, 0.938,-0.307, 0.530, PHS= 1.335, 0.455,-0.840, RAW=  53.7, -10.1, CAL=  61.8, -17.3, ROT=  88.2,  17.3

2025-06-08T00:01:18.409Z,1749340878.409 [DAT](INFO): #Rx 61: Read direction message, but no range.
2025-06-08T00:01:18.410Z,1749340878.410 [DAT](INFO): direction in FSK: [0.029990,0.954290,-0.297375]
2025-06-08T00:01:18.414Z,1749340878.414 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=8.272536
2025-06-08T00:01:18.521Z,1749340878.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.300003 m,
      deltaT: 0.505778 s,
      deltaX: -0.199997 m,
      approachRate: -0.395424 m/s,
      rangeRepo size: 4

2025-06-08T00:01:18.523Z,1749340878.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.354553 m,
      bearing: 151.837438 deg,
      lat: 36.905822 deg,
      lon: -122.116162 deg,
      deltaT: 0.505778 s,
      deltaX: -0.198425 m,
      approachRate: -0.392317 m/s,
      posRepo size: 4

2025-06-08T00:01:18.524Z,1749340878.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.35 m.
2025-06-08T00:01:18.526Z,1749340878.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.354553 m,
      nav range: 119.465469 m,
      bearing: 151.682705 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.359862 deg/s,
      cmd heading: 147.608024 deg,
      new cmd heading: 148.080396 deg.

2025-06-08T00:01:18.528Z,1749340878.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584491 target range: 119.354553 and range: 120.30 m.
2025-06-08T00:01:18.661Z,1749340878.661 [DAT](INFO): DAT read: Rx Time:00:01:18.1183 

2025-06-08T00:01:18.662Z,1749340878.662 [DAT](INFO): Rx dataTimestamp_ set to:1749340878.661343
2025-06-08T00:01:18.666Z,1749340878.666 [DAT](INFO): DAT read: Bearing  86.5,  19.8 (Local)

2025-06-08T00:01:18.668Z,1749340878.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.5,  19.8 (Local)

2025-06-08T00:01:18.673Z,1749340878.673 [DAT](INFO): DAT read: Range 10 to 50 :   120.5 m (trip time 80.3 ms) speed 0.0

2025-06-08T00:01:18.676Z,1749340878.676 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-06-08T00:01:18.680Z,1749340878.680 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=8.538214
2025-06-08T00:01:18.912Z,1749340878.912 [DAT](INFO): DAT read: 00:01:18.1183 LVL= 20208, 29809, 25138, 32755, AGC= 65, IDX= 500, 0.14,-2.843, 2.588, 1.359, 2.137, PHS= 1.392, 0.498,-0.782, RAW=  54.1, -11.7, CAL=  63.5, -19.8, ROT=  86.5,  19.8

2025-06-08T00:01:18.913Z,1749340878.913 [DAT](INFO): got valid direction response:
 00:01:18.1183 LVL= 20208, 29809, 25138, 32755, AGC= 65, IDX= 500, 0.14,-2.843, 2.588, 1.359, 2.137, PHS= 1.392, 0.498,-0.782, RAW=  54.1, -11.7, CAL=  63.5, -19.8, ROT=  86.5,  19.8

2025-06-08T00:01:18.913Z,1749340878.913 [DAT](INFO): #Rx 63: Read direction message, but no range.
2025-06-08T00:01:18.914Z,1749340878.914 [DAT](INFO): direction in FSK: [0.057439,0.939126,-0.338738]
2025-06-08T00:01:18.918Z,1749340878.918 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=8.776512
2025-06-08T00:01:18.941Z,1749340878.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.500000 m,
      deltaT: 0.503800 s,
      deltaX: 0.199997 m,
      approachRate: 0.396977 m/s,
      rangeRepo size: 4

2025-06-08T00:01:18.956Z,1749340878.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.553055 m,
      bearing: 151.735249 deg,
      lat: 36.905822 deg,
      lon: -122.116162 deg,
      deltaT: 0.503800 s,
      deltaX: 0.198502 m,
      approachRate: 0.394009 m/s,
      posRepo size: 4

2025-06-08T00:01:18.957Z,1749340878.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.55 m.
2025-06-08T00:01:18.973Z,1749340878.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.553055 m,
      nav range: 119.473068 m,
      bearing: 151.807643 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.359862 deg/s,
      cmd heading: 148.080400 deg,
      new cmd heading: 148.528137 deg.

2025-06-08T00:01:18.974Z,1749340878.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592305 target range: 119.553055 and range: 120.50 m.
2025-06-08T00:01:19.165Z,1749340879.165 [DAT](INFO): DAT read: Rx Time:00:01:18.6182 

2025-06-08T00:01:19.168Z,1749340879.168 [DAT](INFO): Rx dataTimestamp_ set to:1749340879.166086
2025-06-08T00:01:19.174Z,1749340879.174 [DAT](INFO): DAT read: Bearing  83.8,  21.1 (Local)

2025-06-08T00:01:19.175Z,1749340879.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.8,  21.1 (Local)

2025-06-08T00:01:19.194Z,1749340879.194 [DAT](INFO): DAT read: Range 10 to 50 :   120.3 m (trip time 80.2 ms) speed 0.0

2025-06-08T00:01:19.222Z,1749340879.222 [DAT](INFO): DAT read: 00:01:18.6182 LVL= 20720, 26225, 24050, 27507, AGC= 65, IDX= 499, 0.08,-2.989, 2.341, 1.122, 1.873, PHS= 1.509, 0.514,-0.755, RAW=  56.0, -12.9, CAL=  66.2, -21.1, ROT=  83.8,  21.1

2025-06-08T00:01:19.223Z,1749340879.223 [DAT](INFO): got valid direction response:
 00:01:18.6182 LVL= 20720, 26225, 24050, 27507, AGC= 65, IDX= 499, 0.08,-2.989, 2.341, 1.122, 1.873, PHS= 1.509, 0.514,-0.755, RAW=  56.0, -12.9, CAL=  66.2, -21.1, ROT=  83.8,  21.1

2025-06-08T00:01:19.228Z,1749340879.228 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-08T00:01:19.235Z,1749340879.235 [DAT](INFO): direction in FSK: [0.100758,0.927497,-0.359997]
2025-06-08T00:01:19.236Z,1749340879.236 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:19.300Z,1749340879.300 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=9.158515
2025-06-08T00:01:19.412Z,1749340879.412 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=9.271109
2025-06-08T00:01:19.437Z,1749340879.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.300003 m,
      deltaT: 0.504743 s,
      deltaX: -0.199997 m,
      approachRate: -0.396235 m/s,
      rangeRepo size: 4

2025-06-08T00:01:19.443Z,1749340879.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.354630 m,
      bearing: 150.741080 deg,
      lat: 36.905822 deg,
      lon: -122.116162 deg,
      deltaT: 0.504743 s,
      deltaX: -0.198425 m,
      approachRate: -0.393121 m/s,
      posRepo size: 4

2025-06-08T00:01:19.444Z,1749340879.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.35 m.
2025-06-08T00:01:19.447Z,1749340879.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.354630 m,
      nav range: 119.472557 m,
      bearing: 151.960195 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.359862 deg/s,
      cmd heading: 148.528133 deg,
      new cmd heading: 149.069495 deg.

2025-06-08T00:01:19.452Z,1749340879.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.601753 target range: 119.354630 and range: 120.30 m.
2025-06-08T00:01:19.672Z,1749340879.672 [DAT](INFO): DAT read: Rx Time:00:01:19.1183 

2025-06-08T00:01:19.674Z,1749340879.674 [DAT](INFO): Rx dataTimestamp_ set to:1749340879.673114
2025-06-08T00:01:19.682Z,1749340879.682 [DAT](INFO): DAT read: Bearing  81.6,  22.8 (Local)

2025-06-08T00:01:19.683Z,1749340879.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.6,  22.8 (Local)

2025-06-08T00:01:19.690Z,1749340879.690 [DAT](INFO): DAT read: Range 10 to 50 :   120.p time 80.3 ms) speed 0.0

2025-06-08T00:01:19.752Z,1749340879.752 [DAT](INFO): DAT read: 00:01:19.1183 LVL= 23120, 28593, 28914, 25843, AGC= 65, IDX= 500,-0.05,-2.410, 2.879, 1.719, 2.392, PHS= 1.569, 0.534,-0.677, RAW=  57.4, -14.5, CAL=  68.4, -22.8, ROT=  81.6,  22.8

2025-06-08T00:01:19.753Z,1749340879.753 [DAT](INFO): got valid direction response:
 00:01:19.1183 LVL= 23120, 28593, 28914, 25843, AGC= 65, IDX= 500,-0.05,-2.410, 2.879, 1.719, 2.392, PHS= 1.569, 0.534,-0.677, RAW=  57.4, -14.5, CAL=  68.4, -22.8, ROT=  81.6,  22.8

2025-06-08T00:01:19.753Z,1749340879.753 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-08T00:01:19.754Z,1749340879.754 [DAT](INFO): direction in FSK: [0.134669,0.911974,-0.387516]
2025-06-08T00:01:19.755Z,1749340879.755 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:19.767Z,1749340879.767 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=9.625538
2025-06-08T00:01:19.845Z,1749340879.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.000000 m,
      deltaT: 0.507028 s,
      deltaX: -0.300003 m,
      approachRate: -0.591689 m/s,
      rangeRepo size: 4

2025-06-08T00:01:19.847Z,1749340879.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.057259 m,
      bearing: 150.332163 deg,
      lat: 36.905825 deg,
      lon: -122.116161 deg,
      deltaT: 0.507028 s,
      deltaX: -0.297371 m,
      approachRate: -0.586498 m/s,
      posRepo size: 4

2025-06-08T00:01:19.852Z,1749340879.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.06 m.
2025-06-08T00:01:19.854Z,1749340879.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.057259 m,
      nav range: 119.213737 m,
      bearing: 152.014057 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.359862 deg/s,
      cmd heading: 149.069493 deg,
      new cmd heading: 149.509384 deg.

2025-06-08T00:01:19.859Z,1749340879.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609431 target range: 119.057259 and range: 120.00 m.
2025-06-08T00:01:19.921Z,1749340879.921 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=9.780235
2025-06-08T00:01:20.177Z,1749340880.177 [DAT](INFO): DAT read: Rx Time:00:01:19.6182 

2025-06-08T00:01:20.179Z,1749340880.179 [DAT](INFO): Rx dataTimestamp_ set to:1749340880.177507
2025-06-08T00:01:20.183Z,1749340880.183 [DAT](INFO): DAT read: Bearing  79.1,  22.3 (Local)

2025-06-08T00:01:20.184Z,1749340880.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.1,  22.3 (Local)

2025-06-08T00:01:20.192Z,1749340880.192 [DAT](INFO): DAT read: Range 10 to 50 :   120.3 m (trip time 80.2 ms) speed 0.1

2025-06-08T00:01:20.195Z,1749340880.195 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-06-08T00:01:20.197Z,1749340880.197 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=10.055819
2025-06-08T00:01:20.329Z,1749340880.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:20.336Z,1749340880.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.300003 m,
      deltaT: 0.504393 s,
      deltaX: 0.300003 m,
      approachRate: 0.594780 m/s,
      rangeRepo size: 4

2025-06-08T00:01:20.336Z,1749340880.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.06 m.
2025-06-08T00:01:20.343Z,1749340880.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.057259 m,
      nav range: 119.198997 m,
      bearing: 152.149053 deg,
      approach rate: -0.030276 m/s,
      LOS rate: 0.277321 deg/s,
      cmd heading: 149.509385 deg,
      new cmd heading: 149.914418 deg.

2025-06-08T00:01:20.344Z,1749340880.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616500 target range: 119.057259 and range: 120.30 m.
2025-06-08T00:01:20.430Z,1749340880.430 [DAT](INFO): DAT read: 00:01:19.6182 LVL= 22112, 29681, 24370, 25507, AGC= 64, IDX= 499,-0.41,-2.235, 2.944, 1.816, 2.506, PHS= 1.631, 0.485,-0.693, RAW=  59.5, -14.0, CAL=  70.9, -22.3, ROT=  79.1,  22.3

2025-06-08T00:01:20.431Z,1749340880.431 [DAT](INFO): got valid direction response:
 00:01:19.6182 LVL= 22112, 29681, 24370, 25507, AGC= 64, IDX= 499,-0.41,-2.235, 2.944, 1.816, 2.506, PHS= 1.631, 0.485,-0.693, RAW=  59.5, -14.0, CAL=  70.9, -22.3, ROT=  79.1,  22.3

2025-06-08T00:01:20.432Z,1749340880.432 [DAT](INFO): #Rx 67: Read direction message, but no range.
2025-06-08T00:01:20.433Z,1749340880.433 [DAT](INFO): direction in FSK: [0.174953,0.908518,-0.379456]
2025-06-08T00:01:20.438Z,1749340880.438 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=10.296356
2025-06-08T00:01:20.681Z,1749340880.681 [DAT](INFO): DAT read: Rx Time:00:01:20.1182 

2025-06-08T00:01:20.683Z,1749340880.683 [DAT](INFO): Rx dataTimestamp_ set to:1749340880.681553
2025-06-08T00:01:20.688Z,1749340880.688 [DAT](INFO): DAT read: Bearing  74.9,  23.6 (Local)

2025-06-08T00:01:20.689Z,1749340880.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.9,  23.6 (Local)

2025-06-08T00:01:20.704Z,1749340880.704 [DAT](INFO): DAT read: Range 10 to 50 :   120.3 m (trip time 80.2 ms) speed 0.0

2025-06-08T00:01:20.721Z,1749340880.721 [DAT](INFO): DAT read: 00:01:20.1182 LVL= 17552, 27329, 21090, 25555, AGC= 64, IDX= 499,-0.00, 1.051,-0.176,-1.177,-0.572, PHS= 1.711, 0.443,-0.608, RAW=  63.1, -15.2, CAL=  75.1, -23.6, ROT=  74.9,  23.6

2025-06-08T00:01:20.722Z,1749340880.722 [DAT](INFO): got valid direction response:
 00:01:20.1182 LVL= 17552, 27329, 21090, 25555, AGC= 64, IDX= 499,-0.00, 1.051,-0.176,-1.177,-0.572, PHS= 1.711, 0.443,-0.608, RAW=  63.1, -15.2, CAL=  75.1, -23.6, ROT=  74.9,  23.6

2025-06-08T00:01:20.722Z,1749340880.722 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-08T00:01:20.735Z,1749340880.735 [DAT](INFO): direction in FSK: [0.238717,0.884723,-0.400349]
2025-06-08T00:01:20.736Z,1749340880.736 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:20.751Z,1749340880.751 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=10.597730
2025-06-08T00:01:20.772Z,1749340880.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.300003 m,
      deltaT: 0.504046 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:20.774Z,1749340880.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.355125 m,
      bearing: 147.217127 deg,
      lat: 36.905839 deg,
      lon: -122.116140 deg,
      deltaT: 1.008439 s,
      deltaX: 0.297867 m,
      approachRate: 0.295374 m/s,
      posRepo size: 4

2025-06-08T00:01:20.783Z,1749340880.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.36 m.
2025-06-08T00:01:20.786Z,1749340880.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.355125 m,
      nav range: 118.714149 m,
      bearing: 151.135270 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.277321 deg/s,
      cmd heading: 149.914415 deg,
      new cmd heading: 150.281331 deg.

2025-06-08T00:01:20.787Z,1749340880.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622904 target range: 119.355125 and range: 120.30 m.
2025-06-08T00:01:20.928Z,1749340880.928 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=10.787078
2025-06-08T00:01:21.166Z,1749340881.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.36 m.
2025-06-08T00:01:21.185Z,1749340881.185 [DAT](INFO): DAT read: Rx Time:00:01:20.6181 

2025-06-08T00:01:21.188Z,1749340881.188 [DAT](INFO): Rx dataTimestamp_ set to:1749340881.185867
2025-06-08T00:01:21.192Z,1749340881.192 [DAT](INFO): DAT read: Bearing  70.9,  22.7 (Local)

2025-06-08T00:01:21.193Z,1749340881.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.9,  22.7 (Local)

2025-06-08T00:01:21.198Z,1749340881.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.355125 m,
      nav range: 118.677338 m,
      bearing: 151.249418 deg,
      approach rate: -0.093755 m/s,
      LOS rate: 0.290812 deg/s,
      cmd heading: 150.281333 deg,
      new cmd heading: 150.623879 deg.

2025-06-08T00:01:21.199Z,1749340881.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628883 target range: 119.355125 and range: 120.30 m.
2025-06-08T00:01:21.201Z,1749340881.201 [DAT](INFO): DAT read: Range 10 to 50 :   120.2 m (trip time 80.1 ms) speed 0.2

2025-06-08T00:01:21.214Z,1749340881.214 [DAT](INFO): DAT read: 00:01:20.6181 LVL= 21584, 27281, 20738, 24563, AGC= 62, IDX= 497, 0.36, 1.406, 0.040,-0.832,-0.234, PHS= 1.728, 0.321,-0.600, RAW=  66.9, -14.1, CAL=  79.1, -22.7, ROT=  70.9,  22.7

2025-06-08T00:01:21.223Z,1749340881.223 [DAT](INFO): got valid direction response:
 00:01:20.6181 LVL= 21584, 27281, 20738, 24563, AGC= 62, IDX= 497, 0.36, 1.406, 0.040,-0.832,-0.234, PHS= 1.728, 0.321,-0.600, RAW=  66.9, -14.1, CAL=  79.1, -22.7, ROT=  70.9,  22.7

2025-06-08T00:01:21.224Z,1749340881.224 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-08T00:01:21.224Z,1749340881.224 [DAT](INFO): direction in FSK: [0.301871,0.871751,-0.385906]
2025-06-08T00:01:21.225Z,1749340881.225 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:21.236Z,1749340881.236 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=11.095248
2025-06-08T00:01:21.433Z,1749340881.433 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=11.291759
2025-06-08T00:01:21.545Z,1749340881.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.199997 m,
      deltaT: 0.504314 s,
      deltaX: -0.100006 m,
      approachRate: -0.198301 m/s,
      rangeRepo size: 4

2025-06-08T00:01:21.547Z,1749340881.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.255905 m,
      bearing: 148.017043 deg,
      lat: 36.905849 deg,
      lon: -122.116133 deg,
      deltaT: 0.504314 s,
      deltaX: -0.099220 m,
      approachRate: -0.196743 m/s,
      posRepo size: 4

2025-06-08T00:01:21.548Z,1749340881.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.26 m.
2025-06-08T00:01:21.550Z,1749340881.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.255905 m,
      nav range: 117.878342 m,
      bearing: 150.830678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.290812 deg/s,
      cmd heading: 150.623880 deg,
      new cmd heading: 150.955187 deg.

2025-06-08T00:01:21.552Z,1749340881.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.634665 target range: 119.255905 and range: 120.20 m.
2025-06-08T00:01:21.692Z,1749340881.692 [DAT](INFO): DAT read: Rx Time:00:01:21.1181 

2025-06-08T00:01:21.694Z,1749340881.694 [DAT](INFO): Rx dataTimestamp_ set to:1749340881.692728
2025-06-08T00:01:21.698Z,1749340881.698 [DAT](INFO): DAT read: Bearing  67.6,  21.4 (Local)

2025-06-08T00:01:21.698Z,1749340881.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6,  21.4 (Local)

2025-06-08T00:01:21.701Z,1749340881.701 [DAT](INFO): DAT read: Range 10 to 50 :   120.2 m (trip time 80.1 ms) speed 0.2

2025-06-08T00:01:21.710Z,1749340881.710 [DAT](INFO): DAT read: 00:01:21.1181 LVL= 19328, 31073, 19954, 26467, AGC= 62, IDX= 498,-0.20, 0.396,-1.043,-1.748,-1.163, PHS= 1.648, 0.168,-0.588, RAW=  70.6, -12.4, CAL=  82.4, -21.4, ROT=  67.6,  21.4

2025-06-08T00:01:21.711Z,1749340881.711 [DAT](INFO): got valid direction response:
 00:01:21.1181 LVL= 19328, 31073, 19954, 26467, AGC= 62, IDX= 498,-0.20, 0.396,-1.043,-1.748,-1.163, PHS= 1.648, 0.168,-0.588, RAW=  70.6, -12.4, CAL=  82.4, -21.4, ROT=  67.6,  21.4

2025-06-08T00:01:21.716Z,1749340881.716 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-08T00:01:21.716Z,1749340881.716 [DAT](INFO): direction in FSK: [0.354798,0.860804,-0.364877]
2025-06-08T00:01:21.717Z,1749340881.717 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:21.721Z,1749340881.721 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=11.580086
2025-06-08T00:01:21.932Z,1749340881.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.199997 m,
      deltaT: 0.506861 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:21.934Z,1749340881.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.256149 m,
      bearing: 146.322774 deg,
      lat: 36.905875 deg,
      lon: -122.116077 deg,
      deltaT: 0.506861 s,
      deltaX: 0.000244 m,
      approachRate: 0.000482 m/s,
      posRepo size: 4

2025-06-08T00:01:21.937Z,1749340881.937 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=11.795463
2025-06-08T00:01:21.940Z,1749340881.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.26 m.
2025-06-08T00:01:21.948Z,1749340881.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.256149 m,
      nav range: 117.924751 m,
      bearing: 148.117684 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.290812 deg/s,
      cmd heading: 150.955186 deg,
      new cmd heading: 151.289429 deg.

2025-06-08T00:01:21.950Z,1749340881.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640499 target range: 119.256149 and range: 120.20 m.
2025-06-08T00:01:22.193Z,1749340882.193 [DAT](INFO): DAT read: Rx Time:00:01:21.6179 

2025-06-08T00:01:22.194Z,1749340882.194 [DAT](INFO): Rx dataTimestamp_ set to:1749340882.193391
2025-06-08T00:01:22.198Z,1749340882.198 [DAT](INFO): DAT read: Bearing  65.2,  19.0 (Local)

2025-06-08T00:01:22.200Z,1749340882.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.2,  19.0 (Local)

2025-06-08T00:01:22.203Z,1749340882.203 [DAT](INFO): DAT read: Range 10 to 50 :   119.9 m (trip time 79.9 ms) speed 0.3

2025-06-08T00:01:22.222Z,1749340882.222 [DAT](INFO): DAT read: 00:01:21.6179 LVL= 19840, 29553, 18930, 24035, AGC= 63, IDX= 496,-0.05,-0.582,-2.124,-2.707,-2.086, PHS= 1.593, 0.009,-0.623, RAW=  73.9,  -9.9, CAL=  84.8, -19.0, ROT=  65.2,  19.0

2025-06-08T00:01:22.230Z,1749340882.230 [DAT](INFO): got valid direction response:
 00:01:21.6179 LVL= 19840, 29553, 18930, 24035, AGC= 63, IDX= 496,-0.05,-0.582,-2.124,-2.707,-2.086, PHS= 1.593, 0.009,-0.623, RAW=  73.9,  -9.9, CAL=  84.8, -19.0, ROT=  65.2,  19.0

2025-06-08T00:01:22.239Z,1749340882.239 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-08T00:01:22.241Z,1749340882.241 [DAT](INFO): direction in FSK: [0.396600,0.858320,-0.325568]
2025-06-08T00:01:22.242Z,1749340882.242 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:22.258Z,1749340882.258 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=12.117225
2025-06-08T00:01:22.440Z,1749340882.440 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=12.299067
2025-06-08T00:01:22.454Z,1749340882.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.900002 m,
      deltaT: 0.500663 s,
      deltaX: -0.299995 m,
      approachRate: -0.599196 m/s,
      rangeRepo size: 4

2025-06-08T00:01:22.460Z,1749340882.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.958511 m,
      bearing: 145.222581 deg,
      lat: 36.905881 deg,
      lon: -122.116066 deg,
      deltaT: 0.500663 s,
      deltaX: -0.297638 m,
      approachRate: -0.594488 m/s,
      posRepo size: 4

2025-06-08T00:01:22.461Z,1749340882.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-06-08T00:01:22.468Z,1749340882.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.958511 m,
      nav range: 117.696480 m,
      bearing: 147.680671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.290812 deg/s,
      cmd heading: 151.289428 deg,
      new cmd heading: 151.748268 deg.

2025-06-08T00:01:22.469Z,1749340882.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.648507 target range: 118.958511 and range: 119.90 m.
2025-06-08T00:01:22.693Z,1749340882.693 [DAT](INFO): DAT read: Rx Time:00:01:22.1179 

2025-06-08T00:01:22.693Z,1749340882.693 [DAT](INFO): Rx dataTimestamp_ set to:1749340882.692880
2025-06-08T00:01:22.696Z,1749340882.696 [DAT](INFO): DAT read: Range 10 to 50 :   119.9 m (trip time 79.9 ms) speed 0.3

2025-06-08T00:01:22.697Z,1749340882.697 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-06-08T00:01:22.698Z,1749340882.698 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=12.556611
2025-06-08T00:01:22.790Z,1749340882.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:22.797Z,1749340882.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.900002 m,
      deltaT: 0.499489 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:22.798Z,1749340882.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.96 m.
2025-06-08T00:01:22.805Z,1749340882.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.958511 m,
      nav range: 117.615700 m,
      bearing: 147.769984 deg,
      approach rate: -0.235167 m/s,
      LOS rate: 0.260187 deg/s,
      cmd heading: 151.748266 deg,
      new cmd heading: 152.016388 deg.

2025-06-08T00:01:22.806Z,1749340882.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653187 target range: 118.958511 and range: 119.90 m.
2025-06-08T00:01:22.945Z,1749340882.945 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=12.803727
2025-06-08T00:01:23.198Z,1749340883.198 [DAT](INFO): DAT read: Rx Time:00:01:22.6177 

2025-06-08T00:01:23.198Z,1749340883.198 [DAT](INFO): Rx dataTimestamp_ set to:1749340883.198201
2025-06-08T00:01:23.200Z,1749340883.200 [DAT](INFO): DAT read: Bearing  59.5,  15.9 (Local)

2025-06-08T00:01:23.200Z,1749340883.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.5,  15.9 (Local)

2025-06-08T00:01:23.202Z,1749340883.202 [DAT](INFO): DAT read: Range 10 to 50 :   119.6 m (trip time 79.7 ms) speed 0.2

2025-06-08T00:01:23.208Z,1749340883.208 [DAT](INFO): DAT read: 00:01:22.6177 LVL= 21008, 32753, 23154, 32499, AGC= 63, IDX= 510, 0.17,-0.100,-1.707,-1.991,-1.446, PHS= 1.434,-0.214,-0.548, RAW=  81.0,  -7.4, CAL=  90.5, -15.9, ROT=  59.5,  15.9

2025-06-08T00:01:23.209Z,1749340883.209 [DAT](INFO): got valid direction response:
 00:01:22.6177 LVL= 21008, 32753, 23154, 32499, AGC= 63, IDX= 510, 0.17,-0.100,-1.707,-1.991,-1.446, PHS= 1.434,-0.214,-0.548, RAW=  81.0,  -7.4, CAL=  90.5, -15.9, ROT=  59.5,  15.9

2025-06-08T00:01:23.209Z,1749340883.209 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-08T00:01:23.210Z,1749340883.210 [DAT](INFO): direction in FSK: [0.488121,0.828664,-0.273959]
2025-06-08T00:01:23.210Z,1749340883.210 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:23.218Z,1749340883.218 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=13.076786
2025-06-08T00:01:23.257Z,1749340883.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.599998 m,
      deltaT: 0.505321 s,
      deltaX: -0.300003 m,
      approachRate: -0.593688 m/s,
      rangeRepo size: 4

2025-06-08T00:01:23.259Z,1749340883.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.661049 m,
      bearing: 142.546483 deg,
      lat: 36.905890 deg,
      lon: -122.116040 deg,
      deltaT: 1.004810 s,
      deltaX: -0.297462 m,
      approachRate: -0.296039 m/s,
      posRepo size: 4

2025-06-08T00:01:23.260Z,1749340883.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.66 m.
2025-06-08T00:01:23.262Z,1749340883.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.661049 m,
      nav range: 117.935822 m,
      bearing: 146.655949 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.260187 deg/s,
      cmd heading: 152.016392 deg,
      new cmd heading: 152.371279 deg.

2025-06-08T00:01:23.272Z,1749340883.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.659380 target range: 118.661049 and range: 119.60 m.
2025-06-08T00:01:23.450Z,1749340883.450 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=13.308567
2025-06-08T00:01:23.701Z,1749340883.701 [DAT](INFO): DAT read: Rx Time:00:01:23.1172 

2025-06-08T00:01:23.701Z,1749340883.701 [DAT](INFO): Rx dataTimestamp_ set to:1749340883.701093
2025-06-08T00:01:23.703Z,1749340883.703 [DAT](INFO): DAT read: Bearing  58.2,  14.4 (Local)

2025-06-08T00:01:23.703Z,1749340883.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.2,  14.4 (Local)

2025-06-08T00:01:23.705Z,1749340883.705 [DAT](INFO): DAT read: Range 10 to 50 :   118.8 m (trip time 79.2 ms) speed 0.2

2025-06-08T00:01:23.710Z,1749340883.710 [DAT](INFO): DAT read: 00:01:23.1172 LVL= 23520, 32753, 26034, 32755, AGC= 63, IDX= 509, 0.20,-0.859,-2.505,-2.723,-2.177, PHS= 1.405,-0.282,-0.549, RAW=  82.8,  -6.3, CAL=  91.8, -14.4, ROT=  58.2,  14.4

2025-06-08T00:01:23.711Z,1749340883.711 [DAT](INFO): got valid direction response:
 00:01:23.1172 LVL= 23520, 32753, 26034, 32755, AGC= 63, IDX= 509, 0.20,-0.859,-2.505,-2.723,-2.177, PHS= 1.405,-0.282,-0.549, RAW=  82.8,  -6.3, CAL=  91.8, -14.4, ROT=  58.2,  14.4

2025-06-08T00:01:23.712Z,1749340883.712 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-08T00:01:23.713Z,1749340883.713 [DAT](INFO): direction in FSK: [0.510400,0.823192,-0.248690]
2025-06-08T00:01:23.713Z,1749340883.713 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:23.725Z,1749340883.725 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=13.583326
2025-06-08T00:01:23.802Z,1749340883.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.800003 m,
      deltaT: 0.502892 s,
      deltaX: -0.799995 m,
      approachRate: -1.590790 m/s,
      rangeRepo size: 4

2025-06-08T00:01:23.804Z,1749340883.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.867691 m,
      bearing: 142.620815 deg,
      lat: 36.905901 deg,
      lon: -122.116014 deg,
      deltaT: 0.502892 s,
      deltaX: -0.793358 m,
      approachRate: -1.577591 m/s,
      posRepo size: 4

2025-06-08T00:01:23.805Z,1749340883.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:23.812Z,1749340883.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.867691 m,
      nav range: 118.088463 m,
      bearing: 145.549940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.260187 deg/s,
      cmd heading: 152.371275 deg,
      new cmd heading: 152.800223 deg.

2025-06-08T00:01:23.813Z,1749340883.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666867 target range: 117.867691 and range: 118.80 m.
2025-06-08T00:01:23.953Z,1749340883.953 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=13.811751
2025-06-08T00:01:24.115Z,1749340884.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.87 m.
2025-06-08T00:01:24.118Z,1749340884.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.867691 m,
      nav range: 117.993172 m,
      bearing: 145.629629 deg,
      approach rate: -0.303564 m/s,
      LOS rate: 0.254066 deg/s,
      cmd heading: 152.800225 deg,
      new cmd heading: 153.039483 deg.

2025-06-08T00:01:24.119Z,1749340884.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671043 target range: 117.867691 and range: 118.80 m.
2025-06-08T00:01:24.207Z,1749340884.207 [DAT](INFO): DAT read: Rx Time:00:01:23.6170 

2025-06-08T00:01:24.208Z,1749340884.208 [DAT](INFO): Rx dataTimestamp_ set to:1749340884.206867
2025-06-08T00:01:24.209Z,1749340884.209 [DAT](INFO): DAT read: Bearing  57.0,  12.1 (Local)

2025-06-08T00:01:24.210Z,1749340884.210 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.0,  12.1 (Local)

2025-06-08T00:01:24.213Z,1749340884.213 [DAT](INFO): DAT read: Range 10 to 50 :   118.7 m (trip time 79.1 ms) speed 0.2

2025-06-08T00:01:24.218Z,1749340884.218 [DAT](INFO): DAT read: 00:01:23.6170 LVL= 18096, 31825, 22514, 31667, AGC= 59, IDX= 507, 0.21,-1.818, 2.860, 2.713,-3.033, PHS= 1.303,-0.343,-0.540, RAW=  84.4,  -4.8, CAL=  93.0, -12.1, ROT=  57.0,  12.1

2025-06-08T00:01:24.219Z,1749340884.219 [DAT](INFO): got valid direction response:
 00:01:23.6170 LVL= 18096, 31825, 22514, 31667, AGC= 59, IDX= 507, 0.21,-1.818, 2.860, 2.713,-3.033, PHS= 1.303,-0.343,-0.540, RAW=  84.4,  -4.8, CAL=  93.0, -12.1, ROT=  57.0,  12.1

2025-06-08T00:01:24.220Z,1749340884.220 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-08T00:01:24.221Z,1749340884.221 [DAT](INFO): direction in FSK: [0.532539,0.820038,-0.209619]
2025-06-08T00:01:24.221Z,1749340884.221 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:24.225Z,1749340884.225 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=14.083392
2025-06-08T00:01:24.456Z,1749340884.456 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=14.315021
2025-06-08T00:01:24.572Z,1749340884.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.699997 m,
      deltaT: 0.505774 s,
      deltaX: -0.100006 m,
      approachRate: -0.197729 m/s,
      rangeRepo size: 4

2025-06-08T00:01:24.574Z,1749340884.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.768471 m,
      bearing: 144.019216 deg,
      lat: 36.905920 deg,
      lon: -122.115982 deg,
      deltaT: 0.505774 s,
      deltaX: -0.099220 m,
      approachRate: -0.196175 m/s,
      posRepo size: 4

2025-06-08T00:01:24.575Z,1749340884.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.77 m.
2025-06-08T00:01:24.581Z,1749340884.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.768471 m,
      nav range: 117.763115 m,
      bearing: 144.018829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.254066 deg/s,
      cmd heading: 153.039486 deg,
      new cmd heading: 153.384222 deg.

2025-06-08T00:01:24.582Z,1749340884.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677060 target range: 117.768471 and range: 118.70 m.
2025-06-08T00:01:24.710Z,1749340884.710 [DAT](INFO): DAT read: Rx Time:00:01:24.1175 

2025-06-08T00:01:24.711Z,1749340884.711 [DAT](INFO): Rx dataTimestamp_ set to:1749340884.710474
2025-06-08T00:01:24.712Z,1749340884.712 [DAT](INFO): DAT read: Bearing  55.6,   8.3 (Local)

2025-06-08T00:01:24.712Z,1749340884.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.6,   8.3 (Local)

2025-06-08T00:01:24.714Z,1749340884.714 [DAT](INFO): DAT read: Range 10 to 50 :   1t 79.5 ms) speed 0.2

2025-06-08T00:01:24.720Z,1749340884.720 [DAT](INFO): DAT read: 00:01:24.1175 LVL= 19648, 31985, 21154, 32291, AGC= 59, IDX= 507, 0.20,-0.579,-2.190,-2.258,-1.699, PHS= 1.209,-0.444,-0.561, RAW=  86.6,  -2.4, CAL=  94.4,  -8.3, ROT=  55.6,   8.3

2025-06-08T00:01:24.721Z,1749340884.721 [DAT](INFO): got valid direction response:
 00:01:24.1175 LVL= 19648, 31985, 21154, 32291, AGC= 59, IDX= 507, 0.20,-0.579,-2.190,-2.258,-1.699, PHS= 1.209,-0.444,-0.561, RAW=  86.6,  -2.4, CAL=  94.4,  -8.3, ROT=  55.6,   8.3

2025-06-08T00:01:24.722Z,1749340884.722 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-08T00:01:24.724Z,1749340884.724 [DAT](INFO): direction in FSK: [0.559049,0.816471,-0.144356]
2025-06-08T00:01:24.724Z,1749340884.724 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:24.733Z,1749340884.733 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=14.591635
2025-06-08T00:01:24.961Z,1749340884.961 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=14.819467
2025-06-08T00:01:24.976Z,1749340884.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 1.000000 m,
 deltaT: 0.503607 s,
 deltaX: -117.699997 m,
 approachRate: -233.713974 m/s,
 rangeRepo size: 4
2025-06-08T00:01:24.976Z,1749340884.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.77 m.
2025-06-08T00:01:24.979Z,1749340884.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.768471 m,
      nav range: 117.640144 m,
      bearing: 144.106169 deg,
      approach rate: -0.308164 m/s,
      LOS rate: 0.219102 deg/s,
      cmd heading: 153.384219 deg,
      new cmd heading: 153.646510 deg.

2025-06-08T00:01:24.984Z,1749340884.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681638 target range: 117.768471 and range: 118.70 m.
2025-06-08T00:01:25.214Z,1749340885.214 [DAT](INFO): DAT read: Rx Time:00:01:24.6173 

2025-06-08T00:01:25.214Z,1749340885.214 [DAT](INFO): Rx dataTimestamp_ set to:1749340885.214072
2025-06-08T00:01:25.217Z,1749340885.217 [DAT](INFO): DAT read: Bearing  53.7,   5.3 (Local)

2025-06-08T00:01:25.218Z,1749340885.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.7,   5.3 (Local)

2025-06-08T00:01:25.221Z,1749340885.221 [DAT](INFO): DAT read: Range 10 to 50 :   119.0 m (trip time 79.3 ms) speed 0.2

2025-06-08T00:01:25.225Z,1749340885.225 [DAT](INFO): DAT read: 00:01:24.6173 LVL= 19552, 32465, 20978, 32755, AGC= 60, IDX= 505, 0.25,-1.893, 2.799, 2.807,-2.923, PHS= 1.118,-0.514,-0.557, RAW=  88.7,  -0.6, CAL=  96.3,  -5.3, ROT=  53.7,   5.3

2025-06-08T00:01:25.226Z,1749340885.226 [DAT](INFO): got valid direction response:
 00:01:24.6173 LVL= 19552, 32465, 20978, 32755, AGC= 60, IDX= 505, 0.25,-1.893, 2.799, 2.807,-2.923, PHS= 1.118,-0.514,-0.557, RAW=  88.7,  -0.6, CAL=  96.3,  -5.3, ROT=  53.7,   5.3

2025-06-08T00:01:25.227Z,1749340885.227 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-08T00:01:25.228Z,1749340885.228 [DAT](INFO): direction in FSK: [0.589482,0.802483,-0.092371]
2025-06-08T00:01:25.228Z,1749340885.228 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:25.232Z,1749340885.232 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=15.090397
2025-06-08T00:01:25.398Z,1749340885.398 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-08T00:01:25.399Z,1749340885.399 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:01:25.400Z,1749340885.400 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-08T00:01:25.401Z,1749340885.401 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  1.000000 m (mode  1.000000 count ).
2025-06-08T00:01:25.401Z,1749340885.401 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-08T00:01:25.401Z,1749340885.401 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-08T00:01:25.416Z,1749340885.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.000000 m,
      deltaT: 1.007205 s,
      deltaX: 0.300003 m,
      approachRate: 0.297857 m/s,
      rangeRepo size: 4

2025-06-08T00:01:25.428Z,1749340885.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.066284 m,
      bearing: 142.770679 deg,
      lat: 36.905935 deg,
      lon: -122.115961 deg,
      deltaT: 1.007205 s,
      deltaX: 0.297813 m,
      approachRate: 0.295683 m/s,
      posRepo size: 4

2025-06-08T00:01:25.429Z,1749340885.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-08T00:01:25.436Z,1749340885.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.066284 m,
      nav range: 117.292145 m,
      bearing: 142.988061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.219102 deg/s,
      cmd heading: 153.646512 deg,
      new cmd heading: 153.936448 deg.

2025-06-08T00:01:25.437Z,1749340885.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686698 target range: 118.066284 and range: 119.00 m.
2025-06-08T00:01:25.464Z,1749340885.464 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=15.323045
2025-06-08T00:01:25.717Z,1749340885.717 [DAT](INFO): DAT read: Rx Time:00:01:25.1173 

2025-06-08T00:01:25.718Z,1749340885.718 [DAT](INFO): Rx dataTimestamp_ set to:1749340885.717259
2025-06-08T00:01:25.719Z,1749340885.719 [DAT](INFO): DAT read: Bearing  51.1,   4.6 (Local)

2025-06-08T00:01:25.719Z,1749340885.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.1,   4.6 (Local)

2025-06-08T00:01:25.721Z,1749340885.721 [DAT](INFO): DAT read: Range 10 to 50 :   119.0 m (trip time 79.3 ms) speed 0.2

2025-06-08T00:01:25.726Z,1749340885.726 [DAT](INFO): DAT read: 00:01:25.1173 LVL= 20016, 32753, 27634, 32755, AGC= 61, IDX= 505, 0.39,-1.209,-2.828,-2.742,-2.221, PHS= 1.099,-0.560,-0.525, RAW=  91.1,  -0.2, CAL=  98.9,  -4.6, ROT=  51.1,   4.6

2025-06-08T00:01:25.727Z,1749340885.727 [DAT](INFO): got valid direction response:
 00:01:25.1173 LVL= 20016, 32753, 27634, 32755, AGC= 61, IDX= 505, 0.39,-1.209,-2.828,-2.742,-2.221, PHS= 1.099,-0.560,-0.525, RAW=  91.1,  -0.2, CAL=  98.9,  -4.6, ROT=  51.1,   4.6

2025-06-08T00:01:25.728Z,1749340885.728 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-08T00:01:25.729Z,1749340885.729 [DAT](INFO): direction in FSK: [0.625940,0.775736,-0.080199]
2025-06-08T00:01:25.729Z,1749340885.729 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:25.733Z,1749340885.733 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=15.591677
2025-06-08T00:01:25.798Z,1749340885.798 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-08T00:01:25.798Z,1749340885.798 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-08T00:01:25.825Z,1749340885.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.000000 m,
      deltaT: 0.503187 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:25.835Z,1749340885.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.066071 m,
      bearing: 141.513927 deg,
      lat: 36.905937 deg,
      lon: -122.115961 deg,
      deltaT: 0.503187 s,
      deltaX: -0.000214 m,
      approachRate: -0.000425 m/s,
      posRepo size: 4

2025-06-08T00:01:25.836Z,1749340885.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.07 m.
2025-06-08T00:01:25.839Z,1749340885.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.066071 m,
      nav range: 116.915237 m,
      bearing: 142.988308 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.219102 deg/s,
      cmd heading: 153.936454 deg,
      new cmd heading: 154.210741 deg.

2025-06-08T00:01:25.844Z,1749340885.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691485 target range: 118.066071 and range: 119.00 m.
2025-06-08T00:01:25.969Z,1749340885.969 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=15.828028
2025-06-08T00:01:26.221Z,1749340886.221 [DAT](INFO): DAT read: Rx Time:00:01:25.6171 

2025-06-08T00:01:26.221Z,1749340886.221 [DAT](INFO): Rx dataTimestamp_ set to:1749340886.220934
2025-06-08T00:01:26.223Z,1749340886.223 [DAT](INFO): DAT read: Bearing  48.5,   0.7 (Local)

2025-06-08T00:01:26.223Z,1749340886.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.5,   0.7 (Local)

2025-06-08T00:01:26.225Z,1749340886.225 [DAT](INFO): DAT read: Range 10 to 50 :   118.7 m (trip time 79.1 ms) speed 0.2

2025-06-08T00:01:26.230Z,1749340886.230 [DAT](INFO): DAT read: 00:01:25.6171 LVL= 19408, 32753, 26098, 32755, AGC= 61, IDX= 503, 0.48,-2.261, 2.419, 2.572, 3.100, PHS= 1.011,-0.634,-0.530, RAW=  93.2,   2.0, CAL= 101.5,  -0.7, ROT=  48.5,   0.7

2025-06-08T00:01:26.231Z,1749340886.231 [DAT](INFO): got valid direction response:
 00:01:25.6171 LVL= 19408, 32753, 26098, 32755, AGC= 61, IDX= 503, 0.48,-2.261, 2.419, 2.572, 3.100, PHS= 1.011,-0.634,-0.530, RAW=  93.2,   2.0, CAL= 101.5,  -0.7, ROT=  48.5,   0.7

2025-06-08T00:01:26.231Z,1749340886.231 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-08T00:01:26.232Z,1749340886.232 [DAT](INFO): direction in FSK: [0.662571,0.748900,-0.012217]
2025-06-08T00:01:26.232Z,1749340886.232 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:26.240Z,1749340886.240 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=16.098869
2025-06-08T00:01:26.299Z,1749340886.299 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-08T00:01:26.299Z,1749340886.299 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-08T00:01:26.299Z,1749340886.299 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-08T00:01:26.308Z,1749340886.308 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  119.000000 m (mode  1.000000 count ).
2025-06-08T00:01:26.308Z,1749340886.308 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-08T00:01:26.308Z,1749340886.308 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-08T00:01:26.309Z,1749340886.309 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-08T00:01:26.309Z,1749340886.309 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-08T00:01:26.333Z,1749340886.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.699997 m,
      deltaT: 0.503675 s,
      deltaX: -0.300003 m,
      approachRate: -0.595628 m/s,
      rangeRepo size: 4

2025-06-08T00:01:26.340Z,1749340886.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.768425 m,
      bearing: 139.592842 deg,
      lat: 36.905952 deg,
      lon: -122.115957 deg,
      deltaT: 0.503675 s,
      deltaX: -0.297646 m,
      approachRate: -0.590948 m/s,
      posRepo size: 4

2025-06-08T00:01:26.340Z,1749340886.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.77 m.
2025-06-08T00:01:26.343Z,1749340886.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.768425 m,
      nav range: 115.650520 m,
      bearing: 142.476162 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.219102 deg/s,
      cmd heading: 154.210741 deg,
      new cmd heading: 154.538513 deg.

2025-06-08T00:01:26.363Z,1749340886.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697206 target range: 117.768425 and range: 118.70 m.
2025-06-08T00:01:26.473Z,1749340886.473 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=16.331457
2025-06-08T00:01:26.725Z,1749340886.725 [DAT](INFO): DAT read: Rx Time:00:01:26.1171 

2025-06-08T00:01:26.725Z,1749340886.725 [DAT](INFO): Rx dataTimestamp_ set to:1749340886.725060
2025-06-08T00:01:26.727Z,1749340886.727 [DAT](INFO): DAT read: Bearing  45.7,  -1.5 (Local)

2025-06-08T00:01:26.727Z,1749340886.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.7,  -1.5 (Local)

2025-06-08T00:01:26.729Z,1749340886.729 [DAT](INFO): DAT read: Range 10 to 50 :   118.7 m (trip time 79.1 ms) speed 0.2

2025-06-08T00:01:26.735Z,1749340886.735 [DAT](INFO): DAT read: 00:01:26.1171 LVL= 23280, 32753, 26162, 32755, AGC= 59, IDX= 503, 0.49,-0.224,-1.836,-1.615,-1.093, PHS= 0.957,-0.696,-0.525, RAW=  95.4,   3.4, CAL= 104.3,   1.5, ROT=  45.7,  -1.5

2025-06-08T00:01:26.738Z,1749340886.738 [DAT](INFO): got valid direction response:
 00:01:26.1171 LVL= 23280, 32753, 26162, 32755, AGC= 59, IDX= 503, 0.49,-0.224,-1.836,-1.615,-1.093, PHS= 0.957,-0.696,-0.525, RAW=  95.4,   3.4, CAL= 104.3,   1.5, ROT=  45.7,  -1.5

2025-06-08T00:01:26.738Z,1749340886.738 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-08T00:01:26.742Z,1749340886.742 [DAT](INFO): direction in FSK: [0.698176,0.715447,0.026177]
2025-06-08T00:01:26.743Z,1749340886.743 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:26.749Z,1749340886.749 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=16.608158
2025-06-08T00:01:26.883Z,1749340886.883 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-08T00:01:26.883Z,1749340886.883 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-08T00:01:26.892Z,1749340886.892 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-08T00:01:26.892Z,1749340886.892 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:01:26.892Z,1749340886.892 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-08T00:01:26.892Z,1749340886.892 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:01:26.907Z,1749340886.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.699997 m,
      deltaT: 0.504126 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:26.909Z,1749340886.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.768547 m,
      bearing: 139.440069 deg,
      lat: 36.905983 deg,
      lon: -122.115932 deg,
      deltaT: 0.504126 s,
      deltaX: 0.000122 m,
      approachRate: 0.000242 m/s,
      posRepo size: 4

2025-06-08T00:01:26.910Z,1749340886.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.77 m.
2025-06-08T00:01:26.917Z,1749340886.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.768547 m,
      nav range: 114.065598 m,
      bearing: 140.663328 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.219102 deg/s,
      cmd heading: 154.538508 deg,
      new cmd heading: 154.919192 deg.

2025-06-08T00:01:26.918Z,1749340886.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703850 target range: 117.768547 and range: 118.70 m.
2025-06-08T00:01:26.977Z,1749340886.977 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=16.835760
2025-06-08T00:01:27.229Z,1749340887.229 [DAT](INFO): DAT read: Rx Time:00:01:26.6169 

2025-06-08T00:01:27.229Z,1749340887.229 [DAT](INFO): Rx dataTimestamp_ set to:1749340887.229042
2025-06-08T00:01:27.231Z,1749340887.231 [DAT](INFO): DAT read: Bearing  43.2,  -2.4 (Local)

2025-06-08T00:01:27.231Z,1749340887.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.2,  -2.4 (Local)

2025-06-08T00:01:27.233Z,1749340887.233 [DAT](INFO): DAT read: Range 10 to 50 :   118.5 m (trip time 79.0 ms) speed 0.2

2025-06-08T00:01:27.238Z,1749340887.238 [DAT](INFO): DAT read: 00:01:26.6169 LVL= 19648, 32753, 25074, 32755, AGC= 61, IDX= 501, 0.36, 1.101,-0.563,-0.278, 0.241, PHS= 0.949,-0.757,-0.521, RAW=  97.3,   4.2, CAL= 106.8,   2.4, ROT=  43.2,  -2.4

2025-06-08T00:01:27.239Z,1749340887.239 [DAT](INFO): got valid direction response:
 00:01:26.6169 LVL= 19648, 32753, 25074, 32755, AGC= 61, IDX= 501, 0.36, 1.101,-0.563,-0.278, 0.241, PHS= 0.949,-0.757,-0.521, RAW=  97.3,   4.2, CAL= 106.8,   2.4, ROT=  43.2,  -2.4

2025-06-08T00:01:27.243Z,1749340887.243 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-08T00:01:27.244Z,1749340887.244 [DAT](INFO): direction in FSK: [0.728329,0.683947,0.041876]
2025-06-08T00:01:27.244Z,1749340887.244 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:27.248Z,1749340887.248 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=17.106724
2025-06-08T00:01:27.305Z,1749340887.305 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-08T00:01:27.305Z,1749340887.305 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-08T00:01:27.320Z,1749340887.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.500000 m,
      deltaT: 0.503982 s,
      deltaX: -0.199997 m,
      approachRate: -0.396834 m/s,
      rangeRepo size: 4

2025-06-08T00:01:27.322Z,1749340887.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.570122 m,
      bearing: 138.219868 deg,
      lat: 36.905983 deg,
      lon: -122.115905 deg,
      deltaT: 0.503982 s,
      deltaX: -0.198425 m,
      approachRate: -0.393715 m/s,
      posRepo size: 4

2025-06-08T00:01:27.339Z,1749340887.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.57 m.
2025-06-08T00:01:27.342Z,1749340887.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.570122 m,
      nav range: 115.474037 m,
      bearing: 139.809390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.219102 deg/s,
      cmd heading: 154.919195 deg,
      new cmd heading: 155.190558 deg.

2025-06-08T00:01:27.343Z,1749340887.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708586 target range: 117.570122 and range: 118.50 m.
2025-06-08T00:01:27.485Z,1749340887.485 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=17.343788
2025-06-08T00:01:27.737Z,1749340887.737 [DAT](INFO): DAT read: Rx Time:00:01:27.1168 

2025-06-08T00:01:27.737Z,1749340887.737 [DAT](INFO): Rx dataTimestamp_ set to:1749340887.736806
2025-06-08T00:01:27.738Z,1749340887.738 [DAT](INFO): DAT read: Bearing  40.8,  -2.8 (Local)

2025-06-08T00:01:27.739Z,1749340887.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.8,  -2.8 (Local)

2025-06-08T00:01:27.741Z,1749340887.741 [DAT](INFO): DAT read: Range 10 to 50 :   118.4 m (trip time 78.9 ms) speed 0.0

2025-06-08T00:01:27.746Z,1749340887.746 [DAT](INFO): DAT read: 00:01:27.1168 LVL= 22464, 32753, 27490, 32755, AGC= 64, IDX= 500, 0.30, 2.633, 0.958, 1.304, 1.795, PHS= 0.926,-0.790,-0.494, RAW=  99.3,   4.5, CAL= 109.2,   2.8, ROT=  40.8,  -2.8

2025-06-08T00:01:27.747Z,1749340887.747 [DAT](INFO): got valid direction response:
 00:01:27.1168 LVL= 22464, 32753, 27490, 32755, AGC= 64, IDX= 500, 0.30, 2.633, 0.958, 1.304, 1.795, PHS= 0.926,-0.790,-0.494, RAW=  99.3,   4.5, CAL= 109.2,   2.8, ROT=  40.8,  -2.8

2025-06-08T00:01:27.747Z,1749340887.747 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-08T00:01:27.748Z,1749340887.748 [DAT](INFO): direction in FSK: [0.756091,0.652640,0.048850]
2025-06-08T00:01:27.748Z,1749340887.748 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:27.752Z,1749340887.752 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=17.610518
2025-06-08T00:01:27.811Z,1749340887.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-08T00:01:27.811Z,1749340887.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-08T00:01:27.812Z,1749340887.812 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-08T00:01:27.812Z,1749340887.812 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-08T00:01:27.823Z,1749340887.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.400002 m,
      deltaT: 0.507764 s,
      deltaX: -0.099998 m,
      approachRate: -0.196939 m/s,
      rangeRepo size: 4

2025-06-08T00:01:27.844Z,1749340887.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.471550 m,
      bearing: 137.107784 deg,
      lat: 36.905989 deg,
      lon: -122.115902 deg,
      deltaT: 0.507764 s,
      deltaX: -0.098572 m,
      approachRate: -0.194129 m/s,
      posRepo size: 4

2025-06-08T00:01:27.846Z,1749340887.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.47 m.
2025-06-08T00:01:27.853Z,1749340887.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.471550 m,
      nav range: 114.925941 m,
      bearing: 139.633572 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.219102 deg/s,
      cmd heading: 155.190559 deg,
      new cmd heading: 155.523644 deg.

2025-06-08T00:01:27.854Z,1749340887.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.714400 target range: 117.471550 and range: 118.40 m.
2025-06-08T00:01:27.988Z,1749340887.988 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=17.847103
2025-06-08T00:01:28.218Z,1749340888.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:28.224Z,1749340888.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.47 m.
2025-06-08T00:01:28.227Z,1749340888.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.471550 m,
      nav range: 114.748940 m,
      bearing: 139.723486 deg,
      approach rate: -0.439984 m/s,
      LOS rate: 0.223850 deg/s,
      cmd heading: 155.523640 deg,
      new cmd heading: 155.793796 deg.

2025-06-08T00:01:28.236Z,1749340888.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719115 target range: 117.471550 and range: 118.40 m.
2025-06-08T00:01:28.241Z,1749340888.241 [DAT](INFO): DAT read: Rx Time:00:01:27.6166 

2025-06-08T00:01:28.241Z,1749340888.241 [DAT](INFO): Rx dataTimestamp_ set to:1749340888.241042
2025-06-08T00:01:28.243Z,1749340888.243 [DAT](INFO): DAT read: Bearing  38.7,  -3.3 (Local)

2025-06-08T00:01:28.243Z,1749340888.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.7,  -3.3 (Local)

2025-06-08T00:01:28.245Z,1749340888.245 [DAT](INFO): DAT read: Range 10 to 50 :   118.1 m (trip time 78.7 ms) speed 0.3

2025-06-08T00:01:28.250Z,1749340888.250 [DAT](INFO): DAT read: 00:01:27.6166 LVL= 21264, 32753, 24898, 32755, AGC= 62, IDX= 498, 0.48,-0.344,-1.993,-1.599,-1.138, PHS= 0.883,-0.808,-0.463, RAW= 101.1,   5.1, CAL= 111.3,   3.3, ROT=  38.7,  -3.3

2025-06-08T00:01:28.251Z,1749340888.251 [DAT](INFO): got valid direction response:
 00:01:27.6166 LVL= 21264, 32753, 24898, 32755, AGC= 62, IDX= 498, 0.48,-0.344,-1.993,-1.599,-1.138, PHS= 0.883,-0.808,-0.463, RAW= 101.1,   5.1, CAL= 111.3,   3.3, ROT=  38.7,  -3.3

2025-06-08T00:01:28.251Z,1749340888.251 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-08T00:01:28.252Z,1749340888.252 [DAT](INFO): direction in FSK: [0.779136,0.624206,0.057564]
2025-06-08T00:01:28.253Z,1749340888.253 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:28.256Z,1749340888.256 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=18.115007
2025-06-08T00:01:28.493Z,1749340888.493 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=18.352049
2025-06-08T00:01:28.596Z,1749340888.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.099998 m,
      deltaT: 0.504236 s,
      deltaX: -0.300003 m,
      approachRate: -0.594966 m/s,
      rangeRepo size: 4

2025-06-08T00:01:28.598Z,1749340888.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.173904 m,
      bearing: 137.971567 deg,
      lat: 36.906006 deg,
      lon: -122.115881 deg,
      deltaT: 0.504236 s,
      deltaX: -0.297646 m,
      approachRate: -0.590290 m/s,
      posRepo size: 4

2025-06-08T00:01:28.599Z,1749340888.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.17 m.
2025-06-08T00:01:28.602Z,1749340888.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.173904 m,
      nav range: 114.432770 m,
      bearing: 138.495276 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.223850 deg/s,
      cmd heading: 155.793801 deg,
      new cmd heading: 156.042898 deg.

2025-06-08T00:01:28.603Z,1749340888.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.723462 target range: 117.173904 and range: 118.10 m.
2025-06-08T00:01:28.746Z,1749340888.746 [DAT](INFO): DAT read: Rx Time:00:01:28.1166 

2025-06-08T00:01:28.747Z,1749340888.747 [DAT](INFO): Rx dataTimestamp_ set to:1749340888.746557
2025-06-08T00:01:28.748Z,1749340888.748 [DAT](INFO): DAT read: Bearing  37.1,  -4.3 (Local)

2025-06-08T00:01:28.749Z,1749340888.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.1,  -4.3 (Local)

2025-06-08T00:01:28.751Z,1749340888.751 [DAT](INFO): DAT read: Range 10 to 50 :   118.1 m (trip time 78.7 ms) speed 0.2

2025-06-08T00:01:28.756Z,1749340888.756 [DAT](INFO): DAT read: 00:01:28.1166 LVL= 20816, 32753, 28386, 32755, AGC= 64, IDX= 499,-0.43,-1.398,-3.028,-2.590,-2.140, PHS= 0.830,-0.840,-0.453, RAW= 102.8,   6.2, CAL= 112.9,   4.3, ROT=  37.1,  -4.3

2025-06-08T00:01:28.758Z,1749340888.758 [DAT](INFO): got valid direction response:
 00:01:28.1166 LVL= 20816, 32753, 28386, 32755, AGC= 64, IDX= 499,-0.43,-1.398,-3.028,-2.590,-2.140, PHS= 0.830,-0.840,-0.453, RAW= 102.8,   6.2, CAL= 112.9,   4.3, ROT=  37.1,  -4.3

2025-06-08T00:01:28.758Z,1749340888.758 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-08T00:01:28.781Z,1749340888.781 [DAT](INFO): direction in FSK: [0.795339,0.601510,0.074979]
2025-06-08T00:01:28.782Z,1749340888.782 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:28.785Z,1749340888.785 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=18.644188
2025-06-08T00:01:28.998Z,1749340888.998 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=18.856318
2025-06-08T00:01:29.042Z,1749340889.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.099998 m,
      deltaT: 0.505515 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:29.049Z,1749340889.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.175316 m,
      bearing: 136.149497 deg,
      lat: 36.906011 deg,
      lon: -122.115871 deg,
      deltaT: 0.505515 s,
      deltaX: 0.001411 m,
      approachRate: 0.002792 m/s,
      posRepo size: 4

2025-06-08T00:01:29.049Z,1749340889.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.18 m.
2025-06-08T00:01:29.056Z,1749340889.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.175316 m,
      nav range: 114.458153 m,
      bearing: 138.061720 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.223850 deg/s,
      cmd heading: 156.042898 deg,
      new cmd heading: 156.342788 deg.

2025-06-08T00:01:29.057Z,1749340889.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.728696 target range: 117.175316 and range: 118.10 m.
2025-06-08T00:01:29.249Z,1749340889.249 [DAT](INFO): DAT read: Rx Time:00:01:28.6165 

2025-06-08T00:01:29.249Z,1749340889.249 [DAT](INFO): Rx dataTimestamp_ set to:1749340889.248890
2025-06-08T00:01:29.250Z,1749340889.250 [DAT](INFO): DAT read: Bearing  34.4,  -3.8 (Local)

2025-06-08T00:01:29.251Z,1749340889.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.4,  -3.8 (Local)

2025-06-08T00:01:29.253Z,1749340889.253 [DAT](INFO): DAT read: Range 10 to 50 :   117.8 m (trip time 78.5 ms) speed 0.3

2025-06-08T00:01:29.258Z,1749340889.258 [DAT](INFO): DAT read: 00:01:28.6165 LVL= 23216, 32753, 29458, 32755, AGC= 64, IDX= 496, 0.41,-0.827,-2.470,-1.963,-1.562, PHS= 0.823,-0.861,-0.404, RAW= 105.2,   5.9, CAL= 115.6,   3.8, ROT=  34.4,  -3.8

2025-06-08T00:01:29.259Z,1749340889.259 [DAT](INFO): got valid direction response:
 00:01:28.6165 LVL= 23216, 32753, 29458, 32755, AGC= 64, IDX= 496, 0.41,-0.827,-2.470,-1.963,-1.562, PHS= 0.823,-0.861,-0.404, RAW= 105.2,   5.9, CAL= 115.6,   3.8, ROT=  34.4,  -3.8

2025-06-08T00:01:29.259Z,1749340889.259 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-08T00:01:29.260Z,1749340889.260 [DAT](INFO): direction in FSK: [0.823299,0.563725,0.066274]
2025-06-08T00:01:29.260Z,1749340889.260 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:29.269Z,1749340889.269 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=19.126913
2025-06-08T00:01:29.460Z,1749340889.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.800003 m,
      deltaT: 0.502333 s,
      deltaX: -0.299995 m,
      approachRate: -0.597204 m/s,
      rangeRepo size: 4

2025-06-08T00:01:29.462Z,1749340889.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.877670 m,
      bearing: 133.587832 deg,
      lat: 36.906019 deg,
      lon: -122.115860 deg,
      deltaT: 0.502333 s,
      deltaX: -0.297646 m,
      approachRate: -0.592526 m/s,
      posRepo size: 4

2025-06-08T00:01:29.467Z,1749340889.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.88 m.
2025-06-08T00:01:29.470Z,1749340889.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.877670 m,
      nav range: 114.239655 m,
      bearing: 137.447116 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.223850 deg/s,
      cmd heading: 156.342784 deg,
      new cmd heading: 156.620588 deg.

2025-06-08T00:01:29.475Z,1749340889.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.733545 target range: 116.877670 and range: 117.80 m.
2025-06-08T00:01:29.500Z,1749340889.500 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=19.359041
2025-06-08T00:01:29.753Z,1749340889.753 [DAT](INFO): DAT read: Rx Time:00:01:29.1165 

2025-06-08T00:01:29.753Z,1749340889.753 [DAT](INFO): Rx dataTimestamp_ set to:1749340889.753036
2025-06-08T00:01:29.755Z,1749340889.755 [DAT](INFO): DAT read: Bearing  34.6, -16.2 (Local)

2025-06-08T00:01:29.755Z,1749340889.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.6, -16.2 (Local)

2025-06-08T00:01:29.757Z,1749340889.757 [DAT](INFO): DAT read: Range 10 to 50 :   117.8 m (trip time 78.5 ms) speed 0.3

2025-06-08T00:01:29.766Z,1749340889.766 [DAT](INFO): DAT read: 00:01:29.1165 LVL= 22736, 32753, 28850, 32755, AGC= 63, IDX= 512, 0.18, 1.313,-0.178, 0.351, 0.938, PHS= 0.463,-1.069,-0.590, RAW= 107.8,  17.3, CAL= 115.4,  16.2, ROT=  34.6, -16.2

2025-06-08T00:01:29.772Z,1749340889.772 [DAT](INFO): got valid direction response:
 00:01:29.1165 LVL= 22736, 32753, 28850, 32755, AGC= 63, IDX= 512, 0.18, 1.313,-0.178, 0.351, 0.938, PHS= 0.463,-1.069,-0.590, RAW= 107.8,  17.3, CAL= 115.4,  16.2, ROT=  34.6, -16.2

2025-06-08T00:01:29.772Z,1749340889.772 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-08T00:01:29.773Z,1749340889.773 [DAT](INFO): direction in FSK: [0.790453,0.545297,0.278991]
2025-06-08T00:01:29.773Z,1749340889.773 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:29.781Z,1749340889.781 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=19.640074
2025-06-08T00:01:29.903Z,1749340889.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.800003 m,
      deltaT: 0.504146 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:29.905Z,1749340889.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.880005 m,
      bearing: 136.572450 deg,
      lat: 36.906035 deg,
      lon: -122.115860 deg,
      deltaT: 0.504146 s,
      deltaX: 0.002335 m,
      approachRate: 0.004631 m/s,
      posRepo size: 4

2025-06-08T00:01:29.906Z,1749340889.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.88 m.
2025-06-08T00:01:29.912Z,1749340889.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.880005 m,
      nav range: 112.779236 m,
      bearing: 136.955099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.223850 deg/s,
      cmd heading: 156.620582 deg,
      new cmd heading: 156.920413 deg.

2025-06-08T00:01:29.913Z,1749340889.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.738778 target range: 116.880005 and range: 117.80 m.
2025-06-08T00:01:30.004Z,1749340890.004 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=19.863132
2025-06-08T00:01:30.243Z,1749340890.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:30.246Z,1749340890.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.88 m.
2025-06-08T00:01:30.252Z,1749340890.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.880005 m,
      nav range: 112.607338 m,
      bearing: 137.018610 deg,
      approach rate: -0.500250 m/s,
      LOS rate: 0.185107 deg/s,
      cmd heading: 156.920413 deg,
      new cmd heading: 157.111234 deg.

2025-06-08T00:01:30.253Z,1749340890.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.742108 target range: 116.880005 and range: 117.80 m.
2025-06-08T00:01:30.257Z,1749340890.257 [DAT](INFO): DAT read: Rx Time:00:01:29.6163 

2025-06-08T00:01:30.257Z,1749340890.257 [DAT](INFO): Rx dataTimestamp_ set to:1749340890.257152
2025-06-08T00:01:30.259Z,1749340890.259 [DAT](INFO): DAT read: Bearing  31.6,  -4.3 (Local)

2025-06-08T00:01:30.259Z,1749340890.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.6,  -4.3 (Local)

2025-06-08T00:01:30.261Z,1749340890.261 [DAT](INFO): DAT read: Range 10 to 50 :   117.5 m (trip time 78.3 ms) speed 0.4

2025-06-08T00:01:30.266Z,1749340890.266 [DAT](INFO): DAT read: 00:01:29.6163 LVL= 23024, 32753, 28482, 32755, AGC= 62, IDX= 510,-0.12,-0.512,-2.080,-1.523,-1.169, PHS= 0.745,-0.864,-0.357, RAW= 108.0,   6.7, CAL= 118.4,   4.3, ROT=  31.6,  -4.3

2025-06-08T00:01:30.267Z,1749340890.267 [DAT](INFO): got valid direction response:
 00:01:29.6163 LVL= 23024, 32753, 28482, 32755, AGC= 62, IDX= 510,-0.12,-0.512,-2.080,-1.523,-1.169, PHS= 0.745,-0.864,-0.357, RAW= 108.0,   6.7, CAL= 118.4,   4.3, ROT=  31.6,  -4.3

2025-06-08T00:01:30.267Z,1749340890.267 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-08T00:01:30.268Z,1749340890.268 [DAT](INFO): direction in FSK: [0.849329,0.522511,0.074979]
2025-06-08T00:01:30.269Z,1749340890.269 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:30.276Z,1749340890.276 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=20.135183
2025-06-08T00:01:30.509Z,1749340890.509 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=20.367521
2025-06-08T00:01:30.616Z,1749340890.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:01:30.738Z,1749340890.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.500000 m,
      deltaT: 0.504116 s,
      deltaX: -0.300003 m,
      approachRate: -0.595107 m/s,
      rangeRepo size: 4

2025-06-08T00:01:30.743Z,1749340890.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.583969 m,
      bearing: 139.668852 deg,
      lat: 36.906035 deg,
      lon: -122.115871 deg,
      deltaT: 0.504116 s,
      deltaX: -0.296036 m,
      approachRate: -0.587237 m/s,
      posRepo size: 4

2025-06-08T00:01:30.748Z,1749340890.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.58 m.
2025-06-08T00:01:30.750Z,1749340890.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.583969 m,
      nav range: 111.694458 m,
      bearing: 137.483872 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.185107 deg/s,
      cmd heading: 157.111235 deg,
      new cmd heading: 157.384425 deg.

2025-06-08T00:01:30.755Z,1749340890.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746876 target range: 116.583969 and range: 117.50 m.
2025-06-08T00:01:30.761Z,1749340890.761 [DAT](INFO): DAT read: Rx Time:00:01:30.1163 

2025-06-08T00:01:30.761Z,1749340890.761 [DAT](INFO): Rx dataTimestamp_ set to:1749340890.760960
2025-06-08T00:01:30.763Z,1749340890.763 [DAT](INFO): DAT read: Bearing  29.7,  -5.4 (Local)

2025-06-08T00:01:30.763Z,1749340890.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.7,  -5.4 (Local)

2025-06-08T00:01:30.765Z,1749340890.765 [DAT](INFO): DAT read: Range 10 to 50 :   117.5 m (trip time 78.3 ms) speed 0.0

2025-06-08T00:01:30.770Z,1749340890.770 [DAT](INFO): DAT read: 00:01:30.1163 LVL= 23408, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.28,-1.405,-2.928,-2.325,-1.992, PHS= 0.675,-0.889,-0.337, RAW= 110.4,   8.1, CAL= 120.3,   5.4, ROT=  29.7,  -5.4

2025-06-08T00:01:30.771Z,1749340890.771 [DAT](INFO): got valid direction response:
 00:01:30.1163 LVL= 23408, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.28,-1.405,-2.928,-2.325,-1.992, PHS= 0.675,-0.889,-0.337, RAW= 110.4,   8.1, CAL= 120.3,   5.4, ROT=  29.7,  -5.4

2025-06-08T00:01:30.771Z,1749340890.771 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-08T00:01:30.772Z,1749340890.772 [DAT](INFO): direction in FSK: [0.864776,0.493260,0.094108]
2025-06-08T00:01:30.772Z,1749340890.772 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:30.776Z,1749340890.776 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=20.634781
2025-06-08T00:01:31.017Z,1749340891.017 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=20.875330
2025-06-08T00:01:31.074Z,1749340891.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.500000 m,
      deltaT: 0.503808 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:31.077Z,1749340891.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.583969 m,
      bearing: 137.522026 deg,
      lat: 36.906035 deg,
      lon: -122.115851 deg,
      deltaT: 0.503808 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-06-08T00:01:31.077Z,1749340891.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.58 m.
2025-06-08T00:01:31.080Z,1749340891.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.583969 m,
      nav range: 112.736855 m,
      bearing: 136.881486 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.185107 deg/s,
      cmd heading: 157.384429 deg,
      new cmd heading: 157.571146 deg.

2025-06-08T00:01:31.081Z,1749340891.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.750135 target range: 116.583969 and range: 117.50 m.
2025-06-08T00:01:31.271Z,1749340891.271 [DAT](INFO): DAT read: Rx Time:00:01:30.6161 

2025-06-08T00:01:31.272Z,1749340891.272 [DAT](INFO): Rx dataTimestamp_ set to:1749340891.271653
2025-06-08T00:01:31.274Z,1749340891.274 [DAT](INFO): DAT read: Bearing  28.5,  -6.6 (Local)

2025-06-08T00:01:31.275Z,1749340891.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.5,  -6.6 (Local)

2025-06-08T00:01:31.277Z,1749340891.277 [DAT](INFO): DAT read: Range 10 to 50 :   117.2 m (trip time 78.1 ms) speed 0.4

2025-06-08T00:01:31.289Z,1749340891.289 [DAT](INFO): DAT read: 00:01:30.6161 LVL= 24176, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.03, 2.349, 0.886, 1.507, 1.830, PHS= 0.607,-0.897,-0.326, RAW= 112.1,   9.4, CAL= 121.5,   6.6, ROT=  28.5,  -6.6

2025-06-08T00:01:31.290Z,1749340891.290 [DAT](INFO): got valid direction response:
 00:01:30.6161 LVL= 24176, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.03, 2.349, 0.886, 1.507, 1.830, PHS= 0.607,-0.897,-0.326, RAW= 112.1,   9.4, CAL= 121.5,   6.6, ROT=  28.5,  -6.6

2025-06-08T00:01:31.290Z,1749340891.290 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-08T00:01:31.292Z,1749340891.292 [DAT](INFO): direction in FSK: [0.872993,0.473997,0.114937]
2025-06-08T00:01:31.292Z,1749340891.292 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:31.306Z,1749340891.306 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=21.164099
2025-06-08T00:01:31.520Z,1749340891.520 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=21.379023
2025-06-08T00:01:31.584Z,1749340891.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.199997 m,
      deltaT: 0.510693 s,
      deltaX: -0.300003 m,
      approachRate: -0.587443 m/s,
      rangeRepo size: 4

2025-06-08T00:01:31.586Z,1749340891.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.286308 m,
      bearing: 139.070460 deg,
      lat: 36.906018 deg,
      lon: -122.115878 deg,
      deltaT: 0.510693 s,
      deltaX: -0.297661 m,
      approachRate: -0.582857 m/s,
      posRepo size: 4

2025-06-08T00:01:31.587Z,1749340891.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.29 m.
2025-06-08T00:01:31.594Z,1749340891.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.286308 m,
      nav range: 112.233154 m,
      bearing: 138.525072 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.185107 deg/s,
      cmd heading: 157.571153 deg,
      new cmd heading: 157.851860 deg.

2025-06-08T00:01:31.595Z,1749340891.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755035 target range: 116.286308 and range: 117.20 m.
2025-06-08T00:01:31.620Z,1749340891.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:01:31.773Z,1749340891.773 [DAT](INFO): DAT read: Rx Time:00:01:31.1160 

2025-06-08T00:01:31.773Z,1749340891.773 [DAT](INFO): Rx dataTimestamp_ set to:1749340891.773116
2025-06-08T00:01:31.775Z,1749340891.775 [DAT](INFO): DAT read: Bearing  28.7,  -8.5 (Local)

2025-06-08T00:01:31.775Z,1749340891.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.7,  -8.5 (Local)

2025-06-08T00:01:31.777Z,1749340891.777 [DAT](INFO): DAT read: Range 10 to 50 :   117.0 m (trip time 78.0 ms) speed 0.4

2025-06-08T00:01:31.782Z,1749340891.782 [DAT](INFO): DAT read: 00:01:31.1160 LVL= 27776, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.20,-0.384,-1.751,-1.159,-0.824, PHS= 0.528,-0.880,-0.339, RAW= 112.4,  11.2, CAL= 121.3,   8.5, ROT=  28.7,  -8.5

2025-06-08T00:01:31.783Z,1749340891.783 [DAT](INFO): got valid direction response:
 00:01:31.1160 LVL= 27776, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.20,-0.384,-1.751,-1.159,-0.824, PHS= 0.528,-0.880,-0.339, RAW= 112.4,  11.2, CAL= 121.3,   8.5, ROT=  28.7,  -8.5

2025-06-08T00:01:31.784Z,1749340891.784 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-08T00:01:31.785Z,1749340891.785 [DAT](INFO): direction in FSK: [0.867511,0.474949,0.147809]
2025-06-08T00:01:31.785Z,1749340891.785 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:31.789Z,1749340891.789 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=21.647312
2025-06-08T00:01:31.978Z,1749340891.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.000000 m,
      deltaT: 0.501463 s,
      deltaX: -0.199997 m,
      approachRate: -0.398827 m/s,
      rangeRepo size: 4

2025-06-08T00:01:31.984Z,1749340891.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.088249 m,
      bearing: 140.324742 deg,
      lat: 36.906003 deg,
      lon: -122.115887 deg,
      deltaT: 0.501463 s,
      deltaX: -0.198059 m,
      approachRate: -0.394962 m/s,
      posRepo size: 4

2025-06-08T00:01:31.985Z,1749340891.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.09 m.
2025-06-08T00:01:31.991Z,1749340891.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.088249 m,
      nav range: 112.745598 m,
      bearing: 139.445059 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.185107 deg/s,
      cmd heading: 157.851860 deg,
      new cmd heading: 158.072690 deg.

2025-06-08T00:01:31.992Z,1749340891.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758889 target range: 116.088249 and range: 117.00 m.
2025-06-08T00:01:32.024Z,1749340892.024 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=21.883011
2025-06-08T00:01:32.277Z,1749340892.277 [DAT](INFO): DAT read: Rx Time:00:01:31.6159 

2025-06-08T00:01:32.277Z,1749340892.277 [DAT](INFO): Rx dataTimestamp_ set to:1749340892.277003
2025-06-08T00:01:32.279Z,1749340892.279 [DAT](INFO): DAT read: Bearing  29.0,  -8.7 (Local)

2025-06-08T00:01:32.279Z,1749340892.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.0,  -8.7 (Local)

2025-06-08T00:01:32.281Z,1749340892.281 [DAT](INFO): DAT read: Range 10 to 50 :   116.9 m (trip time 77.9 ms) speed 0.4

2025-06-08T00:01:32.286Z,1749340892.286 [DAT](INFO): DAT read: 00:01:31.6159 LVL= 29104, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.20, 0.479,-0.876,-0.296, 0.045, PHS= 0.521,-0.874,-0.345, RAW= 112.1,  11.4, CAL= 121.0,   8.7, ROT=  29.0,  -8.7

2025-06-08T00:01:32.287Z,1749340892.287 [DAT](INFO): got valid direction response:
 00:01:31.6159 LVL= 29104, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.20, 0.479,-0.876,-0.296, 0.045, PHS= 0.521,-0.874,-0.345, RAW= 112.1,  11.4, CAL= 121.0,   8.7, ROT=  29.0,  -8.7

2025-06-08T00:01:32.287Z,1749340892.287 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-08T00:01:32.288Z,1749340892.288 [DAT](INFO): direction in FSK: [0.864556,0.479231,0.151261]
2025-06-08T00:01:32.289Z,1749340892.289 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:32.301Z,1749340892.301 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=22.159309
2025-06-08T00:01:32.404Z,1749340892.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.900002 m,
      deltaT: 0.503887 s,
      deltaX: -0.099998 m,
      approachRate: -0.198454 m/s,
      rangeRepo size: 4

2025-06-08T00:01:32.406Z,1749340892.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.989029 m,
      bearing: 142.016518 deg,
      lat: 36.905996 deg,
      lon: -122.115887 deg,
      deltaT: 0.503887 s,
      deltaX: -0.099220 m,
      approachRate: -0.196910 m/s,
      posRepo size: 4

2025-06-08T00:01:32.415Z,1749340892.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.99 m.
2025-06-08T00:01:32.424Z,1749340892.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.989029 m,
      nav range: 113.180611 m,
      bearing: 139.775787 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.185107 deg/s,
      cmd heading: 158.072694 deg,
      new cmd heading: 158.296139 deg.

2025-06-08T00:01:32.425Z,1749340892.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.762789 target range: 115.989029 and range: 116.90 m.
2025-06-08T00:01:32.529Z,1749340892.529 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=22.387333
2025-06-08T00:01:32.780Z,1749340892.780 [DAT](INFO): DAT read: Rx Time:00:01:32.1159 

2025-06-08T00:01:32.781Z,1749340892.781 [DAT](INFO): Rx dataTimestamp_ set to:1749340892.780634
2025-06-08T00:01:32.782Z,1749340892.782 [DAT](INFO): DAT read: Range 10 to 50 :   116.9 m (trip time 77.9 ms) speed 0.3

2025-06-08T00:01:32.783Z,1749340892.783 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-06-08T00:01:32.784Z,1749340892.784 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=22.642830
2025-06-08T00:01:32.802Z,1749340892.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:32.809Z,1749340892.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.900002 m,
      deltaT: 0.503631 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:32.810Z,1749340892.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.99 m.
2025-06-08T00:01:32.817Z,1749340892.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.989029 m,
      nav range: 112.931679 m,
      bearing: 139.843441 deg,
      approach rate: -0.579484 m/s,
      LOS rate: 0.157839 deg/s,
      cmd heading: 158.296136 deg,
      new cmd heading: 158.499546 deg.

2025-06-08T00:01:32.818Z,1749340892.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766339 target range: 115.989029 and range: 116.90 m.
2025-06-08T00:01:33.033Z,1749340893.033 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=22.891628
2025-06-08T00:01:33.221Z,1749340893.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.99 m.
2025-06-08T00:01:33.228Z,1749340893.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.989029 m,
      nav range: 112.715820 m,
      bearing: 139.898636 deg,
      approach rate: -0.523076 m/s,
      LOS rate: 0.134007 deg/s,
      cmd heading: 158.499539 deg,
      new cmd heading: 158.665441 deg.

2025-06-08T00:01:33.229Z,1749340893.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.769234 target range: 115.989029 and range: 116.90 m.
2025-06-08T00:01:33.285Z,1749340893.285 [DAT](INFO): DAT read: Rx Time:00:01:32.6156 

2025-06-08T00:01:33.286Z,1749340893.286 [DAT](INFO): Rx dataTimestamp_ set to:1749340893.285387
2025-06-08T00:01:33.288Z,1749340893.288 [DAT](INFO): DAT read: Bearing  24.7,  -0.8 (Local)

2025-06-08T00:01:33.288Z,1749340893.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.7,  -0.8 (Local)

2025-06-08T00:01:33.291Z,1749340893.291 [DAT](INFO): DAT read: Range 10 to 50 :   116.4 m (trip time 77.6 ms) speed 0.4

2025-06-08T00:01:33.298Z,1749340893.298 [DAT](INFO): DAT read: 00:01:32.6156 LVL= 27408, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.33,-0.718,-2.071,-1.432,-1.276, PHS= 0.646,-0.748,-0.159, RAW= 114.9,   4.4, CAL= 125.3,   0.8, ROT=  24.7,  -0.8

2025-06-08T00:01:33.300Z,1749340893.300 [DAT](INFO): got valid direction response:
 00:01:32.6156 LVL= 27408, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.33,-0.718,-2.071,-1.432,-1.276, PHS= 0.646,-0.748,-0.159, RAW= 114.9,   4.4, CAL= 125.3,   0.8, ROT=  24.7,  -0.8

2025-06-08T00:01:33.300Z,1749340893.300 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-08T00:01:33.302Z,1749340893.302 [DAT](INFO): direction in FSK: [0.908420,0.417826,0.013962]
2025-06-08T00:01:33.302Z,1749340893.302 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:33.308Z,1749340893.308 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=23.166479
2025-06-08T00:01:33.536Z,1749340893.536 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=23.395061
2025-06-08T00:01:33.626Z,1749340893.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.400002 m,
      deltaT: 0.504753 s,
      deltaX: -0.500000 m,
      approachRate: -0.990584 m/s,
      rangeRepo size: 4

2025-06-08T00:01:33.665Z,1749340893.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.492935 m,
      bearing: 144.282067 deg,
      lat: 36.905996 deg,
      lon: -122.115905 deg,
      deltaT: 1.008384 s,
      deltaX: -0.496094 m,
      approachRate: -0.491969 m/s,
      posRepo size: 4

2025-06-08T00:01:33.665Z,1749340893.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.49 m.
2025-06-08T00:01:33.677Z,1749340893.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.492935 m,
      nav range: 111.512978 m,
      bearing: 140.559505 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.134007 deg/s,
      cmd heading: 158.665445 deg,
      new cmd heading: 158.827886 deg.

2025-06-08T00:01:33.678Z,1749340893.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772069 target range: 115.492935 and range: 116.40 m.
2025-06-08T00:01:33.788Z,1749340893.788 [DAT](INFO): DAT read: Rx Time:00:01:33.1153 

2025-06-08T00:01:33.789Z,1749340893.789 [DAT](INFO): Rx dataTimestamp_ set to:1749340893.788481
2025-06-08T00:01:33.790Z,1749340893.790 [DAT](INFO): DAT read: Range 10 to 50 :   116.0 m (trip time 77.3 ms) speed 0.8

2025-06-08T00:01:33.791Z,1749340893.791 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-08T00:01:33.792Z,1749340893.792 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=23.651194
2025-06-08T00:01:34.040Z,1749340894.040 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=23.898893
2025-06-08T00:01:34.187Z,1749340894.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.000000 m,
      deltaT: 0.503094 s,
      deltaX: -0.400002 m,
      approachRate: -0.795083 m/s,
      rangeRepo size: 4

2025-06-08T00:01:34.188Z,1749340894.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.49 m.
2025-06-08T00:01:34.191Z,1749340894.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.492935 m,
      nav range: 111.198616 m,
      bearing: 140.625795 deg,
      approach rate: -0.564523 m/s,
      LOS rate: 0.119378 deg/s,
      cmd heading: 158.827880 deg,
      new cmd heading: 159.027311 deg.

2025-06-08T00:01:34.196Z,1749340894.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.775550 target range: 115.492935 and range: 116.00 m.
2025-06-08T00:01:34.293Z,1749340894.293 [DAT](INFO): DAT read: Rx Time:00:01:33.6151 

2025-06-08T00:01:34.294Z,1749340894.294 [DAT](INFO): Rx dataTimestamp_ set to:1749340894.293657
2025-06-08T00:01:34.296Z,1749340894.296 [DAT](INFO): DAT read: Range 10 to 50 :   115.7 m (trip time 77.1 ms) speed 0.4

2025-06-08T00:01:34.297Z,1749340894.297 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-06-08T00:01:34.298Z,1749340894.298 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=24.156910
2025-06-08T00:01:34.544Z,1749340894.544 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=24.403013
2025-06-08T00:01:34.561Z,1749340894.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.699997 m,
      deltaT: 0.505176 s,
      deltaX: -0.300003 m,
      approachRate: -0.593858 m/s,
      rangeRepo size: 4

2025-06-08T00:01:34.561Z,1749340894.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.49 m.
2025-06-08T00:01:34.564Z,1749340894.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.492935 m,
      nav range: 110.990303 m,
      bearing: 140.666902 deg,
      approach rate: -0.551403 m/s,
      LOS rate: 0.109015 deg/s,
      cmd heading: 159.027308 deg,
      new cmd heading: 159.150861 deg.

2025-06-08T00:01:34.565Z,1749340894.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777707 target range: 115.492935 and range: 115.70 m.
2025-06-08T00:01:34.798Z,1749340894.798 [DAT](INFO): DAT read: Rx Time:00:01:34.1150 

2025-06-08T00:01:34.798Z,1749340894.798 [DAT](INFO): Rx dataTimestamp_ set to:1749340894.797691
2025-06-08T00:01:34.800Z,1749340894.800 [DAT](INFO): DAT read: Range 10 to 50 :   115.5 m (trip time 77.0 ms) speed 0.4

2025-06-08T00:01:34.801Z,1749340894.801 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-06-08T00:01:34.802Z,1749340894.802 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=24.660936
2025-06-08T00:01:34.934Z,1749340894.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:34.940Z,1749340894.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.500000 m,
      deltaT: 0.504034 s,
      deltaX: -0.199997 m,
      approachRate: -0.396793 m/s,
      rangeRepo size: 4

2025-06-08T00:01:34.941Z,1749340894.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.49 m.
2025-06-08T00:01:34.945Z,1749340894.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.492935 m,
      nav range: 110.781548 m,
      bearing: 140.701419 deg,
      approach rate: -0.552642 m/s,
      LOS rate: 0.091549 deg/s,
      cmd heading: 159.150866 deg,
      new cmd heading: 159.254612 deg.

2025-06-08T00:01:34.947Z,1749340894.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779517 target range: 115.492935 and range: 115.50 m.
2025-06-08T00:01:35.049Z,1749340895.049 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=24.907984
2025-06-08T00:01:35.300Z,1749340895.300 [DAT](INFO): DAT read: Rx Time:00:01:34.6148 

2025-06-08T00:01:35.301Z,1749340895.301 [DAT](INFO): Rx dataTimestamp_ set to:1749340895.300401
2025-06-08T00:01:35.302Z,1749340895.302 [DAT](INFO): DAT read: Range 10 to 50 :   115.2 m (trip time 76.8 ms) speed 0.5

2025-06-08T00:01:35.303Z,1749340895.303 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-06-08T00:01:35.304Z,1749340895.304 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=25.162352
2025-06-08T00:01:35.349Z,1749340895.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.199997 m,
      deltaT: 0.502710 s,
      deltaX: -0.300003 m,
      approachRate: -0.596772 m/s,
      rangeRepo size: 4

2025-06-08T00:01:35.350Z,1749340895.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.49 m.
2025-06-08T00:01:35.361Z,1749340895.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.492935 m,
      nav range: 110.556557 m,
      bearing: 140.732331 deg,
      approach rate: -0.551089 m/s,
      LOS rate: 0.075870 deg/s,
      cmd heading: 159.254617 deg,
      new cmd heading: 159.347542 deg.

2025-06-08T00:01:35.362Z,1749340895.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781139 target range: 115.492935 and range: 115.20 m.
2025-06-08T00:01:35.552Z,1749340895.552 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=25.410919
2025-06-08T00:01:35.786Z,1749340895.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.49 m.
2025-06-08T00:01:35.805Z,1749340895.805 [DAT](INFO): DAT read: Rx Time:00:01:35.1146 

2025-06-08T00:01:35.805Z,1749340895.805 [DAT](INFO): Rx dataTimestamp_ set to:1749340895.805066
2025-06-08T00:01:35.807Z,1749340895.807 [DAT](INFO): DAT read: Bearing  17.6,   6.9 (Local)

2025-06-08T00:01:35.807Z,1749340895.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.6,   6.9 (Local)

2025-06-08T00:01:35.809Z,1749340895.809 [DAT](INFO): DAT read: Range 10 to 50 :   114.9 m (trip time 76.6 ms) speed 0.8

2025-06-08T00:01:35.814Z,1749340895.814 [DAT](INFO): DAT read: 00:01:35.1146 LVL= 26048, 27585, 25586, 32755, AGC= 64, IDX= 508,-0.01,-0.399,-1.785,-0.904,-0.969, PHS= 0.659,-0.769, 0.062, RAW= 125.4,   0.8, CAL= 132.4,  -6.9, ROT=  17.6,   6.9

2025-06-08T00:01:35.815Z,1749340895.815 [DAT](INFO): got valid direction response:
 00:01:35.1146 LVL= 26048, 27585, 25586, 32755, AGC= 64, IDX= 508,-0.01,-0.399,-1.785,-0.904,-0.969, PHS= 0.659,-0.769, 0.062, RAW= 125.4,   0.8, CAL= 132.4,  -6.9, ROT=  17.6,   6.9

2025-06-08T00:01:35.815Z,1749340895.815 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-08T00:01:35.816Z,1749340895.816 [DAT](INFO): direction in FSK: [0.946287,0.300180,-0.120137]
2025-06-08T00:01:35.817Z,1749340895.817 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:35.824Z,1749340895.824 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=25.683180
2025-06-08T00:01:35.827Z,1749340895.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.492935 m,
      nav range: 110.306404 m,
      bearing: 140.761908 deg,
      approach rate: -0.568219 m/s,
      LOS rate: 0.067337 deg/s,
      cmd heading: 159.347548 deg,
      new cmd heading: 159.436482 deg.

2025-06-08T00:01:35.828Z,1749340895.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782691 target range: 115.492935 and range: 115.20 m.
2025-06-08T00:01:36.061Z,1749340896.061 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=25.919678
2025-06-08T00:01:36.120Z,1749340896.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.900002 m,
      deltaT: 0.504665 s,
      deltaX: -0.299995 m,
      approachRate: -0.594445 m/s,
      rangeRepo size: 4

2025-06-08T00:01:36.122Z,1749340896.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.006241 m,
      bearing: 149.491625 deg,
      lat: 36.905978 deg,
      lon: -122.115933 deg,
      deltaT: 2.519679 s,
      deltaX: -1.486694 m,
      approachRate: -0.590033 m/s,
      posRepo size: 4

2025-06-08T00:01:36.139Z,1749340896.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.01 m.
2025-06-08T00:01:36.156Z,1749340896.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.006241 m,
      nav range: 110.069038 m,
      bearing: 142.435181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.067337 deg/s,
      cmd heading: 159.436477 deg,
      new cmd heading: 159.503727 deg.

2025-06-08T00:01:36.157Z,1749340896.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783865 target range: 114.006241 and range: 114.90 m.
2025-06-08T00:01:36.312Z,1749340896.312 [DAT](INFO): DAT read: Rx Time:00:01:35.6143 

2025-06-08T00:01:36.313Z,1749340896.313 [DAT](INFO): Rx dataTimestamp_ set to:1749340896.312468
2025-06-08T00:01:36.314Z,1749340896.314 [DAT](INFO): DAT read: Range 10 to 50 :   114.5 m (trip time 76.3 ms) speed 0.4

2025-06-08T00:01:36.315Z,1749340896.315 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-06-08T00:01:36.316Z,1749340896.316 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=26.174412
2025-06-08T00:01:36.566Z,1749340896.566 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=26.424633
2025-06-08T00:01:36.595Z,1749340896.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.500000 m,
      deltaT: 0.507402 s,
      deltaX: -0.400002 m,
      approachRate: -0.788333 m/s,
      rangeRepo size: 4

2025-06-08T00:01:36.596Z,1749340896.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.01 m.
2025-06-08T00:01:36.598Z,1749340896.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.006241 m,
      nav range: 109.805695 m,
      bearing: 142.456434 deg,
      approach rate: -0.558943 m/s,
      LOS rate: 0.045218 deg/s,
      cmd heading: 159.503727 deg,
      new cmd heading: 159.567641 deg.

2025-06-08T00:01:36.599Z,1749340896.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784981 target range: 114.006241 and range: 114.50 m.
2025-06-08T00:01:36.817Z,1749340896.817 [DAT](INFO): DAT read: Rx Time:00:01:36.1142 

2025-06-08T00:01:36.817Z,1749340896.817 [DAT](INFO): Rx dataTimestamp_ set to:1749340896.817039
2025-06-08T00:01:36.819Z,1749340896.819 [DAT](INFO): DAT read: Bearing  14.7,   9.6 (Local)

2025-06-08T00:01:36.819Z,1749340896.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.7,   9.6 (Local)

2025-06-08T00:01:36.821Z,1749340896.821 [DAT](INFO): DAT read: Range 10 to 50 :   114.3 m (trip time 76.2 ms) speed 0.1

2025-06-08T00:01:36.828Z,1749340896.828 [DAT](INFO): DAT read: 00:01:36.1142 LVL= 24816, 32241, 28946, 32755, AGC= 67, IDX= 504, 0.15, 1.821, 0.312, 1.355, 1.189, PHS= 0.720,-0.830, 0.163, RAW= 129.2,  -0.8, CAL= 135.3,  -9.6, ROT=  14.7,   9.6

2025-06-08T00:01:36.829Z,1749340896.829 [DAT](INFO): got valid direction response:
 00:01:36.1142 LVL= 24816, 32241, 28946, 32755, AGC= 67, IDX= 504, 0.15, 1.821, 0.312, 1.355, 1.189, PHS= 0.720,-0.830, 0.163, RAW= 129.2,  -0.8, CAL= 135.3,  -9.6, ROT=  14.7,   9.6

2025-06-08T00:01:36.830Z,1749340896.830 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-06-08T00:01:36.831Z,1749340896.831 [DAT](INFO): direction in FSK: [0.953722,0.250204,-0.166769]
2025-06-08T00:01:36.831Z,1749340896.831 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:36.841Z,1749340896.841 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=26.700289
2025-06-08T00:01:37.056Z,1749340897.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.300003 m,
      deltaT: 0.504571 s,
      deltaX: -0.199997 m,
      approachRate: -0.396370 m/s,
      rangeRepo size: 4

2025-06-08T00:01:37.058Z,1749340897.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.411484 m,
      bearing: 150.400391 deg,
      lat: 36.905932 deg,
      lon: -122.115948 deg,
      deltaT: 1.011973 s,
      deltaX: -0.594757 m,
      approachRate: -0.587720 m/s,
      posRepo size: 4

2025-06-08T00:01:37.059Z,1749340897.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.41 m.
2025-06-08T00:01:37.068Z,1749340897.068 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=26.927065
2025-06-08T00:01:37.072Z,1749340897.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.411484 m,
      nav range: 112.919487 m,
      bearing: 144.583665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.045218 deg/s,
      cmd heading: 159.567644 deg,
      new cmd heading: 159.630142 deg.

2025-06-08T00:01:37.073Z,1749340897.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786072 target range: 113.411484 and range: 114.30 m.
2025-06-08T00:01:37.321Z,1749340897.321 [DAT](INFO): DAT read: Rx Time:00:01:36.6139 

2025-06-08T00:01:37.322Z,1749340897.322 [DAT](INFO): Rx dataTimestamp_ set to:1749340897.321466
2025-06-08T00:01:37.324Z,1749340897.324 [DAT](INFO): DAT read: Bearing  13.9,  13.9 (Local)

2025-06-08T00:01:37.324Z,1749340897.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.9,  13.9 (Local)

2025-06-08T00:01:37.327Z,1749340897.327 [DAT](INFO): DAT read: Range 10 to 50 :   113.9 m (trip time 75.9 ms) speed 0.4

2025-06-08T00:01:37.333Z,1749340897.333 [DAT](INFO): DAT read: 00:01:36.6139 LVL= 30976, 32753, 31890, 32755, AGC= 66, IDX= 501, 0.17, 1.406,-0.029, 0.999, 0.759, PHS= 0.735,-0.741, 0.238, RAW= 130.7,  -3.6, CAL= 136.1, -13.9, ROT=  13.9,  13.9

2025-06-08T00:01:37.334Z,1749340897.334 [DAT](INFO): got valid direction response:
 00:01:36.6139 LVL= 30976, 32753, 31890, 32755, AGC= 66, IDX= 501, 0.17, 1.406,-0.029, 0.999, 0.759, PHS= 0.735,-0.741, 0.238, RAW= 130.7,  -3.6, CAL= 136.1, -13.9, ROT=  13.9,  13.9

2025-06-08T00:01:37.335Z,1749340897.335 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-08T00:01:37.348Z,1749340897.348 [DAT](INFO): direction in FSK: [0.942290,0.233193,-0.240228]
2025-06-08T00:01:37.348Z,1749340897.348 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:37.388Z,1749340897.388 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=27.247244
2025-06-08T00:01:37.450Z,1749340897.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.900002 m,
      deltaT: 0.504427 s,
      deltaX: -0.400002 m,
      approachRate: -0.792982 m/s,
      rangeRepo size: 4

2025-06-08T00:01:37.456Z,1749340897.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.014587 m,
      bearing: 152.181261 deg,
      lat: 36.905881 deg,
      lon: -122.116038 deg,
      deltaT: 0.504427 s,
      deltaX: -0.396896 m,
      approachRate: -0.786826 m/s,
      posRepo size: 4

2025-06-08T00:01:37.460Z,1749340897.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.01 m.
2025-06-08T00:01:37.463Z,1749340897.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.014587 m,
      nav range: 113.075829 m,
      bearing: 149.584602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.045218 deg/s,
      cmd heading: 159.630141 deg,
      new cmd heading: 159.684083 deg.

2025-06-08T00:01:37.464Z,1749340897.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.787013 target range: 113.014587 and range: 113.90 m.
2025-06-08T00:01:37.573Z,1749340897.573 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=27.431768
2025-06-08T00:01:37.805Z,1749340897.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:37.808Z,1749340897.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.01 m.
2025-06-08T00:01:37.810Z,1749340897.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.014587 m,
      nav range: 112.858124 m,
      bearing: 149.607790 deg,
      approach rate: -0.606474 m/s,
      LOS rate: 0.064721 deg/s,
      cmd heading: 159.684085 deg,
      new cmd heading: 159.753784 deg.

2025-06-08T00:01:37.812Z,1749340897.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788229 target range: 113.014587 and range: 113.90 m.
2025-06-08T00:01:37.825Z,1749340897.825 [DAT](INFO): DAT read: Rx Time:00:01:37.1139 

2025-06-08T00:01:37.825Z,1749340897.825 [DAT](INFO): Rx dataTimestamp_ set to:1749340897.824838
2025-06-08T00:01:37.826Z,1749340897.826 [DAT](INFO): DAT read: Bearing  12.2,  16.0 (Local)

2025-06-08T00:01:37.827Z,1749340897.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.2,  16.0 (Local)

2025-06-08T00:01:37.829Z,1749340897.829 [DAT](INFO): DAT read: Range 10 to 50 :   113.9 m (trip time 75.9 ms) speed 0.7

2025-06-08T00:01:37.834Z,1749340897.834 [DAT](INFO): DAT read: 00:01:37.1139 LVL= 27792, 29585, 25122, 32755, AGC= 69, IDX= 500, 0.10,-2.796, 2.027, 3.115, 2.807, PHS= 0.769,-0.733, 0.305, RAW= 132.5,  -5.2, CAL= 137.8, -16.0, ROT=  12.2,  16.0

2025-06-08T00:01:37.835Z,1749340897.835 [DAT](INFO): got valid direction response:
 00:01:37.1139 LVL= 27792, 29585, 25122, 32755, AGC= 69, IDX= 500, 0.10,-2.796, 2.027, 3.115, 2.807, PHS= 0.769,-0.733, 0.305, RAW= 132.5,  -5.2, CAL= 137.8, -16.0, ROT=  12.2,  16.0

2025-06-08T00:01:37.835Z,1749340897.835 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-08T00:01:37.836Z,1749340897.836 [DAT](INFO): direction in FSK: [0.939552,0.203138,-0.275637]
2025-06-08T00:01:37.836Z,1749340897.836 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:37.840Z,1749340897.840 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=27.698545
2025-06-08T00:01:38.077Z,1749340898.077 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=27.935530
2025-06-08T00:01:38.225Z,1749340898.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.900002 m,
      deltaT: 0.503372 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:01:38.228Z,1749340898.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.014618 m,
      bearing: 154.086506 deg,
      lat: 36.905878 deg,
      lon: -122.116058 deg,
      deltaT: 0.503372 s,
      deltaX: 0.000031 m,
      approachRate: 0.000061 m/s,
      posRepo size: 4

2025-06-08T00:01:38.228Z,1749340898.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.01 m.
2025-06-08T00:01:38.231Z,1749340898.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.014618 m,
      nav range: 111.980392 m,
      bearing: 150.473211 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.064721 deg/s,
      cmd heading: 159.753781 deg,
      new cmd heading: 159.834713 deg.

2025-06-08T00:01:38.232Z,1749340898.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789642 target range: 113.014618 and range: 113.90 m.
2025-06-08T00:01:38.330Z,1749340898.330 [DAT](INFO): DAT read: Rx Time:00:01:37.6136 

2025-06-08T00:01:38.330Z,1749340898.330 [DAT](INFO): Rx dataTimestamp_ set to:1749340898.329951
2025-06-08T00:01:38.332Z,1749340898.332 [DAT](INFO): DAT read: Bearing   9.3,  17.2 (Local)

2025-06-08T00:01:38.333Z,1749340898.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.3,  17.2 (Local)

2025-06-08T00:01:38.336Z,1749340898.336 [DAT](INFO): DAT read: Range 10 to 50 :   113.4 m (trip time 75.6 ms) speed 0.4

2025-06-08T00:01:38.341Z,1749340898.341 [DAT](INFO): DAT read: 00:01:37.6136 LVL= 27120, 31137, 24130, 32755, AGC= 68, IDX= 497, 0.05, 2.673, 1.311, 2.389, 2.034, PHS= 0.727,-0.676, 0.352, RAW= 135.0,  -6.4, CAL= 140.7, -17.2, ROT=   9.3,  17.2

2025-06-08T00:01:38.342Z,1749340898.342 [DAT](INFO): got valid direction response:
 00:01:37.6136 LVL= 27120, 31137, 24130, 32755, AGC= 68, IDX= 497, 0.05, 2.673, 1.311, 2.389, 2.034, PHS= 0.727,-0.676, 0.352, RAW= 135.0,  -6.4, CAL= 140.7, -17.2, ROT=   9.3,  17.2

2025-06-08T00:01:38.342Z,1749340898.342 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-08T00:01:38.343Z,1749340898.343 [DAT](INFO): direction in FSK: [0.942722,0.154377,-0.295708]
2025-06-08T00:01:38.344Z,1749340898.344 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:38.347Z,1749340898.347 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=28.205706
2025-06-08T00:01:38.582Z,1749340898.582 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=28.440819
2025-06-08T00:01:38.673Z,1749340898.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.400002 m,
      deltaT: 0.505113 s,
      deltaX: -0.500000 m,
      approachRate: -0.989878 m/s,
      rangeRepo size: 4

2025-06-08T00:01:38.675Z,1749340898.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.518501 m,
      bearing: 153.186848 deg,
      lat: 36.905878 deg,
      lon: -122.116099 deg,
      deltaT: 0.505113 s,
      deltaX: -0.496117 m,
      approachRate: -0.982189 m/s,
      posRepo size: 4

2025-06-08T00:01:38.681Z,1749340898.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.52 m.
2025-06-08T00:01:38.683Z,1749340898.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.518501 m,
      nav range: 109.942757 m,
      bearing: 152.172384 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.064721 deg/s,
      cmd heading: 159.834718 deg,
      new cmd heading: 159.921565 deg.

2025-06-08T00:01:38.684Z,1749340898.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791158 target range: 112.518501 and range: 113.40 m.
2025-06-08T00:01:38.832Z,1749340898.832 [DAT](INFO): DAT read: Rx Time:00:01:38.1135 

2025-06-08T00:01:38.833Z,1749340898.833 [DAT](INFO): Rx dataTimestamp_ set to:1749340898.832617
2025-06-08T00:01:38.834Z,1749340898.834 [DAT](INFO): DAT read: Range 10 to 50 :   113.3 m (trippeed 0.4

2025-06-08T00:01:38.834Z,1749340898.834 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-06-08T00:01:38.836Z,1749340898.836 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=28.694370
2025-06-08T00:01:38.999Z,1749340898.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.300003 m,
      deltaT: 0.502666 s,
      deltaX: -0.099998 m,
      approachRate: -0.198936 m/s,
      rangeRepo size: 4

2025-06-08T00:01:38.000Z,1749340899.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.52 m.
2025-06-08T00:01:39.002Z,1749340899.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.518501 m,
      nav range: 109.746590 m,
      bearing: 152.190004 deg,
      approach rate: -0.601533 m/s,
      LOS rate: 0.054127 deg/s,
      cmd heading: 159.921571 deg,
      new cmd heading: 159.974525 deg.

2025-06-08T00:01:39.003Z,1749340899.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792082 target range: 112.518501 and range: 113.30 m.
2025-06-08T00:01:39.085Z,1749340899.085 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=28.943764
2025-06-08T00:01:39.336Z,1749340899.336 [DAT](INFO): DAT read: Rx Time:00:01:38.6132 

2025-06-08T00:01:39.337Z,1749340899.337 [DAT](INFO): Rx dataTimestamp_ set to:1749340899.336683
2025-06-08T00:01:39.338Z,1749340899.338 [DAT](INFO): DAT read: Range 10 to 50 :   112.8 m (trip time 75.2 ms) speed 0.5

2025-06-08T00:01:39.339Z,1749340899.339 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-06-08T00:01:39.340Z,1749340899.340 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=29.198664
2025-06-08T00:01:39.438Z,1749340899.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.800003 m,
      deltaT: 0.504066 s,
      deltaX: -0.500000 m,
      approachRate: -0.991934 m/s,
      rangeRepo size: 4

2025-06-08T00:01:39.443Z,1749340899.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.52 m.
2025-06-08T00:01:39.446Z,1749340899.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.518501 m,
      nav range: 109.489616 m,
      bearing: 152.209922 deg,
      approach rate: -0.584375 m/s,
      LOS rate: 0.045401 deg/s,
      cmd heading: 159.974519 deg,
      new cmd heading: 160.034413 deg.

2025-06-08T00:01:39.452Z,1749340899.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793128 target range: 112.518501 and range: 112.80 m.
2025-06-08T00:01:39.591Z,1749340899.591 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=29.449421
2025-06-08T00:01:39.841Z,1749340899.841 [DAT](INFO): DAT read: Rx Time:00:01:39.1130 

2025-06-08T00:01:39.841Z,1749340899.841 [DAT](INFO): Rx dataTimestamp_ set to:1749340899.840905
2025-06-08T00:01:39.842Z,1749340899.842 [DAT](INFO): DAT read: Bearing   1.4,  14.2 (Local)

2025-06-08T00:01:39.843Z,1749340899.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  14.2 (Local)

2025-06-08T00:01:39.845Z,1749340899.845 [DAT](INFO): DAT read: Range 10 to 50 :   112.5 m (trip time 75.0 ms) speed 0.4

2025-06-08T00:01:39.849Z,1749340899.849 [DAT](INFO): DAT read: 00:01:39.1130 LVL= 25248, 31137, 24850, 327564, IDX= 507,-0.04, 0.638,-0558, 0.131, PHS= 0.595,-0.711, 0.423, RAW= 143.1,  -5.1, CAL= 148.6, -14.2, ROT=   1.4,  14.2

2025-06-08T00:01:39.850Z,1749340899.850 [DAT](INFO): unknown deviceResponse_: 00:01:39.1130 LVL= 25248, 31137, 24850, 327564, IDX= 507,-0.04, 0.638,-0558, 0.131, PHS= 0.595,-0.711, 0.423, RAW= 143.1,  -5.1, CAL= 148.6, -14.2, ROT=   1.4,  14.2

2025-06-08T00:01:39.850Z,1749340899.850 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-06-08T00:01:39.851Z,1749340899.851 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=29.710119
2025-06-08T00:01:39.940Z,1749340899.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:39.953Z,1749340899.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.500000 m,
      deltaT: 0.504222 s,
      deltaX: -0.300003 m,
      approachRate: -0.594982 m/s,
      rangeRepo size: 4

2025-06-08T00:01:39.954Z,1749340899.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.52 m.
2025-06-08T00:01:39.962Z,1749340899.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.518501 m,
      nav range: 109.195221 m,
      bearing: 152.232095 deg,
      approach rate: -0.582917 m/s,
      LOS rate: 0.044021 deg/s,
      cmd heading: 160.034419 deg,
      new cmd heading: 160.101117 deg.

2025-06-08T00:01:39.973Z,1749340899.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794292 target range: 112.518501 and range: 112.50 m.
2025-06-08T00:01:40.092Z,1749340900.092 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=29.951279
2025-06-08T00:01:40.301Z,1749340900.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.52 m.
2025-06-08T00:01:40.308Z,1749340900.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.518501 m,
      nav range: 108.998199 m,
      bearing: 152.244240 deg,
      approach rate: -0.550313 m/s,
      LOS rate: 0.033983 deg/s,
      cmd heading: 160.101123 deg,
      new cmd heading: 160.137623 deg.

2025-06-08T00:01:40.309Z,1749340900.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794929 target range: 112.518501 and range: 112.50 m.
2025-06-08T00:01:40.345Z,1749340900.345 [DAT](INFO): DAT read: Rx Time:00:01:39.6127 

2025-06-08T00:01:40.345Z,1749340900.345 [DAT](INFO): Rx dataTimestamp_ set to:1749340900.345044
2025-06-08T00:01:40.347Z,1749340900.347 [DAT](INFO): DAT read: Bearing 358.6,  13.3 (Local)

2025-06-08T00:01:40.347Z,1749340900.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  13.3 (Local)

2025-06-08T00:01:40.349Z,1749340900.349 [DAT](INFO): DAT read: Range 10 to 50 :   112.2 m (trip time 74.8 ms) speed 0.4

2025-06-08T00:01:40.356Z,1749340900.356 [DAT](INFO): DAT read: 00:01:39.6127 LVL= 29264, 32753, 23842, 32755, AGC= 64, IDX= 504,-0.02,-0.710,-1.953,-0.708,-1.170, PHS= 0.548,-0.736, 0.458, RAW= 146.4,  -4.4, CAL= 151.4, -13.3, ROT= 358.6,  13.3

2025-06-08T00:01:40.358Z,1749340900.358 [DAT](INFO): got valid direction response:
 00:01:39.6127 LVL= 29264, 32753, 23842, 32755, AGC= 64, IDX= 504,-0.02,-0.710,-1.953,-0.708,-1.170, PHS= 0.548,-0.736, 0.458, RAW= 146.4,  -4.4, CAL= 151.4, -13.3, ROT= 358.6,  13.3

2025-06-08T00:01:40.358Z,1749340900.358 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-08T00:01:40.368Z,1749340900.368 [DAT](INFO): direction in FSK: [0.972888,-0.023777,-0.230050]
2025-06-08T00:01:40.369Z,1749340900.369 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:40.375Z,1749340900.375 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=30.233524
2025-06-08T00:01:40.598Z,1749340900.598 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=30.456755
2025-06-08T00:01:40.782Z,1749340900.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.199997 m,
      deltaT: 0.504139 s,
      deltaX: -0.300003 m,
      approachRate: -0.595080 m/s,
      rangeRepo size: 4

2025-06-08T00:01:40.784Z,1749340900.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.327866 m,
      bearing: 148.837090 deg,
      lat: 36.905878 deg,
      lon: -122.116099 deg,
      deltaT: 2.015093 s,
      deltaX: -1.190636 m,
      approachRate: -0.590859 m/s,
      posRepo size: 4

2025-06-08T00:01:40.785Z,1749340900.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.33 m.
2025-06-08T00:01:40.787Z,1749340900.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.327866 m,
      nav range: 108.709717 m,
      bearing: 152.263968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033983 deg/s,
      cmd heading: 160.137624 deg,
      new cmd heading: 160.186574 deg.

2025-06-08T00:01:40.788Z,1749340900.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795783 target range: 111.327866 and range: 112.20 m.
2025-06-08T00:01:40.849Z,1749340900.849 [DAT](INFO): DAT read: Rx Time:00:01:40.1126 

2025-06-08T00:01:40.849Z,1749340900.849 [DAT](INFO): Rx dataTimestamp_ set to:1749340900.849100
2025-06-08T00:01:40.851Z,1749340900.851 [DAT](INFO): DAT read: Bearing 356.9,  11.0 (Local)

2025-06-08T00:01:40.851Z,1749340900.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  11.0 (Local)

2025-06-08T00:01:40.853Z,1749340900.853 [DAT](INFO): DAT read: Range 10 to 50 :   112.1 m (trip time 74.7 ms) speed 0.8

2025-06-08T00:01:40.877Z,1749340900.877 [DAT](INFO): DAT read: 00:01:40.1126 LVL= 26496, 30161, 23058, 32755, AGC= 69, IDX= 503, 0.01, 0.676,-0.595, 0.744, 0.274, PHS= 0.491,-0.822, 0.468, RAW= 149.1,  -2.1, CAL= 153.1, -11.0, ROT= 356.9,  11.0

2025-06-08T00:01:40.879Z,1749340900.879 [DAT](INFO): got valid direction response:
 00:01:40.1126 LVL= 26496, 30161, 23058, 32755, AGC= 69, IDX= 503, 0.01, 0.676,-0.595, 0.744, 0.274, PHS= 0.491,-0.822, 0.468, RAW= 149.1,  -2.1, CAL= 153.1, -11.0, ROT= 356.9,  11.0

2025-06-08T00:01:40.904Z,1749340900.904 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-08T00:01:40.906Z,1749340900.906 [DAT](INFO): direction in FSK: [0.980191,-0.053085,-0.190809]
2025-06-08T00:01:40.906Z,1749340900.906 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:40.918Z,1749340900.918 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=30.776680
2025-06-08T00:01:41.101Z,1749340901.101 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=30.959555
2025-06-08T00:01:41.128Z,1749340901.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.099998 m,
      deltaT: 0.504056 s,
      deltaX: -0.099998 m,
      approachRate: -0.198388 m/s,
      rangeRepo size: 4

2025-06-08T00:01:41.130Z,1749340901.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.228645 m,
      bearing: 147.871733 deg,
      lat: 36.905881 deg,
      lon: -122.116099 deg,
      deltaT: 0.504056 s,
      deltaX: -0.099220 m,
      approachRate: -0.196844 m/s,
      posRepo size: 4

2025-06-08T00:01:41.135Z,1749340901.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-06-08T00:01:41.155Z,1749340901.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.228645 m,
      nav range: 108.236488 m,
      bearing: 152.194829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033983 deg/s,
      cmd heading: 160.186569 deg,
      new cmd heading: 160.220668 deg.

2025-06-08T00:01:41.168Z,1749340901.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796378 target range: 111.228645 and range: 112.10 m.
2025-06-08T00:01:41.353Z,1749340901.353 [DAT](INFO): DAT read: Rx Time:00:01:40.6124 

2025-06-08T00:01:41.353Z,1749340901.353 [DAT](INFO): Rx dataTimestamp_ set to:1749340901.352845
2025-06-08T00:01:41.354Z,1749340901.354 [DAT](INFO): DAT read: Bearing 354.4,  10.7 (Local)

2025-06-08T00:01:41.355Z,1749340901.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,  10.7 (Local)

2025-06-08T00:01:41.357Z,1749340901.357 [DAT](INFO): DAT read: Range 10 to 50 :   111.6 m (trip time 74.4 ms) speed 0.5

2025-06-08T00:01:41.362Z,1749340901.362 [DAT](INFO): DAT read: 00:01:40.6124 LVL= 26272, 31409, 20610, 32755, AGC= 70, IDX= 500, 0.10,-0.274,-1.596,-0.128,-0.668, PHS= 0.482,-0.881, 0.537, RAW= 152.0,  -2.0, CAL= 155.6, -10.7, ROT= 354.4,  10.7

2025-06-08T00:01:41.363Z,1749340901.363 [DAT](INFO): got valid direction response:
 00:01:40.6124 LVL= 26272, 31409, 20610, 32755, AGC= 70, IDX= 500, 0.10,-0.274,-1.596,-0.128,-0.668, PHS= 0.482,-0.881, 0.537, RAW= 152.0,  -2.0, CAL= 155.6, -10.7, ROT= 354.4,  10.7

2025-06-08T00:01:41.363Z,1749340901.363 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-08T00:01:41.364Z,1749340901.364 [DAT](INFO): direction in FSK: [0.977923,-0.095886,-0.185667]
2025-06-08T00:01:41.364Z,1749340901.364 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:41.368Z,1749340901.368 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=31.226557
2025-06-08T00:01:41.532Z,1749340901.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.599998 m,
      deltaT: 0.503745 s,
      deltaX: -0.500000 m,
      approachRate: -0.992566 m/s,
      rangeRepo size: 4

2025-06-08T00:01:41.534Z,1749340901.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.732529 m,
      bearing: 146.799735 deg,
      lat: 36.905914 deg,
      lon: -122.116041 deg,
      deltaT: 0.503745 s,
      deltaX: -0.496117 m,
      approachRate: -0.984857 m/s,
      posRepo size: 4

2025-06-08T00:01:41.534Z,1749340901.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m.
2025-06-08T00:01:41.545Z,1749340901.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.732529 m,
      nav range: 107.423866 m,
      bearing: 148.844080 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033983 deg/s,
      cmd heading: 160.220665 deg,
      new cmd heading: 160.263038 deg.

2025-06-08T00:01:41.546Z,1749340901.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797118 target range: 110.732529 and range: 111.60 m.
2025-06-08T00:01:41.608Z,1749340901.608 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=31.466614
2025-06-08T00:01:41.857Z,1749340901.857 [DAT](INFO): DAT read: Rx Time:00:01:41.1123 

2025-06-08T00:01:41.857Z,1749340901.857 [DAT](INFO): Rx dataTimestamp_ set to:1749340901.856887
2025-06-08T00:01:41.858Z,1749340901.858 [DAT](INFO): DAT read: Bearing 352.3,   9.0 (Local)

2025-06-08T00:01:41.859Z,1749340901.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.3,   9.0 (Local)

2025-06-08T00:01:41.861Z,1749340901.861 [DAT](INFO): DAT read: Range 10 to 50 :   111.5 m (trip time 74.3 ms) speed 0.4

2025-06-08T00:01:41.866Z,1749340901.866 [DAT](INFO): DAT read: 00:01:41.1123 LVL= 29920, 29073, 19698, 32755, AGC= 69, IDX= 499, 0.25, 0.936,-0.323, 1.162, 0.629, PHS= 0.395,-0.905, 0.530, RAW= 154.9,  -0.3, CAL= 157.7,  -9.0, ROT= 352.3,   9.0

2025-06-08T00:01:41.867Z,1749340901.867 [DAT](INFO): got valid direction response:
 00:01:41.1123 LVL= 29920, 29073, 19698, 32755, AGC= 69, IDX= 499, 0.25, 0.936,-0.323, 1.162, 0.629, PHS= 0.395,-0.905, 0.530, RAW= 154.9,  -0.3, CAL= 157.7,  -9.0, ROT= 352.3,   9.0

2025-06-08T00:01:41.867Z,1749340901.867 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-08T00:01:41.868Z,1749340901.868 [DAT](INFO): direction in FSK: [0.978783,-0.132337,-0.156434]
2025-06-08T00:01:41.868Z,1749340901.868 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:41.872Z,1749340901.872 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=31.730528
2025-06-08T00:01:42.016Z,1749340902.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.500000 m,
      deltaT: 0.504042 s,
      deltaX: -0.099998 m,
      approachRate: -0.198393 m/s,
      rangeRepo size: 4

2025-06-08T00:01:42.018Z,1749340902.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.633369 m,
      bearing: 144.294116 deg,
      lat: 36.905916 deg,
      lon: -122.116018 deg,
      deltaT: 0.504042 s,
      deltaX: -0.099159 m,
      approachRate: -0.196728 m/s,
      posRepo size: 4

2025-06-08T00:01:42.019Z,1749340902.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.63 m.
2025-06-08T00:01:42.026Z,1749340902.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.633369 m,
      nav range: 108.048729 m,
      bearing: 147.870976 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033983 deg/s,
      cmd heading: 160.263040 deg,
      new cmd heading: 160.311982 deg.

2025-06-08T00:01:42.027Z,1749340902.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797972 target range: 110.633369 and range: 111.50 m.
2025-06-08T00:01:42.108Z,1749340902.108 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=31.967117
2025-06-08T00:01:42.295Z,1749340902.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:42.297Z,1749340902.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.63 m.
2025-06-08T00:01:42.304Z,1749340902.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.633369 m,
      nav range: 107.878342 m,
      bearing: 147.865971 deg,
      approach rate: -0.595399 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 160.311985 deg,
      new cmd heading: 160.296945 deg.

2025-06-08T00:01:42.305Z,1749340902.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797709 target range: 110.633369 and range: 111.50 m.
2025-06-08T00:01:42.362Z,1749340902.362 [DAT](INFO): DAT read: Rx Time:00:01:41.6121 

2025-06-08T00:01:42.362Z,1749340902.362 [DAT](INFO): Rx dataTimestamp_ set to:1749340902.362154
2025-06-08T00:01:42.364Z,1749340902.364 [DAT](INFO): DAT read: Bearing 351.0,   8.0 (Local)

2025-06-08T00:01:42.365Z,1749340902.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,   8.0 (Local)

2025-06-08T00:01:42.369Z,1749340902.369 [DAT](INFO): DAT read: Range 10 to 50 :   111.2 m (trip time 74.1 ms) speed 0.4

2025-06-08T00:01:42.376Z,1749340902.376 [DAT](INFO): DAT read: 00:01:41.6121 LVL= 26096, 31809, 18786, 32755, AGC= 70, IDX= 496, 0.48,-1.094,-2.265,-0.824,-1.333, PHS= 0.327,-0.885, 0.506, RAW= 156.8,   0.8, CAL= 159.0,  -8.0, ROT= 351.0,   8.0

2025-06-08T00:01:42.378Z,1749340902.378 [DAT](INFO): got valid direction response:
 00:01:41.6121 LVL= 26096, 31809, 18786, 32755, AGC= 70, IDX= 496, 0.48,-1.094,-2.265,-0.824,-1.333, PHS= 0.327,-0.885, 0.506, RAW= 156.8,   0.8, CAL= 159.0,  -8.0, ROT= 351.0,   8.0

2025-06-08T00:01:42.378Z,1749340902.378 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-08T00:01:42.400Z,1749340902.400 [DAT](INFO): direction in FSK: [0.978076,-0.154912,-0.139173]
2025-06-08T00:01:42.401Z,1749340902.401 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:42.406Z,1749340902.406 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=32.265129
2025-06-08T00:01:42.615Z,1749340902.615 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=32.472801
2025-06-08T00:01:42.756Z,1749340902.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.199997 m,
      deltaT: 0.505267 s,
      deltaX: -0.300003 m,
      approachRate: -0.593752 m/s,
      rangeRepo size: 4

2025-06-08T00:01:42.758Z,1749340902.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.335938 m,
      bearing: 146.560618 deg,
      lat: 36.905924 deg,
      lon: -122.116002 deg,
      deltaT: 0.505267 s,
      deltaX: -0.297432 m,
      approachRate: -0.588663 m/s,
      posRepo size: 4

2025-06-08T00:01:42.759Z,1749340902.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.34 m.
2025-06-08T00:01:42.761Z,1749340902.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.335938 m,
      nav range: 107.681000 m,
      bearing: 146.944552 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 160.296945 deg,
      new cmd heading: 160.272888 deg.

2025-06-08T00:01:42.762Z,1749340902.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797290 target range: 110.335938 and range: 111.20 m.
2025-06-08T00:01:42.865Z,1749340902.865 [DAT](INFO): DAT read: Rx Time:00:01:42.1120 

2025-06-08T00:01:42.866Z,1749340902.866 [DAT](INFO): Rx dataTimestamp_ set to:1749340902.865158
2025-06-08T00:01:42.869Z,1749340902.869 [DAT](INFO): DAT read: Bearing 341.8,   7.1 (Local)

2025-06-08T00:01:42.869Z,1749340902.869 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.8,   7.1 (Local)

2025-06-08T00:01:42.873Z,1749340902.873 [DAT](INFO): DAT read: Range 10 to 50 :   111.0 m (trip time 74.0 ms) speed 0.4

2025-06-08T00:01:42.886Z,1749340902.886 [DAT](INFO): DAT read: 00:01:42.1120 LVL= 30800, 32753, 19442, 32755, AGC= 68, IDX= 512,-0.18,-1.624,-2.657,-1.072,-1.709, PHS= 0.173,-0.901, 0.634, RAW= 167.0,   1.4, CAL= 168.2,  -7.1, ROT= 341.8,   7.1

2025-06-08T00:01:42.888Z,1749340902.888 [DAT](INFO): got valid direction response:
 00:01:42.1120 LVL= 30800, 32753, 19442, 32755, AGC= 68, IDX= 512,-0.18,-1.624,-2.657,-1.072,-1.709, PHS= 0.173,-0.901, 0.634, RAW= 167.0,   1.4, CAL= 168.2,  -7.1, ROT= 341.8,   7.1

2025-06-08T00:01:42.889Z,1749340902.889 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-08T00:01:42.890Z,1749340902.890 [DAT](INFO): direction in FSK: [0.942688,-0.309940,-0.123601]
2025-06-08T00:01:42.890Z,1749340902.890 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:42.921Z,1749340902.921 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=32.779881
2025-06-08T00:01:43.116Z,1749340903.116 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=32.975040
2025-06-08T00:01:43.132Z,1749340903.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.000000 m,
      deltaT: 0.503004 s,
      deltaX: -0.199997 m,
      approachRate: -0.397605 m/s,
      rangeRepo size: 4

2025-06-08T00:01:43.143Z,1749340903.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.137489 m,
      bearing: 138.358527 deg,
      lat: 36.905929 deg,
      lon: -122.115992 deg,
      deltaT: 0.503004 s,
      deltaX: -0.198448 m,
      approachRate: -0.394526 m/s,
      posRepo size: 4

2025-06-08T00:01:43.149Z,1749340903.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.14 m.
2025-06-08T00:01:43.167Z,1749340903.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.137489 m,
      nav range: 107.484520 m,
      bearing: 146.381515 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 160.272889 deg,
      new cmd heading: 160.253377 deg.

2025-06-08T00:01:43.174Z,1749340903.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796949 target range: 110.137489 and range: 111.00 m.
2025-06-08T00:01:43.369Z,1749340903.369 [DAT](INFO): DAT read: Rx Time:00:01:42.6117 

2025-06-08T00:01:43.369Z,1749340903.369 [DAT](INFO): Rx dataTimestamp_ set to:1749340903.368962
2025-06-08T00:01:43.371Z,1749340903.371 [DAT](INFO): DAT read: Bearing 345.7,   7.0 (Local)

2025-06-08T00:01:43.371Z,1749340903.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,   7.0 (Local)

2025-06-08T00:01:43.373Z,1749340903.373 [DAT](INFO): DAT read: Range 10 to 50 :   110.6 m (trip time 73.7 ms) speed 0.6

2025-06-08T00:01:43.378Z,1749340903.378 [DAT](INFO): DAT read: 00:01:42.6117 LVL= 28320, 31937, 19362, 32755, AGC= 67, IDX= 509,-0.02,-2.159, 3.033,-1.720,-2.295, PHS= 0.224,-0.907, 0.572, RAW= 163.0,   1.7, CAL= 164.3,  -7.0, ROT= 345.7,   7.0

2025-06-08T00:01:43.379Z,1749340903.379 [DAT](INFO): got valid direction response:
 00:01:42.6117 LVL= 28320, 31937, 19362, 32755, AGC= 67, IDX= 509,-0.02,-2.159, 3.033,-1.720,-2.295, PHS= 0.224,-0.907, 0.572, RAW= 163.0,   1.7, CAL= 164.3,  -7.0, ROT= 345.7,   7.0

2025-06-08T00:01:43.379Z,1749340903.379 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-08T00:01:43.380Z,1749340903.380 [DAT](INFO): direction in FSK: [0.961793,-0.245157,-0.121869]
2025-06-08T00:01:43.380Z,1749340903.380 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:43.384Z,1749340903.384 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=33.242897
2025-06-08T00:01:43.531Z,1749340903.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.599998 m,
      deltaT: 0.503804 s,
      deltaX: -0.400002 m,
      approachRate: -0.793963 m/s,
      rangeRepo size: 4

2025-06-08T00:01:43.537Z,1749340903.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.740601 m,
      bearing: 142.182846 deg,
      lat: 36.905948 deg,
      lon: -122.115954 deg,
      deltaT: 0.503804 s,
      deltaX: -0.396889 m,
      approachRate: -0.787784 m/s,
      posRepo size: 4

2025-06-08T00:01:43.537Z,1749340903.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.74 m.
2025-06-08T00:01:43.544Z,1749340903.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.740601 m,
      nav range: 107.412781 m,
      bearing: 144.234146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 160.253382 deg,
      new cmd heading: 160.232174 deg.

2025-06-08T00:01:43.545Z,1749340903.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796579 target range: 109.740601 and range: 110.60 m.
2025-06-08T00:01:43.623Z,1749340903.623 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=33.481110
2025-06-08T00:01:43.873Z,1749340903.873 [DAT](INFO): DAT read: Rx Time:00:01:43.1115 

2025-06-08T00:01:43.873Z,1749340903.873 [DAT](INFO): Rx dataTimestamp_ set to:1749340903.872911
2025-06-08T00:01:43.874Z,1749340903.874 [DAT](INFO): DAT read: Bearing 342.2,   7.5 (Local)

2025-06-08T00:01:43.875Z,1749340903.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.2,   7.5 (Local)

2025-06-08T00:01:43.877Z,1749340903.877 [DAT](INFO): DAT read: Range 10 to 50 :   110.3 m (trip time 73.5 ms) speed 0.4

2025-06-08T00:01:43.882Z,1749340903.882 [DAT](INFO): DAT read: 00:01:43.1115 LVL= 25936, 32225, 16322, 32755, AGC= 65, IDX= 507, 0.20,-1.140,-2.198,-0.595,-1.244, PHS= 0.192,-0.907, 0.646, RAW= 166.5,   1.0, CAL= 167.8,  -7.5, ROT= 342.2,   7.5

2025-06-08T00:01:43.883Z,1749340903.883 [DAT](INFO): got valid direction response:
 00:01:43.1115 LVL= 25936, 32225, 16322, 32755, AGC= 65, IDX= 507, 0.20,-1.140,-2.198,-0.595,-1.244, PHS= 0.192,-0.907, 0.646, RAW= 166.5,   1.0, CAL= 167.8,  -7.5, ROT= 342.2,   7.5

2025-06-08T00:01:43.883Z,1749340903.883 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-08T00:01:43.884Z,1749340903.884 [DAT](INFO): direction in FSK: [0.943984,-0.303080,-0.130526]
2025-06-08T00:01:43.885Z,1749340903.885 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:43.888Z,1749340903.888 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=33.746895
2025-06-08T00:01:44.120Z,1749340904.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.300003 m,
      deltaT: 0.503949 s,
      deltaX: -0.299995 m,
      approachRate: -0.595289 m/s,
      rangeRepo size: 4

2025-06-08T00:01:44.122Z,1749340904.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.442955 m,
      bearing: 141.374443 deg,
      lat: 36.905969 deg,
      lon: -122.115919 deg,
      deltaT: 0.503949 s,
      deltaX: -0.297646 m,
      approachRate: -0.590626 m/s,
      posRepo size: 4

2025-06-08T00:01:44.122Z,1749340904.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.44 m.
2025-06-08T00:01:44.124Z,1749340904.124 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=33.983162
2025-06-08T00:01:44.138Z,1749340904.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.442955 m,
      nav range: 107.124741 m,
      bearing: 142.147813 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 160.232167 deg,
      new cmd heading: 160.201427 deg.

2025-06-08T00:01:44.146Z,1749340904.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796042 target range: 109.442955 and range: 110.30 m.
2025-06-08T00:01:44.377Z,1749340904.377 [DAT](INFO): DAT read: Rx Time:00:01:43.6113 

2025-06-08T00:01:44.377Z,1749340904.377 [DAT](INFO): Rx dataTimestamp_ set to:1749340904.376912
2025-06-08T00:01:44.378Z,1749340904.378 [DAT](INFO): DAT read: Bearing 340.8,   6.2 (Local)

2025-06-08T00:01:44.379Z,1749340904.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.8,   6.2 (Local)

2025-06-08T00:01:44.381Z,1749340904.381 [DAT](INFO): DAT read: Range 10 to 50 :   110.0 m (trip time 73.3 ms) speed 0.4

2025-06-08T00:01:44.398Z,1749340904.398 [DAT](INFO): DAT read: 00:01:43.6113 LVL= 22688, 31313, 20722, 32755, AGC= 68, IDX= 505,-0.40, 2.495, 1.470, 3.096, 2.455, PHS= 0.128,-0.938, 0.638, RAW= 168.5,   2.5, CAL= 169.2,  -6.2, ROT= 340.8,   6.2

2025-06-08T00:01:44.399Z,1749340904.399 [DAT](INFO): got valid direction response:
 00:01:43.6113 LVL= 22688, 31313, 20722, 32755, AGC= 68, IDX= 505,-0.40, 2.495, 1.470, 3.096, 2.455, PHS= 0.128,-0.938, 0.638, RAW= 168.5,   2.5, CAL= 169.2,  -6.2, ROT= 340.8,   6.2

2025-06-08T00:01:44.416Z,1749340904.416 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-08T00:01:44.417Z,1749340904.417 [DAT](INFO): direction in FSK: [0.938853,-0.326943,-0.107999]
2025-06-08T00:01:44.418Z,1749340904.418 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:44.421Z,1749340904.421 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=34.280045
2025-06-08T00:01:44.509Z,1749340904.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.000000 m,
      deltaT: 0.504001 s,
      deltaX: -0.300003 m,
      approachRate: -0.595243 m/s,
      rangeRepo size: 4

2025-06-08T00:01:44.511Z,1749340904.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.145279 m,
      bearing: 139.702153 deg,
      lat: 36.905980 deg,
      lon: -122.115910 deg,
      deltaT: 0.504001 s,
      deltaX: -0.297676 m,
      approachRate: -0.590626 m/s,
      posRepo size: 4

2025-06-08T00:01:44.515Z,1749340904.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.15 m.
2025-06-08T00:01:44.518Z,1749340904.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.145279 m,
      nav range: 106.397339 m,
      bearing: 141.350167 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 160.201431 deg,
      new cmd heading: 160.180770 deg.

2025-06-08T00:01:44.523Z,1749340904.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795682 target range: 109.145279 and range: 110.00 m.
2025-06-08T00:01:44.633Z,1749340904.633 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=34.491066
2025-06-08T00:01:44.881Z,1749340904.881 [DAT](INFO): DAT read: Rx Time:00:01:44.1112 

2025-06-08T00:01:44.881Z,1749340904.881 [DAT](INFO): Rx dataTimestamp_ set to:1749340904.881022
2025-06-08T00:01:44.883Z,1749340904.883 [DAT](INFO): DAT read: Bearing 339.0,   5.7 (Local)

2025-06-08T00:01:44.883Z,1749340904.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.0,   5.7 (Local)

2025-06-08T00:01:44.885Z,1749340904.885 [DAT](INFO): DAT read: Range 10 to 50 :   109.8 m (trip time 73.2 ms) speed 0.7

2025-06-08T00:01:44.892Z,1749340904.892 [DAT](INFO): DAT read: 00:01:44.1112 LVL= 26048, 32753, 17026, 32755, AGC= 69, IDX= 504,-0.06, 2.981, 1.991,-2.641, 2.987, PHS= 0.082,-0.949, 0.652, RAW= 170.6,   3.1, CAL= 171.0,  -5.7, ROT= 339.0,   5.7

2025-06-08T00:01:44.893Z,1749340904.893 [DAT](INFO): got valid direction response:
 00:01:44.1112 LVL= 26048, 32753, 17026, 32755, AGC= 69, IDX= 504,-0.06, 2.981, 1.991,-2.641, 2.987, PHS= 0.082,-0.949, 0.652, RAW= 170.6,   3.1, CAL= 171.0,  -5.7, ROT= 339.0,   5.7

2025-06-08T00:01:44.894Z,1749340904.894 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-08T00:01:44.895Z,1749340904.895 [DAT](INFO): direction in FSK: [0.928964,-0.356596,-0.099320]
2025-06-08T00:01:44.898Z,1749340904.898 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:44.901Z,1749340904.901 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=34.760040
2025-06-08T00:01:45.100Z,1749340905.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.800003 m,
      deltaT: 0.504110 s,
      deltaX: -0.199997 m,
      approachRate: -0.396733 m/s,
      rangeRepo size: 4

2025-06-08T00:01:45.102Z,1749340905.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.946579 m,
      bearing: 138.891143 deg,
      lat: 36.905996 deg,
      lon: -122.115881 deg,
      deltaT: 0.504110 s,
      deltaX: -0.198700 m,
      approachRate: -0.394160 m/s,
      posRepo size: 4

2025-06-08T00:01:45.103Z,1749340905.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-06-08T00:01:45.109Z,1749340905.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.946579 m,
      nav range: 106.393265 m,
      bearing: 139.655222 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 160.180763 deg,
      new cmd heading: 160.149902 deg.

2025-06-08T00:01:45.110Z,1749340905.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795143 target range: 108.946579 and range: 109.80 m.
2025-06-08T00:01:45.138Z,1749340905.138 [DAT](INFO): DAT read: Rx Time:00:01:44.6109 

2025-06-08T00:01:45.139Z,1749340905.139 [DAT](INFO): Rx dataTimestamp_ set to:1749340905.138358
2025-06-08T00:01:45.142Z,1749340905.142 [DAT](INFO): DAT read: Bearing 338.3,   5.5 (Local)

2025-06-08T00:01:45.145Z,1749340905.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.3,   5.5 (Local)

2025-06-08T00:01:45.148Z,1749340905.148 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=35.006336
2025-06-08T00:01:45.386Z,1749340905.386 [DAT](INFO): DAT read: Range 10 to 50 :   109.4 m (trip time 72.9 ms) speed 0.5

2025-06-08T00:01:45.391Z,1749340905.391 [DAT](INFO): DAT read: 00:01:44.6109 LVL= 25792, 32753, 16770, 32755, AGC= 69, IDX= 501, 0.14,-2.446, 2.815,-1.738,-2.427, PHS= 0.069,-0.994, 0.686, RAW= 171.3,   3.3, CAL= 171.7,  -5.5, ROT= 338.3,   5.5

2025-06-08T00:01:45.392Z,1749340905.392 [DAT](INFO): got valid direction response:
 00:01:44.6109 LVL= 25792, 32753, 16770, 32755, AGC= 69, IDX= 501, 0.14,-2.446, 2.815,-1.738,-2.427, PHS= 0.069,-0.994, 0.686, RAW= 171.3,   3.3, CAL= 171.7,  -5.5, ROT= 338.3,   5.5

2025-06-08T00:01:45.392Z,1749340905.392 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-08T00:01:45.393Z,1749340905.393 [DAT](INFO): direction in FSK: [0.924855,-0.368045,-0.095846]
2025-06-08T00:01:45.394Z,1749340905.394 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:45.397Z,1749340905.397 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=35.256035
2025-06-08T00:01:45.408Z,1749340905.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.400002 m,
      deltaT: 0.502916 s,
      deltaX: -0.400002 m,
      approachRate: -0.795364 m/s,
      rangeRepo size: 4

2025-06-08T00:01:45.410Z,1749340905.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.549683 m,
      bearing: 138.685765 deg,
      lat: 36.905996 deg,
      lon: -122.115881 deg,
      deltaT: 0.502916 s,
      deltaX: -0.396896 m,
      approachRate: -0.789190 m/s,
      posRepo size: 4

2025-06-08T00:01:45.411Z,1749340905.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m.
2025-06-08T00:01:45.413Z,1749340905.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.549683 m,
      nav range: 106.232307 m,
      bearing: 139.630632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017519 deg/s,
      cmd heading: 160.149904 deg,
      new cmd heading: 160.133505 deg.

2025-06-08T00:01:45.414Z,1749340905.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794857 target range: 108.549683 and range: 109.40 m.
2025-06-08T00:01:45.657Z,1749340905.657 [DAT](INFO): DAT read: Rx Time:00:01:45.1110 

2025-06-08T00:01:45.659Z,1749340905.659 [DAT](INFO): Rx dataTimestamp_ set to:1749340905.657984
2025-06-08T00:01:45.664Z,1749340905.664 [DAT](INFO): DAT read: Bearing 336.7,   5.8 (Local)

2025-06-08T00:01:45.665Z,1749340905.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.7,   5.8 (Local)

2025-06-08T00:01:45.672Z,1749340905.672 [DAT](INFO): DAT read: Range 10 to 50 :   109.5 m (trip time 73.0 ms) speed 0.5

2025-06-08T00:01:45.676Z,1749340905.676 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-06-08T00:01:45.681Z,1749340905.681 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=35.538578
2025-06-08T00:01:45.852Z,1749340905.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:45.859Z,1749340905.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.500000 m,
      deltaT: 0.274046 s,
      deltaX: 0.099998 m,
      approachRate: 0.364897 m/s,
      rangeRepo size: 4

2025-06-08T00:01:45.860Z,1749340905.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m.
2025-06-08T00:01:45.862Z,1749340905.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.549683 m,
      nav range: 105.985825 m,
      bearing: 139.591015 deg,
      approach rate: -0.551232 m/s,
      LOS rate: -0.088805 deg/s,
      cmd heading: 160.133498 deg,
      new cmd heading: 160.014371 deg.

2025-06-08T00:01:45.868Z,1749340905.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792778 target range: 108.549683 and range: 109.50 m.
2025-06-08T00:01:45.912Z,1749340905.912 [DAT](INFO): DAT read: 00:01:45.1110 LVL= 26096, 32241, 17586, 29171, AGC= 66, IDX= 500, 0.38,-0.952,-1.927,-0.205,-0.916, PHS= 0.052,-0.965, 0.708, RAW= 172.9,   2.8, CAL= 173.3,  -5.8, ROT= 336.7,   5.8

2025-06-08T00:01:45.914Z,1749340905.914 [DAT](INFO): got valid direction response:
 00:01:45.1110 LVL= 26096, 32241, 17586, 29171, AGC= 66, IDX= 500, 0.38,-0.952,-1.927,-0.205,-0.916, PHS= 0.052,-0.965, 0.708, RAW= 172.9,   2.8, CAL= 173.3,  -5.8, ROT= 336.7,   5.8

2025-06-08T00:01:45.915Z,1749340905.915 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-06-08T00:01:45.916Z,1749340905.916 [DAT](INFO): direction in FSK: [0.913745,-0.393520,-0.101056]
2025-06-08T00:01:45.931Z,1749340905.931 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=35.789070
2025-06-08T00:01:46.160Z,1749340906.160 [DAT](INFO): DAT read: Rx Time:00:01:45.6107 

2025-06-08T00:01:46.162Z,1749340906.162 [DAT](INFO): Rx dataTimestamp_ set to:1749340906.161080
2025-06-08T00:01:46.166Z,1749340906.166 [DAT](INFO): DAT read: Bearing 335.1,   6.6 (Local)

2025-06-08T00:01:46.166Z,1749340906.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.1,   6.6 (Local)

2025-06-08T00:01:46.192Z,1749340906.192 [DAT](INFO): DAT read: Range 10 to 50 :   109.1 m (trip time 72.7 ms) speed 0.9

2025-06-08T00:01:46.200Z,1749340906.200 [DAT](INFO): DAT read: 00:01:45.6107 LVL= 32752, 32753, 26786, 32755, AGC= 67, IDX= 498,-0.23, 2.266, 1.306, 3.063, 2.298, PHS= 0.055,-0.945, 0.762, RAW= 174.3,   1.7, CAL= 174.9,  -6.6, ROT= 335.1,   6.6

2025-06-08T00:01:46.201Z,1749340906.201 [DAT](INFO): got valid direction response:
 00:01:45.6107 LVL= 32752, 32753, 26786, 32755, AGC= 67, IDX= 498,-0.23, 2.266, 1.306, 3.063, 2.298, PHS= 0.055,-0.945, 0.762, RAW= 174.3,   1.7, CAL= 174.9,  -6.6, ROT= 335.1,   6.6

2025-06-08T00:01:46.202Z,1749340906.202 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-08T00:01:46.203Z,1749340906.203 [DAT](INFO): direction in FSK: [0.901033,-0.418245,-0.114937]
2025-06-08T00:01:46.215Z,1749340906.215 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:46.218Z,1749340906.218 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:01:46.219Z,1749340906.219 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:01:46.219Z,1749340906.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:46.313Z,1749340906.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.099998 m,
      deltaT: 0.503096 s,
      deltaX: -0.400002 m,
      approachRate: -0.795080 m/s,
      rangeRepo size: 4

2025-06-08T00:01:46.315Z,1749340906.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.251869 m,
      bearing: 136.222752 deg,
      lat: 36.906003 deg,
      lon: -122.115868 deg,
      deltaT: 0.777142 s,
      deltaX: -0.297813 m,
      approachRate: -0.383216 m/s,
      posRepo size: 4

2025-06-08T00:01:46.319Z,1749340906.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.25 m.
2025-06-08T00:01:46.322Z,1749340906.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.251869 m,
      nav range: 105.910713 m,
      bearing: 138.781987 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088805 deg/s,
      cmd heading: 160.014366 deg,
      new cmd heading: 159.892469 deg.

2025-06-08T00:01:46.327Z,1749340906.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790650 target range: 108.251869 and range: 109.10 m.
2025-06-08T00:01:46.408Z,1749340906.408 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:46.409Z,1749340906.409 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:46.409Z,1749340906.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:46.666Z,1749340906.666 [DAT](INFO): DAT read: Rx Time:00:01:46.1105 

2025-06-08T00:01:46.680Z,1749340906.680 [DAT](INFO): Rx dataTimestamp_ set to:1749340906.666868
2025-06-08T00:01:46.689Z,1749340906.689 [DAT](INFO): DAT read: Bearing 334.9,   5.7 (Local)

2025-06-08T00:01:46.690Z,1749340906.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.9,   5.7 (Local)

2025-06-08T00:01:46.720Z,1749340906.720 [DAT](INFO): DAT read: Range 10 to 50 :   108.8 m (trip time 72.5 ms) speed 0.8

2025-06-08T00:01:46.730Z,1749340906.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.25 m.
2025-06-08T00:01:46.741Z,1749340906.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.251869 m,
      nav range: 105.712326 m,
      bearing: 138.746148 deg,
      approach rate: -0.474625 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 159.892475 deg,
      new cmd heading: 159.784757 deg.

2025-06-08T00:01:46.742Z,1749340906.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788770 target range: 108.251869 and range: 109.10 m.
2025-06-08T00:01:46.744Z,1749340906.744 [DAT](INFO): DAT read: 00:01:46.1105 LVL= 28352, 32753, 18546, 32755, AGC= 67, IDX= 496,-0.02, 2.672, 1.717,-2.798, 2.741, PHS= 0.020,-0.977, 0.742, RAW= 174.7,   2.9, CAL= 175.1,  -5.7, ROT= 334.9,   5.7

2025-06-08T00:01:46.745Z,1749340906.745 [DAT](INFO): got valid direction response:
 00:01:46.1105 LVL= 28352, 32753, 18546, 32755, AGC= 67, IDX= 496,-0.02, 2.672, 1.717,-2.798, 2.741, PHS= 0.020,-0.977, 0.742, RAW= 174.7,   2.9, CAL= 175.1,  -5.7, ROT= 334.9,   5.7

2025-06-08T00:01:46.745Z,1749340906.745 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:46.746Z,1749340906.746 [DAT](INFO): direction in FSK: [0.901091,-0.422102,-0.099320]
2025-06-08T00:01:46.746Z,1749340906.746 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:46.758Z,1749340906.758 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:46.758Z,1749340906.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:46.912Z,1749340906.912 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:46.912Z,1749340906.912 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:46.912Z,1749340906.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:47.112Z,1749340907.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.800003 m,
      deltaT: 0.505788 s,
      deltaX: -0.299995 m,
      approachRate: -0.593125 m/s,
      rangeRepo size: 4

2025-06-08T00:01:47.114Z,1749340907.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.954056 m,
      bearing: 136.261159 deg,
      lat: 36.906006 deg,
      lon: -122.115867 deg,
      deltaT: 0.505788 s,
      deltaX: -0.297813 m,
      approachRate: -0.588811 m/s,
      posRepo size: 4

2025-06-08T00:01:47.115Z,1749340907.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.95 m.
2025-06-08T00:01:47.121Z,1749340907.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.954056 m,
      nav range: 105.266945 m,
      bearing: 138.518969 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 159.784762 deg,
      new cmd heading: 159.687525 deg.

2025-06-08T00:01:47.122Z,1749340907.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.787073 target range: 107.954056 and range: 108.80 m.
2025-06-08T00:01:47.168Z,1749340907.168 [DAT](INFO): DAT read: Rx Time:00:01:46.6102 

2025-06-08T00:01:47.172Z,1749340907.172 [DAT](INFO): Rx dataTimestamp_ set to:1749340907.170799
2025-06-08T00:01:47.176Z,1749340907.176 [DAT](INFO): DAT read: Bearing 335.1,   4.8 (Local)

2025-06-08T00:01:47.178Z,1749340907.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.1,   4.8 (Local)

2025-06-08T00:01:47.208Z,1749340907.208 [DAT](INFO): DAT read: Range 10 to 50 :   108.3 m (trip time 72.2 ms) speed 0.8

2025-06-08T00:01:47.220Z,1749340907.220 [DAT](INFO): DAT read: 00:01:46.6102 LVL= 28720, 32753, 26226, 32755, AGC= 67, IDX= 509, 0.15, 2.410, 1.432,-3.042, 2.507, PHS=-0.008,-1.028, 0.731, RAW= 174.8,   4.0, CAL= 174.9,  -4.8, ROT= 335.1,   4.8

2025-06-08T00:01:47.222Z,1749340907.222 [DAT](INFO): got valid direction response:
 00:01:46.6102 LVL= 28720, 32753, 26226, 32755, AGC= 67, IDX= 509, 0.15, 2.410, 1.432,-3.042, 2.507, PHS=-0.008,-1.028, 0.731, RAW= 174.8,   4.0, CAL= 174.9,  -4.8, ROT= 335.1,   4.8

2025-06-08T00:01:47.222Z,1749340907.222 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:47.227Z,1749340907.227 [DAT](INFO): direction in FSK: [0.903863,-0.419559,-0.083678]
2025-06-08T00:01:47.227Z,1749340907.227 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:47.230Z,1749340907.230 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:47.231Z,1749340907.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:47.416Z,1749340907.416 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:47.416Z,1749340907.416 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:47.416Z,1749340907.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:47.492Z,1749340907.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.300003 m,
      deltaT: 0.503931 s,
      deltaX: -0.500000 m,
      approachRate: -0.992199 m/s,
      rangeRepo size: 4

2025-06-08T00:01:47.494Z,1749340907.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.457947 m,
      bearing: 136.348364 deg,
      lat: 36.906030 deg,
      lon: -122.115834 deg,
      deltaT: 0.503931 s,
      deltaX: -0.496109 m,
      approachRate: -0.984478 m/s,
      posRepo size: 4

2025-06-08T00:01:47.495Z,1749340907.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m.
2025-06-08T00:01:47.502Z,1749340907.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.457947 m,
      nav range: 105.120918 m,
      bearing: 136.371061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 159.687528 deg,
      new cmd heading: 159.589602 deg.

2025-06-08T00:01:47.508Z,1749340907.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.785364 target range: 107.457947 and range: 108.30 m.
2025-06-08T00:01:47.674Z,1749340907.674 [DAT](INFO): DAT read: Rx Time:00:01:47.1101 

2025-06-08T00:01:47.677Z,1749340907.677 [DAT](INFO): Rx dataTimestamp_ set to:1749340907.675662
2025-06-08T00:01:47.683Z,1749340907.683 [DAT](INFO): DAT read: Bearing 333.7,   5.8 (Local)

2025-06-08T00:01:47.684Z,1749340907.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.7,   5.8 (Local)

2025-06-08T00:01:47.692Z,1749340907.692 [DAT](INFO): DAT read: Range 10 to 50 :   108.2 m (trip time 72.1 ms) speed 0.2

2025-06-08T00:01:47.746Z,1749340907.746 [DAT](INFO): DAT read: 00:01:47.1101 LVL= 30624, 32753, 24130, 32755, AGC= 68, IDX= 508, 0.41, 2.801, 1.879,-2.638, 2.886, PHS= 0.003,-0.960, 0.756, RAW= 176.0,   2.7, CAL= 176.3,  -5.8, ROT= 333.7,   5.8

2025-06-08T00:01:47.752Z,1749340907.752 [DAT](INFO): got valid direction response:
 00:01:47.1101 LVL= 30624, 32753, 24130, 32755, AGC= 68, IDX= 508, 0.41, 2.801, 1.879,-2.638, 2.886, PHS= 0.003,-0.960, 0.756, RAW= 176.0,   2.7, CAL= 176.3,  -5.8, ROT= 333.7,   5.8

2025-06-08T00:01:47.752Z,1749340907.752 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:47.753Z,1749340907.753 [DAT](INFO): direction in FSK: [0.891897,-0.440803,-0.101056]
2025-06-08T00:01:47.754Z,1749340907.754 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:47.762Z,1749340907.762 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:47.762Z,1749340907.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:47.921Z,1749340907.921 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:47.922Z,1749340907.922 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:47.922Z,1749340907.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:47.945Z,1749340907.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.199997 m,
      deltaT: 0.504863 s,
      deltaX: -0.100006 m,
      approachRate: -0.198086 m/s,
      rangeRepo size: 4

2025-06-08T00:01:47.954Z,1749340907.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.359398 m,
      bearing: 135.332754 deg,
      lat: 36.906032 deg,
      lon: -122.115834 deg,
      deltaT: 0.504863 s,
      deltaX: -0.098549 m,
      approachRate: -0.195199 m/s,
      posRepo size: 4

2025-06-08T00:01:47.959Z,1749340907.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.36 m.
2025-06-08T00:01:47.968Z,1749340907.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.359398 m,
      nav range: 104.751541 m,
      bearing: 136.200442 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 159.589597 deg,
      new cmd heading: 159.471866 deg.

2025-06-08T00:01:47.969Z,1749340907.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783309 target range: 107.359398 and range: 108.20 m.
2025-06-08T00:01:48.178Z,1749340908.178 [DAT](INFO): DAT read: Rx Time:00:01:47.6099 

2025-06-08T00:01:48.182Z,1749340908.182 [DAT](INFO): Rx dataTimestamp_ set to:1749340908.178703
2025-06-08T00:01:48.186Z,1749340908.186 [DAT](INFO): DAT read: Bearing 333.1,   5.8 (Local)

2025-06-08T00:01:48.188Z,1749340908.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.1,   5.8 (Local)

2025-06-08T00:01:48.191Z,1749340908.191 [DAT](INFO): DAT read: Range 10 to 50 :   107.9 m (trip time 71.9 ms) speed 0.4

2025-06-08T00:01:48.208Z,1749340908.208 [DAT](INFO): DAT read: 00:01:47.6099 LVL= 27216, 32753, 20162, 32723, AGC= 65, IDX= 506,-0.44, 1.015, 0.073, 1.905, 1.112, PHS=-0.009,-0.992, 0.790, RAW= 176.6,   2.8, CAL= 176.9,  -5.8, ROT= 333.1,   5.8

2025-06-08T00:01:48.209Z,1749340908.209 [DAT](INFO): got valid direction response:
 00:01:47.6099 LVL= 27216, 32753, 20162, 32723, AGC= 65, IDX= 506,-0.44, 1.015, 0.073, 1.905, 1.112, PHS=-0.009,-0.992, 0.790, RAW= 176.6,   2.8, CAL= 176.9,  -5.8, ROT= 333.1,   5.8

2025-06-08T00:01:48.209Z,1749340908.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:48.210Z,1749340908.210 [DAT](INFO): direction in FSK: [0.887232,-0.450119,-0.101056]
2025-06-08T00:01:48.210Z,1749340908.210 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:48.222Z,1749340908.222 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:48.222Z,1749340908.222 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:48.298Z,1749340908.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.900002 m,
      deltaT: 0.503041 s,
      deltaX: -0.299995 m,
      approachRate: -0.596364 m/s,
      rangeRepo size: 4

2025-06-08T00:01:48.308Z,1749340908.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.061729 m,
      bearing: 134.723058 deg,
      lat: 36.906036 deg,
      lon: -122.115832 deg,
      deltaT: 0.503041 s,
      deltaX: -0.297668 m,
      approachRate: -0.591738 m/s,
      posRepo size: 4

2025-06-08T00:01:48.309Z,1749340908.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m.
2025-06-08T00:01:48.317Z,1749340908.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.061729 m,
      nav range: 104.251709 m,
      bearing: 135.903404 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 159.471871 deg,
      new cmd heading: 159.380889 deg.

2025-06-08T00:01:48.318Z,1749340908.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781721 target range: 107.061729 and range: 107.90 m.
2025-06-08T00:01:48.424Z,1749340908.424 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:48.424Z,1749340908.424 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:48.425Z,1749340908.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:48.682Z,1749340908.682 [DAT](INFO): DAT read: Rx Time:00:01:48.1098 

2025-06-08T00:01:48.685Z,1749340908.685 [DAT](INFO): Rx dataTimestamp_ set to:1749340908.683418
2025-06-08T00:01:48.690Z,1749340908.690 [DAT](INFO): DAT read: Bearing 332.5,   5.0 (Local)

2025-06-08T00:01:48.696Z,1749340908.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.5,   5.0 (Local)

2025-06-08T00:01:48.708Z,1749340908.708 [DAT](INFO): DAT read: Range 10 to 50 :   107.7 m (trip time 71.8 ms) speed 0.4

2025-06-08T00:01:48.775Z,1749340908.775 [DAT](INFO): DAT read: 00:01:48.1098 LVL= 22544, 31137, 17458, 28467, AGC= 68, IDX= 505,-0.28, 1.173, 0.248, 2.089, 1.310, PHS=-0.049,-1.016, 0.776, RAW= 177.4,   3.8, CAL= 177.5,  -5.0, ROT= 332.5,   5.0

2025-06-08T00:01:48.776Z,1749340908.776 [DAT](INFO): got valid direction response:
 00:01:48.1098 LVL= 22544, 31137, 17458, 28467, AGC= 68, IDX= 505,-0.28, 1.173, 0.248, 2.089, 1.310, PHS=-0.049,-1.016, 0.776, RAW= 177.4,   3.8, CAL= 177.5,  -5.0, ROT= 332.5,   5.0

2025-06-08T00:01:48.777Z,1749340908.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:48.778Z,1749340908.778 [DAT](INFO): direction in FSK: [0.883636,-0.459991,-0.087156]
2025-06-08T00:01:48.778Z,1749340908.778 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:48.789Z,1749340908.789 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:48.790Z,1749340908.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:48.916Z,1749340908.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.699997 m,
      deltaT: 0.504715 s,
      deltaX: -0.200005 m,
      approachRate: -0.396272 m/s,
      rangeRepo size: 4

2025-06-08T00:01:48.918Z,1749340908.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.864540 m,
      bearing: 134.035413 deg,
      lat: 36.906042 deg,
      lon: -122.115822 deg,
      deltaT: 0.504715 s,
      deltaX: -0.197189 m,
      approachRate: -0.390694 m/s,
      posRepo size: 4

2025-06-08T00:01:48.918Z,1749340908.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.86 m.
2025-06-08T00:01:48.925Z,1749340908.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.864540 m,
      nav range: 104.089767 m,
      bearing: 135.191675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 159.380893 deg,
      new cmd heading: 159.223759 deg.

2025-06-08T00:01:48.926Z,1749340908.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778979 target range: 106.864540 and range: 107.70 m.
2025-06-08T00:01:48.928Z,1749340908.928 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:48.928Z,1749340908.928 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:48.928Z,1749340908.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:49.185Z,1749340909.185 [DAT](INFO): DAT read: Rx Time:00:01:48.6095 

2025-06-08T00:01:49.186Z,1749340909.186 [DAT](INFO): Rx dataTimestamp_ set to:1749340909.185362
2025-06-08T00:01:49.191Z,1749340909.191 [DAT](INFO): DAT read: Bearing 332.6,   5.4 (Local)

2025-06-08T00:01:49.192Z,1749340909.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.6,   5.4 (Local)

2025-06-08T00:01:49.195Z,1749340909.195 [DAT](INFO): DAT read: Range 10 to 50 :   107.3 m (trip time 71.5 ms) speed 0.0

2025-06-08T00:01:49.201Z,1749340909.201 [DAT](INFO): DAT read: 00:01:48.6095 LVL= 29728, 32753, 20210, 32755, AGC= 67, IDX= 502,-0.22, 0.122,-0.831, 1.052, 0.241, PHS=-0.031,-1.025, 0.808, RAW= 177.2,   3.2, CAL= 177.4,  -5.4, ROT= 332.6,   5.4

2025-06-08T00:01:49.202Z,1749340909.202 [DAT](INFO): got valid direction response:
 00:01:48.6095 LVL= 29728, 32753, 20210, 32755, AGC= 67, IDX= 502,-0.22, 0.122,-0.831, 1.052, 0.241, PHS=-0.031,-1.025, 0.808, RAW= 177.2,   3.2, CAL= 177.4,  -5.4, ROT= 332.6,   5.4

2025-06-08T00:01:49.202Z,1749340909.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:49.216Z,1749340909.216 [DAT](INFO): direction in FSK: [0.883875,-0.458157,-0.094108]
2025-06-08T00:01:49.216Z,1749340909.216 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:49.223Z,1749340909.223 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:49.224Z,1749340909.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:49.402Z,1749340909.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.300003 m,
      deltaT: 0.501944 s,
      deltaX: -0.399994 m,
      approachRate: -0.796889 m/s,
      rangeRepo size: 4

2025-06-08T00:01:49.409Z,1749340909.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.467651 m,
      bearing: 133.947373 deg,
      lat: 36.906050 deg,
      lon: -122.115815 deg,
      deltaT: 0.501944 s,
      deltaX: -0.396889 m,
      approachRate: -0.790703 m/s,
      posRepo size: 4

2025-06-08T00:01:49.409Z,1749340909.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.47 m.
2025-06-08T00:01:49.416Z,1749340909.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.467651 m,
      nav range: 103.702873 m,
      bearing: 134.558591 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 159.223758 deg,
      new cmd heading: 159.096211 deg.

2025-06-08T00:01:49.417Z,1749340909.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776753 target range: 106.467651 and range: 107.30 m.
2025-06-08T00:01:49.432Z,1749340909.432 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:49.432Z,1749340909.432 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:49.432Z,1749340909.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:49.690Z,1749340909.690 [DAT](INFO): DAT read: Rx Time:00:01:49.1094 

2025-06-08T00:01:49.752Z,1749340909.752 [DAT](INFO): Rx dataTimestamp_ set to:1749340909.690427
2025-06-08T00:01:49.753Z,1749340909.753 [DAT](INFO): DAT read: Bearing 333.0,   4.9 (Local)

2025-06-08T00:01:49.754Z,1749340909.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.0,   4.9 (Local)

2025-06-08T00:01:49.772Z,1749340909.772 [DAT](INFO): DAT read: Range 10 to 50 :   107.1 m (trip time 71.4 ms) speed 0.4

2025-06-08T00:01:49.782Z,1749340909.782 [DAT](INFO): DAT read: 00:01:49.1094 LVL= 25760, 32753, 15938, 32755, AGC= 65, IDX= 501,-0.17, 0.959, 0.057, 1.832, 1.087, PHS=-0.040,-0.983, 0.742, RAW= 176.9,   3.8, CAL= 177.0,  -4.9, ROT= 333.0,   4.9

2025-06-08T00:01:49.788Z,1749340909.788 [DAT](INFO): got valid direction response:
 00:01:49.1094 LVL= 25760, 32753, 15938, 32755, AGC= 65, IDX= 501,-0.17, 0.959, 0.057, 1.832, 1.087, PHS=-0.040,-0.983, 0.742, RAW= 176.9,   3.8, CAL= 177.0,  -4.9, ROT= 333.0,   4.9

2025-06-08T00:01:49.789Z,1749340909.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:49.790Z,1749340909.790 [DAT](INFO): direction in FSK: [0.887750,-0.452331,-0.085417]
2025-06-08T00:01:49.790Z,1749340909.790 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:49.820Z,1749340909.820 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:49.820Z,1749340909.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:49.933Z,1749340909.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.099998 m,
      deltaT: 0.505065 s,
      deltaX: -0.200005 m,
      approachRate: -0.395998 m/s,
      rangeRepo size: 4

2025-06-08T00:01:49.936Z,1749340909.936 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:49.937Z,1749340909.937 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:49.937Z,1749340909.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:49.941Z,1749340909.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.269600 m,
      bearing: 134.283294 deg,
      lat: 36.906050 deg,
      lon: -122.115808 deg,
      deltaT: 0.505065 s,
      deltaX: -0.198051 m,
      approachRate: -0.392131 m/s,
      posRepo size: 4

2025-06-08T00:01:49.942Z,1749340909.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.27 m.
2025-06-08T00:01:49.950Z,1749340909.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.269600 m,
      nav range: 103.813644 m,
      bearing: 134.261481 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 159.096211 deg,
      new cmd heading: 158.959405 deg.

2025-06-08T00:01:49.956Z,1749340909.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.774365 target range: 106.269600 and range: 107.10 m.
2025-06-08T00:01:50.191Z,1749340910.191 [DAT](INFO): DAT read: Rx Time:00:01:49.6091 

2025-06-08T00:01:50.191Z,1749340910.191 [DAT](INFO): Rx dataTimestamp_ set to:1749340910.191143
2025-06-08T00:01:50.193Z,1749340910.193 [DAT](INFO): DAT read: Bearing 332.7,   5.4 (Local)

2025-06-08T00:01:50.194Z,1749340910.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,   5.4 (Local)

2025-06-08T00:01:50.202Z,1749340910.202 [DAT](INFO): DAT read: Range 10 to 50 :   106.7 m (trip time 71.1 ms) speed 0.6

2025-06-08T00:01:50.208Z,1749340910.208 [DAT](INFO): DAT read: 00:01:49.6091 LVL= 23280, 28657, 18418, 29939, AGC= 69, IDX= 498,-0.17, 0.101,-0.860, 1.032, 0.219, PHS=-0.030,-1.032, 0.810, RAW= 177.1,   3.2, CAL= 177.3,  -5.4, ROT= 332.7,   5.4

2025-06-08T00:01:50.209Z,1749340910.209 [DAT](INFO): got valid direction response:
 00:01:49.6091 LVL= 23280, 28657, 18418, 29939, AGC= 69, IDX= 498,-0.17, 0.101,-0.860, 1.032, 0.219, PHS=-0.030,-1.032, 0.810, RAW= 177.1,   3.2, CAL= 177.3,  -5.4, ROT= 332.7,   5.4

2025-06-08T00:01:50.209Z,1749340910.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:50.210Z,1749340910.210 [DAT](INFO): direction in FSK: [0.884674,-0.456614,-0.094108]
2025-06-08T00:01:50.210Z,1749340910.210 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:50.238Z,1749340910.238 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:50.238Z,1749340910.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:50.295Z,1749340910.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.699997 m,
      deltaT: 0.500716 s,
      deltaX: -0.400002 m,
      approachRate: -0.798859 m/s,
      rangeRepo size: 4

2025-06-08T00:01:50.305Z,1749340910.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.872696 m,
      bearing: 133.864958 deg,
      lat: 36.906054 deg,
      lon: -122.115806 deg,
      deltaT: 0.500716 s,
      deltaX: -0.396904 m,
      approachRate: -0.792673 m/s,
      posRepo size: 4

2025-06-08T00:01:50.306Z,1749340910.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.87 m.
2025-06-08T00:01:50.317Z,1749340910.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.872696 m,
      nav range: 103.421638 m,
      bearing: 133.962701 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085902 deg/s,
      cmd heading: 158.959402 deg,
      new cmd heading: 158.866296 deg.

2025-06-08T00:01:50.318Z,1749340910.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772740 target range: 105.872696 and range: 106.70 m.
2025-06-08T00:01:50.441Z,1749340910.441 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:50.441Z,1749340910.441 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:50.441Z,1749340910.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:50.693Z,1749340910.693 [DAT](INFO): DAT read: Rx Time:00:01:50.1089 

2025-06-08T00:01:50.694Z,1749340910.694 [DAT](INFO): Rx dataTimestamp_ set to:1749340910.693669
2025-06-08T00:01:50.695Z,1749340910.695 [DAT](INFO): DAT read: Bearing 332.8,   3.9 (Local)

2025-06-08T00:01:50.696Z,1749340910.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.8,   3.9 (Local)

2025-06-08T00:01:50.698Z,1749340910.698 [DAT](INFO): DAT read: Range 10 to 50 :   106.4 m (trip time 70.9 ms) speed 0.5

2025-06-08T00:01:50.702Z,1749340910.702 [DAT](INFO): DAT read: 00:01:50.1089 LVL= 26432, 31777, 17298, 32755, AGC= 65, IDX= 496,-0.22, 0.669,-0.260, 1.582, 0.838, PHS=-0.081,-1.051, 0.740, RAW= 17.1, CAL= 177.2,  -3.9, ROT= 332.8,   3.9

2025-06-08T00:01:50.703Z,1749340910.703 [DAT](INFO): unknown deviceResponse_: 00:01:50.1089 LVL= 26432, 31777, 17298, 32755, AGC= 65, IDX= 496,-0.22, 0.669,-0.260, 1.582, 0.838, PHS=-0.081,-1.051, 0.740, RAW= 17.1, CAL= 177.2,  -3.9, ROT= 332.8,   3.9

2025-06-08T00:01:50.704Z,1749340910.704 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:01:50.705Z,1749340910.705 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:50.706Z,1749340910.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:50.790Z,1749340910.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:50.813Z,1749340910.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.400002 m,
      deltaT: 0.502526 s,
      deltaX: -0.299995 m,
      approachRate: -0.596975 m/s,
      rangeRepo size: 4

2025-06-08T00:01:50.814Z,1749340910.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.87 m.
2025-06-08T00:01:50.825Z,1749340910.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.872696 m,
      nav range: 103.152534 m,
      bearing: 133.888610 deg,
      approach rate: -0.518539 m/s,
      LOS rate: -0.143139 deg/s,
      cmd heading: 158.866293 deg,
      new cmd heading: 158.643441 deg.

2025-06-08T00:01:50.826Z,1749340910.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.768850 target range: 105.872696 and range: 106.40 m.
2025-06-08T00:01:50.945Z,1749340910.945 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:50.945Z,1749340910.945 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:50.946Z,1749340910.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:51.197Z,1749340911.197 [DAT](INFO): DAT read: Rx Time:00:01:50.6086 

2025-06-08T00:01:51.197Z,1749340911.197 [DAT](INFO): Rx dataTimestamp_ set to:1749340911.196938
2025-06-08T00:01:51.199Z,1749340911.199 [DAT](INFO): DAT read: Bearing 333.2,   3.5 (Local)

2025-06-08T00:01:51.199Z,1749340911.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.2,   3.5 (Local)

2025-06-08T00:01:51.201Z,1749340911.201 [DAT](INFO): DAT read: Range 10 to 50 :   106.1 m (trip time 70.7 ms) speed 0.4

2025-06-08T00:01:51.206Z,1749340911.206 [DAT](INFO): DAT read: 00:01:50.6086 LVL= 29248, 32753, 19986, 32755, AGC= 67, IDX= 509,-0.31, 0.610,-0.330, 1.518, 0.787, PHS=-0.089,-1.070, 0.729, RAW= 177.0,   5.6, CAL= 176.8,  -3.5, ROT= 333.2,   3.5

2025-06-08T00:01:51.208Z,1749340911.208 [DAT](INFO): got valid direction response:
 00:01:50.6086 LVL= 29248, 32753, 19986, 32755, AGC= 67, IDX= 509,-0.31, 0.610,-0.330, 1.518, 0.787, PHS=-0.089,-1.070, 0.729, RAW= 177.0,   5.6, CAL= 176.8,  -3.5, ROT= 333.2,   3.5

2025-06-08T00:01:51.208Z,1749340911.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:51.209Z,1749340911.209 [DAT](INFO): direction in FSK: [0.890921,-0.450036,-0.061049]
2025-06-08T00:01:51.210Z,1749340911.210 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:51.213Z,1749340911.213 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:51.214Z,1749340911.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:51.221Z,1749340911.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.099998 m,
      deltaT: 0.503269 s,
      deltaX: -0.300003 m,
      approachRate: -0.596109 m/s,
      rangeRepo size: 4

2025-06-08T00:01:51.222Z,1749340911.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.87 m.
2025-06-08T00:01:51.229Z,1749340911.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.872696 m,
      nav range: 102.927231 m,
      bearing: 133.820809 deg,
      approach rate: -0.552300 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 158.643438 deg,
      new cmd heading: 158.439590 deg.

2025-06-08T00:01:51.230Z,1749340911.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.765292 target range: 105.872696 and range: 106.10 m.
2025-06-08T00:01:51.448Z,1749340911.448 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:51.448Z,1749340911.448 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:51.448Z,1749340911.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:51.701Z,1749340911.701 [DAT](INFO): DAT read: Rx Time:00:01:51.1085 

2025-06-08T00:01:51.701Z,1749340911.701 [DAT](INFO): Rx dataTimestamp_ set to:1749340911.701088
2025-06-08T00:01:51.703Z,1749340911.703 [DAT](INFO): DAT read: Bearing 333.6,   4.4 (Local)

2025-06-08T00:01:51.703Z,1749340911.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.6,   4.4 (Local)

2025-06-08T00:01:51.708Z,1749340911.708 [DAT](INFO): DAT read: Range 10 to 50 :   105.9 m (trip time 70.6 ms) speed 0.7

2025-06-08T00:01:51.756Z,1749340911.756 [DAT](INFO): DAT read: 00:01:51.1085 LVL= 24208, 31569, 17538, 24819, AGC= 68, IDX= 508,-0.35, 1.404, 0.489, 2.264, 1.542, PHS=-0.049,-1.006, 0.719, RAW= 176.4,   4.5, CAL= 176.4,  -4.4, ROT= 333.6,   4.4

2025-06-08T00:01:51.775Z,1749340911.775 [DAT](INFO): got valid direction response:
 00:01:51.1085 LVL= 24208, 31569, 17538, 24819, AGC= 68, IDX= 508,-0.35, 1.404, 0.489, 2.264, 1.542, PHS=-0.049,-1.006, 0.719, RAW= 176.4,   4.5, CAL= 176.4,  -4.4, ROT= 333.6,   4.4

2025-06-08T00:01:51.776Z,1749340911.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:51.777Z,1749340911.777 [DAT](INFO): direction in FSK: [0.893072,-0.443324,-0.076719]
2025-06-08T00:01:51.777Z,1749340911.777 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:51.783Z,1749340911.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.900002 m,
      deltaT: 0.504150 s,
      deltaX: -0.199997 m,
      approachRate: -0.396701 m/s,
      rangeRepo size: 4

2025-06-08T00:01:51.788Z,1749340911.788 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:51.789Z,1749340911.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:51.793Z,1749340911.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.277130 m,
      bearing: 133.664665 deg,
      lat: 36.906054 deg,
      lon: -122.115805 deg,
      deltaT: 1.005795 s,
      deltaX: -0.595566 m,
      approachRate: -0.592134 m/s,
      posRepo size: 4

2025-06-08T00:01:51.793Z,1749340911.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.28 m.
2025-06-08T00:01:51.800Z,1749340911.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.277130 m,
      nav range: 102.757851 m,
      bearing: 133.683226 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 158.439584 deg,
      new cmd heading: 158.159196 deg.

2025-06-08T00:01:51.801Z,1749340911.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.760399 target range: 105.277130 and range: 105.90 m.
2025-06-08T00:01:51.953Z,1749340911.953 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:51.953Z,1749340911.953 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:51.954Z,1749340911.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:52.205Z,1749340912.205 [DAT](INFO): DAT read: Rx Time:00:01:51.6083 

2025-06-08T00:01:52.205Z,1749340912.205 [DAT](INFO): Rx dataTimestamp_ set to:1749340912.204864
2025-06-08T00:01:52.206Z,1749340912.206 [DAT](INFO): DAT read: Bearing 332.4,   4.9 (Local)

2025-06-08T00:01:52.207Z,1749340912.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.4,   4.9 (Local)

2025-06-08T00:01:52.209Z,1749340912.209 [DAT](INFO): DAT read: Range 10 to 50 :   105.5 m (trip time 70.3 ms) speed 0.6

2025-06-08T00:01:52.214Z,1749340912.214 [DAT](INFO): DAT read: 00:01:51.6083 LVL= 29888, 32753, 20130, 31635, AGC= 66, IDX= 505,-0.43, 0.527,-0.414, 1.463, 0.671, PHS=-0.056,-1.038, 0.789, RAW= 177.5,   3.9, CAL= 177.6,  -4.9, ROT= 332.4,   4.9

2025-06-08T00:01:52.215Z,1749340912.215 [DAT](INFO): got valid direction response:
 00:01:51.6083 LVL= 29888, 32753, 20130, 31635, AGC= 66, IDX= 505,-0.43, 0.527,-0.414, 1.463, 0.671, PHS=-0.056,-1.038, 0.789, RAW= 177.5,   3.9, CAL= 177.6,  -4.9, ROT= 332.4,   4.9

2025-06-08T00:01:52.219Z,1749340912.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:52.220Z,1749340912.220 [DAT](INFO): direction in FSK: [0.882965,-0.461603,-0.085417]
2025-06-08T00:01:52.220Z,1749340912.220 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:52.224Z,1749340912.224 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:52.224Z,1749340912.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:52.358Z,1749340912.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.500000 m,
      deltaT: 0.503776 s,
      deltaX: -0.400002 m,
      approachRate: -0.794007 m/s,
      rangeRepo size: 4

2025-06-08T00:01:52.365Z,1749340912.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.682472 m,
      bearing: 132.668312 deg,
      lat: 36.906056 deg,
      lon: -122.115805 deg,
      deltaT: 1.007926 s,
      deltaX: -0.594658 m,
      approachRate: -0.589982 m/s,
      posRepo size: 4

2025-06-08T00:01:52.365Z,1749340912.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.68 m.
2025-06-08T00:01:52.372Z,1749340912.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.682472 m,
      nav range: 102.234383 m,
      bearing: 133.475756 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 158.159191 deg,
      new cmd heading: 157.871430 deg.

2025-06-08T00:01:52.373Z,1749340912.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755376 target range: 104.682472 and range: 105.50 m.
2025-06-08T00:01:52.456Z,1749340912.456 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:52.456Z,1749340912.456 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:52.457Z,1749340912.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:52.709Z,1749340912.709 [DAT](INFO): DAT read: Rx Time:00:01:52.1078 

2025-06-08T00:01:52.709Z,1749340912.709 [DAT](INFO): Rx dataTimestamp_ set to:1749340912.708957
2025-06-08T00:01:52.711Z,1749340912.711 [DAT](INFO): DAT read: Bearing 333.2,   3.9 (Local)

2025-06-08T00:01:52.711Z,1749340912.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.2,   3.9 (Local)

2025-06-08T00:01:52.714Z,1749340912.714 [DAT](INFO): DAT read: Range 10 to 50 :   104.7 m (trip time 69.8 ms) speed 0.5

2025-06-08T00:01:52.729Z,1749340912.729 [DAT](INFO): DAT read: 00:01:52.1078 LVL= 26544, 32753, 21858, 32531, AGC= 63, IDX= 504,-0.46, 1.866, 0.934, 2.763, 2.029, PHS=-0.075,-1.047, 0.731, RAW= 176.9,   5.1, CAL= 176.8,  -3.9, ROT= 333.2,   3.9

2025-06-08T00:01:52.730Z,1749340912.730 [DAT](INFO): got valid direction response:
 00:01:52.1078 LVL= 26544, 32753, 21858, 32531, AGC= 63, IDX= 504,-0.46, 1.866, 0.934, 2.763, 2.029, PHS=-0.075,-1.047, 0.731, RAW= 176.9,   5.1, CAL= 176.8,  -3.9, ROT= 333.2,   3.9

2025-06-08T00:01:52.730Z,1749340912.730 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:52.738Z,1749340912.738 [DAT](INFO): direction in FSK: [0.890519,-0.449833,-0.068015]
2025-06-08T00:01:52.741Z,1749340912.741 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:52.808Z,1749340912.808 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:52.809Z,1749340912.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:52.935Z,1749340912.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.699997 m,
      deltaT: 0.504093 s,
      deltaX: -0.800003 m,
      approachRate: -1.587015 m/s,
      rangeRepo size: 4

2025-06-08T00:01:52.942Z,1749340912.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.889244 m,
      bearing: 133.304974 deg,
      lat: 36.906056 deg,
      lon: -122.115805 deg,
      deltaT: 0.504093 s,
      deltaX: -0.793228 m,
      approachRate: -1.573575 m/s,
      posRepo size: 4

2025-06-08T00:01:52.947Z,1749340912.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.89 m.
2025-06-08T00:01:52.956Z,1749340912.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.889244 m,
      nav range: 101.885185 m,
      bearing: 133.382535 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 157.871435 deg,
      new cmd heading: 157.583793 deg.

2025-06-08T00:01:52.958Z,1749340912.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.750356 target range: 103.889244 and range: 104.70 m.
2025-06-08T00:01:52.961Z,1749340912.961 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:52.961Z,1749340912.961 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:52.961Z,1749340912.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:53.214Z,1749340913.214 [DAT](INFO): DAT read: Rx Time:00:01:52.6075 

2025-06-08T00:01:53.214Z,1749340913.214 [DAT](INFO): Rx dataTimestamp_ set to:1749340913.213722
2025-06-08T00:01:53.215Z,1749340913.215 [DAT](INFO): DAT read: Bearing 334.6,   4.4 (Local)

2025-06-08T00:01:53.216Z,1749340913.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.6,   4.4 (Local)

2025-06-08T00:01:53.218Z,1749340913.218 [DAT](INFO): DAT read: Range 10 to 50 :   104.3 m (trip time 69.5 ms) speed 0.8

2025-06-08T00:01:53.223Z,1749340913.223 [DAT](INFO): DAT read: 00:01:52.6075 LVL= 27328, 32753, 18770, 31619, AGC= 66, IDX= 500, 0.34, 2.766, 1.781,-2.652, 2.888, PHS=-0.034,-1.060, 0.739, RAW= 175.4,   4.6, CAL= 175.4,  -4.4, ROT= 334.6,   4.4

2025-06-08T00:01:53.224Z,1749340913.224 [DAT](INFO): got valid direction response:
 00:01:52.6075 LVL= 27328, 32753, 18770, 31619, AGC= 66, IDX= 500, 0.34, 2.766, 1.781,-2.652, 2.888, PHS=-0.034,-1.060, 0.739, RAW= 175.4,   4.6, CAL= 175.4,  -4.4, ROT= 334.6,   4.4

2025-06-08T00:01:53.224Z,1749340913.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:53.225Z,1749340913.225 [DAT](INFO): direction in FSK: [0.900673,-0.427671,-0.076719]
2025-06-08T00:01:53.225Z,1749340913.225 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:53.241Z,1749340913.241 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:53.241Z,1749340913.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:53.416Z,1749340913.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.300003 m,
      deltaT: 0.504765 s,
      deltaX: -0.399994 m,
      approachRate: -0.792436 m/s,
      rangeRepo size: 4

2025-06-08T00:01:53.418Z,1749340913.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.492348 m,
      bearing: 134.736734 deg,
      lat: 36.906056 deg,
      lon: -122.115805 deg,
      deltaT: 0.504765 s,
      deltaX: -0.396896 m,
      approachRate: -0.786299 m/s,
      posRepo size: 4

2025-06-08T00:01:53.419Z,1749340913.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.49 m.
2025-06-08T00:01:53.422Z,1749340913.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.492348 m,
      nav range: 101.613464 m,
      bearing: 133.296926 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 157.583789 deg,
      new cmd heading: 157.342999 deg.

2025-06-08T00:01:53.422Z,1749340913.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746153 target range: 103.492348 and range: 104.30 m.
2025-06-08T00:01:53.464Z,1749340913.464 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:53.464Z,1749340913.464 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:53.464Z,1749340913.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:53.718Z,1749340913.718 [DAT](INFO): DAT read: Rx Time:00:01:53.1078 

2025-06-08T00:01:53.722Z,1749340913.722 [DAT](INFO): Rx dataTimestamp_ set to:1749340913.718733
2025-06-08T00:01:53.723Z,1749340913.723 [DAT](INFO): DAT read: Bearing 334.0,   3.4 (Local)

2025-06-08T00:01:53.724Z,1749340913.724 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.0,   3.4 (Local)

2025-06-08T00:01:53.726Z,1749340913.726 [DAT](INFO): DAT read: Range 10 to 50 :   104.7 m (trip time 69.8 ms) speed 0.5

2025-06-08T00:01:53.731Z,1749340913.731 [DAT](INFO): DAT read: 00:01:53.1078 LVL= 20464, 23793, 13266, 24483, AGC= 65, IDX= 499, 0.19,-1.960,-2.926,-1.071,-1.790, PHS=-0.082,-1.088, 0.717, RAW= 176.2,   5.8, CAL= 176.0,  -3.4, ROT= 334.0,   3.4

2025-06-08T00:01:53.732Z,1749340913.732 [DAT](INFO): got valid direction response:
 00:01:53.1078 LVL= 20464, 23793, 13266, 24483, AGC= 65, IDX= 499, 0.19,-1.960,-2.926,-1.071,-1.790, PHS=-0.082,-1.088, 0.717, RAW= 176.2,   5.8, CAL= 176.0,  -3.4, ROT= 334.0,   3.4

2025-06-08T00:01:53.732Z,1749340913.732 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:53.733Z,1749340913.733 [DAT](INFO): direction in FSK: [0.897212,-0.437600,-0.059306]
2025-06-08T00:01:53.733Z,1749340913.733 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:53.767Z,1749340913.767 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:53.776Z,1749340913.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:53.942Z,1749340913.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.699997 m,
      deltaT: 0.505011 s,
      deltaX: 0.399994 m,
      approachRate: 0.792050 m/s,
      rangeRepo size: 4

2025-06-08T00:01:53.949Z,1749340913.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.889885 m,
      bearing: 133.740851 deg,
      lat: 36.906050 deg,
      lon: -122.115805 deg,
      deltaT: 0.505011 s,
      deltaX: 0.397537 m,
      approachRate: 0.787185 m/s,
      posRepo size: 4

2025-06-08T00:01:53.949Z,1749340913.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.89 m.
2025-06-08T00:01:53.956Z,1749340913.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.889885 m,
      nav range: 101.756859 m,
      bearing: 133.461903 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 157.342997 deg,
      new cmd heading: 157.079914 deg.

2025-06-08T00:01:53.957Z,1749340913.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.741562 target range: 103.889885 and range: 104.70 m.
2025-06-08T00:01:53.969Z,1749340913.969 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:53.969Z,1749340913.969 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:53.969Z,1749340913.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:54.221Z,1749340914.221 [DAT](INFO): DAT read: Rx Time:00:01:53.6075 

2025-06-08T00:01:54.222Z,1749340914.222 [DAT](INFO): Rx dataTimestamp_ set to:1749340914.221363
2025-06-08T00:01:54.223Z,1749340914.223 [DAT](INFO): DAT read: Bearing 333.4,   4.9 (Local)

2025-06-08T00:01:54.223Z,1749340914.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.4,   4.9 (Local)

2025-06-08T00:01:54.225Z,1749340914.225 [DAT](INFO): DAT read: Range 10 to 50 :   104.3 m (trip time 69.5 ms) speed 0.5

2025-06-08T00:01:54.231Z,1749340914.231 [DAT](INFO): DAT read: 00:01:53.6075 LVL= 26880, 32049, 19186, 32755, AGC= 63, IDX= 496, 0.14, 3.098, 2.135,-2.285,-3.062, PHS=-0.035,-1.039, 0.775, RAW= 176.5,   3.8, CAL= 176.6,  -4.9, ROT= 333.4,   4.9

2025-06-08T00:01:54.247Z,1749340914.247 [DAT](INFO): got valid direction response:
 00:01:53.6075 LVL= 26880, 32049, 19186, 32755, AGC= 63, IDX= 496, 0.14, 3.098, 2.135,-2.285,-3.062, PHS=-0.035,-1.039, 0.775, RAW= 176.5,   3.8, CAL= 176.6,  -4.9, ROT= 333.4,   4.9

2025-06-08T00:01:54.248Z,1749340914.248 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:54.249Z,1749340914.249 [DAT](INFO): direction in FSK: [0.890886,-0.446123,-0.085417]
2025-06-08T00:01:54.249Z,1749340914.249 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:54.252Z,1749340914.252 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:54.252Z,1749340914.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:54.386Z,1749340914.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.300003 m,
      deltaT: 0.502630 s,
      deltaX: -0.399994 m,
      approachRate: -0.795802 m/s,
      rangeRepo size: 4

2025-06-08T00:01:54.397Z,1749340914.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.492989 m,
      bearing: 132.858611 deg,
      lat: 36.906058 deg,
      lon: -122.115805 deg,
      deltaT: 0.502630 s,
      deltaX: -0.396896 m,
      approachRate: -0.789639 m/s,
      posRepo size: 4

2025-06-08T00:01:54.397Z,1749340914.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.49 m.
2025-06-08T00:01:54.432Z,1749340914.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.492989 m,
      nav range: 100.967354 m,
      bearing: 133.054253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 157.079912 deg,
      new cmd heading: 156.858079 deg.

2025-06-08T00:01:54.433Z,1749340914.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737690 target range: 103.492989 and range: 104.30 m.
2025-06-08T00:01:54.472Z,1749340914.472 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:54.472Z,1749340914.472 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:54.473Z,1749340914.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:54.725Z,1749340914.725 [DAT](INFO): DAT read: Rx Time:00:01:54.1073 

2025-06-08T00:01:54.725Z,1749340914.725 [DAT](INFO): Rx dataTimestamp_ set to:1749340914.725007
2025-06-08T00:01:54.727Z,1749340914.727 [DAT](INFO): DAT read: Bearing 334.1,   4.0 (Local)

2025-06-08T00:01:54.727Z,1749340914.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1,   4.0 (Local)

2025-06-08T00:01:54.729Z,1749340914.729 [DAT](INFO): DAT read: Range 10 to 50 :   104.0 m (trip time 69.3 ms) speed 0.5

2025-06-08T00:01:54.734Z,1749340914.734 [DAT](INFO): DAT read: 00:01:54.1073 LVL= 31152, 32753, 19394, 32755, AGC= 67, IDX= 510, 0.05,-2.642, 2.677,-1.767,-2.499, PHS=-0.055,-1.060, 0.729, RAW= 175.9,   5.0, CAL= 175.9,  -4.0, ROT= 334.1,   4.0

2025-06-08T00:01:54.735Z,1749340914.735 [DAT](INFO): got valid direction response:
 00:01:54.1073 LVL= 31152, 32753, 19394, 32755, AGC= 67, IDX= 510, 0.05,-2.642, 2.677,-1.767,-2.499, PHS=-0.055,-1.060, 0.729, RAW= 175.9,   5.0, CAL= 175.9,  -4.0, ROT= 334.1,   4.0

2025-06-08T00:01:54.735Z,1749340914.735 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:54.736Z,1749340914.736 [DAT](INFO): direction in FSK: [0.897367,-0.435738,-0.069756]
2025-06-08T00:01:54.737Z,1749340914.737 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:54.744Z,1749340914.744 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:54.744Z,1749340914.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:54.973Z,1749340914.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.000000 m,
      deltaT: 0.503644 s,
      deltaX: -0.300003 m,
      approachRate: -0.595665 m/s,
      rangeRepo size: 4

2025-06-08T00:01:54.976Z,1749340914.976 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:54.976Z,1749340914.976 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:54.976Z,1749340914.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:54.979Z,1749340914.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.195457 m,
      bearing: 133.491644 deg,
      lat: 36.906049 deg,
      lon: -122.115808 deg,
      deltaT: 0.503644 s,
      deltaX: -0.297531 m,
      approachRate: -0.590757 m/s,
      posRepo size: 4

2025-06-08T00:01:54.980Z,1749340914.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.20 m.
2025-06-08T00:01:54.982Z,1749340914.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.195457 m,
      nav range: 101.110489 m,
      bearing: 133.433119 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 156.858081 deg,
      new cmd heading: 156.564939 deg.

2025-06-08T00:01:54.988Z,1749340914.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732574 target range: 103.195457 and range: 104.00 m.
2025-06-08T00:01:55.231Z,1749340915.231 [DAT](INFO): DAT read: Rx Time:00:01:54.6070 

2025-06-08T00:01:55.231Z,1749340915.231 [DAT](INFO): Rx dataTimestamp_ set to:1749340915.230759
2025-06-08T00:01:55.232Z,1749340915.232 [DAT](INFO): DAT read: Bearing 333.5,   3.9 (Local)

2025-06-08T00:01:55.233Z,1749340915.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.5,   3.9 (Local)

2025-06-08T00:01:55.235Z,1749340915.235 [DAT](INFO): DAT read: Range 10 to 50 :   103.5 m (trip time 69.0 ms) speed 0.5

2025-06-08T00:01:55.241Z,1749340915.241 [DAT](INFO): DAT read: 00:01:54.6070 LVL= 26608, 32753, 17138, 32755, AGC= 67, IDX= 507,-0.01, 1.650, 0.702, 2.543, 1.807, PHS=-0.068,-1.058, 0.733, RAW= 176.5,   5.1, CAL= 176.5,  -3.9, ROT= 333.5,   3.9

2025-06-08T00:01:55.243Z,1749340915.243 [DAT](INFO): got valid direction response:
 00:01:54.6070 LVL= 26608, 32753, 17138, 32755, AGC= 67, IDX= 507,-0.01, 1.650, 0.702, 2.543, 1.807, PHS=-0.068,-1.058, 0.733, RAW= 176.5,   5.1, CAL= 176.5,  -3.9, ROT= 333.5,   3.9

2025-06-08T00:01:55.263Z,1749340915.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:55.264Z,1749340915.264 [DAT](INFO): direction in FSK: [0.892862,-0.445165,-0.068015]
2025-06-08T00:01:55.265Z,1749340915.265 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:55.276Z,1749340915.276 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:55.276Z,1749340915.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:55.352Z,1749340915.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.500000 m,
      deltaT: 0.505752 s,
      deltaX: -0.500000 m,
      approachRate: -0.988627 m/s,
      rangeRepo size: 4

2025-06-08T00:01:55.354Z,1749340915.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.699326 m,
      bearing: 132.765986 deg,
      lat: 36.906049 deg,
      lon: -122.115808 deg,
      deltaT: 0.505752 s,
      deltaX: -0.496132 m,
      approachRate: -0.980979 m/s,
      posRepo size: 4

2025-06-08T00:01:55.359Z,1749340915.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.70 m.
2025-06-08T00:01:55.362Z,1749340915.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.699326 m,
      nav range: 100.900032 m,
      bearing: 133.369066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 156.564943 deg,
      new cmd heading: 156.379463 deg.

2025-06-08T00:01:55.363Z,1749340915.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.729337 target range: 102.699326 and range: 103.50 m.
2025-06-08T00:01:55.480Z,1749340915.480 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:55.480Z,1749340915.480 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:55.480Z,1749340915.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:55.733Z,1749340915.733 [DAT](INFO): DAT read: Rx Time:00:01:55.1069 

2025-06-08T00:01:55.733Z,1749340915.733 [DAT](INFO): Rx dataTimestamp_ set to:1749340915.733098
2025-06-08T00:01:55.735Z,1749340915.735 [DAT](INFO): DAT read: Bearing 332.7,   4.3 (Local)

2025-06-08T00:01:55.735Z,1749340915.735 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,   4.3 (Local)

2025-06-08T00:01:55.737Z,1749340915.737 [DAT](INFO): DAT read: Range 10 to 50 :   103.4 m (trip time 68.9 ms) speed 0.6

2025-06-08T00:01:55.742Z,1749340915.742 [DAT](INFO): DAT read: 00:01:55.1069 LVL= 25904, 32753, 18802, 30963, AGC= 67, IDX= 506,-0.09, 2.739, 1.772,-2.595, 2.901, PHS=-0.074,-1.082, 0.784, RAW= 177.3,   4.6, CAL= 177.3,  -4.3, ROT= 332.7,   4.3

2025-06-08T00:01:55.756Z,1749340915.756 [DAT](INFO): got valid direction response:
 00:01:55.1069 LVL= 25904, 32753, 18802, 30963, AGC= 67, IDX= 506,-0.09, 2.739, 1.772,-2.595, 2.901, PHS=-0.074,-1.082, 0.784, RAW= 177.3,   4.6, CAL= 177.3,  -4.3, ROT= 332.7,   4.3

2025-06-08T00:01:55.757Z,1749340915.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:55.758Z,1749340915.758 [DAT](INFO): direction in FSK: [0.886116,-0.457358,-0.074979]
2025-06-08T00:01:55.758Z,1749340915.758 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:55.761Z,1749340915.761 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:55.761Z,1749340915.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:55.984Z,1749340915.984 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:55.984Z,1749340915.984 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:55.984Z,1749340915.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:55.000Z,1749340916.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.400002 m,
      deltaT: 0.502339 s,
      deltaX: -0.099998 m,
      approachRate: -0.199066 m/s,
      rangeRepo size: 4

2025-06-08T00:01:56.002Z,1749340916.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.598534 m,
      bearing: 131.949066 deg,
      lat: 36.906058 deg,
      lon: -122.115803 deg,
      deltaT: 0.502339 s,
      deltaX: -0.100792 m,
      approachRate: -0.200645 m/s,
      posRepo size: 4

2025-06-08T00:01:56.003Z,1749340916.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-06-08T00:01:56.009Z,1749340916.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.598534 m,
      nav range: 100.170975 m,
      bearing: 132.666297 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 156.379462 deg,
      new cmd heading: 156.053898 deg.

2025-06-08T00:01:56.010Z,1749340916.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.723654 target range: 102.598534 and range: 103.40 m.
2025-06-08T00:01:56.237Z,1749340916.237 [DAT](INFO): DAT read: Rx Time:00:01:55.6066 

2025-06-08T00:01:56.237Z,1749340916.237 [DAT](INFO): Rx dataTimestamp_ set to:1749340916.237020
2025-06-08T00:01:56.239Z,1749340916.239 [DAT](INFO): DAT read: Bearing 333.1,   4.1 (Local)

2025-06-08T00:01:56.239Z,1749340916.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.1,   4.1 (Local)

2025-06-08T00:01:56.241Z,1749340916.241 [DAT](INFO): DAT read: Range 10 to 50 :   102.9 m (trip time 68.6 ms) speed 0.5

2025-06-08T00:01:56.253Z,1749340916.253 [DAT](INFO): DAT read: 00:01:55.6066 LVL= 25264, 32753, 21314, 32755, AGC= 66, IDX= 503,-0.17, 1.611, 0.676, 2.515, 1.770, PHS=-0.071,-1.048, 0.741, RAW= 177.0,   4.9, CAL= 176.9,  -4.1, ROT= 333.1,   4.1

2025-06-08T00:01:56.254Z,1749340916.254 [DAT](INFO): got valid direction response:
 00:01:55.6066 LVL= 25264, 32753, 21314, 32755, AGC= 66, IDX= 503,-0.17, 1.611, 0.676, 2.515, 1.770, PHS=-0.071,-1.048, 0.741, RAW= 177.0,   4.9, CAL= 176.9,  -4.1, ROT= 333.1,   4.1

2025-06-08T00:01:56.254Z,1749340916.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:56.255Z,1749340916.255 [DAT](INFO): direction in FSK: [0.889515,-0.451277,-0.071497]
2025-06-08T00:01:56.256Z,1749340916.256 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:56.259Z,1749340916.259 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:56.259Z,1749340916.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:56.436Z,1749340916.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.900002 m,
      deltaT: 0.503922 s,
      deltaX: -0.500000 m,
      approachRate: -0.992217 m/s,
      rangeRepo size: 4

2025-06-08T00:01:56.438Z,1749340916.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.102409 m,
      bearing: 131.801180 deg,
      lat: 36.906060 deg,
      lon: -122.115802 deg,
      deltaT: 0.503922 s,
      deltaX: -0.496124 m,
      approachRate: -0.984526 m/s,
      posRepo size: 4

2025-06-08T00:01:56.439Z,1749340916.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.10 m.
2025-06-08T00:01:56.442Z,1749340916.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.102409 m,
      nav range: 99.780167 m,
      bearing: 132.493535 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 156.053895 deg,
      new cmd heading: 155.833886 deg.

2025-06-08T00:01:56.442Z,1749340916.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719814 target range: 102.102409 and range: 102.90 m.
2025-06-08T00:01:56.488Z,1749340916.488 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:56.488Z,1749340916.488 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:56.488Z,1749340916.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:56.741Z,1749340916.741 [DAT](INFO): DAT read: Rx Time:00:01:56.1065 

2025-06-08T00:01:56.741Z,1749340916.741 [DAT](INFO): Rx dataTimestamp_ set to:1749340916.741199
2025-06-08T00:01:56.743Z,1749340916.743 [DAT](INFO): DAT read: Bearing 333.2,   4.6 (Local)

2025-06-08T00:01:56.743Z,1749340916.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.2,   4.6 (Local)

2025-06-08T00:01:56.745Z,1749340916.745 [DAT](INFO): DAT read: Range 10 to 50 :   102.8 m (trip time 68.5 ms) speed 0.6

2025-06-08T00:01:56.755Z,1749340916.755 [DAT](INFO): DAT read: 00:01:56.1065 LVL= 23120, 32753, 20834, 29907, AGC= 68, IDX= 502,-0.20, 2.833, 1.899,-2.558, 2.970, PHS=-0.048,-1.024, 0.752, RAW= 176.8,   4.2, CAL= 176.8,  -4.6, ROT= 333.2,   4.6

2025-06-08T00:01:56.756Z,1749340916.756 [DAT](INFO): got valid direction response:
 00:01:56.1065 LVL= 23120, 32753, 20834, 29907, AGC= 68, IDX= 502,-0.20, 2.833, 1.899,-2.558, 2.970, PHS=-0.048,-1.024, 0.752, RAW= 176.8,   4.2, CAL= 176.8,  -4.6, ROT= 333.2,   4.6

2025-06-08T00:01:56.756Z,1749340916.756 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:56.757Z,1749340916.757 [DAT](INFO): direction in FSK: [0.889711,-0.449425,-0.080199]
2025-06-08T00:01:56.758Z,1749340916.758 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:56.761Z,1749340916.761 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:56.761Z,1749340916.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:56.992Z,1749340916.992 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:56.992Z,1749340916.992 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:56.992Z,1749340916.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:57.005Z,1749340917.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.800003 m,
      deltaT: 0.504179 s,
      deltaX: -0.099998 m,
      approachRate: -0.198339 m/s,
      rangeRepo size: 4

2025-06-08T00:01:57.011Z,1749340917.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.001633 m,
      bearing: 131.722069 deg,
      lat: 36.906066 deg,
      lon: -122.115792 deg,
      deltaT: 0.504179 s,
      deltaX: -0.100777 m,
      approachRate: -0.199883 m/s,
      posRepo size: 4

2025-06-08T00:01:57.012Z,1749340917.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.00 m.
2025-06-08T00:01:57.015Z,1749340917.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.001633 m,
      nav range: 99.706741 m,
      bearing: 131.794241 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 155.833880 deg,
      new cmd heading: 155.549445 deg.

2025-06-08T00:01:57.020Z,1749340917.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.714850 target range: 102.001633 and range: 102.80 m.
2025-06-08T00:01:57.245Z,1749340917.245 [DAT](INFO): DAT read: Rx Time:00:01:56.6062 

2025-06-08T00:01:57.246Z,1749340917.246 [DAT](INFO): Rx dataTimestamp_ set to:1749340917.245441
2025-06-08T00:01:57.248Z,1749340917.248 [DAT](INFO): DAT read: Bearing 333.3,   4.4 (Local)

2025-06-08T00:01:57.248Z,1749340917.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.3,   4.4 (Local)

2025-06-08T00:01:57.253Z,1749340917.253 [DAT](INFO): DAT read: Range 10 to 50 :   102.3 m (trip time 68.2 ms) speed 0.5

2025-06-08T00:01:57.274Z,1749340917.274 [DAT](INFO): DAT read: 00:01:56.6062 LVL= 22192, 32753, 16978, 31075, AGC= 68, IDX= 499,-0.26, 1.509, 0.564, 2.403, 1.651, PHS=-0.054,-1.040, 0.749, RAW= 176.6,   4.5, CAL= 176.7,  -4.4, ROT= 333.3,   4.4

2025-06-08T00:01:57.276Z,1749340917.276 [DAT](INFO): got valid direction response:
 00:01:56.6062 LVL= 22192, 32753, 16978, 31075, AGC= 68, IDX= 499,-0.26, 1.509, 0.564, 2.403, 1.651, PHS=-0.054,-1.040, 0.749, RAW= 176.6,   4.5, CAL= 176.7,  -4.4, ROT= 333.3,   4.4

2025-06-08T00:01:57.276Z,1749340917.276 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:57.277Z,1749340917.277 [DAT](INFO): direction in FSK: [0.890738,-0.447995,-0.076719]
2025-06-08T00:01:57.277Z,1749340917.277 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:57.285Z,1749340917.285 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:57.285Z,1749340917.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:57.363Z,1749340917.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.300003 m,
      deltaT: 0.504242 s,
      deltaX: -0.500000 m,
      approachRate: -0.991587 m/s,
      rangeRepo size: 4

2025-06-08T00:01:57.365Z,1749340917.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.505516 m,
      bearing: 131.683980 deg,
      lat: 36.906067 deg,
      lon: -122.115792 deg,
      deltaT: 0.504242 s,
      deltaX: -0.496117 m,
      approachRate: -0.983886 m/s,
      posRepo size: 4

2025-06-08T00:01:57.366Z,1749340917.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.51 m.
2025-06-08T00:01:57.373Z,1749340917.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.505516 m,
      nav range: 99.402916 m,
      bearing: 131.668912 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.166569 deg/s,
      cmd heading: 155.549444 deg,
      new cmd heading: 155.372646 deg.

2025-06-08T00:01:57.374Z,1749340917.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711764 target range: 101.505516 and range: 102.30 m.
2025-06-08T00:01:57.497Z,1749340917.497 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:57.497Z,1749340917.497 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:57.497Z,1749340917.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:57.733Z,1749340917.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:01:57.736Z,1749340917.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.51 m.
2025-06-08T00:01:57.738Z,1749340917.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.505516 m,
      nav range: 99.173180 m,
      bearing: 131.602379 deg,
      approach rate: -0.609085 m/s,
      LOS rate: -0.176805 deg/s,
      cmd heading: 155.372651 deg,
      new cmd heading: 155.172589 deg.

2025-06-08T00:01:57.739Z,1749340917.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708273 target range: 101.505516 and range: 102.30 m.
2025-06-08T00:01:57.749Z,1749340917.749 [DAT](INFO): DAT read: Rx Time:00:01:57.1061 

2025-06-08T00:01:57.749Z,1749340917.749 [DAT](INFO): Rx dataTimestamp_ set to:1749340917.749071
2025-06-08T00:01:57.751Z,1749340917.751 [DAT](INFO): DAT read: Bearing 334.4,   3.3 (Local)

2025-06-08T00:01:57.772Z,1749340917.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.4,   3.3 (Local)

2025-06-08T00:01:57.774Z,1749340917.774 [DAT](INFO): DAT read: Range 10 to 50 :   102.2 m (trip time 68.1 ms) speed 0.4

2025-06-08T00:01:57.803Z,1749340917.803 [DAT](INFO): DAT read: 00:01:57.1061 LVL= 25056, 32753, 16738, 32179, AGC= 69, IDX= 498,-0.31, 2.110, 1.143, 2.982, 2.275, PHS=-0.076,-1.085, 0.704, RAW= 175.8,   5.9, CAL= 175.6,  -3.3, ROT= 334.4,   3.3

2025-06-08T00:01:57.814Z,1749340917.814 [DAT](INFO): got valid direction response:
 00:01:57.1061 LVL= 25056, 32753, 16738, 32179, AGC= 69, IDX= 498,-0.31, 2.110, 1.143, 2.982, 2.275, PHS=-0.076,-1.085, 0.704, RAW= 175.8,   5.9, CAL= 175.6,  -3.3, ROT= 334.4,   3.3

2025-06-08T00:01:57.832Z,1749340917.832 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:57.848Z,1749340917.848 [DAT](INFO): direction in FSK: [0.900337,-0.431369,-0.057564]
2025-06-08T00:01:57.848Z,1749340917.848 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:57.879Z,1749340917.879 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:57.880Z,1749340917.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:57.000Z,1749340918.000 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:58.000Z,1749340918.000 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:58.000Z,1749340918.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:58.193Z,1749340918.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.199997 m,
      deltaT: 0.503630 s,
      deltaX: -0.100006 m,
      approachRate: -0.198571 m/s,
      rangeRepo size: 4

2025-06-08T00:01:58.195Z,1749340918.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.406395 m,
      bearing: 132.509207 deg,
      lat: 36.906067 deg,
      lon: -122.115792 deg,
      deltaT: 0.503630 s,
      deltaX: -0.099121 m,
      approachRate: -0.196813 m/s,
      posRepo size: 4

2025-06-08T00:01:58.197Z,1749340918.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.41 m.
2025-06-08T00:01:58.207Z,1749340918.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.406395 m,
      nav range: 98.945061 m,
      bearing: 131.541395 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176805 deg/s,
      cmd heading: 155.172595 deg,
      new cmd heading: 154.930500 deg.

2025-06-08T00:01:58.208Z,1749340918.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704047 target range: 101.406395 and range: 102.20 m.
2025-06-08T00:01:58.254Z,1749340918.254 [DAT](INFO): DAT read: Rx Time:00:01:57.6058 

2025-06-08T00:01:58.254Z,1749340918.254 [DAT](INFO): Rx dataTimestamp_ set to:1749340918.254171
2025-06-08T00:01:58.256Z,1749340918.256 [DAT](INFO): DAT read: Bearing 334.7,   3.5 (Local)

2025-06-08T00:01:58.257Z,1749340918.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.7,   3.5 (Local)

2025-06-08T00:01:58.260Z,1749340918.260 [DAT](INFO): DAT read: Range 10 to 50 :   101.7 m (trip time 67.8 ms) speed 0.6

2025-06-08T00:01:58.268Z,1749340918.268 [DAT](INFO): DAT read: 00:01:57.6058 LVL= 27360, 32753, 18306, 32755, AGC= 69, IDX= 495,-0.34, 1.342, 0.362, 2.207, 1.493, PHS=-0.064,-1.084, 0.711, RAW= 175.5,   5.7, CAL= 175.3,  -3.5, ROT= 334.7,   3.5

2025-06-08T00:01:58.269Z,1749340918.269 [DAT](INFO): got valid direction response:
 00:01:57.6058 LVL= 27360, 32753, 18306, 32755, AGC= 69, IDX= 495,-0.34, 1.342, 0.362, 2.207, 1.493, PHS=-0.064,-1.084, 0.711, RAW= 175.5,   5.7, CAL= 175.3,  -3.5, ROT= 334.7,   3.5

2025-06-08T00:01:58.270Z,1749340918.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:58.272Z,1749340918.272 [DAT](INFO): direction in FSK: [0.902396,-0.426561,-0.061049]
2025-06-08T00:01:58.272Z,1749340918.272 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:58.284Z,1749340918.284 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:58.285Z,1749340918.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:58.504Z,1749340918.504 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:58.504Z,1749340918.504 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:58.504Z,1749340918.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:58.542Z,1749340918.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.699997 m,
      deltaT: 0.505100 s,
      deltaX: -0.500000 m,
      approachRate: -0.989903 m/s,
      rangeRepo size: 4

2025-06-08T00:01:58.548Z,1749340918.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.910271 m,
      bearing: 132.640878 deg,
      lat: 36.906067 deg,
      lon: -122.115794 deg,
      deltaT: 0.505100 s,
      deltaX: -0.496124 m,
      approachRate: -0.982230 m/s,
      posRepo size: 4

2025-06-08T00:01:58.549Z,1749340918.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.91 m.
2025-06-08T00:01:58.559Z,1749340918.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.910271 m,
      nav range: 98.602516 m,
      bearing: 131.540880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176805 deg/s,
      cmd heading: 154.930506 deg,
      new cmd heading: 154.745387 deg.

2025-06-08T00:01:58.560Z,1749340918.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700816 target range: 100.910271 and range: 101.70 m.
2025-06-08T00:01:58.757Z,1749340918.757 [DAT](INFO): DAT read: Rx Time:00:01:58.1056 

2025-06-08T00:01:58.757Z,1749340918.757 [DAT](INFO): Rx dataTimestamp_ set to:1749340918.756886
2025-06-08T00:01:58.758Z,1749340918.758 [DAT](INFO): DAT read: Bearing 335.0,   3.5 (Local)

2025-06-08T00:01:58.759Z,1749340918.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.0,   3.5 (Local)

2025-06-08T00:01:58.762Z,1749340918.762 [DAT](INFO): DAT read: Range 10 to 50 :   101.4 m (trip time 67.6 ms) speed 0.6

2025-06-08T00:01:58.766Z,1749340918.766 [DAT](INFO): DAT read: 00:01:58.1056 LVL= 25712, 32753, 16914, 32755, AGC= 67, IDX= 509,-0.35, 1.244, 0.251, 2.104, 1.389, PHS=-0.057,-1.091, 0.711, RAW= 175.1,   5.6, CAL= 175.0,  -3.5, ROT= 335.0,   3.5

2025-06-08T00:01:58.768Z,1749340918.768 [DAT](INFO): got valid direction response:
 00:01:58.1056 LVL= 25712, 32753, 16914, 32755, AGC= 67, IDX= 509,-0.35, 1.244, 0.251, 2.104, 1.389, PHS=-0.057,-1.091, 0.711, RAW= 175.1,   5.6, CAL= 175.0,  -3.5, ROT= 335.0,   3.5

2025-06-08T00:01:58.768Z,1749340918.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:58.769Z,1749340918.769 [DAT](INFO): direction in FSK: [0.904617,-0.421830,-0.061049]
2025-06-08T00:01:58.769Z,1749340918.769 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:58.776Z,1749340918.776 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:58.777Z,1749340918.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:59.008Z,1749340919.008 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:59.008Z,1749340919.008 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:59.008Z,1749340919.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:59.056Z,1749340919.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.400002 m,
      deltaT: 0.502715 s,
      deltaX: -0.299995 m,
      approachRate: -0.596750 m/s,
      rangeRepo size: 4

2025-06-08T00:01:59.058Z,1749340919.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.614082 m,
      bearing: 132.744389 deg,
      lat: 36.906052 deg,
      lon: -122.115800 deg,
      deltaT: 0.502715 s,
      deltaX: -0.296188 m,
      approachRate: -0.589177 m/s,
      posRepo size: 4

2025-06-08T00:01:59.058Z,1749340919.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.61 m.
2025-06-08T00:01:59.065Z,1749340919.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.614082 m,
      nav range: 99.052933 m,
      bearing: 132.380745 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176805 deg/s,
      cmd heading: 154.745381 deg,
      new cmd heading: 154.477046 deg.

2025-06-08T00:01:59.066Z,1749340919.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696133 target range: 100.614082 and range: 101.40 m.
2025-06-08T00:01:59.261Z,1749340919.261 [DAT](INFO): DAT read: Rx Time:00:01:58.6053 

2025-06-08T00:01:59.261Z,1749340919.261 [DAT](INFO): Rx dataTimestamp_ set to:1749340919.260961
2025-06-08T00:01:59.263Z,1749340919.263 [DAT](INFO): DAT read: Bearing 335.6,   3.3 (Local)

2025-06-08T00:01:59.263Z,1749340919.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.6,   3.3 (Local)

2025-06-08T00:01:59.265Z,1749340919.265 [DAT](INFO): DAT read: Range 10 to 50 :   101.0 m (trip time 67.3 ms) speed 0.5

2025-06-08T00:01:59.270Z,1749340919.270 [DAT](INFO): DAT read: 00:01:58.6053 LVL= 28448, 32753, 17522, 32755, AGC= 68, IDX= 506,-0.37, 0.246,-0.767, 1.094, 0.392, PHS=-0.058,-1.112, 0.700, RAW= 174.6,   6.0, CAL= 174.4,  -3.3, ROT= 335.6,   3.3

2025-06-08T00:01:59.271Z,1749340919.271 [DAT](INFO): got valid direction response:
 00:01:58.6053 LVL= 28448, 32753, 17522, 32755, AGC= 68, IDX= 506,-0.37, 0.246,-0.767, 1.094, 0.392, PHS=-0.058,-1.112, 0.700, RAW= 174.6,   6.0, CAL= 174.4,  -3.3, ROT= 335.6,   3.3

2025-06-08T00:01:59.272Z,1749340919.272 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:59.273Z,1749340919.273 [DAT](INFO): direction in FSK: [0.909174,-0.412419,-0.057564]
2025-06-08T00:01:59.273Z,1749340919.273 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:59.276Z,1749340919.276 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:59.276Z,1749340919.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:59.422Z,1749340919.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.000000 m,
      deltaT: 0.504075 s,
      deltaX: -0.400002 m,
      approachRate: -0.793536 m/s,
      rangeRepo size: 4

2025-06-08T00:01:59.429Z,1749340919.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.217186 m,
      bearing: 133.134543 deg,
      lat: 36.906052 deg,
      lon: -122.115805 deg,
      deltaT: 0.504075 s,
      deltaX: -0.396896 m,
      approachRate: -0.787376 m/s,
      posRepo size: 4

2025-06-08T00:01:59.431Z,1749340919.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.22 m.
2025-06-08T00:01:59.444Z,1749340919.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.217186 m,
      nav range: 98.534805 m,
      bearing: 132.518446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176805 deg/s,
      cmd heading: 154.477050 deg,
      new cmd heading: 154.278572 deg.

2025-06-08T00:01:59.446Z,1749340919.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692669 target range: 100.217186 and range: 101.00 m.
2025-06-08T00:01:59.513Z,1749340919.513 [DAT](INFO): Reached modem response timeout
2025-06-08T00:01:59.513Z,1749340919.513 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:59.513Z,1749340919.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:59.765Z,1749340919.765 [DAT](INFO): DAT read: Rx Time:00:01:59.1052 

2025-06-08T00:01:59.765Z,1749340919.765 [DAT](INFO): Rx dataTimestamp_ set to:1749340919.765063
2025-06-08T00:01:59.767Z,1749340919.767 [DAT](INFO): DAT read: Bearing 335.7,   3.7 (Local)

2025-06-08T00:01:59.767Z,1749340919.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.7,   3.7 (Local)

2025-06-08T00:01:59.769Z,1749340919.769 [DAT](INFO): DAT read: Range 10 to 50 :   100.8 m (trip time 67.2 ms) speed 0.7

2025-06-08T00:01:59.774Z,1749340919.774 [DAT](INFO): DAT read: 00:01:59.1052 LVL= 22640, 32753, 16626, 32755, AGC= 67, IDX= 505,-0.29, 1.478, 0.456, 2.324, 1.607, PHS=-0.041,-1.105, 0.714, RAW= 174.4,   5.5, CAL= 174.3,  -3.7, ROT= 335.7,   3.7

2025-06-08T00:01:59.775Z,1749340919.775 [DAT](INFO): got valid direction response:
 00:01:59.1052 LVL= 22640, 32753, 16626, 32755, AGC= 67, IDX= 505,-0.29, 1.478, 0.456, 2.324, 1.607, PHS=-0.041,-1.105, 0.714, RAW= 174.4,   5.5, CAL= 174.3,  -3.7, ROT= 335.7,   3.7

2025-06-08T00:01:59.776Z,1749340919.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:01:59.777Z,1749340919.777 [DAT](INFO): direction in FSK: [0.909504,-0.410657,-0.064532]
2025-06-08T00:01:59.777Z,1749340919.777 [DAT](INFO): publishing direction and range info
2025-06-08T00:01:59.781Z,1749340919.781 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:01:59.781Z,1749340919.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:01:59.932Z,1749340919.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.800003 m,
      deltaT: 0.504102 s,
      deltaX: -0.199997 m,
      approachRate: -0.396739 m/s,
      rangeRepo size: 4

2025-06-08T00:01:59.935Z,1749340919.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.018661 m,
      bearing: 132.747425 deg,
      lat: 36.906050 deg,
      lon: -122.115807 deg,
      deltaT: 0.504102 s,
      deltaX: -0.198524 m,
      approachRate: -0.393818 m/s,
      posRepo size: 4

2025-06-08T00:01:59.944Z,1749340919.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.02 m.
2025-06-08T00:01:59.958Z,1749340919.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.018661 m,
      nav range: 98.269524 m,
      bearing: 132.625340 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176805 deg/s,
      cmd heading: 154.278578 deg,
      new cmd heading: 154.010076 deg.

2025-06-08T00:01:59.964Z,1749340919.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687983 target range: 100.018661 and range: 100.80 m.
2025-06-08T00:02:00.017Z,1749340920.017 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:00.017Z,1749340920.017 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:00.018Z,1749340920.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:00.269Z,1749340920.269 [DAT](INFO): DAT read: Rx Time:00:01:59.6049 

2025-06-08T00:02:00.269Z,1749340920.269 [DAT](INFO): Rx dataTimestamp_ set to:1749340920.268977
2025-06-08T00:02:00.271Z,1749340920.271 [DAT](INFO): DAT read: Bearing 336.8,   3.5 (Local)

2025-06-08T00:02:00.271Z,1749340920.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.8,   3.5 (Local)

2025-06-08T00:02:00.274Z,1749340920.274 [DAT](INFO): DAT read: Range 10 to 50 :   100.4 m (trip time 66.9 ms) speed 0.4

2025-06-08T00:02:00.279Z,1749340920.279 [DAT](INFO): DAT read: 00:01:59.6049 LVL= 22400, 32129, 14898, 30899, AGC= 66, IDX= 502,-0.19, 0.611,-0.410, 1.408, 0.726, PHS=-0.028,-1.089, 0.679, RAW= 173.4,   5.7, CAL= 173.2,  -3.5, ROT= 336.8,   3.5

2025-06-08T00:02:00.280Z,1749340920.280 [DAT](INFO): got valid direction response:
 00:01:59.6049 LVL= 22400, 32129, 14898, 30899, AGC= 66, IDX= 502,-0.19, 0.611,-0.410, 1.408, 0.726, PHS=-0.028,-1.089, 0.679, RAW= 173.4,   5.7, CAL= 173.2,  -3.5, ROT= 336.8,   3.5

2025-06-08T00:02:00.280Z,1749340920.280 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:00.281Z,1749340920.281 [DAT](INFO): direction in FSK: [0.917421,-0.393207,-0.061049]
2025-06-08T00:02:00.282Z,1749340920.282 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:00.285Z,1749340920.285 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:00.285Z,1749340920.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:00.345Z,1749340920.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.400002 m,
      deltaT: 0.503914 s,
      deltaX: -0.400002 m,
      approachRate: -0.793789 m/s,
      rangeRepo size: 4

2025-06-08T00:02:00.347Z,1749340920.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.621765 m,
      bearing: 133.657914 deg,
      lat: 36.906049 deg,
      lon: -122.115809 deg,
      deltaT: 0.503914 s,
      deltaX: -0.396896 m,
      approachRate: -0.787627 m/s,
      posRepo size: 4

2025-06-08T00:02:00.352Z,1749340920.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-06-08T00:02:00.354Z,1749340920.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.621765 m,
      nav range: 97.983612 m,
      bearing: 132.695913 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176805 deg/s,
      cmd heading: 154.010070 deg,
      new cmd heading: 153.788873 deg.

2025-06-08T00:02:00.360Z,1749340920.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684122 target range: 99.621765 and range: 100.40 m.
2025-06-08T00:02:00.520Z,1749340920.520 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:00.521Z,1749340920.521 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:00.521Z,1749340920.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:00.704Z,1749340920.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:00.707Z,1749340920.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-06-08T00:02:00.713Z,1749340920.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.621765 m,
      nav range: 97.792839 m,
      bearing: 132.653420 deg,
      approach rate: -0.526458 m/s,
      LOS rate: -0.117492 deg/s,
      cmd heading: 153.788867 deg,
      new cmd heading: 153.661140 deg.

2025-06-08T00:02:00.714Z,1749340920.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681893 target range: 99.621765 and range: 100.40 m.
2025-06-08T00:02:00.773Z,1749340920.773 [DAT](INFO): DAT read: Rx Time:00:02:00.1049 

2025-06-08T00:02:00.773Z,1749340920.773 [DAT](INFO): Rx dataTimestamp_ set to:1749340920.773117
2025-06-08T00:02:00.775Z,1749340920.775 [DAT](INFO): DAT read: Bearing 336.4,   4.0 (Local)

2025-06-08T00:02:00.775Z,1749340920.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.4,   4.0 (Local)

2025-06-08T00:02:00.778Z,1749340920.778 [DAT](INFO): DAT read: Range 10 to 50 :   100.4 m (trip time 66.9 ms) speed 0.4

2025-06-08T00:02:00.786Z,1749340920.786 [DAT](INFO): DAT read: 00:02:00.1049 LVL= 25888, 32753, 15986, 29587, AGC= 69, IDX= 501,-0.08, 2.063, 1.038, 2.877, 2.167, PHS=-0.016,-1.082, 0.707, RAW= 173.7,   5.1, CAL= 173.6,  -4.0, ROT= 336.4,   4.0

2025-06-08T00:02:00.800Z,1749340920.800 [DAT](INFO): got valid direction response:
 00:02:00.1049 LVL= 25888, 32753, 15986, 29587, AGC= 69, IDX= 501,-0.08, 2.063, 1.038, 2.877, 2.167, PHS=-0.016,-1.082, 0.707, RAW= 173.7,   5.1, CAL= 173.6,  -4.0, ROT= 336.4,   4.0

2025-06-08T00:02:00.801Z,1749340920.801 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:00.802Z,1749340920.802 [DAT](INFO): direction in FSK: [0.914130,-0.399374,-0.069756]
2025-06-08T00:02:00.802Z,1749340920.802 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:00.824Z,1749340920.824 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:00.824Z,1749340920.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:01.024Z,1749340921.024 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:01.024Z,1749340921.024 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:01.024Z,1749340921.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:01.102Z,1749340921.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.400002 m,
      deltaT: 0.504140 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:02:01.112Z,1749340921.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.622658 m,
      bearing: 132.928138 deg,
      lat: 36.906045 deg,
      lon: -122.115811 deg,
      deltaT: 0.504140 s,
      deltaX: 0.000893 m,
      approachRate: 0.001771 m/s,
      posRepo size: 4

2025-06-08T00:02:01.113Z,1749340921.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-06-08T00:02:01.120Z,1749340921.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.622658 m,
      nav range: 97.658051 m,
      bearing: 132.841115 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117492 deg/s,
      cmd heading: 153.661143 deg,
      new cmd heading: 153.521940 deg.

2025-06-08T00:02:01.121Z,1749340921.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679463 target range: 99.622658 and range: 100.40 m.
2025-06-08T00:02:01.278Z,1749340921.278 [DAT](INFO): DAT read: Rx Time:00:02:00.6046 

2025-06-08T00:02:01.278Z,1749340921.278 [DAT](INFO): Rx dataTimestamp_ set to:1749340921.277730
2025-06-08T00:02:01.279Z,1749340921.279 [DAT](INFO): DAT read: Bearing 336.9,   4.0 (Local)

2025-06-08T00:02:01.280Z,1749340921.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.9,   4.0 (Local)

2025-06-08T00:02:01.282Z,1749340921.282 [DAT](INFO): DAT read: Range 10 to 50 :    99.9 m (trip time 66.6 ms) speed 0.6

2025-06-08T00:02:01.292Z,1749340921.292 [DAT](INFO): DAT read: 00:02:00.6046 LVL= 28608, 32753, 20466, 32435, AGC= 67, IDX= 498, 0.10, 1.453, 0.417, 2.249, 1.549, PHS=-0.007,-1.084, 0.698, RAW= 173.1,   5.1, CAL= 173.1,  -4.0, ROT= 336.9,   4.0

2025-06-08T00:02:01.293Z,1749340921.293 [DAT](INFO): got valid direction response:
 00:02:00.6046 LVL= 28608, 32753, 20466, 32435, AGC= 67, IDX= 498, 0.10, 1.453, 0.417, 2.249, 1.549, PHS=-0.007,-1.084, 0.698, RAW= 173.1,   5.1, CAL= 173.1,  -4.0, ROT= 336.9,   4.0

2025-06-08T00:02:01.294Z,1749340921.294 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:01.295Z,1749340921.295 [DAT](INFO): direction in FSK: [0.917581,-0.391382,-0.069756]
2025-06-08T00:02:01.295Z,1749340921.295 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:01.324Z,1749340921.324 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:01.324Z,1749340921.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:01.474Z,1749340921.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.900002 m,
      deltaT: 0.504613 s,
      deltaX: -0.500000 m,
      approachRate: -0.990858 m/s,
      rangeRepo size: 4

2025-06-08T00:02:01.480Z,1749340921.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.126534 m,
      bearing: 133.213924 deg,
      lat: 36.906043 deg,
      lon: -122.115813 deg,
      deltaT: 0.504613 s,
      deltaX: -0.496124 m,
      approachRate: -0.983178 m/s,
      posRepo size: 4

2025-06-08T00:02:01.481Z,1749340921.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.13 m.
2025-06-08T00:02:01.492Z,1749340921.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.126534 m,
      nav range: 97.440552 m,
      bearing: 132.963583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117492 deg/s,
      cmd heading: 153.521943 deg,
      new cmd heading: 153.390955 deg.

2025-06-08T00:02:01.493Z,1749340921.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677177 target range: 99.126534 and range: 99.90 m.
2025-06-08T00:02:01.528Z,1749340921.528 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:01.528Z,1749340921.528 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:01.529Z,1749340921.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:01.781Z,1749340921.781 [DAT](INFO): DAT read: Rx Time:00:02:01.1046 

2025-06-08T00:02:01.781Z,1749340921.781 [DAT](INFO): Rx dataTimestamp_ set to:1749340921.780882
2025-06-08T00:02:01.782Z,1749340921.782 [DAT](INFO): DAT read: Bearing 337.6,   3.9 (Local)

2025-06-08T00:02:01.783Z,1749340921.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.6,   3.9 (Local)

2025-06-08T00:02:01.785Z,1749340921.785 [DAT](INFO): DAT read: Range 10 to 50 :    99.9 m (trip time 66.6 ms) speed 0.4

2025-06-08T00:02:01.787Z,1749340921.787 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:02:01.790Z,1749340921.790 [DAT](INFO): DAT read: 00:02:01.1046 LVL= 24336, 32753, 16370, 32755, AGC= 68, IDX= 497, 0.43, 1.998, 0.912, 2.796, 2.084, PHS= 0.001,-1.126, 0.708, RAW= 172.5,   5.2, CAL= 172.4,  -3.9, ROT= 337.6,   3.9

2025-06-08T00:02:01.796Z,1749340921.796 [DAT](INFO): got valid direction response:
 00:02:01.1046 LVL= 24336, 32753, 16370, 32755, AGC= 68, IDX= 497, 0.43, 1.998, 0.912, 2.796, 2.084, PHS= 0.001,-1.126, 0.708, RAW= 172.5,   5.2, CAL= 172.4,  -3.9, ROT= 337.6,   3.9

2025-06-08T00:02:01.796Z,1749340921.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:01.797Z,1749340921.797 [DAT](INFO): direction in FSK: [0.922405,-0.380188,-0.068015]
2025-06-08T00:02:01.797Z,1749340921.797 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:01.800Z,1749340921.800 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:01.801Z,1749340921.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:01.972Z,1749340921.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.900002 m,
      deltaT: 0.503152 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:02:01.974Z,1749340921.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.127586 m,
      bearing: 133.680104 deg,
      lat: 36.906041 deg,
      lon: -122.115817 deg,
      deltaT: 0.503152 s,
      deltaX: 0.001053 m,
      approachRate: 0.002093 m/s,
      posRepo size: 4

2025-06-08T00:02:01.975Z,1749340921.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.13 m.
2025-06-08T00:02:01.982Z,1749340921.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.127586 m,
      nav range: 97.063171 m,
      bearing: 133.157999 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117492 deg/s,
      cmd heading: 153.390954 deg,
      new cmd heading: 153.215514 deg.

2025-06-08T00:02:01.983Z,1749340921.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674115 target range: 99.127586 and range: 99.90 m.
2025-06-08T00:02:02.032Z,1749340922.032 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:02.032Z,1749340922.032 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:02.032Z,1749340922.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:02.285Z,1749340922.285 [DAT](INFO): DAT read: Rx Time:00:02:01.6043 

2025-06-08T00:02:02.285Z,1749340922.285 [DAT](INFO): Rx dataTimestamp_ set to:1749340922.285048
2025-06-08T00:02:02.287Z,1749340922.287 [DAT](INFO): DAT read: Bearing 338.2,   3.8 (Local)

2025-06-08T00:02:02.287Z,1749340922.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.2,   3.8 (Local)

2025-06-08T00:02:02.289Z,1749340922.289 [DAT](INFO): DAT read: Range 10 to 50 :    99.6 m (trip time 66.4 ms) speed 0.4

2025-06-08T00:02:02.294Z,1749340922.294 [DAT](INFO): DAT read: 00:02:01.6043 LVL= 26512, 32753, 17394, 32755, AGC= 66, IDX= 495,-0.20,-1.175,-2.216,-0.428,-1.092, PHS= 0.005,-1.076, 0.661, RAW= 171.9,   5.4, CAL= 171.8,  -3.8, ROT= 338.2,   3.8

2025-06-08T00:02:02.295Z,1749340922.295 [DAT](INFO): got valid direction response:
 00:02:01.6043 LVL= 26512, 32753, 17394, 32755, AGC= 66, IDX= 495,-0.20,-1.175,-2.216,-0.428,-1.092, PHS= 0.005,-1.076, 0.661, RAW= 171.9,   5.4, CAL= 171.8,  -3.8, ROT= 338.2,   3.8

2025-06-08T00:02:02.295Z,1749340922.295 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:02.296Z,1749340922.296 [DAT](INFO): direction in FSK: [0.926445,-0.370551,-0.066274]
2025-06-08T00:02:02.297Z,1749340922.297 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:02.304Z,1749340922.304 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:02.304Z,1749340922.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:02.385Z,1749340922.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.599998 m,
      deltaT: 0.504166 s,
      deltaX: -0.300003 m,
      approachRate: -0.595048 m/s,
      rangeRepo size: 4

2025-06-08T00:02:02.399Z,1749340922.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.829903 m,
      bearing: 134.030069 deg,
      lat: 36.906038 deg,
      lon: -122.115822 deg,
      deltaT: 0.504166 s,
      deltaX: -0.297684 m,
      approachRate: -0.590448 m/s,
      posRepo size: 4

2025-06-08T00:02:02.400Z,1749340922.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.83 m.
2025-06-08T00:02:02.402Z,1749340922.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.829903 m,
      nav range: 96.766998 m,
      bearing: 133.393973 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117492 deg/s,
      cmd heading: 153.215514 deg,
      new cmd heading: 153.071507 deg.

2025-06-08T00:02:02.408Z,1749340922.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671602 target range: 98.829903 and range: 99.60 m.
2025-06-08T00:02:02.536Z,1749340922.536 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:02.536Z,1749340922.536 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:02.536Z,1749340922.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:02.733Z,1749340922.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:02.736Z,1749340922.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.83 m.
2025-06-08T00:02:02.738Z,1749340922.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.829903 m,
      nav range: 96.551338 m,
      bearing: 133.344774 deg,
      approach rate: -0.605746 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 153.071506 deg,
      new cmd heading: 152.923579 deg.

2025-06-08T00:02:02.740Z,1749340922.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669020 target range: 98.829903 and range: 99.60 m.
2025-06-08T00:02:02.789Z,1749340922.789 [DAT](INFO): DAT read: Rx Time:00:02:02.1041 

2025-06-08T00:02:02.789Z,1749340922.789 [DAT](INFO): Rx dataTimestamp_ set to:1749340922.789028
2025-06-08T00:02:02.791Z,1749340922.791 [DAT](INFO): DAT read: Bearing 338.8,   3.7 (Local)

2025-06-08T00:02:02.791Z,1749340922.791 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:02:02.792Z,1749340922.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.8,   3.7 (Local)

2025-06-08T00:02:02.794Z,1749340922.794 [DAT](INFO): DAT read: Range 10 to 50 :    99.3 m (trip time 66.2 ms) speed 0.5

2025-06-08T00:02:02.803Z,1749340922.803 [DAT](INFO): DAT read: 00:02:02.1041 LVL= 28784, 32753, 18546, 32755, AGC= 66, IDX= 509,-0.01,-0.711,-1.770, 0.020,-0.635, PHS= 0.013,-1.088, 0.652, RAW= 171.3,   5.6, CAL= 171.2,  -3.7, ROT= 338.8,   3.7

2025-06-08T00:02:02.804Z,1749340922.804 [DAT](INFO): got valid direction response:
 00:02:02.1041 LVL= 28784, 32753, 18546, 32755, AGC= 66, IDX= 509,-0.01,-0.711,-1.770, 0.020,-0.635, PHS= 0.013,-1.088, 0.652, RAW= 171.3,   5.6, CAL= 171.2,  -3.7, ROT= 338.8,   3.7

2025-06-08T00:02:02.805Z,1749340922.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:02.805Z,1749340922.805 [DAT](INFO): direction in FSK: [0.930380,-0.360871,-0.064532]
2025-06-08T00:02:02.806Z,1749340922.806 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:02.832Z,1749340922.832 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:02.832Z,1749340922.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:03.041Z,1749340923.041 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:03.041Z,1749340923.041 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:03.041Z,1749340923.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:03.199Z,1749340923.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.300003 m,
      deltaT: 0.503980 s,
      deltaX: -0.299995 m,
      approachRate: -0.595253 m/s,
      rangeRepo size: 4

2025-06-08T00:02:03.201Z,1749340923.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.532631 m,
      bearing: 134.128811 deg,
      lat: 36.906034 deg,
      lon: -122.115822 deg,
      deltaT: 0.503980 s,
      deltaX: -0.297272 m,
      approachRate: -0.589848 m/s,
      posRepo size: 4

2025-06-08T00:02:03.202Z,1749340923.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.53 m.
2025-06-08T00:02:03.205Z,1749340923.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.532631 m,
      nav range: 96.668907 m,
      bearing: 133.519176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 152.923578 deg,
      new cmd heading: 152.731348 deg.

2025-06-08T00:02:03.206Z,1749340923.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665665 target range: 98.532631 and range: 99.30 m.
2025-06-08T00:02:03.293Z,1749340923.293 [DAT](INFO): DAT read: Rx Time:00:02:02.6039 

2025-06-08T00:02:03.293Z,1749340923.293 [DAT](INFO): Rx dataTimestamp_ set to:1749340923.293130
2025-06-08T00:02:03.295Z,1749340923.295 [DAT](INFO): DAT read: Bearing 339.8,   3.7 (Local)

2025-06-08T00:02:03.295Z,1749340923.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.8,   3.7 (Local)

2025-06-08T00:02:03.297Z,1749340923.297 [DAT](INFO): DAT read: Range 10 to 50 :    98.9 m (trip time 65.9 ms) speed 0.7

2025-06-08T00:02:03.302Z,1749340923.302 [DAT](INFO): DAT read: 00:02:02.6039 LVL= 23872, 32753, 15586, 32755, AGC= 68, IDX= 506, 0.15,-1.126,-2.201,-0.430,-1.070, PHS= 0.032,-1.083, 0.637, RAW= 170.3,   5.5, CAL= 170.2,  -3.7, ROT= 339.8,   3.7

2025-06-08T00:02:03.303Z,1749340923.303 [DAT](INFO): got valid direction response:
 00:02:02.6039 LVL= 23872, 32753, 15586, 32755, AGC= 68, IDX= 506, 0.15,-1.126,-2.201,-0.430,-1.070, PHS= 0.032,-1.083, 0.637, RAW= 170.3,   5.5, CAL= 170.2,  -3.7, ROT= 339.8,   3.7

2025-06-08T00:02:03.303Z,1749340923.303 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:03.304Z,1749340923.304 [DAT](INFO): direction in FSK: [0.936537,-0.344578,-0.064532]
2025-06-08T00:02:03.305Z,1749340923.305 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:03.315Z,1749340923.315 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:03.317Z,1749340923.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:03.544Z,1749340923.544 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:03.544Z,1749340923.544 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:03.545Z,1749340923.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:03.561Z,1749340923.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.900002 m,
      deltaT: 0.504102 s,
      deltaX: -0.400002 m,
      approachRate: -0.793493 m/s,
      rangeRepo size: 4

2025-06-08T00:02:03.567Z,1749340923.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.135727 m,
      bearing: 134.921429 deg,
      lat: 36.906029 deg,
      lon: -122.115827 deg,
      deltaT: 0.504102 s,
      deltaX: -0.396904 m,
      approachRate: -0.787349 m/s,
      posRepo size: 4

2025-06-08T00:02:03.568Z,1749340923.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.14 m.
2025-06-08T00:02:03.571Z,1749340923.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.135727 m,
      nav range: 96.470200 m,
      bearing: 133.882737 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 152.731349 deg,
      new cmd heading: 152.580786 deg.

2025-06-08T00:02:03.577Z,1749340923.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663037 target range: 98.135727 and range: 98.90 m.
2025-06-08T00:02:03.797Z,1749340923.797 [DAT](INFO): DAT read: Rx Time:00:02:03.1039 

2025-06-08T00:02:03.797Z,1749340923.797 [DAT](INFO): Rx dataTimestamp_ set to:1749340923.797060
2025-06-08T00:02:03.799Z,1749340923.799 [DAT](INFO): DAT read: Bearing 340.8,   3.4 (Local)

2025-06-08T00:02:03.808Z,1749340923.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.8,   3.4 (Local)

2025-06-08T00:02:03.810Z,1749340923.810 [DAT](INFO): DAT read: Range 10 to 50 :    98.9 m (trip time 65.9 ms) speed 0.6

2025-06-08T00:02:03.815Z,1749340923.815 [DAT](INFO): DAT read: 00:02:03.1039 LVL= 29648, 32753, 20130, 32755, AGC= 68, IDX= 505, 0.30, 0.630,-0.467, 1.301, 0.680, PHS= 0.038,-1.100, 0.618, RAW= 169.4,   5.9, CAL= 169.2,  -3.4, ROT= 340.8,   3.4

2025-06-08T00:02:03.816Z,1749340923.816 [DAT](INFO): got valid direction response:
 00:02:03.1039 LVL= 29648, 32753, 20130, 32755, AGC= 68, IDX= 505, 0.30, 0.630,-0.467, 1.301, 0.680, PHS= 0.038,-1.100, 0.618, RAW= 169.4,   5.9, CAL= 169.2,  -3.4, ROT= 340.8,   3.4

2025-06-08T00:02:03.817Z,1749340923.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:03.818Z,1749340923.818 [DAT](INFO): direction in FSK: [0.942714,-0.328288,-0.059306]
2025-06-08T00:02:03.818Z,1749340923.818 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:03.822Z,1749340923.822 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:03.822Z,1749340923.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:04.048Z,1749340924.048 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:04.048Z,1749340924.048 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:04.048Z,1749340924.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:04.057Z,1749340924.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.900002 m,
      deltaT: 0.503930 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:02:04.064Z,1749340924.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.136635 m,
      bearing: 135.717146 deg,
      lat: 36.906025 deg,
      lon: -122.115828 deg,
      deltaT: 0.503930 s,
      deltaX: 0.000908 m,
      approachRate: 0.001802 m/s,
      posRepo size: 4

2025-06-08T00:02:04.064Z,1749340924.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.14 m.
2025-06-08T00:02:04.071Z,1749340924.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.136635 m,
      nav range: 96.437660 m,
      bearing: 134.023522 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 152.580784 deg,
      new cmd heading: 152.374552 deg.

2025-06-08T00:02:04.072Z,1749340924.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.659438 target range: 98.136635 and range: 98.90 m.
2025-06-08T00:02:04.301Z,1749340924.301 [DAT](INFO): DAT read: Rx Time:00:02:03.6036 

2025-06-08T00:02:04.301Z,1749340924.301 [DAT](INFO): Rx dataTimestamp_ set to:1749340924.300800
2025-06-08T00:02:04.302Z,1749340924.302 [DAT](INFO): DAT read: Bearing 339.9,   4.5 (Local)

2025-06-08T00:02:04.303Z,1749340924.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9,   4.5 (Local)

2025-06-08T00:02:04.305Z,1749340924.305 [DAT](INFO): DAT read: Range 10 to 50 :    98.4 m (trip time 65.6 ms) speed 0.6

2025-06-08T00:02:04.309Z,1749340924.309 [DAT](INFO): DAT read: 00:02:03.6036 LVL= 27312, 32753, 17026, 32755, AGC= 67, IDX= 502, 0.47,-1.291,-2.398,-0.590,-1.265, PHS= 0.062,-1.086, 0.672, RAW= 170.0,   4.6, CAL= 170.1,  -4.5, ROT= 339.9,   4.5

2025-06-08T00:02:04.310Z,1749340924.310 [DAT](INFO): got valid direction response:
 00:02:03.6036 LVL= 27312, 32753, 17026, 32755, AGC= 67, IDX= 502, 0.47,-1.291,-2.398,-0.590,-1.265, PHS= 0.062,-1.086, 0.672, RAW= 170.0,   4.6, CAL= 170.1,  -4.5, ROT= 339.9,   4.5

2025-06-08T00:02:04.311Z,1749340924.311 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:04.312Z,1749340924.312 [DAT](INFO): direction in FSK: [0.936199,-0.342600,-0.078459]
2025-06-08T00:02:04.312Z,1749340924.312 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:04.315Z,1749340924.315 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:04.316Z,1749340924.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:04.456Z,1749340924.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.400002 m,
      deltaT: 0.503740 s,
      deltaX: -0.500000 m,
      approachRate: -0.992576 m/s,
      rangeRepo size: 4

2025-06-08T00:02:04.458Z,1749340924.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.640495 m,
      bearing: 134.591965 deg,
      lat: 36.906021 deg,
      lon: -122.115839 deg,
      deltaT: 0.503740 s,
      deltaX: -0.496140 m,
      approachRate: -0.984912 m/s,
      posRepo size: 4

2025-06-08T00:02:04.459Z,1749340924.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.64 m.
2025-06-08T00:02:04.466Z,1749340924.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.640495 m,
      nav range: 95.832283 m,
      bearing: 134.591624 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 152.374554 deg,
      new cmd heading: 152.209009 deg.

2025-06-08T00:02:04.467Z,1749340924.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.656548 target range: 97.640495 and range: 98.40 m.
2025-06-08T00:02:04.552Z,1749340924.552 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:04.552Z,1749340924.552 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:04.553Z,1749340924.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:04.805Z,1749340924.805 [DAT](INFO): DAT read: Rx Time:00:02:04.1035 

2025-06-08T00:02:04.805Z,1749340924.805 [DAT](INFO): Rx dataTimestamp_ set to:1749340924.805021
2025-06-08T00:02:04.807Z,1749340924.807 [DAT](INFO): DAT read: Bearing 340.4,   4.2 (Local)

2025-06-08T00:02:04.807Z,1749340924.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.4,   4.2 (Local)

2025-06-08T00:02:04.809Z,1749340924.809 [DAT](INFO): DAT read: Range 10 to 50 :    98.3 m (trip time 65.5 ms) speed 0.8

2025-06-08T00:02:04.814Z,1749340924.814 [DAT](INFO): DAT read: 00:02:04.1035 LVL= 32176, 32753, 23698, 32755, AGC= 68, IDX= 502,-0.42,-1.739,-2.826,-1.066,-1.708, PHS= 0.057,-1.071, 0.639, RAW= 169.6,   5.0, CAL= 169.6,  -4.2, ROT= 340.4,   4.2

2025-06-08T00:02:04.815Z,1749340924.815 [DAT](INFO): got valid direction response:
 00:02:04.1035 LVL= 32176, 32753, 23698, 32755, AGC= 68, IDX= 502,-0.42,-1.739,-2.826,-1.066,-1.708, PHS= 0.057,-1.071, 0.639, RAW= 169.6,   5.0, CAL= 169.6,  -4.2, ROT= 340.4,   4.2

2025-06-08T00:02:04.815Z,1749340924.815 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:04.816Z,1749340924.816 [DAT](INFO): direction in FSK: [0.939527,-0.334551,-0.073238]
2025-06-08T00:02:04.817Z,1749340924.817 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:04.825Z,1749340924.825 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:04.825Z,1749340924.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:04.969Z,1749340924.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.300003 m,
      deltaT: 0.504221 s,
      deltaX: -0.099998 m,
      approachRate: -0.198323 m/s,
      rangeRepo size: 4

2025-06-08T00:02:04.985Z,1749340924.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.541977 m,
      bearing: 134.898553 deg,
      lat: 36.906017 deg,
      lon: -122.115840 deg,
      deltaT: 0.504221 s,
      deltaX: -0.098518 m,
      approachRate: -0.195387 m/s,
      posRepo size: 4

2025-06-08T00:02:04.986Z,1749340924.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.54 m.
2025-06-08T00:02:04.992Z,1749340924.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.541977 m,
      nav range: 95.790482 m,
      bearing: 134.760992 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 152.209003 deg,
      new cmd heading: 152.004705 deg.

2025-06-08T00:02:04.993Z,1749340924.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.652982 target range: 97.541977 and range: 98.30 m.
2025-06-08T00:02:05.056Z,1749340925.056 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:05.056Z,1749340925.056 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:05.056Z,1749340925.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:05.309Z,1749340925.309 [DAT](INFO): DAT read: Rx Time:00:02:04.6032 

2025-06-08T00:02:05.309Z,1749340925.309 [DAT](INFO): Rx dataTimestamp_ set to:1749340925.308956
2025-06-08T00:02:05.311Z,1749340925.311 [DAT](INFO): DAT read: Bearing 340.5,   4.8 (Local)

2025-06-08T00:02:05.311Z,1749340925.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.5,   4.8 (Local)

2025-06-08T00:02:05.313Z,1749340925.313 [DAT](INFO): DAT read: Range 10 to 50 :    97.8 m (trip time 65.2 ms) speed 0.9

2025-06-08T00:02:05.318Z,1749340925.318 [DAT](INFO): DAT read: 00:02:04.6032 LVL= 26672, 32753, 17682, 31539, AGC= 70, IDX= 498, 0.50,-1.211,-2.343,-0.530,-1.209, PHS= 0.085,-1.087, 0.676, RAW= 169.2,   4.2, CAL= 169.5,  -4.8, ROT= 340.5,   4.8

2025-06-08T00:02:05.319Z,1749340925.319 [DAT](INFO): got valid direction response:
 00:02:04.6032 LVL= 26672, 32753, 17682, 31539, AGC= 70, IDX= 498, 0.50,-1.211,-2.343,-0.530,-1.209, PHS= 0.085,-1.087, 0.676, RAW= 169.2,   4.2, CAL= 169.5,  -4.8, ROT= 340.5,   4.8

2025-06-08T00:02:05.320Z,1749340925.320 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:05.321Z,1749340925.321 [DAT](INFO): direction in FSK: [0.939336,-0.332636,-0.083678]
2025-06-08T00:02:05.321Z,1749340925.321 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:05.324Z,1749340925.324 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:05.325Z,1749340925.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:05.549Z,1749340925.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.800003 m,
      deltaT: 0.503935 s,
      deltaX: -0.500000 m,
      approachRate: -0.992191 m/s,
      rangeRepo size: 4

2025-06-08T00:02:05.555Z,1749340925.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.045830 m,
      bearing: 134.666072 deg,
      lat: 36.906017 deg,
      lon: -122.115842 deg,
      deltaT: 0.503935 s,
      deltaX: -0.496147 m,
      approachRate: -0.984546 m/s,
      posRepo size: 4

2025-06-08T00:02:05.556Z,1749340925.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.05 m.
2025-06-08T00:02:05.559Z,1749340925.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.045830 m,
      nav range: 95.305939 m,
      bearing: 134.724905 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 152.004699 deg,
      new cmd heading: 151.754744 deg.

2025-06-08T00:02:05.560Z,1749340925.560 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:05.560Z,1749340925.560 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:05.560Z,1749340925.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:05.572Z,1749340925.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.648620 target range: 97.045830 and range: 97.80 m.
2025-06-08T00:02:05.813Z,1749340925.813 [DAT](INFO): DAT read: Rx Time:00:02:05.1031 

2025-06-08T00:02:05.813Z,1749340925.813 [DAT](INFO): Rx dataTimestamp_ set to:1749340925.812944
2025-06-08T00:02:05.815Z,1749340925.815 [DAT](INFO): DAT read: Bearing 341.8,   3.8 (Local)

2025-06-08T00:02:05.815Z,1749340925.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.8,   3.8 (Local)

2025-06-08T00:02:05.817Z,1749340925.817 [DAT](INFO): DAT read: Range 10 to 50 :    97.7 m (trip time 65.1 ms) speed 0.8

2025-06-08T00:02:05.822Z,1749340925.822 [DAT](INFO): DAT read: 00:02:05.1031 LVL= 32336, 32753, 20850, 32755, AGC= 68, IDX= 497, 0.31, 0.490,-0.642, 1.131, 0.506, PHS= 0.071,-1.101, 0.621, RAW= 168.2,   5.4, CAL= 168.2,  -3.8, ROT= 341.8,   3.8

2025-06-08T00:02:05.823Z,1749340925.823 [DAT](INFO): got valid direction response:
 00:02:05.1031 LVL= 32336, 32753, 20850, 32755, AGC= 68, IDX= 497, 0.31, 0.490,-0.642, 1.131, 0.506, PHS= 0.071,-1.101, 0.621, RAW= 168.2,   5.4, CAL= 168.2,  -3.8, ROT= 341.8,   3.8

2025-06-08T00:02:05.828Z,1749340925.828 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:05.829Z,1749340925.829 [DAT](INFO): direction in FSK: [0.947883,-0.311648,-0.066274]
2025-06-08T00:02:05.829Z,1749340925.829 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:05.832Z,1749340925.832 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:05.833Z,1749340925.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:06.064Z,1749340926.064 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:06.064Z,1749340926.064 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:06.064Z,1749340926.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:06.119Z,1749340926.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.699997 m,
      deltaT: 0.503988 s,
      deltaX: -0.100006 m,
      approachRate: -0.198430 m/s,
      rangeRepo size: 4

2025-06-08T00:02:06.141Z,1749340926.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.947044 m,
      bearing: 135.979072 deg,
      lat: 36.906016 deg,
      lon: -122.115842 deg,
      deltaT: 0.503988 s,
      deltaX: -0.098785 m,
      approachRate: -0.196007 m/s,
      posRepo size: 4

2025-06-08T00:02:06.148Z,1749340926.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.95 m.
2025-06-08T00:02:06.165Z,1749340926.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.947044 m,
      nav range: 95.109100 m,
      bearing: 134.735729 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 151.754741 deg,
      new cmd heading: 151.518056 deg.

2025-06-08T00:02:06.174Z,1749340926.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.644489 target range: 96.947044 and range: 97.70 m.
2025-06-08T00:02:06.317Z,1749340926.317 [DAT](INFO): DAT read: Rx Time:00:02:05.6027 

2025-06-08T00:02:06.317Z,1749340926.317 [DAT](INFO): Rx dataTimestamp_ set to:1749340926.316927
2025-06-08T00:02:06.318Z,1749340926.318 [DAT](INFO): DAT read: Bearing 340.9,   4.0 (Local)

2025-06-08T00:02:06.319Z,1749340926.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.9,   4.0 (Local)

2025-06-08T00:02:06.321Z,1749340926.321 [DAT](INFO): DAT read: Range 10 to 50 :    97.1 m (trip time 64.7 ms) speed 0.6

2025-06-08T00:02:06.326Z,1749340926.326 [DAT](INFO): DAT read: 00:02:05.6027 LVL= 23856, 31825, 16306, 30899, AGC= 69, IDX= 494, 0.08,-1.097,-2.249,-0.412,-1.073, PHS= 0.064,-1.129, 0.658, RAW= 169.1,   5.2, CAL= 169.1,  -4.0, ROT= 340.9,   4.0

2025-06-08T00:02:06.327Z,1749340926.327 [DAT](INFO): got valid direction response:
 00:02:05.6027 LVL= 23856, 31825, 16306, 30899, AGC= 69, IDX= 494, 0.08,-1.097,-2.249,-0.412,-1.073, PHS= 0.064,-1.129, 0.658, RAW= 169.1,   5.2, CAL= 169.1,  -4.0, ROT= 340.9,   4.0

2025-06-08T00:02:06.328Z,1749340926.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:06.329Z,1749340926.329 [DAT](INFO): direction in FSK: [0.942647,-0.326421,-0.069756]
2025-06-08T00:02:06.329Z,1749340926.329 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:06.332Z,1749340926.332 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:06.333Z,1749340926.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:06.568Z,1749340926.568 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:06.568Z,1749340926.568 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:06.568Z,1749340926.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:06.709Z,1749340926.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.099998 m,
      deltaT: 0.503983 s,
      deltaX: -0.599998 m,
      approachRate: -1.190513 m/s,
      rangeRepo size: 4

2025-06-08T00:02:06.711Z,1749340926.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.351669 m,
      bearing: 134.538553 deg,
      lat: 36.906016 deg,
      lon: -122.115842 deg,
      deltaT: 0.503983 s,
      deltaX: -0.595375 m,
      approachRate: -1.181340 m/s,
      posRepo size: 4

2025-06-08T00:02:06.720Z,1749340926.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m.
2025-06-08T00:02:06.722Z,1749340926.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.351669 m,
      nav range: 94.694023 m,
      bearing: 134.609577 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 151.518062 deg,
      new cmd heading: 151.272975 deg.

2025-06-08T00:02:06.728Z,1749340926.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640212 target range: 96.351669 and range: 97.10 m.
2025-06-08T00:02:06.821Z,1749340926.821 [DAT](INFO): DAT read: Rx Time:00:02:06.1025 

2025-06-08T00:02:06.821Z,1749340926.821 [DAT](INFO): Rx dataTimestamp_ set to:1749340926.821173
2025-06-08T00:02:06.823Z,1749340926.823 [DAT](INFO): DAT read: Bearing 342.3,   3.2 (Local)

2025-06-08T00:02:06.823Z,1749340926.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.3,   3.2 (Local)

2025-06-08T00:02:06.826Z,1749340926.826 [DAT](INFO): DAT read: Range 10 to 50 :    96.8 m (trip time 64.5 ms) speed 0.6

2025-06-08T00:02:06.840Z,1749340926.840 [DAT](INFO): DAT read: 00:02:06.1025 LVL= 29552, 32753, 20962, 32755, AGC= 69, IDX= 508,-0.16,-2.455, 2.718,-1.837,-2.422, PHS= 0.055,-1.097, 0.582, RAW= 167.9,   6.2, CAL= 167.7,  -3.2, ROT= 342.3,   3.2

2025-06-08T00:02:06.841Z,1749340926.841 [DAT](INFO): got valid direction response:
 00:02:06.1025 LVL= 29552, 32753, 20962, 32755, AGC= 69, IDX= 508,-0.16,-2.455, 2.718,-1.837,-2.422, PHS= 0.055,-1.097, 0.582, RAW= 167.9,   6.2, CAL= 167.7,  -3.2, ROT= 342.3,   3.2

2025-06-08T00:02:06.841Z,1749340926.841 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:06.842Z,1749340926.842 [DAT](INFO): direction in FSK: [0.951176,-0.303559,-0.055822]
2025-06-08T00:02:06.842Z,1749340926.842 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:06.846Z,1749340926.846 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:06.846Z,1749340926.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:07.072Z,1749340927.072 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:07.072Z,1749340927.072 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:07.072Z,1749340927.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:07.267Z,1749340927.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.800003 m,
      deltaT: 0.504246 s,
      deltaX: -0.299995 m,
      approachRate: -0.594939 m/s,
      rangeRepo size: 4

2025-06-08T00:02:07.273Z,1749340927.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.054497 m,
      bearing: 135.770443 deg,
      lat: 36.906016 deg,
      lon: -122.115842 deg,
      deltaT: 0.504246 s,
      deltaX: -0.297173 m,
      approachRate: -0.589340 m/s,
      posRepo size: 4

2025-06-08T00:02:07.274Z,1749340927.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.05 m.
2025-06-08T00:02:07.280Z,1749340927.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.054497 m,
      nav range: 94.403854 m,
      bearing: 134.569282 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 151.272981 deg,
      new cmd heading: 151.041156 deg.

2025-06-08T00:02:07.281Z,1749340927.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636165 target range: 96.054497 and range: 96.80 m.
2025-06-08T00:02:07.328Z,1749340927.328 [DAT](INFO): DAT read: Rx Time:00:02:06.6022 

2025-06-08T00:02:07.329Z,1749340927.329 [DAT](INFO): Rx dataTimestamp_ set to:1749340927.328483
2025-06-08T00:02:07.332Z,1749340927.332 [DAT](INFO): DAT read: Bearing 342.5,   3.6 (Local)

2025-06-08T00:02:07.332Z,1749340927.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.5,   3.6 (Local)

2025-06-08T00:02:07.336Z,1749340927.336 [DAT](INFO): DAT read: Range 10 to 50 :    96.3 m (trip time 64.2 ms) speed 0.4

2025-06-08T00:02:07.344Z,1749340927.344 [DAT](INFO): DAT read: 00:02:06.6022 LVL= 27920, 32753, 18194, 27843, AGC= 70, IDX= 504, 0.34,-1.283,-2.448,-0.652,-1.271, PHS= 0.077,-1.130, 0.616, RAW= 167.6,   5.7, CAL= 167.5,  -3.6, ROT= 342.5,   3.6

2025-06-08T00:02:07.346Z,1749340927.346 [DAT](INFO): got valid direction response:
 00:02:06.6022 LVL= 27920, 32753, 18194, 27843, AGC= 70, IDX= 504, 0.34,-1.283,-2.448,-0.652,-1.271, PHS= 0.077,-1.130, 0.616, RAW= 167.6,   5.7, CAL= 167.5,  -3.6, ROT= 342.5,   3.6

2025-06-08T00:02:07.347Z,1749340927.347 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:07.349Z,1749340927.349 [DAT](INFO): direction in FSK: [0.951835,-0.300112,-0.062791]
2025-06-08T00:02:07.349Z,1749340927.349 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:07.354Z,1749340927.354 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:07.355Z,1749340927.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:07.576Z,1749340927.576 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:07.576Z,1749340927.576 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:07.576Z,1749340927.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:07.625Z,1749340927.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.300003 m,
      deltaT: 0.507310 s,
      deltaX: -0.500000 m,
      approachRate: -0.985591 m/s,
      rangeRepo size: 4

2025-06-08T00:02:07.647Z,1749340927.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.558350 m,
      bearing: 135.813613 deg,
      lat: 36.906002 deg,
      lon: -122.115855 deg,
      deltaT: 0.507310 s,
      deltaX: -0.496147 m,
      approachRate: -0.977996 m/s,
      posRepo size: 4

2025-06-08T00:02:07.650Z,1749340927.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m.
2025-06-08T00:02:07.679Z,1749340927.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.558350 m,
      nav range: 94.460411 m,
      bearing: 135.661261 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 151.041150 deg,
      new cmd heading: 150.894629 deg.

2025-06-08T00:02:07.682Z,1749340927.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.633608 target range: 95.558350 and range: 96.30 m.
2025-06-08T00:02:07.829Z,1749340927.829 [DAT](INFO): DAT read: Rx Time:00:02:07.1021 

2025-06-08T00:02:07.829Z,1749340927.829 [DAT](INFO): Rx dataTimestamp_ set to:1749340927.829023
2025-06-08T00:02:07.831Z,1749340927.831 [DAT](INFO): DAT read: Bearing 341.7,   4.5 (Local)

2025-06-08T00:02:07.835Z,1749340927.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.7,   4.5 (Local)

2025-06-08T00:02:07.838Z,1749340927.838 [DAT](INFO): DAT read: Range 10 to 50 :    96.2 m (trip time 64.1 ms) speed 0.6

2025-06-08T00:02:07.843Z,1749340927.843 [DAT](INFO): DAT read: 00:02:07.1021 LVL= 32752, 32753, 22962, 32755, AGC= 68, IDX= 503, 0.01,-0.797,-1.943,-0.155,-0.804, PHS= 0.095,-1.092, 0.646, RAW= 168.1,   4.6, CAL= 168.3,  -4.5, ROT= 341.7,   4.5

2025-06-08T00:02:07.844Z,1749340927.844 [DAT](INFO): got valid direction response:
 00:02:07.1021 LVL= 32752, 32753, 22962, 32755, AGC= 68, IDX= 503, 0.01,-0.797,-1.943,-0.155,-0.804, PHS= 0.095,-1.092, 0.646, RAW= 168.1,   4.6, CAL= 168.3,  -4.5, ROT= 341.7,   4.5

2025-06-08T00:02:07.844Z,1749340927.844 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:07.845Z,1749340927.845 [DAT](INFO): direction in FSK: [0.946499,-0.313024,-0.078459]
2025-06-08T00:02:07.845Z,1749340927.845 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:07.853Z,1749340927.853 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:07.853Z,1749340927.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:08.080Z,1749340928.080 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:08.080Z,1749340928.080 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:08.080Z,1749340928.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:08.160Z,1749340928.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.199997 m,
      deltaT: 0.500540 s,
      deltaX: -0.100006 m,
      approachRate: -0.199796 m/s,
      rangeRepo size: 4

2025-06-08T00:02:08.179Z,1749340928.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.460571 m,
      bearing: 134.842669 deg,
      lat: 36.906002 deg,
      lon: -122.115855 deg,
      deltaT: 0.500540 s,
      deltaX: -0.097778 m,
      approachRate: -0.195346 m/s,
      posRepo size: 4

2025-06-08T00:02:08.184Z,1749340928.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.46 m.
2025-06-08T00:02:08.192Z,1749340928.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.460571 m,
      nav range: 94.143326 m,
      bearing: 135.592012 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 150.894629 deg,
      new cmd heading: 150.675461 deg.

2025-06-08T00:02:08.193Z,1749340928.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.629783 target range: 95.460571 and range: 96.20 m.
2025-06-08T00:02:08.333Z,1749340928.333 [DAT](INFO): DAT read: Rx Time:00:02:07.6018 

2025-06-08T00:02:08.333Z,1749340928.333 [DAT](INFO): Rx dataTimestamp_ set to:1749340928.333044
2025-06-08T00:02:08.335Z,1749340928.335 [DAT](INFO): DAT read: Bearing 343.1,   3.2 (Local)

2025-06-08T00:02:08.335Z,1749340928.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.1,   3.2 (Local)

2025-06-08T00:02:08.337Z,1749340928.337 [DAT](INFO): DAT read: Range 10 to 50 :    95.7 m (trip time 63.8 ms) speed 0.4

2025-06-08T00:02:08.342Z,1749340928.342 [DAT](INFO): DAT read: 00:02:07.6018 LVL= 32752, 32753, 24018, 32755, AGC= 69, IDX= 500,-0.37,-2.752, 2.375,-2.147,-2.736, PHS= 0.072,-1.125, 0.586, RAW= 167.0,   6.2, CAL= 166.9,  -3.2, ROT= 343.1,   3.2

2025-06-08T00:02:08.343Z,1749340928.343 [DAT](INFO): got valid direction response:
 00:02:07.6018 LVL= 32752, 32753, 24018, 32755, AGC= 69, IDX= 500,-0.37,-2.752, 2.375,-2.147,-2.736, PHS= 0.072,-1.125, 0.586, RAW= 167.0,   6.2, CAL= 166.9,  -3.2, ROT= 343.1,   3.2

2025-06-08T00:02:08.343Z,1749340928.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:08.344Z,1749340928.344 [DAT](INFO): direction in FSK: [0.955322,-0.290249,-0.055822]
2025-06-08T00:02:08.345Z,1749340928.345 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:08.368Z,1749340928.368 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:08.368Z,1749340928.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:08.584Z,1749340928.584 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:08.584Z,1749340928.584 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:08.584Z,1749340928.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:08.596Z,1749340928.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.699997 m,
      deltaT: 0.504021 s,
      deltaX: -0.500000 m,
      approachRate: -0.992022 m/s,
      rangeRepo size: 4

2025-06-08T00:02:08.598Z,1749340928.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.964409 m,
      bearing: 135.905166 deg,
      lat: 36.906002 deg,
      lon: -122.115855 deg,
      deltaT: 0.504021 s,
      deltaX: -0.496162 m,
      approachRate: -0.984408 m/s,
      posRepo size: 4

2025-06-08T00:02:08.607Z,1749340928.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.96 m.
2025-06-08T00:02:08.610Z,1749340928.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.964409 m,
      nav range: 93.875504 m,
      bearing: 135.534248 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 150.675462 deg,
      new cmd heading: 150.495585 deg.

2025-06-08T00:02:08.627Z,1749340928.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.626643 target range: 94.964409 and range: 95.70 m.
2025-06-08T00:02:08.841Z,1749340928.841 [DAT](INFO): DAT read: Rx Time:00:02:08.1016 

2025-06-08T00:02:08.842Z,1749340928.842 [DAT](INFO): Rx dataTimestamp_ set to:1749340928.841443
2025-06-08T00:02:08.844Z,1749340928.844 [DAT](INFO): DAT read: Bearing 343.0,   4.0 (Local)

2025-06-08T00:02:08.844Z,1749340928.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.0,   4.0 (Local)

2025-06-08T00:02:08.846Z,1749340928.846 [DAT](INFO): DAT read: Range 10 to 50 :    95.4 m (trip time 63.6 ms) speed 0.6

2025-06-08T00:02:08.856Z,1749340928.856 [DAT](INFO): DAT read: 00:02:08.1016 LVL= 23792, 31777, 16338, 32755, AGC= 69, IDX= 498, 0.12, 1.451, 0.235, 2.075, 1.436, PHS= 0.103,-1.153, 0.637, RAW= 166.9,   5.2, CAL= 167.0,  -4.0, ROT= 343.0,   4.0

2025-06-08T00:02:08.857Z,1749340928.857 [DAT](INFO): got valid direction response:
 00:02:08.1016 LVL= 23792, 31777, 16338, 32755, AGC= 69, IDX= 498, 0.12, 1.451, 0.235, 2.075, 1.436, PHS= 0.103,-1.153, 0.637, RAW= 166.9,   5.2, CAL= 167.0,  -4.0, ROT= 343.0,   4.0

2025-06-08T00:02:08.857Z,1749340928.857 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:08.858Z,1749340928.858 [DAT](INFO): direction in FSK: [0.953975,-0.291660,-0.069756]
2025-06-08T00:02:08.858Z,1749340928.858 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:08.862Z,1749340928.862 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:08.862Z,1749340928.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:09.081Z,1749340929.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.400002 m,
      deltaT: 0.508399 s,
      deltaX: -0.299995 m,
      approachRate: -0.590079 m/s,
      rangeRepo size: 4

2025-06-08T00:02:09.088Z,1749340929.088 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:09.088Z,1749340929.088 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:09.088Z,1749340929.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:09.083Z,1749340929.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.669144 m,
      bearing: 135.625251 deg,
      lat: 36.906001 deg,
      lon: -122.115858 deg,
      deltaT: 0.508399 s,
      deltaX: -0.295265 m,
      approachRate: -0.580775 m/s,
      posRepo size: 4

2025-06-08T00:02:09.092Z,1749340929.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m.
2025-06-08T00:02:09.095Z,1749340929.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.669144 m,
      nav range: 93.364571 m,
      bearing: 135.624920 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 150.495582 deg,
      new cmd heading: 150.287353 deg.

2025-06-08T00:02:09.108Z,1749340929.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623009 target range: 94.669144 and range: 95.40 m.
2025-06-08T00:02:09.341Z,1749340929.341 [DAT](INFO): DAT read: Rx Time:00:02:08.6013 

2025-06-08T00:02:09.341Z,1749340929.341 [DAT](INFO): Rx dataTimestamp_ set to:1749340929.340975
2025-06-08T00:02:09.343Z,1749340929.343 [DAT](INFO): DAT read: Bearing 343.7,   3.8 (Local)

2025-06-08T00:02:09.343Z,1749340929.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.7,   3.8 (Local)

2025-06-08T00:02:09.345Z,1749340929.345 [DAT](INFO): DAT read: Range 10 to 50 :    95.0 m (trip time 63.3 ms) speed 0.7

2025-06-08T00:02:09.360Z,1749340929.360 [DAT](INFO): DAT read: 00:02:08.6013 LVL= 26416, 32753, 16370, 32755, AGC= 68, IDX= 495,-0.14,-1.140,-2.316,-0.558,-1.156, PHS= 0.104,-1.113, 0.595, RAW= 166.2,   5.5, CAL= 166.3,  -3.8, ROT= 343.7,   3.8

2025-06-08T00:02:09.361Z,1749340929.361 [DAT](INFO): got valid direction response:
 00:02:08.6013 LVL= 26416, 32753, 16370, 32755, AGC= 68, IDX= 495,-0.14,-1.140,-2.316,-0.558,-1.156, PHS= 0.104,-1.113, 0.595, RAW= 166.2,   5.5, CAL= 166.3,  -3.8, ROT= 343.7,   3.8

2025-06-08T00:02:09.362Z,1749340929.362 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:09.363Z,1749340929.363 [DAT](INFO): direction in FSK: [0.957695,-0.280049,-0.066274]
2025-06-08T00:02:09.367Z,1749340929.367 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:09.383Z,1749340929.383 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:09.392Z,1749340929.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:09.522Z,1749340929.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.000000 m,
      deltaT: 0.499532 s,
      deltaX: -0.400002 m,
      approachRate: -0.800753 m/s,
      rangeRepo size: 4

2025-06-08T00:02:09.528Z,1749340929.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.272209 m,
      bearing: 136.170237 deg,
      lat: 36.906001 deg,
      lon: -122.115858 deg,
      deltaT: 0.499532 s,
      deltaX: -0.396935 m,
      approachRate: -0.794613 m/s,
      posRepo size: 4

2025-06-08T00:02:09.529Z,1749340929.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.27 m.
2025-06-08T00:02:09.536Z,1749340929.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.272209 m,
      nav range: 93.043930 m,
      bearing: 135.581188 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 150.287357 deg,
      new cmd heading: 150.104191 deg.

2025-06-08T00:02:09.537Z,1749340929.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619812 target range: 94.272209 and range: 95.00 m.
2025-06-08T00:02:09.593Z,1749340929.593 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:09.594Z,1749340929.594 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:09.594Z,1749340929.594 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:09.845Z,1749340929.845 [DAT](INFO): DAT read: Rx Time:00:02:09.1012 

2025-06-08T00:02:09.845Z,1749340929.845 [DAT](INFO): Rx dataTimestamp_ set to:1749340929.845075
2025-06-08T00:02:09.847Z,1749340929.847 [DAT](INFO): DAT read: Bearing 343.4,   4.6 (Local)

2025-06-08T00:02:09.849Z,1749340929.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.4,   4.6 (Local)

2025-06-08T00:02:09.851Z,1749340929.851 [DAT](INFO): DAT read: Range 10 to 50 :    94.8 m (trip time 63.2 ms) speed 0.9

2025-06-08T00:02:09.859Z,1749340929.859 [DAT](INFO): DAT read: 00:02:09.1012 LVL= 27632, 32753, 21218, 32755, AGC= 69, IDX= 510,-0.43,-0.042,-1.223, 0.544,-0.084, PHS= 0.130,-1.093, 0.625, RAW= 166.2,   4.5, CAL= 166.6,  -4.6, ROT= 343.4,   4.6

2025-06-08T00:02:09.860Z,1749340929.860 [DAT](INFO): got valid direction response:
 00:02:09.1012 LVL= 27632, 32753, 21218, 32755, AGC= 69, IDX= 510,-0.43,-0.042,-1.223, 0.544,-0.084, PHS= 0.130,-1.093, 0.625, RAW= 166.2,   4.5, CAL= 166.6,  -4.6, ROT= 343.4,   4.6

2025-06-08T00:02:09.861Z,1749340929.861 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:09.862Z,1749340929.862 [DAT](INFO): direction in FSK: [0.955236,-0.284768,-0.080199]
2025-06-08T00:02:09.862Z,1749340929.862 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:09.881Z,1749340929.881 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:09.882Z,1749340929.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:09.889Z,1749340929.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.800003 m,
      deltaT: 0.504100 s,
      deltaX: -0.199997 m,
      approachRate: -0.396741 m/s,
      rangeRepo size: 4

2025-06-08T00:02:09.895Z,1749340929.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.078094 m,
      bearing: 135.710955 deg,
      lat: 36.906001 deg,
      lon: -122.115860 deg,
      deltaT: 0.504100 s,
      deltaX: -0.194115 m,
      approachRate: -0.385072 m/s,
      posRepo size: 4

2025-06-08T00:02:09.896Z,1749340929.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.08 m.
2025-06-08T00:02:09.898Z,1749340929.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.078094 m,
      nav range: 92.816887 m,
      bearing: 135.631714 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138499 deg/s,
      cmd heading: 150.104185 deg,
      new cmd heading: 149.951571 deg.

2025-06-08T00:02:09.908Z,1749340929.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617149 target range: 94.078094 and range: 94.80 m.
2025-06-08T00:02:10.096Z,1749340930.096 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:10.096Z,1749340930.096 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:10.096Z,1749340930.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:10.293Z,1749340930.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:10.295Z,1749340930.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.08 m.
2025-06-08T00:02:10.298Z,1749340930.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.078094 m,
      nav range: 92.528809 m,
      bearing: 135.577689 deg,
      approach rate: -0.708751 m/s,
      LOS rate: -0.133329 deg/s,
      cmd heading: 149.951571 deg,
      new cmd heading: 149.788993 deg.

2025-06-08T00:02:10.299Z,1749340930.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.614311 target range: 94.078094 and range: 94.80 m.
2025-06-08T00:02:10.350Z,1749340930.350 [DAT](INFO): DAT read: Rx Time:00:02:09.6009 

2025-06-08T00:02:10.351Z,1749340930.351 [DAT](INFO): Rx dataTimestamp_ set to:1749340930.350221
2025-06-08T00:02:10.353Z,1749340930.353 [DAT](INFO): DAT read: Bearing 344.5,   4.7 (Local)

2025-06-08T00:02:10.353Z,1749340930.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.5,   4.7 (Local)

2025-06-08T00:02:10.357Z,1749340930.357 [DAT](INFO): DAT read: Range 10 to 50 :    94.4 m (trip time 62.9 ms) speed 0.5

2025-06-08T00:02:10.376Z,1749340930.376 [DAT](INFO): DAT read: 00:02:09.6009 LVL= 25792, 32753, 17634, 32755, AGC= 68, IDX= 506, 0.24, 1.194,-0.010, 1.744, 1.132, PHS= 0.150,-1.095, 0.609, RAW= 165.1,   4.4, CAL= 165.5,  -4.7, ROT= 344.5,   4.7

2025-06-08T00:02:10.379Z,1749340930.379 [DAT](INFO): got valid direction response:
 00:02:09.6009 LVL= 25792, 32753, 17634, 32755, AGC= 68, IDX= 506, 0.24, 1.194,-0.010, 1.744, 1.132, PHS= 0.150,-1.095, 0.609, RAW= 165.1,   4.4, CAL= 165.5,  -4.7, ROT= 344.5,   4.7

2025-06-08T00:02:10.384Z,1749340930.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:10.385Z,1749340930.385 [DAT](INFO): direction in FSK: [0.960390,-0.266340,-0.081939]
2025-06-08T00:02:10.385Z,1749340930.385 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:10.409Z,1749340930.409 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:10.409Z,1749340930.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:10.600Z,1749340930.600 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:10.600Z,1749340930.600 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:10.601Z,1749340930.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:10.734Z,1749340930.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.400002 m,
      deltaT: 0.505146 s,
      deltaX: -0.400002 m,
      approachRate: -0.791853 m/s,
      rangeRepo size: 4

2025-06-08T00:02:10.736Z,1749340930.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.681137 m,
      bearing: 136.498251 deg,
      lat: 36.905998 deg,
      lon: -122.115862 deg,
      deltaT: 0.505146 s,
      deltaX: -0.396957 m,
      approachRate: -0.785827 m/s,
      posRepo size: 4

2025-06-08T00:02:10.737Z,1749340930.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.68 m.
2025-06-08T00:02:10.740Z,1749340930.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.681137 m,
      nav range: 92.305237 m,
      bearing: 135.711985 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.133329 deg/s,
      cmd heading: 149.788999 deg,
      new cmd heading: 149.613828 deg.

2025-06-08T00:02:10.741Z,1749340930.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611254 target range: 93.681137 and range: 94.40 m.
2025-06-08T00:02:10.854Z,1749340930.854 [DAT](INFO): DAT read: Rx Time:00:02:10.1006 

2025-06-08T00:02:10.855Z,1749340930.855 [DAT](INFO): Rx dataTimestamp_ set to:1749340930.854473
2025-06-08T00:02:10.856Z,1749340930.856 [DAT](INFO): DAT read: Bearing 343.8,   5.3 (Local)

2025-06-08T00:02:10.856Z,1749340930.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.8,   5.3 (Local)

2025-06-08T00:02:10.859Z,1749340930.859 [DAT](INFO): DAT read: Range 10 to 50 :    93.9 m (trip time 62.6 ms) speed 0.7

2025-06-08T00:02:10.870Z,1749340930.870 [DAT](INFO): DAT read: 00:02:10.1006 LVL= 26352, 32753, 16290, 32755, AGC= 68, IDX= 504, 0.12, 0.888,-0.323, 1.460, 0.814, PHS= 0.162,-1.090, 0.643, RAW= 165.6,   3.7, CAL= 166.2,  -5.3, ROT= 343.8,   5.3

2025-06-08T00:02:10.872Z,1749340930.872 [DAT](INFO): got valid direction response:
 00:02:10.1006 LVL= 26352, 32753, 16290, 32755, AGC= 68, IDX= 504, 0.12, 0.888,-0.323, 1.460, 0.814, PHS= 0.162,-1.090, 0.643, RAW= 165.6,   3.7, CAL= 166.2,  -5.3, ROT= 343.8,   5.3

2025-06-08T00:02:10.873Z,1749340930.873 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:10.874Z,1749340930.874 [DAT](INFO): direction in FSK: [0.956188,-0.277799,-0.092371]
2025-06-08T00:02:10.874Z,1749340930.874 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:10.878Z,1749340930.878 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:10.878Z,1749340930.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:11.104Z,1749340931.104 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:11.104Z,1749340931.104 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:11.105Z,1749340931.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:11.244Z,1749340931.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.900002 m,
      deltaT: 0.504252 s,
      deltaX: -0.500000 m,
      approachRate: -0.991568 m/s,
      rangeRepo size: 4

2025-06-08T00:02:11.246Z,1749340931.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.189537 m,
      bearing: 135.798649 deg,
      lat: 36.905999 deg,
      lon: -122.115866 deg,
      deltaT: 0.504252 s,
      deltaX: -0.491600 m,
      approachRate: -0.974909 m/s,
      posRepo size: 4

2025-06-08T00:02:11.247Z,1749340931.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.19 m.
2025-06-08T00:02:11.253Z,1749340931.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.189537 m,
      nav range: 91.683121 m,
      bearing: 135.798324 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.133329 deg/s,
      cmd heading: 149.613832 deg,
      new cmd heading: 149.411382 deg.

2025-06-08T00:02:11.254Z,1749340931.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607721 target range: 93.189537 and range: 93.90 m.
2025-06-08T00:02:11.358Z,1749340931.358 [DAT](INFO): DAT read: Rx Time:00:02:10.6003 

2025-06-08T00:02:11.358Z,1749340931.358 [DAT](INFO): Rx dataTimestamp_ set to:1749340931.358175
2025-06-08T00:02:11.360Z,1749340931.360 [DAT](INFO): DAT read: Bearing 344.1,   5.2 (Local)

2025-06-08T00:02:11.361Z,1749340931.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.1,   5.2 (Local)

2025-06-08T00:02:11.363Z,1749340931.363 [DAT](INFO): DAT read: Range 10 to 50 :    93.6 m (trip time 62.4 ms) speed 0.3

2025-06-08T00:02:11.368Z,1749340931.368 [DAT](INFO): DAT read: 00:02:10.6003 LVL= 28912, 32529, 14578, 32755, AGC= 69, IDX= 501, 0.10,-0.969,-2.162,-0.416,-1.043, PHS= 0.162,-1.072, 0.623, RAW= 165.3,   3.8, CAL= 165.9,  -5.2, ROT= 344.1,   5.2

2025-06-08T00:02:11.369Z,1749340931.369 [DAT](INFO): got valid direction response:
 00:02:10.6003 LVL= 28912, 32529, 14578, 32755, AGC= 69, IDX= 501, 0.10,-0.969,-2.162,-0.416,-1.043, PHS= 0.162,-1.072, 0.623, RAW= 165.3,   3.8, CAL= 165.9,  -5.2, ROT= 344.1,   5.2

2025-06-08T00:02:11.370Z,1749340931.370 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:11.371Z,1749340931.371 [DAT](INFO): direction in FSK: [0.957783,-0.272832,-0.090633]
2025-06-08T00:02:11.371Z,1749340931.371 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:11.378Z,1749340931.378 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:11.379Z,1749340931.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:11.582Z,1749340931.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.599998 m,
      deltaT: 0.503702 s,
      deltaX: -0.300003 m,
      approachRate: -0.595596 m/s,
      rangeRepo size: 4

2025-06-08T00:02:11.588Z,1749340931.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.891808 m,
      bearing: 136.100877 deg,
      lat: 36.905996 deg,
      lon: -122.115866 deg,
      deltaT: 0.503702 s,
      deltaX: -0.297729 m,
      approachRate: -0.591083 m/s,
      posRepo size: 4

2025-06-08T00:02:11.589Z,1749340931.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.89 m.
2025-06-08T00:02:11.596Z,1749340931.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.891808 m,
      nav range: 91.709503 m,
      bearing: 135.913082 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.133329 deg/s,
      cmd heading: 149.411385 deg,
      new cmd heading: 149.276829 deg.

2025-06-08T00:02:11.597Z,1749340931.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605372 target range: 92.891808 and range: 93.60 m.
2025-06-08T00:02:11.608Z,1749340931.608 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:11.608Z,1749340931.608 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:11.608Z,1749340931.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:11.871Z,1749340931.871 [DAT](INFO): DAT read: Rx Time:00:02:11.1002 

2025-06-08T00:02:11.872Z,1749340931.872 [DAT](INFO): Rx dataTimestamp_ set to:1749340931.871246
2025-06-08T00:02:11.873Z,1749340931.873 [DAT](INFO): DAT read: Bearing 344.2,   3.7 (Local)

2025-06-08T00:02:11.873Z,1749340931.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.2,   3.7 (Local)

2025-06-08T00:02:11.877Z,1749340931.877 [DAT](INFO): DAT read: Range 10 to 50 :    93.5 m (trip time 62.3 ms) speed 0.7

2025-06-08T00:02:11.884Z,1749340931.884 [DAT](INFO): DAT read: 00:02:11.1002 LVL= 32752, 32753, 21234, 32755, AGC= 69, IDX= 500, 0.11, 0.394,-0.817, 0.971, 0.369, PHS= 0.112,-1.140, 0.599, RAW= 165.7,   5.6, CAL= 165.8,  -3.7, ROT= 344.2,   3.7

2025-06-08T00:02:11.885Z,1749340931.885 [DAT](INFO): got valid direction response:
 00:02:11.1002 LVL= 32752, 32753, 21234, 32755, AGC= 69, IDX= 500, 0.11, 0.394,-0.817, 0.971, 0.369, PHS= 0.112,-1.140, 0.599, RAW= 165.7,   5.6, CAL= 165.8,  -3.7, ROT= 344.2,   3.7

2025-06-08T00:02:11.885Z,1749340931.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:11.886Z,1749340931.886 [DAT](INFO): direction in FSK: [0.960212,-0.271713,-0.064532]
2025-06-08T00:02:11.886Z,1749340931.886 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:11.890Z,1749340931.890 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:11.890Z,1749340931.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:12.095Z,1749340932.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.500000 m,
      deltaT: 0.513071 s,
      deltaX: -0.099998 m,
      approachRate: -0.194902 m/s,
      rangeRepo size: 4

2025-06-08T00:02:12.101Z,1749340932.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.796570 m,
      bearing: 135.668496 deg,
      lat: 36.905996 deg,
      lon: -122.115866 deg,
      deltaT: 0.513071 s,
      deltaX: -0.095238 m,
      approachRate: -0.185623 m/s,
      posRepo size: 4

2025-06-08T00:02:12.102Z,1749340932.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-06-08T00:02:12.108Z,1749340932.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.796570 m,
      nav range: 91.409805 m,
      bearing: 135.858088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.133329 deg/s,
      cmd heading: 149.276831 deg,
      new cmd heading: 149.069354 deg.

2025-06-08T00:02:12.112Z,1749340932.112 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:12.112Z,1749340932.112 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:12.112Z,1749340932.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:12.138Z,1749340932.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.601751 target range: 92.796570 and range: 93.50 m.
2025-06-08T00:02:12.365Z,1749340932.365 [DAT](INFO): DAT read: Rx Time:00:02:11.6000 

2025-06-08T00:02:12.365Z,1749340932.365 [DAT](INFO): Rx dataTimestamp_ set to:1749340932.364899
2025-06-08T00:02:12.366Z,1749340932.366 [DAT](INFO): DAT read: Bearing 344.5,   4.3 (Local)

2025-06-08T00:02:12.367Z,1749340932.367 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.5,   4.3 (Local)

2025-06-08T00:02:12.369Z,1749340932.369 [DAT](INFO): DAT read: Range 10 to 50 :    93.0 m (trip time 62.0 ms) speed 0.4

2025-06-08T00:02:12.374Z,1749340932.374 [DAT](INFO): DAT read: 00:02:11.6000 LVL= 29536, 32753, 16626, 32755, AGC= 68, IDX= 497, 0.17,-0.541,-1.781, 0.025,-0.596, PHS= 0.143,-1.139, 0.618, RAW= 165.2,   4.9, CAL= 165.5,  -4.3, ROT= 344.5,   4.3

2025-06-08T00:02:12.400Z,1749340932.400 [DAT](INFO): got valid direction response:
 00:02:11.6000 LVL= 29536, 32753, 16626, 32755, AGC= 68, IDX= 497, 0.17,-0.541,-1.781, 0.025,-0.596, PHS= 0.143,-1.139, 0.618, RAW= 165.2,   4.9, CAL= 165.5,  -4.3, ROT= 344.5,   4.3

2025-06-08T00:02:12.401Z,1749340932.401 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:12.402Z,1749340932.402 [DAT](INFO): direction in FSK: [0.960918,-0.266486,-0.074979]
2025-06-08T00:02:12.402Z,1749340932.402 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:12.405Z,1749340932.405 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:12.406Z,1749340932.406 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:12.571Z,1749340932.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.000000 m,
      deltaT: 0.493653 s,
      deltaX: -0.500000 m,
      approachRate: -1.012857 m/s,
      rangeRepo size: 4

2025-06-08T00:02:12.573Z,1749340932.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.300331 m,
      bearing: 135.644100 deg,
      lat: 36.905996 deg,
      lon: -122.115866 deg,
      deltaT: 0.493653 s,
      deltaX: -0.496239 m,
      approachRate: -1.005238 m/s,
      posRepo size: 4

2025-06-08T00:02:12.574Z,1749340932.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:12.581Z,1749340932.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 91.082954 m,
      bearing: 135.803904 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.133329 deg/s,
      cmd heading: 149.069357 deg,
      new cmd heading: 148.880427 deg.

2025-06-08T00:02:12.582Z,1749340932.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598454 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:12.616Z,1749340932.616 [DAT](INFO): Reached modem response timeout
2025-06-08T00:02:12.616Z,1749340932.616 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:02:12.616Z,1749340932.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:12.868Z,1749340932.868 [DAT](INFO): DAT read: user:2023>

2025-06-08T00:02:12.869Z,1749340932.869 [DAT](INFO): DAT read: Tx time:00:02:12.5297

2025-06-08T00:02:12.869Z,1749340932.869 [DAT](INFO): Ping request sent.
2025-06-08T00:02:12.869Z,1749340932.869 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:12.869Z,1749340932.869 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:12.870Z,1749340932.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-06-08T00:02:12.916Z,1749340932.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:12.918Z,1749340932.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:12.927Z,1749340932.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 90.862106 m,
      bearing: 135.767602 deg,
      approach rate: -0.628593 m/s,
      LOS rate: -0.103577 deg/s,
      cmd heading: 148.880434 deg,
      new cmd heading: 148.771262 deg.

2025-06-08T00:02:12.928Z,1749340932.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596548 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:13.120Z,1749340933.120 [DAT](INFO): DAT read: TxSync time:00:02:12.5290

2025-06-08T00:02:13.121Z,1749340933.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251849
2025-06-08T00:02:13.322Z,1749340933.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:13.325Z,1749340933.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 90.608902 m,
      bearing: 135.724994 deg,
      approach rate: -0.626185 m/s,
      LOS rate: -0.105666 deg/s,
      cmd heading: 148.771260 deg,
      new cmd heading: 148.643079 deg.

2025-06-08T00:02:13.326Z,1749340933.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594311 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:13.373Z,1749340933.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503917
2025-06-08T00:02:13.624Z,1749340933.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754924
2025-06-08T00:02:13.699Z,1749340933.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:13.702Z,1749340933.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 90.382416 m,
      bearing: 135.687609 deg,
      approach rate: -0.601212 m/s,
      LOS rate: -0.099488 deg/s,
      cmd heading: 148.643085 deg,
      new cmd heading: 148.530649 deg.

2025-06-08T00:02:13.702Z,1749340933.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592349 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:13.876Z,1749340933.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007030
2025-06-08T00:02:14.128Z,1749340934.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258970
2025-06-08T00:02:14.171Z,1749340934.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:14.177Z,1749340934.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 90.117180 m,
      bearing: 135.647124 deg,
      approach rate: -0.561976 m/s,
      LOS rate: -0.086030 deg/s,
      cmd heading: 148.530646 deg,
      new cmd heading: 148.408835 deg.

2025-06-08T00:02:14.178Z,1749340934.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.590223 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:14.381Z,1749340934.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511599
2025-06-08T00:02:14.601Z,1749340934.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:14.604Z,1749340934.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 89.853012 m,
      bearing: 135.607455 deg,
      approach rate: -0.614151 m/s,
      LOS rate: -0.092496 deg/s,
      cmd heading: 148.408836 deg,
      new cmd heading: 148.289480 deg.

2025-06-08T00:02:14.605Z,1749340934.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588140 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:14.632Z,1749340934.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762997
2025-06-08T00:02:14.884Z,1749340934.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014892
2025-06-08T00:02:15.005Z,1749340935.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:15.024Z,1749340935.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:15.026Z,1749340935.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 89.614365 m,
      bearing: 135.572181 deg,
      approach rate: -0.564228 m/s,
      LOS rate: -0.083620 deg/s,
      cmd heading: 148.289486 deg,
      new cmd heading: 148.183381 deg.

2025-06-08T00:02:15.032Z,1749340935.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586288 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:15.137Z,1749340935.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267521
2025-06-08T00:02:15.388Z,1749340935.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518839
2025-06-08T00:02:15.481Z,1749340935.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:15.484Z,1749340935.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 89.338646 m,
      bearing: 135.530317 deg,
      approach rate: -0.602926 m/s,
      LOS rate: -0.091829 deg/s,
      cmd heading: 148.183386 deg,
      new cmd heading: 148.057405 deg.

2025-06-08T00:02:15.485Z,1749340935.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584089 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:15.641Z,1749340935.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771982
2025-06-08T00:02:15.857Z,1749340935.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:15.860Z,1749340935.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 89.119766 m,
      bearing: 135.497297 deg,
      approach rate: -0.582581 m/s,
      LOS rate: -0.088103 deg/s,
      cmd heading: 148.057410 deg,
      new cmd heading: 147.958107 deg.

2025-06-08T00:02:15.861Z,1749340935.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582356 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:15.892Z,1749340935.892 [DAT](INFO): DAT read: Rx Time:00:02:15.0566

2025-06-08T00:02:15.893Z,1749340935.893 [DAT](INFO): Rx dataTimestamp_ set to:1749340935.892539
2025-06-08T00:02:15.893Z,1749340935.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024166
2025-06-08T00:02:16.146Z,1749340936.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277005
2025-06-08T00:02:16.365Z,1749340936.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.30 m.
2025-06-08T00:02:16.373Z,1749340936.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.300331 m,
      nav range: 88.833687 m,
      bearing: 135.454966 deg,
      approach rate: -0.563581 m/s,
      LOS rate: -0.083660 deg/s,
      cmd heading: 147.958112 deg,
      new cmd heading: 147.830712 deg.

2025-06-08T00:02:16.374Z,1749340936.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580133 target range: 92.300331 and range: 93.00 m.
2025-06-08T00:02:16.407Z,1749340936.407 [DAT](INFO): DAT read: 00:02:15.0566 LVL= 23248, 24561, 16626, 22883, AGC= 70, IDX=  37, 0.08,-1.037,-2.279,-0.627,-1.151, PHS= 0.202,-1.081, 0.521, RAW= 160.9,   4.9, CAL= 161.3,  -4.3, ROT= 348.7,   4.3

2025-06-08T00:02:16.408Z,1749340936.408 [DAT](INFO): got valid direction response:
 00:02:15.0566 LVL= 23248, 24561, 16626, 22883, AGC= 70, IDX=  37, 0.08,-1.037,-2.279,-0.627,-1.151, PHS= 0.202,-1.081, 0.521, RAW= 160.9,   4.9, CAL= 161.3,  -4.3, ROT= 348.7,   4.3

2025-06-08T00:02:16.409Z,1749340936.409 [DAT](INFO): DAT read: Bearing 348.7,   4.3 (Local)

2025-06-08T00:02:16.409Z,1749340936.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7,   4.3 (Local)

2025-06-08T00:02:16.411Z,1749340936.411 [DAT](INFO): DAT read: Range 10 to 50 : 92.0 m  (Round-trip  122.7 ms) speed  0.5 m/s

2025-06-08T00:02:16.412Z,1749340936.412 [DAT](INFO): DAT read: user:2024>

2025-06-08T00:02:16.412Z,1749340936.412 [DAT](INFO): DAT read: Tx time:00:02:16.1797

2025-06-08T00:02:16.413Z,1749340936.413 [DAT](INFO): Ping request sent.
2025-06-08T00:02:16.413Z,1749340936.413 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:16.413Z,1749340936.413 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:16.414Z,1749340936.414 [DAT](INFO): direction in FSK: [0.977854,-0.195394,-0.074979]
2025-06-08T00:02:16.414Z,1749340936.414 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:16.415Z,1749340936.415 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:16.418Z,1749340936.418 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:16.418Z,1749340936.418 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:16.652Z,1749340936.652 [DAT](INFO): DAT read: TxSync time:00:02:16.1790

2025-06-08T00:02:16.739Z,1749340936.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.000000 m,
      deltaT: 4.035405 s,
      deltaX: -1.000000 m,
      approachRate: -0.247807 m/s,
      rangeRepo size: 4

2025-06-08T00:02:16.742Z,1749340936.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.317757 m,
      bearing: 138.070216 deg,
      lat: 36.905996 deg,
      lon: -122.115866 deg,
      deltaT: 4.035405 s,
      deltaX: -0.982574 m,
      approachRate: -0.243488 m/s,
      posRepo size: 4

2025-06-08T00:02:16.742Z,1749340936.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:16.749Z,1749340936.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 88.618500 m,
      bearing: 135.422942 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.083660 deg/s,
      cmd heading: 147.830716 deg,
      new cmd heading: 147.739683 deg.

2025-06-08T00:02:16.750Z,1749340936.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.578544 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:17.086Z,1749340937.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:17.089Z,1749340937.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:17.092Z,1749340937.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 88.403091 m,
      bearing: 135.391363 deg,
      approach rate: -0.595083 m/s,
      LOS rate: -0.087452 deg/s,
      cmd heading: 147.739683 deg,
      new cmd heading: 147.644715 deg.

2025-06-08T00:02:17.093Z,1749340937.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576886 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:17.158Z,1749340937.158 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:17.158Z,1749340937.158 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:17.159Z,1749340937.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:17.408Z,1749340937.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995279
2025-06-08T00:02:17.538Z,1749340937.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:17.562Z,1749340937.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 88.130676 m,
      bearing: 135.356944 deg,
      approach rate: -0.606274 m/s,
      LOS rate: -0.076837 deg/s,
      cmd heading: 147.644716 deg,
      new cmd heading: 147.541141 deg.

2025-06-08T00:02:17.563Z,1749340937.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575079 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:17.661Z,1749340937.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247608
2025-06-08T00:02:17.910Z,1749340937.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:17.912Z,1749340937.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499380
2025-06-08T00:02:17.920Z,1749340937.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 87.908203 m,
      bearing: 135.328673 deg,
      approach rate: -0.598824 m/s,
      LOS rate: -0.076289 deg/s,
      cmd heading: 147.541143 deg,
      new cmd heading: 147.456115 deg.

2025-06-08T00:02:17.921Z,1749340937.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573595 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:18.166Z,1749340938.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752893
2025-06-08T00:02:18.330Z,1749340938.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:18.333Z,1749340938.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 87.650993 m,
      bearing: 135.296778 deg,
      approach rate: -0.612394 m/s,
      LOS rate: -0.076162 deg/s,
      cmd heading: 147.456121 deg,
      new cmd heading: 147.360155 deg.

2025-06-08T00:02:18.334Z,1749340938.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571920 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:18.417Z,1749340938.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004569
2025-06-08T00:02:18.668Z,1749340938.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255214
2025-06-08T00:02:18.715Z,1749340938.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:18.718Z,1749340938.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 87.419960 m,
      bearing: 135.268398 deg,
      approach rate: -0.599650 m/s,
      LOS rate: -0.073856 deg/s,
      cmd heading: 147.360157 deg,
      new cmd heading: 147.274790 deg.

2025-06-08T00:02:18.719Z,1749340938.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570430 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:18.923Z,1749340938.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510027
2025-06-08T00:02:19.150Z,1749340939.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:19.163Z,1749340939.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:19.175Z,1749340939.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761437
2025-06-08T00:02:19.189Z,1749340939.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 87.176323 m,
      bearing: 135.238677 deg,
      approach rate: -0.546265 m/s,
      LOS rate: -0.066824 deg/s,
      cmd heading: 147.274793 deg,
      new cmd heading: 147.185381 deg.

2025-06-08T00:02:19.200Z,1749340939.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568870 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:19.426Z,1749340939.426 [DAT](INFO): DAT read: Rx Time:00:02:18.7037

2025-06-08T00:02:19.426Z,1749340939.426 [DAT](INFO): Rx dataTimestamp_ set to:1749340939.425759
2025-06-08T00:02:19.427Z,1749340939.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013689
2025-06-08T00:02:19.534Z,1749340939.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:19.553Z,1749340939.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 86.906082 m,
      bearing: 135.208168 deg,
      approach rate: -0.725490 m/s,
      LOS rate: -0.082160 deg/s,
      cmd heading: 147.185386 deg,
      new cmd heading: 147.093574 deg.

2025-06-08T00:02:19.554Z,1749340939.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567267 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:19.677Z,1749340939.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263734
2025-06-08T00:02:19.932Z,1749340939.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518021
2025-06-08T00:02:19.985Z,1749340939.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.32 m.
2025-06-08T00:02:19.993Z,1749340939.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.317757 m,
      nav range: 86.636253 m,
      bearing: 135.178126 deg,
      approach rate: -0.597314 m/s,
      LOS rate: -0.066710 deg/s,
      cmd heading: 147.093574 deg,
      new cmd heading: 147.003168 deg.

2025-06-08T00:02:19.994Z,1749340939.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565689 target range: 91.317757 and range: 92.00 m.
2025-06-08T00:02:20.197Z,1749340940.197 [DAT](INFO): DAT read: 00:02:18.7037 LVL= 21136, 24561, 16066, 31651, AGC= 68, IDX= 406,-0.07,-2.158, 2.848,-1.787,-2.330, PHS= 0.260,-1.057, 0.540, RAW= 159.4,   3.5, CAL= 160.5,  -5.5, ROT= 349.5,   5.5

2025-06-08T00:02:20.198Z,1749340940.198 [DAT](INFO): got valid direction response:
 00:02:18.7037 LVL= 21136, 24561, 16066, 31651, AGC= 68, IDX= 406,-0.07,-2.158, 2.848,-1.787,-2.330, PHS= 0.260,-1.057, 0.540, RAW= 159.4,   3.5, CAL= 160.5,  -5.5, ROT= 349.5,   5.5

2025-06-08T00:02:20.199Z,1749340940.199 [DAT](INFO): DAT read: Bearing 349.5,   5.5 (Local)

2025-06-08T00:02:20.229Z,1749340940.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5,   5.5 (Local)

2025-06-08T00:02:20.242Z,1749340940.242 [DAT](INFO): DAT read: Range 10 to 50 : 89.7 m  (Round-trip  119.7 ms) speed  0.8 m/s

2025-06-08T00:02:20.248Z,1749340940.248 [DAT](INFO): DAT read: user:2025>

2025-06-08T00:02:20.249Z,1749340940.249 [DAT](INFO): DAT read: Tx time:00:02:19.8298

2025-06-08T00:02:20.250Z,1749340940.250 [DAT](INFO): Ping request sent.
2025-06-08T00:02:20.250Z,1749340940.250 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:20.250Z,1749340940.250 [DAT](INFO): DAT read: TxSync time:00:02:19.8291

2025-06-08T00:02:20.251Z,1749340940.251 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:20.257Z,1749340940.257 [DAT](INFO): direction in FSK: [0.978728,-0.181397,-0.095846]
2025-06-08T00:02:20.257Z,1749340940.257 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:20.258Z,1749340940.258 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:20.277Z,1749340940.277 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:20.278Z,1749340940.278 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:20.531Z,1749340940.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.699997 m,
      deltaT: 3.781164 s,
      deltaX: -2.300003 m,
      approachRate: -0.608279 m/s,
      rangeRepo size: 4

2025-06-08T00:02:20.537Z,1749340940.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.042343 m,
      bearing: 137.878077 deg,
      lat: 36.905995 deg,
      lon: -122.115871 deg,
      deltaT: 3.781164 s,
      deltaX: -2.275414 m,
      approachRate: -0.601776 m/s,
      posRepo size: 4

2025-06-08T00:02:20.538Z,1749340940.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:20.544Z,1749340940.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 86.045143 m,
      bearing: 135.375923 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.066710 deg/s,
      cmd heading: 147.003170 deg,
      new cmd heading: 146.894221 deg.

2025-06-08T00:02:20.545Z,1749340940.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563788 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:20.905Z,1749340940.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:20.912Z,1749340940.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 85.825279 m,
      bearing: 135.353226 deg,
      approach rate: -0.586285 m/s,
      LOS rate: -0.060678 deg/s,
      cmd heading: 146.894215 deg,
      new cmd heading: 146.825949 deg.

2025-06-08T00:02:20.913Z,1749340940.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562596 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:21.306Z,1749340941.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:21.309Z,1749340941.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:21.312Z,1749340941.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 85.550743 m,
      bearing: 135.324004 deg,
      approach rate: -0.679486 m/s,
      LOS rate: -0.072556 deg/s,
      cmd heading: 146.825954 deg,
      new cmd heading: 146.738008 deg.

2025-06-08T00:02:21.313Z,1749340941.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561061 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:21.440Z,1749340941.440 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:21.440Z,1749340941.440 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:21.440Z,1749340941.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:21.679Z,1749340941.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:21.682Z,1749340941.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 85.319176 m,
      bearing: 135.299741 deg,
      approach rate: -0.625543 m/s,
      LOS rate: -0.065721 deg/s,
      cmd heading: 146.738008 deg,
      new cmd heading: 146.665021 deg.

2025-06-08T00:02:21.691Z,1749340941.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559788 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:21.692Z,1749340941.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442763
2025-06-08T00:02:21.945Z,1749340941.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695343
2025-06-08T00:02:22.071Z,1749340942.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:22.096Z,1749340942.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 85.074867 m,
      bearing: 135.274773 deg,
      approach rate: -0.623616 m/s,
      LOS rate: -0.063916 deg/s,
      cmd heading: 146.665021 deg,
      new cmd heading: 146.589902 deg.

2025-06-08T00:02:22.097Z,1749340942.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558476 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:22.199Z,1749340942.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948887
2025-06-08T00:02:22.448Z,1749340942.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198518
2025-06-08T00:02:22.506Z,1749340942.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:22.509Z,1749340942.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 84.804337 m,
      bearing: 135.245827 deg,
      approach rate: -0.621437 m/s,
      LOS rate: -0.066705 deg/s,
      cmd heading: 146.589902 deg,
      new cmd heading: 146.502786 deg.

2025-06-08T00:02:22.510Z,1749340942.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556956 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:22.700Z,1749340942.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450516
2025-06-08T00:02:22.874Z,1749340942.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:22.877Z,1749340942.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 84.575714 m,
      bearing: 135.221666 deg,
      approach rate: -0.621192 m/s,
      LOS rate: -0.065824 deg/s,
      cmd heading: 146.502790 deg,
      new cmd heading: 146.430113 deg.

2025-06-08T00:02:22.878Z,1749340942.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555688 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:22.953Z,1749340942.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702955
2025-06-08T00:02:23.209Z,1749340943.209 [DAT](INFO): DAT read: Rx Time:00:02:22.3506

2025-06-08T00:02:23.210Z,1749340943.210 [DAT](INFO): Rx dataTimestamp_ set to:1749340943.209196
2025-06-08T00:02:23.212Z,1749340943.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962256
2025-06-08T00:02:23.339Z,1749340943.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:23.342Z,1749340943.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:23.348Z,1749340943.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 84.297966 m,
      bearing: 135.186481 deg,
      approach rate: -0.594326 m/s,
      LOS rate: -0.075538 deg/s,
      cmd heading: 146.430117 deg,
      new cmd heading: 146.324212 deg.

2025-06-08T00:02:23.349Z,1749340943.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553839 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:23.457Z,1749340943.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206918
2025-06-08T00:02:23.680Z,1749340943.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.04 m.
2025-06-08T00:02:23.683Z,1749340943.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.042343 m,
      nav range: 84.088638 m,
      bearing: 135.160115 deg,
      approach rate: -0.619696 m/s,
      LOS rate: -0.078248 deg/s,
      cmd heading: 146.324208 deg,
      new cmd heading: 146.244913 deg.

2025-06-08T00:02:23.684Z,1749340943.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552455 target range: 89.042343 and range: 89.70 m.
2025-06-08T00:02:23.714Z,1749340943.714 [DAT](INFO): DAT read: 00:02:22.3506 LVL= 22800, 25329, 16034, 31475, AGC= 67, IDX= 407, 0.04,-0.734,-2.078,-0.483,-0.969, PHS= 0.323,-1.063, 0.483, RAW= 155.4,   3.5, CAL= 156.9,  -5.5, ROT= 353.1,   5.5

2025-06-08T00:02:23.715Z,1749340943.715 [DAT](INFO): got valid direction response:
 00:02:22.3506 LVL= 22800, 25329, 16034, 31475, AGC= 67, IDX= 407, 0.04,-0.734,-2.078,-0.483,-0.969, PHS= 0.323,-1.063, 0.483, RAW= 155.4,   3.5, CAL= 156.9,  -5.5, ROT= 353.1,   5.5

2025-06-08T00:02:23.716Z,1749340943.716 [DAT](INFO): DAT read: Bearing 353.1,   5.5 (Local)

2025-06-08T00:02:23.716Z,1749340943.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.1,   5.5 (Local)

2025-06-08T00:02:23.718Z,1749340943.718 [DAT](INFO): DAT read: Range 10 to 50 : 87.4 m  (Round-trip  116.6 ms) speed  0.7 m/s

2025-06-08T00:02:23.718Z,1749340943.718 [DAT](INFO): DAT read: user:2026>

2025-06-08T00:02:23.719Z,1749340943.719 [DAT](INFO): DAT read: Tx time:00:02:23.4798

2025-06-08T00:02:23.719Z,1749340943.719 [DAT](INFO): Ping request sent.
2025-06-08T00:02:23.720Z,1749340943.720 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:23.720Z,1749340943.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:23.721Z,1749340943.721 [DAT](INFO): direction in FSK: [0.988187,-0.119583,-0.095846]
2025-06-08T00:02:23.721Z,1749340943.721 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:23.721Z,1749340943.721 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:23.725Z,1749340943.725 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:23.725Z,1749340943.725 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:23.961Z,1749340943.961 [DAT](INFO): DAT read: TxSync time:00:02:23.4791

2025-06-08T00:02:24.098Z,1749340944.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.400002 m,
      deltaT: 3.526001 s,
      deltaX: -2.299995 m,
      approachRate: -0.652296 m/s,
      rangeRepo size: 4

2025-06-08T00:02:24.100Z,1749340944.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.766037 m,
      bearing: 140.122994 deg,
      lat: 36.905958 deg,
      lon: -122.115885 deg,
      deltaT: 3.526001 s,
      deltaX: -2.276306 m,
      approachRate: -0.645577 m/s,
      posRepo size: 4

2025-06-08T00:02:24.101Z,1749340944.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-06-08T00:02:24.103Z,1749340944.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.766037 m,
      nav range: 85.933731 m,
      bearing: 137.649763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.078248 deg/s,
      cmd heading: 146.244910 deg,
      new cmd heading: 146.146860 deg.

2025-06-08T00:02:24.104Z,1749340944.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550744 target range: 86.766037 and range: 87.40 m.
2025-06-08T00:02:24.517Z,1749340944.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-06-08T00:02:24.520Z,1749340944.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.766037 m,
      nav range: 85.669601 m,
      bearing: 137.621371 deg,
      approach rate: -0.628404 m/s,
      LOS rate: -0.067758 deg/s,
      cmd heading: 146.146855 deg,
      new cmd heading: 146.061416 deg.

2025-06-08T00:02:24.521Z,1749340944.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549253 target range: 86.766037 and range: 87.40 m.
2025-06-08T00:02:24.896Z,1749340944.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-06-08T00:02:24.899Z,1749340944.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.766037 m,
      nav range: 85.432587 m,
      bearing: 137.595527 deg,
      approach rate: -0.625995 m/s,
      LOS rate: -0.068447 deg/s,
      cmd heading: 146.061410 deg,
      new cmd heading: 145.983664 deg.

2025-06-08T00:02:24.900Z,1749340944.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547896 target range: 86.766037 and range: 87.40 m.
2025-06-08T00:02:25.338Z,1749340945.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-06-08T00:02:25.341Z,1749340945.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.766037 m,
      nav range: 85.154617 m,
      bearing: 137.565240 deg,
      approach rate: -0.628547 m/s,
      LOS rate: -0.068710 deg/s,
      cmd heading: 145.983669 deg,
      new cmd heading: 145.892509 deg.

2025-06-08T00:02:25.342Z,1749340945.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546305 target range: 86.766037 and range: 87.40 m.
2025-06-08T00:02:25.698Z,1749340945.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:25.700Z,1749340945.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-06-08T00:02:25.702Z,1749340945.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.766037 m,
      nav range: 84.927513 m,
      bearing: 137.540550 deg,
      approach rate: -0.627968 m/s,
      LOS rate: -0.068453 deg/s,
      cmd heading: 145.892513 deg,
      new cmd heading: 145.818245 deg.

2025-06-08T00:02:25.704Z,1749340945.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545008 target range: 86.766037 and range: 87.40 m.
2025-06-08T00:02:25.726Z,1749340945.726 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:25.726Z,1749340945.726 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:25.726Z,1749340945.726 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:25.980Z,1749340945.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260472
2025-06-08T00:02:26.119Z,1749340946.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-06-08T00:02:26.122Z,1749340946.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.766037 m,
      nav range: 84.663620 m,
      bearing: 137.511692 deg,
      approach rate: -0.629713 m/s,
      LOS rate: -0.069077 deg/s,
      cmd heading: 145.818241 deg,
      new cmd heading: 145.731398 deg.

2025-06-08T00:02:26.123Z,1749340946.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543493 target range: 86.766037 and range: 87.40 m.
2025-06-08T00:02:26.237Z,1749340946.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517417
2025-06-08T00:02:26.489Z,1749340946.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769576
2025-06-08T00:02:26.569Z,1749340946.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-06-08T00:02:26.576Z,1749340946.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.766037 m,
      nav range: 84.388794 m,
      bearing: 137.480042 deg,
      approach rate: -0.610893 m/s,
      LOS rate: -0.070581 deg/s,
      cmd heading: 145.731402 deg,
      new cmd heading: 145.636145 deg.

2025-06-08T00:02:26.577Z,1749340946.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541830 target range: 86.766037 and range: 87.40 m.
2025-06-08T00:02:26.740Z,1749340946.740 [DAT](INFO): DAT read: Rx Time:00:02:25.9976

2025-06-08T00:02:26.741Z,1749340946.741 [DAT](INFO): Rx dataTimestamp_ set to:1749340946.740312
2025-06-08T00:02:26.741Z,1749340946.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021496
2025-06-08T00:02:26.939Z,1749340946.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.77 m.
2025-06-08T00:02:26.951Z,1749340946.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.766037 m,
      nav range: 84.170647 m,
      bearing: 137.455202 deg,
      approach rate: -0.602329 m/s,
      LOS rate: -0.068765 deg/s,
      cmd heading: 145.636149 deg,
      new cmd heading: 145.561434 deg.

2025-06-08T00:02:26.953Z,1749340946.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540526 target range: 86.766037 and range: 87.40 m.
2025-06-08T00:02:26.997Z,1749340946.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276245
2025-06-08T00:02:27.291Z,1749340947.291 [DAT](INFO): DAT read: 00:02:25.9976 LVL= 26784, 31009, 20322, 31699, AGC= 68, IDX= 407, 0.37, 0.164,-1.246, 0.424,-0.123, PHS= 0.375,-1.076, 0.544, RAW= 155.4,   2.1, CAL= 157.4,  -6.8, ROT= 352.6,   6.8

2025-06-08T00:02:27.294Z,1749340947.294 [DAT](INFO): got valid direction response:
 00:02:25.9976 LVL= 26784, 31009, 20322, 31699, AGC= 68, IDX= 407, 0.37, 0.164,-1.246, 0.424,-0.123, PHS= 0.375,-1.076, 0.544, RAW= 155.4,   2.1, CAL= 157.4,  -6.8, ROT= 352.6,   6.8

2025-06-08T00:02:27.306Z,1749340947.306 [DAT](INFO): DAT read: Bearing 352.6,   6.8 (Local)

2025-06-08T00:02:27.307Z,1749340947.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,   6.8 (Local)

2025-06-08T00:02:27.317Z,1749340947.317 [DAT](INFO): DAT read: Range 10 to 50 : 85.2 m  (Round-trip  113.6 ms) speed  0.6 m/s

2025-06-08T00:02:27.317Z,1749340947.317 [DAT](INFO): DAT read: user:2027>

2025-06-08T00:02:27.318Z,1749340947.318 [DAT](INFO): DAT read: Tx time:00:02:27.0798

2025-06-08T00:02:27.318Z,1749340947.318 [DAT](INFO): Ping request sent.
2025-06-08T00:02:27.318Z,1749340947.318 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:27.319Z,1749340947.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:27.332Z,1749340947.332 [DAT](INFO): direction in FSK: [0.984695,-0.127889,-0.118404]
2025-06-08T00:02:27.332Z,1749340947.332 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:27.333Z,1749340947.333 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:27.344Z,1749340947.344 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:27.344Z,1749340947.344 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:27.470Z,1749340947.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.199997 m,
      deltaT: 3.538005 s,
      deltaX: -2.200005 m,
      approachRate: -0.621821 m/s,
      rangeRepo size: 4

2025-06-08T00:02:27.477Z,1749340947.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.581917 m,
      bearing: 139.371860 deg,
      lat: 36.905957 deg,
      lon: -122.115886 deg,
      deltaT: 3.538005 s,
      deltaX: -2.184120 m,
      approachRate: -0.617331 m/s,
      posRepo size: 4

2025-06-08T00:02:27.480Z,1749340947.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:27.482Z,1749340947.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 83.857407 m,
      bearing: 137.511440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068765 deg/s,
      cmd heading: 145.561440 deg,
      new cmd heading: 145.450336 deg.

2025-06-08T00:02:27.483Z,1749340947.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538587 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:27.496Z,1749340947.496 [DAT](INFO): DAT read: TxSync time:00:02:27.0791

2025-06-08T00:02:27.770Z,1749340947.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:27.776Z,1749340947.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:27.778Z,1749340947.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 83.654236 m,
      bearing: 137.490954 deg,
      approach rate: -0.663662 m/s,
      LOS rate: -0.067081 deg/s,
      cmd heading: 145.450340 deg,
      new cmd heading: 145.388732 deg.

2025-06-08T00:02:27.779Z,1749340947.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537512 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:28.000Z,1749340948.000 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:28.000Z,1749340948.000 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:28.000Z,1749340948.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:28.188Z,1749340948.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:28.211Z,1749340948.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 83.391487 m,
      bearing: 137.464310 deg,
      approach rate: -0.636525 m/s,
      LOS rate: -0.064751 deg/s,
      cmd heading: 145.388732 deg,
      new cmd heading: 145.308547 deg.

2025-06-08T00:02:28.212Z,1749340948.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536113 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:28.256Z,1749340948.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.936266
2025-06-08T00:02:28.504Z,1749340948.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185602
2025-06-08T00:02:28.607Z,1749340948.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:28.609Z,1749340948.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 83.124657 m,
      bearing: 137.441906 deg,
      approach rate: -0.638224 m/s,
      LOS rate: -0.053759 deg/s,
      cmd heading: 145.308545 deg,
      new cmd heading: 145.241118 deg.

2025-06-08T00:02:28.610Z,1749340948.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534936 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:28.757Z,1749340948.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438306
2025-06-08T00:02:29.008Z,1749340949.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689728
2025-06-08T00:02:29.012Z,1749340949.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:29.015Z,1749340949.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 82.876663 m,
      bearing: 137.421947 deg,
      approach rate: -0.611314 m/s,
      LOS rate: -0.049347 deg/s,
      cmd heading: 145.241118 deg,
      new cmd heading: 145.181062 deg.

2025-06-08T00:02:29.020Z,1749340949.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533888 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:29.263Z,1749340949.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944044
2025-06-08T00:02:29.476Z,1749340949.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:29.479Z,1749340949.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 82.594772 m,
      bearing: 137.401314 deg,
      approach rate: -0.613895 m/s,
      LOS rate: -0.045088 deg/s,
      cmd heading: 145.181067 deg,
      new cmd heading: 145.118956 deg.

2025-06-08T00:02:29.484Z,1749340949.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532804 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:29.512Z,1749340949.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193868
2025-06-08T00:02:29.765Z,1749340949.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446166
2025-06-08T00:02:29.837Z,1749340949.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:29.839Z,1749340949.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:29.842Z,1749340949.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 82.353188 m,
      bearing: 137.383874 deg,
      approach rate: -0.657340 m/s,
      LOS rate: -0.047591 deg/s,
      cmd heading: 145.118953 deg,
      new cmd heading: 145.066482 deg.

2025-06-08T00:02:29.843Z,1749340949.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531888 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:30.016Z,1749340950.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697984
2025-06-08T00:02:30.255Z,1749340950.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:30.264Z,1749340950.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 82.103195 m,
      bearing: 137.366076 deg,
      approach rate: -0.624656 m/s,
      LOS rate: -0.044608 deg/s,
      cmd heading: 145.066483 deg,
      new cmd heading: 145.012926 deg.

2025-06-08T00:02:30.265Z,1749340950.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530953 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:30.268Z,1749340950.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949821
2025-06-08T00:02:30.523Z,1749340950.523 [DAT](INFO): DAT read: Rx Time:00:02:29.5945

2025-06-08T00:02:30.524Z,1749340950.524 [DAT](INFO): Rx dataTimestamp_ set to:1749340950.523254
2025-06-08T00:02:30.524Z,1749340950.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205605
2025-06-08T00:02:30.666Z,1749340950.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.58 m.
2025-06-08T00:02:30.669Z,1749340950.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.581917 m,
      nav range: 81.843018 m,
      bearing: 137.352597 deg,
      approach rate: -0.609401 m/s,
      LOS rate: -0.031671 deg/s,
      cmd heading: 145.012921 deg,
      new cmd heading: 144.972356 deg.

2025-06-08T00:02:30.670Z,1749340950.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530245 target range: 84.581917 and range: 85.20 m.
2025-06-08T00:02:30.772Z,1749340950.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453793
2025-06-08T00:02:31.042Z,1749340951.042 [DAT](INFO): DAT read: 00:02:29.5945 LVL= 23232, 31185, 19250, 32755, AGC= 66, IDX= 406, 0.23,-1.600,-2.971,-1.412,-1.925, PHS= 0.413,-0.999, 0.510, RAW= 153.3,   1.1, CAL= 155.8,  -7.8, ROT= 354.2,   7.8

2025-06-08T00:02:31.044Z,1749340951.044 [DAT](INFO): got valid direction response:
 00:02:29.5945 LVL= 23232, 31185, 19250, 32755, AGC= 66, IDX= 406, 0.23,-1.600,-2.971,-1.412,-1.925, PHS= 0.413,-0.999, 0.510, RAW= 153.3,   1.1, CAL= 155.8,  -7.8, ROT= 354.2,   7.8

2025-06-08T00:02:31.045Z,1749340951.045 [DAT](INFO): DAT read: Bearing 354.2,   7.8 (Local)

2025-06-08T00:02:31.045Z,1749340951.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,   7.8 (Local)

2025-06-08T00:02:31.047Z,1749340951.047 [DAT](INFO): DAT read: Range 10 to 50 : 82.8 m  (Round-trip  110.4 ms) speed  0.4 m/s

2025-06-08T00:02:31.048Z,1749340951.048 [DAT](INFO): DAT read: user:2028>

2025-06-08T00:02:31.048Z,1749340951.048 [DAT](INFO): DAT read: Tx time:00:02:30.6799

2025-06-08T00:02:31.049Z,1749340951.049 [DAT](INFO): Ping request sent.
2025-06-08T00:02:31.049Z,1749340951.049 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:31.049Z,1749340951.049 [DAT](INFO): DAT read: TxSync time:00:02:30.6791

2025-06-08T00:02:31.050Z,1749340951.050 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:31.055Z,1749340951.055 [DAT](INFO): direction in FSK: [0.985676,-0.100121,-0.135716]
2025-06-08T00:02:31.055Z,1749340951.055 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:31.056Z,1749340951.056 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:31.059Z,1749340951.059 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:31.059Z,1749340951.059 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:31.129Z,1749340951.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.800003 m,
      deltaT: 3.778237 s,
      deltaX: -2.399994 m,
      approachRate: -0.635215 m/s,
      rangeRepo size: 4

2025-06-08T00:02:31.140Z,1749340951.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.199005 m,
      bearing: 139.770985 deg,
      lat: 36.905941 deg,
      lon: -122.115908 deg,
      deltaT: 3.778237 s,
      deltaX: -2.382912 m,
      approachRate: -0.630694 m/s,
      posRepo size: 4

2025-06-08T00:02:31.141Z,1749340951.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:31.152Z,1749340951.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 81.612076 m,
      bearing: 139.251571 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031671 deg/s,
      cmd heading: 144.972350 deg,
      new cmd heading: 144.928388 deg.

2025-06-08T00:02:31.153Z,1749340951.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529478 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:31.524Z,1749340951.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:31.527Z,1749340951.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 81.359131 m,
      bearing: 139.248012 deg,
      approach rate: -0.639930 m/s,
      LOS rate: -0.009034 deg/s,
      cmd heading: 144.928391 deg,
      new cmd heading: 144.917679 deg.

2025-06-08T00:02:31.532Z,1749340951.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529291 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:31.852Z,1749340951.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:31.854Z,1749340951.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:31.857Z,1749340951.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 81.160957 m,
      bearing: 139.245791 deg,
      approach rate: -0.600610 m/s,
      LOS rate: -0.006748 deg/s,
      cmd heading: 144.917681 deg,
      new cmd heading: 144.911001 deg.

2025-06-08T00:02:31.858Z,1749340951.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529174 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:32.032Z,1749340952.032 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:32.032Z,1749340952.032 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:32.032Z,1749340952.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:32.256Z,1749340952.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:32.259Z,1749340952.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 80.924744 m,
      bearing: 139.243705 deg,
      approach rate: -0.587424 m/s,
      LOS rate: -0.005202 deg/s,
      cmd heading: 144.911001 deg,
      new cmd heading: 144.904725 deg.

2025-06-08T00:02:32.260Z,1749340952.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529065 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:32.284Z,1749340952.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235379
2025-06-08T00:02:32.536Z,1749340952.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487395
2025-06-08T00:02:32.684Z,1749340952.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:32.687Z,1749340952.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 80.670486 m,
      bearing: 139.241153 deg,
      approach rate: -0.593805 m/s,
      LOS rate: -0.005978 deg/s,
      cmd heading: 144.904731 deg,
      new cmd heading: 144.897052 deg.

2025-06-08T00:02:32.688Z,1749340952.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528931 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:32.789Z,1749340952.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740013
2025-06-08T00:02:32.960Z,1749340952.960 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:02:33.040Z,1749340953.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991114
2025-06-08T00:02:33.102Z,1749340953.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:33.105Z,1749340953.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 80.432999 m,
      bearing: 139.238755 deg,
      approach rate: -0.572853 m/s,
      LOS rate: -0.005801 deg/s,
      cmd heading: 144.897054 deg,
      new cmd heading: 144.889839 deg.

2025-06-08T00:02:33.106Z,1749340953.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528805 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:33.292Z,1749340953.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243283
2025-06-08T00:02:33.497Z,1749340953.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:33.500Z,1749340953.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 80.192421 m,
      bearing: 139.241247 deg,
      approach rate: -0.604442 m/s,
      LOS rate: 0.006280 deg/s,
      cmd heading: 144.889841 deg,
      new cmd heading: 144.897340 deg.

2025-06-08T00:02:33.501Z,1749340953.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528936 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:33.544Z,1749340953.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495328
2025-06-08T00:02:33.796Z,1749340953.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747495
2025-06-08T00:02:33.950Z,1749340953.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:33.964Z,1749340953.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:02:33.977Z,1749340953.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:33.984Z,1749340953.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 79.929924 m,
      bearing: 139.244139 deg,
      approach rate: -0.546493 m/s,
      LOS rate: 0.006040 deg/s,
      cmd heading: 144.897341 deg,
      new cmd heading: 144.906044 deg.

2025-06-08T00:02:33.985Z,1749340953.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529088 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:34.049Z,1749340954.049 [DAT](INFO): DAT read: Rx Time:00:02:33.1918

2025-06-08T00:02:34.050Z,1749340954.050 [DAT](INFO): Rx dataTimestamp_ set to:1749340954.049410
2025-06-08T00:02:34.051Z,1749340954.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001690
2025-06-08T00:02:34.300Z,1749340954.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251083
2025-06-08T00:02:34.341Z,1749340954.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-06-08T00:02:34.357Z,1749340954.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199005 m,
      nav range: 79.712624 m,
      bearing: 139.246592 deg,
      approach rate: -0.607293 m/s,
      LOS rate: 0.006875 deg/s,
      cmd heading: 144.906042 deg,
      new cmd heading: 144.913422 deg.

2025-06-08T00:02:34.372Z,1749340954.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529216 target range: 82.199005 and range: 82.80 m.
2025-06-08T00:02:34.560Z,1749340954.560 [DAT](INFO): DAT read: 00:02:33.1918 LVL= 20640, 29121, 16962, 30163, AGC= 67, IDX= 412, 0.04,-0.999,-2.388,-0.841,-1.387, PHS= 0.476,-0.955, 0.543, RAW= 152.3,  -0.9, CAL= 155.5,  -9.7, ROT= 354.5,   9.7

2025-06-08T00:02:34.561Z,1749340954.561 [DAT](INFO): got valid direction response:
 00:02:33.1918 LVL= 20640, 29121, 16962, 30163, AGC= 67, IDX= 412, 0.04,-0.999,-2.388,-0.841,-1.387, PHS= 0.476,-0.955, 0.543, RAW= 152.3,  -0.9, CAL= 155.5,  -9.7, ROT= 354.5,   9.7

2025-06-08T00:02:34.564Z,1749340954.564 [DAT](INFO): DAT read: Bearing 354.5,   9.7 (Local)

2025-06-08T00:02:34.564Z,1749340954.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,   9.7 (Local)

2025-06-08T00:02:34.566Z,1749340954.566 [DAT](INFO): DAT read: Range 10 to 50 : 80.8 m  (Round-trip  107.8 ms) speed  0.5 m/s

2025-06-08T00:02:34.567Z,1749340954.567 [DAT](INFO): DAT read: user:2029>

2025-06-08T00:02:34.568Z,1749340954.568 [DAT](INFO): DAT read: Tx time:00:02:34.2799

2025-06-08T00:02:34.568Z,1749340954.568 [DAT](INFO): Ping request sent.
2025-06-08T00:02:34.568Z,1749340954.568 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:34.568Z,1749340954.568 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:34.569Z,1749340954.569 [DAT](INFO): direction in FSK: [0.981165,-0.094476,-0.168489]
2025-06-08T00:02:34.570Z,1749340954.570 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:34.570Z,1749340954.570 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:34.574Z,1749340954.574 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:34.574Z,1749340954.574 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:34.804Z,1749340954.804 [DAT](INFO): DAT read: TxSync time:00:02:34.2791

2025-06-08T00:02:34.860Z,1749340954.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.800003 m,
      deltaT: 3.527891 s,
      deltaX: -2.000000 m,
      approachRate: -0.566911 m/s,
      rangeRepo size: 4

2025-06-08T00:02:34.862Z,1749340954.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.213852 m,
      bearing: 139.223446 deg,
      lat: 36.905941 deg,
      lon: -122.115909 deg,
      deltaT: 3.527891 s,
      deltaX: -1.985153 m,
      approachRate: -0.562703 m/s,
      posRepo size: 4

2025-06-08T00:02:34.863Z,1749340954.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:34.869Z,1749340954.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 79.393593 m,
      bearing: 139.258760 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006875 deg/s,
      cmd heading: 144.913419 deg,
      new cmd heading: 144.924046 deg.

2025-06-08T00:02:34.870Z,1749340954.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529402 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:35.160Z,1749340955.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:35.163Z,1749340955.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 79.197502 m,
      bearing: 139.256966 deg,
      approach rate: -0.632271 m/s,
      LOS rate: -0.005801 deg/s,
      cmd heading: 144.924047 deg,
      new cmd heading: 144.918649 deg.

2025-06-08T00:02:35.164Z,1749340955.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529308 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:35.585Z,1749340955.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:35.588Z,1749340955.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 78.938606 m,
      bearing: 139.252090 deg,
      approach rate: -0.609665 m/s,
      LOS rate: -0.011519 deg/s,
      cmd heading: 144.918651 deg,
      new cmd heading: 144.903976 deg.

2025-06-08T00:02:35.589Z,1749340955.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529052 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:35.979Z,1749340955.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:35.981Z,1749340955.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:35.984Z,1749340955.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 78.701111 m,
      bearing: 139.247715 deg,
      approach rate: -0.599178 m/s,
      LOS rate: -0.011072 deg/s,
      cmd heading: 144.903980 deg,
      new cmd heading: 144.890814 deg.

2025-06-08T00:02:35.985Z,1749340955.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528822 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:36.064Z,1749340956.064 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:36.064Z,1749340956.064 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:36.064Z,1749340956.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:36.316Z,1749340956.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748117
2025-06-08T00:02:36.389Z,1749340956.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:36.418Z,1749340956.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 78.459381 m,
      bearing: 139.243560 deg,
      approach rate: -0.596381 m/s,
      LOS rate: -0.010281 deg/s,
      cmd heading: 144.890811 deg,
      new cmd heading: 144.878309 deg.

2025-06-08T00:02:36.426Z,1749340956.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528604 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:36.568Z,1749340956.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000316
2025-06-08T00:02:36.790Z,1749340956.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:36.792Z,1749340956.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 78.195061 m,
      bearing: 139.234997 deg,
      approach rate: -0.656429 m/s,
      LOS rate: -0.021338 deg/s,
      cmd heading: 144.878312 deg,
      new cmd heading: 144.852536 deg.

2025-06-08T00:02:36.793Z,1749340956.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528154 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:36.820Z,1749340956.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251979
2025-06-08T00:02:37.072Z,1749340957.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504278
2025-06-08T00:02:37.173Z,1749340957.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:37.176Z,1749340957.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 77.952805 m,
      bearing: 139.227199 deg,
      approach rate: -0.631614 m/s,
      LOS rate: -0.020396 deg/s,
      cmd heading: 144.852535 deg,
      new cmd heading: 144.829066 deg.

2025-06-08T00:02:37.177Z,1749340957.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527744 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:37.324Z,1749340957.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756001
2025-06-08T00:02:37.576Z,1749340957.576 [DAT](INFO): DAT read: Rx Time:00:02:36.7888

2025-06-08T00:02:37.577Z,1749340957.577 [DAT](INFO): Rx dataTimestamp_ set to:1749340957.576478
2025-06-08T00:02:37.577Z,1749340957.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009286
2025-06-08T00:02:37.622Z,1749340957.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:37.625Z,1749340957.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 77.663857 m,
      bearing: 139.217977 deg,
      approach rate: -0.643341 m/s,
      LOS rate: -0.020608 deg/s,
      cmd heading: 144.829066 deg,
      new cmd heading: 144.801299 deg.

2025-06-08T00:02:37.626Z,1749340957.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527259 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:37.828Z,1749340957.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260162
2025-06-08T00:02:37.993Z,1749340957.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:37.995Z,1749340957.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.21 m.
2025-06-08T00:02:38.005Z,1749340958.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.213852 m,
      nav range: 77.424332 m,
      bearing: 139.209979 deg,
      approach rate: -0.642688 m/s,
      LOS rate: -0.021527 deg/s,
      cmd heading: 144.801294 deg,
      new cmd heading: 144.777226 deg.

2025-06-08T00:02:38.010Z,1749340958.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.526839 target range: 80.213852 and range: 80.80 m.
2025-06-08T00:02:38.089Z,1749340958.089 [DAT](INFO): DAT read: 00:02:36.7888 LVL= 22992, 23233, 20866, 27123, AGC= 68, IDX= 413, 0.10, 0.922,-0.523, 1.057, 0.495, PHS= 0.515,-0.970, 0.559, RAW= 151.4,  -1.4, CAL= 154.9, -10.2, ROT= 355.1,  10.2

2025-06-08T00:02:38.090Z,1749340958.090 [DAT](INFO): got valid direction response:
 00:02:36.7888 LVL= 22992, 23233, 20866, 27123, AGC= 68, IDX= 413, 0.10, 0.922,-0.523, 1.057, 0.495, PHS= 0.515,-0.970, 0.559, RAW= 151.4,  -1.4, CAL= 154.9, -10.2, ROT= 355.1,  10.2

2025-06-08T00:02:38.091Z,1749340958.091 [DAT](INFO): DAT read: Bearing 355.1,  10.2 (Local)

2025-06-08T00:02:38.092Z,1749340958.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  10.2 (Local)

2025-06-08T00:02:38.094Z,1749340958.094 [DAT](INFO): DAT read: Range 10 to 50 : 78.5 m  (Round-trip  104.7 ms) speed  0.7 m/s

2025-06-08T00:02:38.095Z,1749340958.095 [DAT](INFO): DAT read: user:2030>

2025-06-08T00:02:38.097Z,1749340958.097 [DAT](INFO): DAT read: Tx time:00:02:37.8799

2025-06-08T00:02:38.098Z,1749340958.098 [DAT](INFO): Ping request sent.
2025-06-08T00:02:38.098Z,1749340958.098 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:38.098Z,1749340958.098 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:38.104Z,1749340958.104 [DAT](INFO): direction in FSK: [0.980599,-0.084067,-0.177085]
2025-06-08T00:02:38.105Z,1749340958.105 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:38.105Z,1749340958.105 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:38.114Z,1749340958.114 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:38.114Z,1749340958.114 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:38.332Z,1749340958.332 [DAT](INFO): DAT read: TxSync time:00:02:37.8791

2025-06-08T00:02:38.416Z,1749340958.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.500000 m,
      deltaT: 3.529975 s,
      deltaX: -2.300003 m,
      approachRate: -0.651564 m/s,
      rangeRepo size: 4

2025-06-08T00:02:38.430Z,1749340958.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.930634 m,
      bearing: 140.102575 deg,
      lat: 36.905937 deg,
      lon: -122.115914 deg,
      deltaT: 3.529975 s,
      deltaX: -2.283218 m,
      approachRate: -0.646809 m/s,
      posRepo size: 4

2025-06-08T00:02:38.436Z,1749340958.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:38.454Z,1749340958.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 77.130623 m,
      bearing: 139.671587 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021527 deg/s,
      cmd heading: 144.777225 deg,
      new cmd heading: 144.751454 deg.

2025-06-08T00:02:38.461Z,1749340958.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.526389 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:38.814Z,1749340958.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:38.817Z,1749340958.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 76.856110 m,
      bearing: 139.661519 deg,
      approach rate: -0.652903 m/s,
      LOS rate: -0.024031 deg/s,
      cmd heading: 144.751448 deg,
      new cmd heading: 144.721136 deg.

2025-06-08T00:02:38.818Z,1749340958.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.525860 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:39.196Z,1749340959.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:39.198Z,1749340959.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 76.612259 m,
      bearing: 139.651397 deg,
      approach rate: -0.639127 m/s,
      LOS rate: -0.026613 deg/s,
      cmd heading: 144.721135 deg,
      new cmd heading: 144.690674 deg.

2025-06-08T00:02:39.200Z,1749340959.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.525329 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:39.637Z,1749340959.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:39.643Z,1749340959.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 76.345261 m,
      bearing: 139.637973 deg,
      approach rate: -0.606029 m/s,
      LOS rate: -0.030576 deg/s,
      cmd heading: 144.690673 deg,
      new cmd heading: 144.650260 deg.

2025-06-08T00:02:39.644Z,1749340959.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524623 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:40.010Z,1749340960.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:40.013Z,1749340960.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:40.023Z,1749340960.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 76.088295 m,
      bearing: 139.624378 deg,
      approach rate: -0.683821 m/s,
      LOS rate: -0.036300 deg/s,
      cmd heading: 144.650265 deg,
      new cmd heading: 144.609343 deg.

2025-06-08T00:02:40.025Z,1749340960.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523909 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:40.097Z,1749340960.097 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:40.097Z,1749340960.097 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:40.097Z,1749340960.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:40.348Z,1749340960.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250243
2025-06-08T00:02:40.555Z,1749340960.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:40.557Z,1749340960.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 75.749115 m,
      bearing: 139.604961 deg,
      approach rate: -0.625353 m/s,
      LOS rate: -0.035960 deg/s,
      cmd heading: 144.609339 deg,
      new cmd heading: 144.550827 deg.

2025-06-08T00:02:40.558Z,1749340960.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522888 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:40.602Z,1749340960.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503693
2025-06-08T00:02:40.852Z,1749340960.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754442
2025-06-08T00:02:40.865Z,1749340960.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:40.872Z,1749340960.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 75.559677 m,
      bearing: 139.593902 deg,
      approach rate: -0.609625 m/s,
      LOS rate: -0.035678 deg/s,
      cmd heading: 144.550831 deg,
      new cmd heading: 144.517571 deg.

2025-06-08T00:02:40.873Z,1749340960.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522307 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:41.105Z,1749340961.105 [DAT](INFO): DAT read: Rx Time:00:02:40.3856

2025-06-08T00:02:41.105Z,1749340961.105 [DAT](INFO): Rx dataTimestamp_ set to:1749340961.104978
2025-06-08T00:02:41.106Z,1749340961.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008308
2025-06-08T00:02:41.268Z,1749340961.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:41.270Z,1749340961.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 75.303520 m,
      bearing: 139.578859 deg,
      approach rate: -0.636456 m/s,
      LOS rate: -0.037503 deg/s,
      cmd heading: 144.517568 deg,
      new cmd heading: 144.472287 deg.

2025-06-08T00:02:41.272Z,1749340961.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521517 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:41.356Z,1749340961.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258557
2025-06-08T00:02:41.611Z,1749340961.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513066
2025-06-08T00:02:41.714Z,1749340961.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.93 m.
2025-06-08T00:02:41.717Z,1749340961.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.930634 m,
      nav range: 75.037407 m,
      bearing: 139.568803 deg,
      approach rate: -0.596060 m/s,
      LOS rate: -0.022605 deg/s,
      cmd heading: 144.472284 deg,
      new cmd heading: 144.442008 deg.

2025-06-08T00:02:41.718Z,1749340961.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520989 target range: 77.930634 and range: 78.50 m.
2025-06-08T00:02:41.867Z,1749340961.867 [DAT](INFO): DAT read: 00:02:40.3856 LVL= 24928, 25697, 17746, 32755, AGC= 68, IDX= 411, 0.02, 1.901, 0.463, 2.013, 1.383, PHS= 0.606,-0.873, 0.627, RAW= 150.7,  -4.9, CAL= 155.4, -13.3, ROT= 354.6,  13.3

2025-06-08T00:02:41.869Z,1749340961.869 [DAT](INFO): got valid direction response:
 00:02:40.3856 LVL= 24928, 25697, 17746, 32755, AGC= 68, IDX= 411, 0.02, 1.901, 0.463, 2.013, 1.383, PHS= 0.606,-0.873, 0.627, RAW= 150.7,  -4.9, CAL= 155.4, -13.3, ROT= 354.6,  13.3

2025-06-08T00:02:41.870Z,1749340961.870 [DAT](INFO): DAT read: Bearing 354.6,  13.3 (Local)

2025-06-08T00:02:41.870Z,1749340961.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  13.3 (Local)

2025-06-08T00:02:41.872Z,1749340961.872 [DAT](INFO): DAT read: Range 10 to 50 : 76.0 m  (Round-trip  101.4 ms) speed  0.5 m/s

2025-06-08T00:02:41.873Z,1749340961.873 [DAT](INFO): DAT read: user:2031>

2025-06-08T00:02:41.873Z,1749340961.873 [DAT](INFO): DAT read: Tx time:00:02:41.4800

2025-06-08T00:02:41.874Z,1749340961.874 [DAT](INFO): Ping request sent.
2025-06-08T00:02:41.874Z,1749340961.874 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:41.874Z,1749340961.874 [DAT](INFO): DAT read: TxSync time:00:02:41.4792

2025-06-08T00:02:41.875Z,1749340961.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:41.876Z,1749340961.876 [DAT](INFO): direction in FSK: [0.968860,-0.091584,-0.230050]
2025-06-08T00:02:41.876Z,1749340961.876 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:41.876Z,1749340961.876 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:41.880Z,1749340961.880 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:41.880Z,1749340961.880 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:42.070Z,1749340962.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.000000 m,
      deltaT: 3.777998 s,
      deltaX: -2.500000 m,
      approachRate: -0.661726 m/s,
      rangeRepo size: 4

2025-06-08T00:02:42.076Z,1749340962.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.449089 m,
      bearing: 140.855576 deg,
      lat: 36.905937 deg,
      lon: -122.115916 deg,
      deltaT: 3.777998 s,
      deltaX: -2.481544 m,
      approachRate: -0.656841 m/s,
      posRepo size: 4

2025-06-08T00:02:42.077Z,1749340962.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:42.084Z,1749340962.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 74.763130 m,
      bearing: 139.626176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022605 deg/s,
      cmd heading: 144.442013 deg,
      new cmd heading: 144.417932 deg.

2025-06-08T00:02:42.085Z,1749340962.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520568 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:42.434Z,1749340962.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:42.438Z,1749340962.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:42.443Z,1749340962.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 74.535057 m,
      bearing: 139.617695 deg,
      approach rate: -0.621880 m/s,
      LOS rate: -0.023195 deg/s,
      cmd heading: 144.417930 deg,
      new cmd heading: 144.392410 deg.

2025-06-08T00:02:42.444Z,1749340962.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520123 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:42.620Z,1749340962.620 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:42.620Z,1749340962.620 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:42.620Z,1749340962.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:42.869Z,1749340962.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:42.872Z,1749340962.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998437
2025-06-08T00:02:42.873Z,1749340962.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 74.279526 m,
      bearing: 139.608752 deg,
      approach rate: -0.590498 m/s,
      LOS rate: -0.020737 deg/s,
      cmd heading: 144.392412 deg,
      new cmd heading: 144.365491 deg.

2025-06-08T00:02:42.874Z,1749340962.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519653 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:43.124Z,1749340963.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250289
2025-06-08T00:02:43.255Z,1749340963.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:43.258Z,1749340963.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 74.051903 m,
      bearing: 139.601040 deg,
      approach rate: -0.589781 m/s,
      LOS rate: -0.020044 deg/s,
      cmd heading: 144.365487 deg,
      new cmd heading: 144.342279 deg.

2025-06-08T00:02:43.259Z,1749340963.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519248 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:43.376Z,1749340963.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502374
2025-06-08T00:02:43.628Z,1749340963.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754279
2025-06-08T00:02:43.691Z,1749340963.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:43.694Z,1749340963.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 73.809219 m,
      bearing: 139.596399 deg,
      approach rate: -0.561359 m/s,
      LOS rate: -0.010771 deg/s,
      cmd heading: 144.342278 deg,
      new cmd heading: 144.328309 deg.

2025-06-08T00:02:43.700Z,1749340963.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519004 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:43.880Z,1749340963.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006346
2025-06-08T00:02:44.076Z,1749340964.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:44.079Z,1749340964.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 73.587288 m,
      bearing: 139.592229 deg,
      approach rate: -0.570530 m/s,
      LOS rate: -0.010753 deg/s,
      cmd heading: 144.328304 deg,
      new cmd heading: 144.315756 deg.

2025-06-08T00:02:44.084Z,1749340964.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518785 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:44.133Z,1749340964.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259288
2025-06-08T00:02:44.384Z,1749340964.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510358
2025-06-08T00:02:44.460Z,1749340964.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:44.462Z,1749340964.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:44.465Z,1749340964.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 73.347908 m,
      bearing: 139.587715 deg,
      approach rate: -0.620261 m/s,
      LOS rate: -0.011735 deg/s,
      cmd heading: 144.315750 deg,
      new cmd heading: 144.302163 deg.

2025-06-08T00:02:44.467Z,1749340964.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518548 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:44.636Z,1749340964.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762360
2025-06-08T00:02:44.888Z,1749340964.888 [DAT](INFO): DAT read: Rx Time:00:02:43.9828

2025-06-08T00:02:44.889Z,1749340964.889 [DAT](INFO): Rx dataTimestamp_ set to:1749340964.888443
2025-06-08T00:02:44.889Z,1749340964.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015470
2025-06-08T00:02:44.895Z,1749340964.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:44.898Z,1749340964.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 73.096878 m,
      bearing: 139.581425 deg,
      approach rate: -0.580325 m/s,
      LOS rate: -0.014590 deg/s,
      cmd heading: 144.302158 deg,
      new cmd heading: 144.283225 deg.

2025-06-08T00:02:44.899Z,1749340964.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518217 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:45.140Z,1749340965.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266452
2025-06-08T00:02:45.281Z,1749340965.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.45 m.
2025-06-08T00:02:45.299Z,1749340965.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.449089 m,
      nav range: 72.869171 m,
      bearing: 139.575804 deg,
      approach rate: -0.589931 m/s,
      LOS rate: -0.014610 deg/s,
      cmd heading: 144.283225 deg,
      new cmd heading: 144.266307 deg.

2025-06-08T00:02:45.304Z,1749340965.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517922 target range: 75.449089 and range: 76.00 m.
2025-06-08T00:02:45.400Z,1749340965.400 [DAT](INFO): DAT read: 00:02:43.9828 LVL= 27552, 29073, 17090, 31507, AGC= 66, IDX= 414, 0.10, 0.713,-0.728, 0.786, 0.163, PHS= 0.638,-0.844, 0.621, RAW= 149.4,  -5.7, CAL= 154.5, -14.2, ROT= 355.5,  14.2

2025-06-08T00:02:45.401Z,1749340965.401 [DAT](INFO): got valid direction response:
 00:02:43.9828 LVL= 27552, 29073, 17090, 31507, AGC= 66, IDX= 414, 0.10, 0.713,-0.728, 0.786, 0.163, PHS= 0.638,-0.844, 0.621, RAW= 149.4,  -5.7, CAL= 154.5, -14.2, ROT= 355.5,  14.2

2025-06-08T00:02:45.402Z,1749340965.402 [DAT](INFO): DAT read: Bearing 355.5,  14.2 (Local)

2025-06-08T00:02:45.402Z,1749340965.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.5,  14.2 (Local)

2025-06-08T00:02:45.414Z,1749340965.414 [DAT](INFO): DAT read: Range 10 to 50 : 73.9 m  (Round-trip  98.6 ms) speed  0.5 m/s

2025-06-08T00:02:45.415Z,1749340965.415 [DAT](INFO): DAT read: user:2032>

2025-06-08T00:02:45.416Z,1749340965.416 [DAT](INFO): DAT read: Tx time:00:02:45.0800

2025-06-08T00:02:45.417Z,1749340965.417 [DAT](INFO): Ping request sent.
2025-06-08T00:02:45.417Z,1749340965.417 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:45.417Z,1749340965.417 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:45.418Z,1749340965.418 [DAT](INFO): direction in FSK: [0.966457,-0.076062,-0.245307]
2025-06-08T00:02:45.418Z,1749340965.418 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:45.419Z,1749340965.419 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:45.422Z,1749340965.422 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:45.422Z,1749340965.422 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:45.644Z,1749340965.644 [DAT](INFO): DAT read: TxSync time:00:02:45.0792

2025-06-08T00:02:45.743Z,1749340965.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.900002 m,
      deltaT: 3.533527 s,
      deltaX: -2.099998 m,
      approachRate: -0.594307 m/s,
      rangeRepo size: 4

2025-06-08T00:02:45.749Z,1749340965.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.364662 m,
      bearing: 141.282069 deg,
      lat: 36.905934 deg,
      lon: -122.115919 deg,
      deltaT: 3.533527 s,
      deltaX: -2.084427 m,
      approachRate: -0.589900 m/s,
      posRepo size: 4

2025-06-08T00:02:45.750Z,1749340965.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.36 m.
2025-06-08T00:02:45.757Z,1749340965.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.364662 m,
      nav range: 72.743172 m,
      bearing: 139.962963 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014610 deg/s,
      cmd heading: 144.266313 deg,
      new cmd heading: 144.246088 deg.

2025-06-08T00:02:45.758Z,1749340965.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517569 target range: 73.364662 and range: 73.90 m.
2025-06-08T00:02:46.085Z,1749340966.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.36 m.
2025-06-08T00:02:46.088Z,1749340966.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.364662 m,
      nav range: 72.525467 m,
      bearing: 139.962009 deg,
      approach rate: -0.635440 m/s,
      LOS rate: -0.002793 deg/s,
      cmd heading: 144.246082 deg,
      new cmd heading: 144.243211 deg.

2025-06-08T00:02:46.089Z,1749340966.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517519 target range: 73.364662 and range: 73.90 m.
2025-06-08T00:02:46.476Z,1749340966.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:46.478Z,1749340966.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.36 m.
2025-06-08T00:02:46.503Z,1749340966.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.364662 m,
      nav range: 72.289818 m,
      bearing: 139.961326 deg,
      approach rate: -0.598655 m/s,
      LOS rate: -0.001741 deg/s,
      cmd heading: 144.243213 deg,
      new cmd heading: 144.241157 deg.

2025-06-08T00:02:46.504Z,1749340966.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517483 target range: 73.364662 and range: 73.90 m.
2025-06-08T00:02:46.653Z,1749340966.653 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:46.653Z,1749340966.653 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:46.654Z,1749340966.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:46.904Z,1749340966.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487399
2025-06-08T00:02:46.950Z,1749340966.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.36 m.
2025-06-08T00:02:46.958Z,1749340966.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.364662 m,
      nav range: 72.018700 m,
      bearing: 139.959630 deg,
      approach rate: -0.575561 m/s,
      LOS rate: -0.003614 deg/s,
      cmd heading: 144.241151 deg,
      new cmd heading: 144.236044 deg.

2025-06-08T00:02:46.965Z,1749340966.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517394 target range: 73.364662 and range: 73.90 m.
2025-06-08T00:02:47.158Z,1749340967.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740605
2025-06-08T00:02:47.408Z,1749340967.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991438
2025-06-08T00:02:47.455Z,1749340967.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.36 m.
2025-06-08T00:02:47.457Z,1749340967.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.364662 m,
      nav range: 71.693848 m,
      bearing: 139.957581 deg,
      approach rate: -0.643071 m/s,
      LOS rate: -0.004074 deg/s,
      cmd heading: 144.236042 deg,
      new cmd heading: 144.229867 deg.

2025-06-08T00:02:47.458Z,1749340967.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517286 target range: 73.364662 and range: 73.90 m.
2025-06-08T00:02:47.661Z,1749340967.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244769
2025-06-08T00:02:47.835Z,1749340967.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.36 m.
2025-06-08T00:02:47.854Z,1749340967.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.364662 m,
      nav range: 71.453651 m,
      bearing: 139.954279 deg,
      approach rate: -0.631781 m/s,
      LOS rate: -0.008714 deg/s,
      cmd heading: 144.229867 deg,
      new cmd heading: 144.219929 deg.

2025-06-08T00:02:47.855Z,1749340967.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517112 target range: 73.364662 and range: 73.90 m.
2025-06-08T00:02:47.920Z,1749340967.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503648
2025-06-08T00:02:48.172Z,1749340968.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755388
2025-06-08T00:02:48.206Z,1749340968.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.36 m.
2025-06-08T00:02:48.209Z,1749340968.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.364662 m,
      nav range: 71.219246 m,
      bearing: 139.951242 deg,
      approach rate: -0.631210 m/s,
      LOS rate: -0.008206 deg/s,
      cmd heading: 144.219922 deg,
      new cmd heading: 144.210780 deg.

2025-06-08T00:02:48.210Z,1749340968.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.516953 target range: 73.364662 and range: 73.90 m.
2025-06-08T00:02:48.425Z,1749340968.425 [DAT](INFO): DAT read: Rx Time:00:02:47.5800

2025-06-08T00:02:48.426Z,1749340968.426 [DAT](INFO): Rx dataTimestamp_ set to:1749340968.425236
2025-06-08T00:02:48.426Z,1749340968.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009730
2025-06-08T00:02:48.676Z,1749340968.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259523
2025-06-08T00:02:48.677Z,1749340968.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:48.679Z,1749340968.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.36 m.
2025-06-08T00:02:48.682Z,1749340968.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.364662 m,
      nav range: 70.919411 m,
      bearing: 139.938647 deg,
      approach rate: -0.634407 m/s,
      LOS rate: -0.026762 deg/s,
      cmd heading: 144.210784 deg,
      new cmd heading: 144.172839 deg.

2025-06-08T00:02:48.682Z,1749340968.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.516291 target range: 73.364662 and range: 73.90 m.
2025-06-08T00:02:48.935Z,1749340968.935 [DAT](INFO): DAT read: 00:02:47.5800 LVL= 24288, 29169, 20066, 32755, AGC= 66, IDX= 418,-0.01,-1.344,-2.716,-1.334,-1.854, PHS= 0.597,-0.816, 0.517, RAW= 147.1,  -4.4, CAL= 152.0, -13.2, ROT= 358.0,  13.2

2025-06-08T00:02:48.937Z,1749340968.937 [DAT](INFO): got valid direction response:
 00:02:47.5800 LVL= 24288, 29169, 20066, 32755, AGC= 66, IDX= 418,-0.01,-1.344,-2.716,-1.334,-1.854, PHS= 0.597,-0.816, 0.517, RAW= 147.1,  -4.4, CAL= 152.0, -13.2, ROT= 358.0,  13.2

2025-06-08T00:02:48.938Z,1749340968.938 [DAT](INFO): DAT read: Bearing 358.0,  13.2 (Local)

2025-06-08T00:02:48.938Z,1749340968.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  13.2 (Local)

2025-06-08T00:02:48.941Z,1749340968.941 [DAT](INFO): DAT read: Range 10 to 50 : 71.8 m  (Round-trip  95.8 ms) speed  0.4 m/s

2025-06-08T00:02:48.942Z,1749340968.942 [DAT](INFO): DAT read: user:2033>

2025-06-08T00:02:48.943Z,1749340968.943 [DAT](INFO): DAT read: Tx time:00:02:48.6800

2025-06-08T00:02:48.946Z,1749340968.946 [DAT](INFO): Ping request sent.
2025-06-08T00:02:48.947Z,1749340968.947 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:48.947Z,1749340968.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:48.950Z,1749340968.950 [DAT](INFO): direction in FSK: [0.972986,-0.033978,-0.228351]
2025-06-08T00:02:48.950Z,1749340968.950 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:48.951Z,1749340968.951 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:48.968Z,1749340968.968 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:48.968Z,1749340968.968 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:49.089Z,1749340969.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.800003 m,
      deltaT: 3.534599 s,
      deltaX: -2.099998 m,
      approachRate: -0.594126 m/s,
      rangeRepo size: 4

2025-06-08T00:02:49.091Z,1749340969.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.274185 m,
      bearing: 143.406493 deg,
      lat: 36.905931 deg,
      lon: -122.115933 deg,
      deltaT: 3.534599 s,
      deltaX: -2.090477 m,
      approachRate: -0.591433 m/s,
      posRepo size: 4

2025-06-08T00:02:49.098Z,1749340969.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:49.110Z,1749340969.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 70.089485 m,
      bearing: 140.829845 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026762 deg/s,
      cmd heading: 144.172835 deg,
      new cmd heading: 144.139971 deg.

2025-06-08T00:02:49.111Z,1749340969.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515717 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:49.181Z,1749340969.181 [DAT](INFO): DAT read: TxSync time:00:02:48.6792

2025-06-08T00:02:49.392Z,1749340969.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:49.395Z,1749340969.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 69.858780 m,
      bearing: 140.822951 deg,
      approach rate: -0.758283 m/s,
      LOS rate: -0.022733 deg/s,
      cmd heading: 144.139968 deg,
      new cmd heading: 144.119219 deg.

2025-06-08T00:02:49.396Z,1749340969.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515355 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:49.828Z,1749340969.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:49.830Z,1749340969.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 69.580757 m,
      bearing: 140.811649 deg,
      approach rate: -0.638993 m/s,
      LOS rate: -0.026080 deg/s,
      cmd heading: 144.119218 deg,
      new cmd heading: 144.085176 deg.

2025-06-08T00:02:49.831Z,1749340969.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514761 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:50.214Z,1749340970.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:50.218Z,1749340970.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 69.333206 m,
      bearing: 140.801437 deg,
      approach rate: -0.639796 m/s,
      LOS rate: -0.026487 deg/s,
      cmd heading: 144.085176 deg,
      new cmd heading: 144.054432 deg.

2025-06-08T00:02:50.220Z,1749340970.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514224 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:50.684Z,1749340970.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:50.686Z,1749340970.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:50.689Z,1749340970.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 69.038589 m,
      bearing: 140.784654 deg,
      approach rate: -0.624552 m/s,
      LOS rate: -0.035731 deg/s,
      cmd heading: 144.054427 deg,
      new cmd heading: 144.003861 deg.

2025-06-08T00:02:50.690Z,1749340970.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513341 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:50.692Z,1749340970.692 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:50.692Z,1749340970.692 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:50.692Z,1749340970.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:50.945Z,1749340970.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998654
2025-06-08T00:02:51.021Z,1749340971.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:51.024Z,1749340971.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 68.824257 m,
      bearing: 140.772154 deg,
      approach rate: -0.640556 m/s,
      LOS rate: -0.037473 deg/s,
      cmd heading: 144.003856 deg,
      new cmd heading: 143.966241 deg.

2025-06-08T00:02:51.025Z,1749340971.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512685 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:51.196Z,1749340971.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249919
2025-06-08T00:02:51.419Z,1749340971.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:51.422Z,1749340971.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 68.572426 m,
      bearing: 140.757408 deg,
      approach rate: -0.632125 m/s,
      LOS rate: -0.037149 deg/s,
      cmd heading: 143.966236 deg,
      new cmd heading: 143.921837 deg.

2025-06-08T00:02:51.424Z,1749340971.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511910 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:51.448Z,1749340971.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502036
2025-06-08T00:02:51.700Z,1749340971.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753858
2025-06-08T00:02:51.849Z,1749340971.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:51.852Z,1749340971.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 68.308578 m,
      bearing: 140.744349 deg,
      approach rate: -0.613905 m/s,
      LOS rate: -0.030503 deg/s,
      cmd heading: 143.921839 deg,
      new cmd heading: 143.882510 deg.

2025-06-08T00:02:51.853Z,1749340971.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511224 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:51.953Z,1749340971.953 [DAT](INFO): DAT read: Rx Time:00:02:51.1769

2025-06-08T00:02:51.954Z,1749340971.954 [DAT](INFO): Rx dataTimestamp_ set to:1749340971.953208
2025-06-08T00:02:51.954Z,1749340971.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008171
2025-06-08T00:02:52.205Z,1749340972.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258362
2025-06-08T00:02:52.236Z,1749340972.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.27 m.
2025-06-08T00:02:52.238Z,1749340972.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.274185 m,
      nav range: 68.071220 m,
      bearing: 140.732872 deg,
      approach rate: -0.613275 m/s,
      LOS rate: -0.029757 deg/s,
      cmd heading: 143.882511 deg,
      new cmd heading: 143.847961 deg.

2025-06-08T00:02:52.240Z,1749340972.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510621 target range: 71.274185 and range: 71.80 m.
2025-06-08T00:02:52.462Z,1749340972.462 [DAT](INFO): DAT read: 00:02:51.1769 LVL= 21728, 27185, 18818, 32435, AGC= 67, IDX= 402,-0.30,-1.979, 2.954,-1.918,-2.536, PHS= 0.644,-0.747, 0.615, RAW= 148.9,  -7.5, CAL= 154.6, -15.9, ROT= 355.4,  15.9

2025-06-08T00:02:52.464Z,1749340972.464 [DAT](INFO): got valid direction response:
 00:02:51.1769 LVL= 21728, 27185, 18818, 32435, AGC= 67, IDX= 402,-0.30,-1.979, 2.954,-1.918,-2.536, PHS= 0.644,-0.747, 0.615, RAW= 148.9,  -7.5, CAL= 154.6, -15.9, ROT= 355.4,  15.9

2025-06-08T00:02:52.465Z,1749340972.465 [DAT](INFO): DAT read: Bearing 355.4,  15.9 (Local)

2025-06-08T00:02:52.466Z,1749340972.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,  15.9 (Local)

2025-06-08T00:02:52.469Z,1749340972.469 [DAT](INFO): DAT read: Range 10 to 50 : 69.5 m  (Round-trip  92.7 ms) speed  0.5 m/s

2025-06-08T00:02:52.470Z,1749340972.470 [DAT](INFO): DAT read: user:2034>

2025-06-08T00:02:52.471Z,1749340972.471 [DAT](INFO): DAT read: Tx time:00:02:52.2800

2025-06-08T00:02:52.472Z,1749340972.472 [DAT](INFO): Ping request sent.
2025-06-08T00:02:52.472Z,1749340972.472 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:52.473Z,1749340972.473 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:52.474Z,1749340972.474 [DAT](INFO): direction in FSK: [0.958643,-0.077131,-0.273959]
2025-06-08T00:02:52.475Z,1749340972.475 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:52.479Z,1749340972.479 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:52.503Z,1749340972.503 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:52.503Z,1749340972.503 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:52.702Z,1749340972.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.500000 m,
      deltaT: 3.528279 s,
      deltaX: -2.300003 m,
      approachRate: -0.651877 m/s,
      rangeRepo size: 4

2025-06-08T00:02:52.708Z,1749340972.708 [DAT](INFO): DAT read: TxSync time:00:02:52.2792

2025-06-08T00:02:52.711Z,1749340972.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.987480 m,
      bearing: 141.161942 deg,
      lat: 36.905930 deg,
      lon: -122.115938 deg,
      deltaT: 3.528279 s,
      deltaX: -2.286705 m,
      approachRate: -0.648108 m/s,
      posRepo size: 4

2025-06-08T00:02:52.716Z,1749340972.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:52.719Z,1749340972.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 67.672318 m,
      bearing: 141.095908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029757 deg/s,
      cmd heading: 143.847964 deg,
      new cmd heading: 143.806374 deg.

2025-06-08T00:02:52.724Z,1749340972.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509895 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:53.085Z,1749340973.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:53.087Z,1749340973.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:53.090Z,1749340973.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 67.430656 m,
      bearing: 141.087203 deg,
      approach rate: -0.627061 m/s,
      LOS rate: -0.022668 deg/s,
      cmd heading: 143.806368 deg,
      new cmd heading: 143.780160 deg.

2025-06-08T00:02:53.091Z,1749340973.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509437 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:53.212Z,1749340973.212 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:53.212Z,1749340973.212 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:53.212Z,1749340973.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:53.462Z,1749340973.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:53.465Z,1749340973.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992043
2025-06-08T00:02:53.468Z,1749340973.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 67.217674 m,
      bearing: 141.080016 deg,
      approach rate: -0.568872 m/s,
      LOS rate: -0.019257 deg/s,
      cmd heading: 143.780154 deg,
      new cmd heading: 143.758524 deg.

2025-06-08T00:02:53.469Z,1749340973.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509060 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:53.720Z,1749340973.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247871
2025-06-08T00:02:53.927Z,1749340973.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:53.930Z,1749340973.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 66.923409 m,
      bearing: 141.074850 deg,
      approach rate: -0.632165 m/s,
      LOS rate: -0.011147 deg/s,
      cmd heading: 143.758529 deg,
      new cmd heading: 143.742963 deg.

2025-06-08T00:02:53.931Z,1749340973.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508788 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:53.972Z,1749340973.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499901
2025-06-08T00:02:54.224Z,1749340974.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751726
2025-06-08T00:02:54.274Z,1749340974.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:54.278Z,1749340974.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 66.726227 m,
      bearing: 141.071691 deg,
      approach rate: -0.568385 m/s,
      LOS rate: -0.009134 deg/s,
      cmd heading: 143.742957 deg,
      new cmd heading: 143.733451 deg.

2025-06-08T00:02:54.279Z,1749340974.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508622 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:54.479Z,1749340974.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006327
2025-06-08T00:02:54.722Z,1749340974.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:54.728Z,1749340974.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255719
2025-06-08T00:02:54.737Z,1749340974.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 66.444435 m,
      bearing: 141.068286 deg,
      approach rate: -0.629186 m/s,
      LOS rate: -0.007634 deg/s,
      cmd heading: 143.733449 deg,
      new cmd heading: 143.723192 deg.

2025-06-08T00:02:54.738Z,1749340974.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508443 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:54.981Z,1749340974.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508303
2025-06-08T00:02:55.093Z,1749340975.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:55.116Z,1749340975.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:55.118Z,1749340975.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 66.215012 m,
      bearing: 141.071995 deg,
      approach rate: -0.582363 m/s,
      LOS rate: 0.009445 deg/s,
      cmd heading: 143.723190 deg,
      new cmd heading: 143.734353 deg.

2025-06-08T00:02:55.124Z,1749340975.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508638 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:55.232Z,1749340975.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759752
2025-06-08T00:02:55.479Z,1749340975.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:55.482Z,1749340975.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 65.989342 m,
      bearing: 141.075751 deg,
      approach rate: -0.650102 m/s,
      LOS rate: 0.010857 deg/s,
      cmd heading: 143.734351 deg,
      new cmd heading: 143.745657 deg.

2025-06-08T00:02:55.483Z,1749340975.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508835 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:55.484Z,1749340975.484 [DAT](INFO): DAT read: Rx Time:00:02:54.7740

2025-06-08T00:02:55.485Z,1749340975.485 [DAT](INFO): Rx dataTimestamp_ set to:1749340975.484500
2025-06-08T00:02:55.485Z,1749340975.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012862
2025-06-08T00:02:55.736Z,1749340975.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263784
2025-06-08T00:02:55.919Z,1749340975.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.99 m.
2025-06-08T00:02:55.926Z,1749340975.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.987480 m,
      nav range: 65.721161 m,
      bearing: 141.082592 deg,
      approach rate: -0.588388 m/s,
      LOS rate: 0.015071 deg/s,
      cmd heading: 143.745661 deg,
      new cmd heading: 143.766269 deg.

2025-06-08T00:02:55.927Z,1749340975.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509195 target range: 68.987480 and range: 69.50 m.
2025-06-08T00:02:55.994Z,1749340975.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520314
2025-06-08T00:02:56.250Z,1749340976.250 [DAT](INFO): DAT read: 00:02:54.7740 LVL= 18992, 28385, 17682, 32755, AGC= 66, IDX= 403,-0.11,-1.876, 3.039,-1.854,-2.449, PHS= 0.661,-0.749, 0.592, RAW= 147.5,  -7.4, CAL= 153.3, -15.9, ROT= 356.7,  15.9

2025-06-08T00:02:56.251Z,1749340976.251 [DAT](INFO): got valid direction response:
 00:02:54.7740 LVL= 18992, 28385, 17682, 32755, AGC= 66, IDX= 403,-0.11,-1.876, 3.039,-1.854,-2.449, PHS= 0.661,-0.749, 0.592, RAW= 147.5,  -7.4, CAL= 153.3, -15.9, ROT= 356.7,  15.9

2025-06-08T00:02:56.252Z,1749340976.252 [DAT](INFO): DAT read: Bearing 356.7,  15.9 (Local)

2025-06-08T00:02:56.253Z,1749340976.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.7,  15.9 (Local)

2025-06-08T00:02:56.254Z,1749340976.254 [DAT](INFO): DAT read: Range 10 to 50 : 67.2 m  (Round-trip  89.7 ms) speed  0.5 m/s

2025-06-08T00:02:56.255Z,1749340976.255 [DAT](INFO): DAT read: user:2035>

2025-06-08T00:02:56.256Z,1749340976.256 [DAT](INFO): DAT read: Tx time:00:02:55.8801

2025-06-08T00:02:56.256Z,1749340976.256 [DAT](INFO): Ping request sent.
2025-06-08T00:02:56.256Z,1749340976.256 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:56.257Z,1749340976.257 [DAT](INFO): DAT read: TxSync time:00:02:55.8793

2025-06-08T00:02:56.257Z,1749340976.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:56.258Z,1749340976.258 [DAT](INFO): direction in FSK: [0.960147,-0.055361,-0.273959]
2025-06-08T00:02:56.259Z,1749340976.259 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:56.259Z,1749340976.259 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:56.262Z,1749340976.262 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:56.262Z,1749340976.262 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:56.336Z,1749340976.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.199997 m,
      deltaT: 3.787466 s,
      deltaX: -2.300003 m,
      approachRate: -0.607267 m/s,
      rangeRepo size: 4

2025-06-08T00:02:56.338Z,1749340976.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.698936 m,
      bearing: 141.600695 deg,
      lat: 36.905928 deg,
      lon: -122.115939 deg,
      deltaT: 3.787466 s,
      deltaX: -2.288544 m,
      approachRate: -0.604241 m/s,
      posRepo size: 4

2025-06-08T00:02:56.338Z,1749340976.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:56.345Z,1749340976.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 65.559570 m,
      bearing: 141.255189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015071 deg/s,
      cmd heading: 143.766275 deg,
      new cmd heading: 143.784905 deg.

2025-06-08T00:02:56.346Z,1749340976.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509520 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:56.747Z,1749340976.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:56.750Z,1749340976.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 65.287453 m,
      bearing: 141.262500 deg,
      approach rate: -0.654357 m/s,
      LOS rate: 0.017653 deg/s,
      cmd heading: 143.784908 deg,
      new cmd heading: 143.806931 deg.

2025-06-08T00:02:56.752Z,1749340976.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509904 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:57.117Z,1749340977.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:57.124Z,1749340977.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:57.126Z,1749340977.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 65.066414 m,
      bearing: 141.272338 deg,
      approach rate: -0.592879 m/s,
      LOS rate: 0.026478 deg/s,
      cmd heading: 143.806928 deg,
      new cmd heading: 143.836543 deg.

2025-06-08T00:02:57.132Z,1749340977.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510421 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:57.252Z,1749340977.252 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:02:57.252Z,1749340977.252 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:02:57.252Z,1749340977.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:02:57.484Z,1749340977.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:57.487Z,1749340977.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 64.828476 m,
      bearing: 141.282998 deg,
      approach rate: -0.651765 m/s,
      LOS rate: 0.029308 deg/s,
      cmd heading: 143.836544 deg,
      new cmd heading: 143.868642 deg.

2025-06-08T00:02:57.488Z,1749340977.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510982 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:57.507Z,1749340977.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250564
2025-06-08T00:02:57.759Z,1749340977.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502013
2025-06-08T00:02:57.921Z,1749340977.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:57.924Z,1749340977.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 64.556503 m,
      bearing: 141.285284 deg,
      approach rate: -0.622831 m/s,
      LOS rate: 0.005256 deg/s,
      cmd heading: 143.868646 deg,
      new cmd heading: 143.875532 deg.

2025-06-08T00:02:57.925Z,1749340977.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511102 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:58.008Z,1749340978.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751941
2025-06-08T00:02:58.260Z,1749340978.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003931
2025-06-08T00:02:58.310Z,1749340978.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:58.317Z,1749340978.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 64.326927 m,
      bearing: 141.287450 deg,
      approach rate: -0.589806 m/s,
      LOS rate: 0.005585 deg/s,
      cmd heading: 143.875531 deg,
      new cmd heading: 143.882052 deg.

2025-06-08T00:02:58.318Z,1749340978.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511215 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:58.512Z,1749340978.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255741
2025-06-08T00:02:58.708Z,1749340978.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:58.719Z,1749340978.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 64.072784 m,
      bearing: 141.289771 deg,
      approach rate: -0.642123 m/s,
      LOS rate: 0.005888 deg/s,
      cmd heading: 143.882047 deg,
      new cmd heading: 143.889038 deg.

2025-06-08T00:02:58.722Z,1749340978.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511338 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:58.765Z,1749340978.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508947
2025-06-08T00:02:59.016Z,1749340979.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759921
2025-06-08T00:02:59.134Z,1749340979.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:02:59.136Z,1749340979.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:59.139Z,1749340979.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 63.800373 m,
      bearing: 141.295192 deg,
      approach rate: -0.633547 m/s,
      LOS rate: 0.012661 deg/s,
      cmd heading: 143.889041 deg,
      new cmd heading: 143.905373 deg.

2025-06-08T00:02:59.140Z,1749340979.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511623 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:59.268Z,1749340979.268 [DAT](INFO): DAT read: Rx Time:00:02:58.3710

2025-06-08T00:02:59.269Z,1749340979.269 [DAT](INFO): Rx dataTimestamp_ set to:1749340979.268437
2025-06-08T00:02:59.269Z,1749340979.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012955
2025-06-08T00:02:59.500Z,1749340979.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.70 m.
2025-06-08T00:02:59.503Z,1749340979.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.698936 m,
      nav range: 63.573856 m,
      bearing: 141.299727 deg,
      approach rate: -0.622171 m/s,
      LOS rate: 0.012502 deg/s,
      cmd heading: 143.905379 deg,
      new cmd heading: 143.919034 deg.

2025-06-08T00:02:59.504Z,1749340979.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511861 target range: 66.698936 and range: 67.20 m.
2025-06-08T00:02:59.521Z,1749340979.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264439
2025-06-08T00:02:59.801Z,1749340979.801 [DAT](INFO): DAT read: 00:02:58.3710 LVL= 20592, 29729, 18834, 31811, AGC= 65, IDX= 404, 0.41,-0.695,-2.095,-0.642,-1.290, PHS= 0.683,-0.759, 0.645, RAW= 148.7,  -8.0, CAL= 154.6, -16.4, ROT= 355.4,  16.4

2025-06-08T00:02:59.803Z,1749340979.803 [DAT](INFO): got valid direction response:
 00:02:58.3710 LVL= 20592, 29729, 18834, 31811, AGC= 65, IDX= 404, 0.41,-0.695,-2.095,-0.642,-1.290, PHS= 0.683,-0.759, 0.645, RAW= 148.7,  -8.0, CAL= 154.6, -16.4, ROT= 355.4,  16.4

2025-06-08T00:02:59.813Z,1749340979.813 [DAT](INFO): DAT read: Bearing 355.4,  16.4 (Local)

2025-06-08T00:02:59.813Z,1749340979.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,  16.4 (Local)

2025-06-08T00:02:59.815Z,1749340979.815 [DAT](INFO): DAT read: Range 10 to 50 : 65.1 m  (Round-trip  86.8 ms) speed  0.5 m/s

2025-06-08T00:02:59.816Z,1749340979.816 [DAT](INFO): DAT read: user:2036>

2025-06-08T00:02:59.816Z,1749340979.816 [DAT](INFO): DAT read: Tx time:00:02:59.4801

2025-06-08T00:02:59.817Z,1749340979.817 [DAT](INFO): Ping request sent.
2025-06-08T00:02:59.817Z,1749340979.817 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:02:59.817Z,1749340979.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:02:59.818Z,1749340979.818 [DAT](INFO): direction in FSK: [0.956224,-0.076936,-0.282341]
2025-06-08T00:02:59.818Z,1749340979.818 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:59.819Z,1749340979.819 [DAT](INFO): publishing direction and range info
2025-06-08T00:02:59.822Z,1749340979.822 [DAT](INFO): publishing transmit ping time
2025-06-08T00:02:59.823Z,1749340979.823 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:00.001Z,1749340980.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.099998 m,
      deltaT: 3.529775 s,
      deltaX: -2.099998 m,
      approachRate: -0.594938 m/s,
      rangeRepo size: 4

2025-06-08T00:03:00.007Z,1749340980.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.611183 m,
      bearing: 140.433292 deg,
      lat: 36.905928 deg,
      lon: -122.115939 deg,
      deltaT: 3.529775 s,
      deltaX: -2.087753 m,
      approachRate: -0.591469 m/s,
      posRepo size: 4

2025-06-08T00:03:00.008Z,1749340980.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:00.015Z,1749340980.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 63.272141 m,
      bearing: 141.305819 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012502 deg/s,
      cmd heading: 143.919039 deg,
      new cmd heading: 143.937806 deg.

2025-06-08T00:03:00.016Z,1749340980.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512189 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:00.024Z,1749340980.024 [DAT](INFO): DAT read: TxSync time:00:02:59.4793

2025-06-08T00:03:00.330Z,1749340980.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:00.335Z,1749340980.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 63.063820 m,
      bearing: 141.309997 deg,
      approach rate: -0.633361 m/s,
      LOS rate: 0.012746 deg/s,
      cmd heading: 143.937808 deg,
      new cmd heading: 143.950385 deg.

2025-06-08T00:03:00.337Z,1749340980.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512408 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:00.850Z,1749340980.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:00.853Z,1749340980.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 62.731762 m,
      bearing: 141.298872 deg,
      approach rate: -0.637893 m/s,
      LOS rate: -0.021486 deg/s,
      cmd heading: 143.950390 deg,
      new cmd heading: 143.916836 deg.

2025-06-08T00:03:00.854Z,1749340980.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511823 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:01.146Z,1749340981.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:01.152Z,1749340981.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:01.154Z,1749340981.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 62.557777 m,
      bearing: 141.292540 deg,
      approach rate: -0.576505 m/s,
      LOS rate: -0.021041 deg/s,
      cmd heading: 143.916840 deg,
      new cmd heading: 143.897790 deg.

2025-06-08T00:03:01.160Z,1749340981.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511490 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:01.284Z,1749340981.284 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:01.284Z,1749340981.284 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:01.284Z,1749340981.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:01.536Z,1749340981.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719398
2025-06-08T00:03:01.541Z,1749340981.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:01.544Z,1749340981.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 62.299919 m,
      bearing: 141.282572 deg,
      approach rate: -0.661835 m/s,
      LOS rate: -0.025690 deg/s,
      cmd heading: 143.897783 deg,
      new cmd heading: 143.867756 deg.

2025-06-08T00:03:01.545Z,1749340981.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510966 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:01.791Z,1749340981.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973331
2025-06-08T00:03:01.982Z,1749340981.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:01.985Z,1749340981.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 62.023624 m,
      bearing: 141.268245 deg,
      approach rate: -0.627696 m/s,
      LOS rate: -0.032692 deg/s,
      cmd heading: 143.867758 deg,
      new cmd heading: 143.824587 deg.

2025-06-08T00:03:01.986Z,1749340981.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510213 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:02.041Z,1749340982.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223939
2025-06-08T00:03:02.292Z,1749340982.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475298
2025-06-08T00:03:02.329Z,1749340982.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:02.331Z,1749340982.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 61.806999 m,
      bearing: 141.257101 deg,
      approach rate: -0.624385 m/s,
      LOS rate: -0.032235 deg/s,
      cmd heading: 143.824591 deg,
      new cmd heading: 143.791040 deg.

2025-06-08T00:03:02.332Z,1749340982.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509627 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:02.544Z,1749340982.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727344
2025-06-08T00:03:02.733Z,1749340982.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:02.737Z,1749340982.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 61.554298 m,
      bearing: 141.244243 deg,
      approach rate: -0.624417 m/s,
      LOS rate: -0.031901 deg/s,
      cmd heading: 143.791041 deg,
      new cmd heading: 143.752310 deg.

2025-06-08T00:03:02.742Z,1749340982.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508951 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:02.799Z,1749340982.799 [DAT](INFO): DAT read: Rx Time:00:03:01.9681

2025-06-08T00:03:02.801Z,1749340982.801 [DAT](INFO): Rx dataTimestamp_ set to:1749340982.800045
2025-06-08T00:03:02.805Z,1749340982.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985685
2025-06-08T00:03:03.048Z,1749340983.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231305
2025-06-08T00:03:03.165Z,1749340983.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:03.168Z,1749340983.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.61 m.
2025-06-08T00:03:03.170Z,1749340983.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.611183 m,
      nav range: 61.284237 m,
      bearing: 141.233128 deg,
      approach rate: -0.622174 m/s,
      LOS rate: -0.025721 deg/s,
      cmd heading: 143.752314 deg,
      new cmd heading: 143.718821 deg.

2025-06-08T00:03:03.173Z,1749340983.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508367 target range: 64.611183 and range: 65.10 m.
2025-06-08T00:03:03.311Z,1749340983.311 [DAT](INFO): DAT read: 00:03:01.9681 LVL= 19376, 27777, 17586, 30243, AGC= 64, IDX= 407,-0.16,-0.959,-2.316,-0.902,-1.517, PHS= 0.646,-0.752, 0.612, RAW= 148.8,  -7.4, CAL= 154.4, -15.8, ROT= 355.6,  15.8

2025-06-08T00:03:03.312Z,1749340983.312 [DAT](INFO): got valid direction response:
 00:03:01.9681 LVL= 19376, 27777, 17586, 30243, AGC= 64, IDX= 407,-0.16,-0.959,-2.316,-0.902,-1.517, PHS= 0.646,-0.752, 0.612, RAW= 148.8,  -7.4, CAL= 154.4, -15.8, ROT= 355.6,  15.8

2025-06-08T00:03:03.313Z,1749340983.313 [DAT](INFO): DAT read: Bearing 355.6,  15.8 (Local)

2025-06-08T00:03:03.313Z,1749340983.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  15.8 (Local)

2025-06-08T00:03:03.315Z,1749340983.315 [DAT](INFO): DAT read: Range 10 to 50 : 62.8 m  (Round-trip  83.8 ms) speed  0.6 m/s

2025-06-08T00:03:03.316Z,1749340983.316 [DAT](INFO): DAT read: user:2037>

2025-06-08T00:03:03.316Z,1749340983.316 [DAT](INFO): DAT read: Tx time:00:03:03.0817

2025-06-08T00:03:03.317Z,1749340983.317 [DAT](INFO): Ping request sent.
2025-06-08T00:03:03.317Z,1749340983.317 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:03.317Z,1749340983.317 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:03.318Z,1749340983.318 [DAT](INFO): direction in FSK: [0.959382,-0.073820,-0.272280]
2025-06-08T00:03:03.318Z,1749340983.318 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:03.319Z,1749340983.319 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:03.349Z,1749340983.349 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:03.349Z,1749340983.349 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:03.552Z,1749340983.552 [DAT](INFO): DAT read: TxSync time:00:03:03.0809

2025-06-08T00:03:03.565Z,1749340983.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.799999 m,
      deltaT: 3.526556 s,
      deltaX: -2.299999 m,
      approachRate: -0.652194 m/s,
      rangeRepo size: 4

2025-06-08T00:03:03.571Z,1749340983.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.321110 m,
      bearing: 140.852693 deg,
      lat: 36.905930 deg,
      lon: -122.115939 deg,
      deltaT: 3.526556 s,
      deltaX: -2.290073 m,
      approachRate: -0.649380 m/s,
      posRepo size: 4

2025-06-08T00:03:03.572Z,1749340983.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:03.575Z,1749340983.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 60.906635 m,
      bearing: 141.117551 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025721 deg/s,
      cmd heading: 143.718819 deg,
      new cmd heading: 143.688181 deg.

2025-06-08T00:03:03.580Z,1749340983.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507832 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:03.982Z,1749340983.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:03.985Z,1749340983.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 60.637764 m,
      bearing: 141.107917 deg,
      approach rate: -0.644244 m/s,
      LOS rate: -0.023185 deg/s,
      cmd heading: 143.688179 deg,
      new cmd heading: 143.659150 deg.

2025-06-08T00:03:03.986Z,1749340983.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507325 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:04.088Z,1749340984.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:03:04.360Z,1749340984.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:04.362Z,1749340984.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 60.403835 m,
      bearing: 141.099552 deg,
      approach rate: -0.620084 m/s,
      LOS rate: -0.022260 deg/s,
      cmd heading: 143.659150 deg,
      new cmd heading: 143.633958 deg.

2025-06-08T00:03:04.364Z,1749340984.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506886 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:04.778Z,1749340984.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:04.821Z,1749340984.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 60.160324 m,
      bearing: 141.090963 deg,
      approach rate: -0.618914 m/s,
      LOS rate: -0.021919 deg/s,
      cmd heading: 143.633961 deg,
      new cmd heading: 143.608088 deg.

2025-06-08T00:03:04.830Z,1749340984.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506434 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:05.091Z,1749340985.091 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:03:05.169Z,1749340985.169 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS6042201,35.0, +10.6,   0.0,1492.2,  0
2025-06-08T00:03:05.183Z,1749340985.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:05.185Z,1749340985.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:05.188Z,1749340985.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 59.891987 m,
      bearing: 141.081827 deg,
      approach rate: -0.619633 m/s,
      LOS rate: -0.021190 deg/s,
      cmd heading: 143.608088 deg,
      new cmd heading: 143.580558 deg.

2025-06-08T00:03:05.189Z,1749340985.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505954 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:05.316Z,1749340985.316 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:05.316Z,1749340985.316 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:05.316Z,1749340985.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:05.568Z,1749340985.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251635
2025-06-08T00:03:05.574Z,1749340985.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:05.577Z,1749340985.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 59.652206 m,
      bearing: 141.073893 deg,
      approach rate: -0.617175 m/s,
      LOS rate: -0.020504 deg/s,
      cmd heading: 143.580562 deg,
      new cmd heading: 143.556664 deg.

2025-06-08T00:03:05.578Z,1749340985.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505537 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:05.823Z,1749340985.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505560
2025-06-08T00:03:06.010Z,1749340986.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:06.013Z,1749340986.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 59.378551 m,
      bearing: 141.074696 deg,
      approach rate: -0.627248 m/s,
      LOS rate: 0.001849 deg/s,
      cmd heading: 143.556670 deg,
      new cmd heading: 143.559090 deg.

2025-06-08T00:03:06.014Z,1749340986.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505579 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:06.074Z,1749340986.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756782
2025-06-08T00:03:06.324Z,1749340986.324 [DAT](INFO): DAT read: Rx Time:00:03:05.5666

2025-06-08T00:03:06.325Z,1749340986.325 [DAT](INFO): Rx dataTimestamp_ set to:1749340986.324358
2025-06-08T00:03:06.325Z,1749340986.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008380
2025-06-08T00:03:06.386Z,1749340986.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:06.389Z,1749340986.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 59.144146 m,
      bearing: 141.075551 deg,
      approach rate: -0.623884 m/s,
      LOS rate: 0.002285 deg/s,
      cmd heading: 143.559088 deg,
      new cmd heading: 143.561664 deg.

2025-06-08T00:03:06.390Z,1749340986.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505624 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:06.576Z,1749340986.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259316
2025-06-08T00:03:06.865Z,1749340986.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.32 m.
2025-06-08T00:03:06.873Z,1749340986.873 [DAT](INFO): DAT read: 00:03:05.5666 LVL= 22208, 32241, 18098, 32755, AGC= 66, IDX= 407,-0.28,-2.329, 2.662,-2.280,-2.869, PHS= 0.628,-0.705, 0.586, RAW= 148.4,  -7.8, CAL= 154.3, -16.2, ROT= 355.7,  16.2

2025-06-08T00:03:06.885Z,1749340986.885 [DAT](INFO): got valid direction response:
 00:03:05.5666 LVL= 22208, 32241, 18098, 32755, AGC= 66, IDX= 407,-0.28,-2.329, 2.662,-2.280,-2.869, PHS= 0.628,-0.705, 0.586, RAW= 148.4,  -7.8, CAL= 154.3, -16.2, ROT= 355.7,  16.2

2025-06-08T00:03:06.886Z,1749340986.886 [DAT](INFO): DAT read: Bearing 355.7,  16.2 (Local)

2025-06-08T00:03:06.886Z,1749340986.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  16.2 (Local)

2025-06-08T00:03:06.888Z,1749340986.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.321110 m,
      nav range: 58.902618 m,
      bearing: 141.076657 deg,
      approach rate: -0.514832 m/s,
      LOS rate: 0.002366 deg/s,
      cmd heading: 143.561670 deg,
      new cmd heading: 143.565000 deg.

2025-06-08T00:03:06.889Z,1749340986.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505682 target range: 62.321110 and range: 62.80 m.
2025-06-08T00:03:06.893Z,1749340986.893 [DAT](INFO): DAT read: Range 10 to 50 : 60.5 m  (Round-trip  80.7 ms) speed  0.5 m/s

2025-06-08T00:03:06.893Z,1749340986.893 [DAT](INFO): DAT read: user:2038>

2025-06-08T00:03:06.894Z,1749340986.894 [DAT](INFO): DAT read: Tx time:00:03:06.6802

2025-06-08T00:03:06.894Z,1749340986.894 [DAT](INFO): Ping request sent.
2025-06-08T00:03:06.895Z,1749340986.895 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:06.895Z,1749340986.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:06.897Z,1749340986.897 [DAT](INFO): direction in FSK: [0.957591,-0.072001,-0.278991]
2025-06-08T00:03:06.897Z,1749340986.897 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:06.897Z,1749340986.897 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:06.925Z,1749340986.925 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:06.925Z,1749340986.925 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:07.081Z,1749340987.081 [DAT](INFO): DAT read: TxSync time:00:03:06.6794

2025-06-08T00:03:07.334Z,1749340987.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.500000 m,
      deltaT: 3.530030 s,
      deltaX: -2.299999 m,
      approachRate: -0.651552 m/s,
      rangeRepo size: 4

2025-06-08T00:03:07.337Z,1749340987.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.033142 m,
      bearing: 140.480017 deg,
      lat: 36.905930 deg,
      lon: -122.115935 deg,
      deltaT: 3.530030 s,
      deltaX: -2.287968 m,
      approachRate: -0.648144 m/s,
      posRepo size: 4

2025-06-08T00:03:07.337Z,1749340987.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:07.340Z,1749340987.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 58.757053 m,
      bearing: 140.798490 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002366 deg/s,
      cmd heading: 143.565003 deg,
      new cmd heading: 143.568401 deg.

2025-06-08T00:03:07.341Z,1749340987.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505741 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:07.657Z,1749340987.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:07.660Z,1749340987.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:07.662Z,1749340987.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 58.550808 m,
      bearing: 140.796057 deg,
      approach rate: -0.633385 m/s,
      LOS rate: -0.007501 deg/s,
      cmd heading: 143.568404 deg,
      new cmd heading: 143.561077 deg.

2025-06-08T00:03:07.663Z,1749340987.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505614 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:07.836Z,1749340987.836 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:07.836Z,1749340987.836 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:07.836Z,1749340987.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:08.087Z,1749340988.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:08.088Z,1749340988.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.193725
2025-06-08T00:03:08.091Z,1749340988.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 58.276417 m,
      bearing: 140.795845 deg,
      approach rate: -0.642408 m/s,
      LOS rate: -0.000498 deg/s,
      cmd heading: 143.561082 deg,
      new cmd heading: 143.560444 deg.

2025-06-08T00:03:08.092Z,1749340988.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505602 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:08.340Z,1749340988.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.445492
2025-06-08T00:03:08.469Z,1749340988.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:08.471Z,1749340988.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 58.033913 m,
      bearing: 140.796432 deg,
      approach rate: -0.634688 m/s,
      LOS rate: 0.001545 deg/s,
      cmd heading: 143.560440 deg,
      new cmd heading: 143.562211 deg.

2025-06-08T00:03:08.472Z,1749340988.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505633 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:08.593Z,1749340988.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698306
2025-06-08T00:03:08.845Z,1749340988.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950320
2025-06-08T00:03:08.938Z,1749340988.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:08.946Z,1749340988.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 57.741882 m,
      bearing: 140.799177 deg,
      approach rate: -0.622633 m/s,
      LOS rate: 0.005882 deg/s,
      cmd heading: 143.562216 deg,
      new cmd heading: 143.570493 deg.

2025-06-08T00:03:08.956Z,1749340988.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505778 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:09.096Z,1749340989.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201620
2025-06-08T00:03:09.303Z,1749340989.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:09.309Z,1749340989.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 57.507778 m,
      bearing: 140.798241 deg,
      approach rate: -0.641355 m/s,
      LOS rate: -0.002576 deg/s,
      cmd heading: 143.570494 deg,
      new cmd heading: 143.567673 deg.

2025-06-08T00:03:09.310Z,1749340989.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505728 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:09.349Z,1749340989.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454115
2025-06-08T00:03:09.600Z,1749340989.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705568
2025-06-08T00:03:09.667Z,1749340989.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:09.670Z,1749340989.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:09.680Z,1749340989.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 57.267788 m,
      bearing: 140.797347 deg,
      approach rate: -0.654056 m/s,
      LOS rate: -0.002445 deg/s,
      cmd heading: 143.567667 deg,
      new cmd heading: 143.564975 deg.

2025-06-08T00:03:09.681Z,1749340989.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505682 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:09.852Z,1749340989.852 [DAT](INFO): DAT read: Rx Time:00:03:09.1621

2025-06-08T00:03:09.853Z,1749340989.853 [DAT](INFO): Rx dataTimestamp_ set to:1749340989.852428
2025-06-08T00:03:09.853Z,1749340989.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958687
2025-06-08T00:03:10.088Z,1749340990.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:10.090Z,1749340990.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 57.003201 m,
      bearing: 140.791947 deg,
      approach rate: -0.632681 m/s,
      LOS rate: -0.012975 deg/s,
      cmd heading: 143.564976 deg,
      new cmd heading: 143.548698 deg.

2025-06-08T00:03:10.092Z,1749340990.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505397 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:10.104Z,1749340990.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209625
2025-06-08T00:03:10.356Z,1749340990.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461620
2025-06-08T00:03:10.490Z,1749340990.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-06-08T00:03:10.493Z,1749340990.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.033142 m,
      nav range: 56.750652 m,
      bearing: 140.786749 deg,
      approach rate: -0.627887 m/s,
      LOS rate: -0.012980 deg/s,
      cmd heading: 143.548692 deg,
      new cmd heading: 143.533030 deg.

2025-06-08T00:03:10.494Z,1749340990.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505124 target range: 60.033142 and range: 60.50 m.
2025-06-08T00:03:10.614Z,1749340990.614 [DAT](INFO): DAT read: 00:03:09.1621 LVL= 22560, 27473, 20466, 32755, AGC= 66, IDX= 408,-0.12,-1.503,-2.841,-1.469,-2.070, PHS= 0.655,-0.724, 0.598, RAW= 147.9,  -7.9, CAL= 153.8, -16.3, ROT= 356.2,  16.3

2025-06-08T00:03:10.615Z,1749340990.615 [DAT](INFO): got valid direction response:
 00:03:09.1621 LVL= 22560, 27473, 20466, 32755, AGC= 66, IDX= 408,-0.12,-1.503,-2.841,-1.469,-2.070, PHS= 0.655,-0.724, 0.598, RAW= 147.9,  -7.9, CAL= 153.8, -16.3, ROT= 356.2,  16.3

2025-06-08T00:03:10.616Z,1749340990.616 [DAT](INFO): DAT read: Bearing 356.2,  16.3 (Local)

2025-06-08T00:03:10.617Z,1749340990.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  16.3 (Local)

2025-06-08T00:03:10.618Z,1749340990.618 [DAT](INFO): DAT read: Range 10 to 50 : 58.2 m  (Round-trip  77.7 ms) speed  0.5 m/s

2025-06-08T00:03:10.619Z,1749340990.619 [DAT](INFO): DAT read: user:2039>

2025-06-08T00:03:10.620Z,1749340990.620 [DAT](INFO): DAT read: Tx time:00:03:10.2802

2025-06-08T00:03:10.620Z,1749340990.620 [DAT](INFO): Ping request sent.
2025-06-08T00:03:10.620Z,1749340990.620 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:10.620Z,1749340990.620 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:10.621Z,1749340990.621 [DAT](INFO): direction in FSK: [0.957695,-0.063610,-0.280667]
2025-06-08T00:03:10.622Z,1749340990.622 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:10.622Z,1749340990.622 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:10.637Z,1749340990.637 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:10.637Z,1749340990.637 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:10.862Z,1749340990.862 [DAT](INFO): DAT read: TxSync time:00:03:10.2794

2025-06-08T00:03:10.962Z,1749340990.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.200001 m,
      deltaT: 3.777879 s,
      deltaX: -2.299999 m,
      approachRate: -0.608807 m/s,
      rangeRepo size: 4

2025-06-08T00:03:10.970Z,1749340990.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.749161 m,
      bearing: 140.255543 deg,
      lat: 36.905932 deg,
      lon: -122.115932 deg,
      deltaT: 3.777879 s,
      deltaX: -2.283981 m,
      approachRate: -0.604567 m/s,
      posRepo size: 4

2025-06-08T00:03:10.975Z,1749340990.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.75 m.
2025-06-08T00:03:10.976Z,1749340990.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-08T00:03:10.978Z,1749340990.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.749161 m,
      nav range: 56.528133 m,
      bearing: 140.449906 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012980 deg/s,
      cmd heading: 143.533024 deg,
      new cmd heading: 143.514684 deg.

2025-06-08T00:03:10.984Z,1749340990.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504804 target range: 57.749161 and range: 58.20 m.
2025-06-08T00:03:11.009Z,1749340991.009 [DockingStepper](INFO): Changing to mode: 2
2025-06-08T00:03:11.009Z,1749340991.009 [DockingStepper](INFO): Armed mode.
2025-06-08T00:03:11.071Z,1749340991.071 [DockingStepper](INFO): Commanding negative:54402
2025-06-08T00:03:11.324Z,1749340991.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.75 m.
2025-06-08T00:03:11.324Z,1749340991.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-08T00:03:11.327Z,1749340991.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.749161 m,
      nav range: 56.247280 m,
      bearing: 140.441319 deg,
      approach rate: -0.774941 m/s,
      LOS rate: -0.023813 deg/s,
      cmd heading: 143.514678 deg,
      new cmd heading: 143.488787 deg.

2025-06-08T00:03:11.344Z,1749340991.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504352 target range: 57.749161 and range: 58.20 m.
2025-06-08T00:03:11.788Z,1749340991.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:11.791Z,1749340991.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.75 m.
2025-06-08T00:03:11.791Z,1749340991.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-08T00:03:11.794Z,1749340991.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.749161 m,
      nav range: 55.945431 m,
      bearing: 140.431922 deg,
      approach rate: -0.646098 m/s,
      LOS rate: -0.020222 deg/s,
      cmd heading: 143.488792 deg,
      new cmd heading: 143.460449 deg.

2025-06-08T00:03:11.795Z,1749340991.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503857 target range: 57.749161 and range: 58.20 m.
2025-06-08T00:03:11.870Z,1749340991.870 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:11.871Z,1749340991.871 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:11.871Z,1749340991.871 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:12.124Z,1749340992.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503941
2025-06-08T00:03:12.231Z,1749340992.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.75 m.
2025-06-08T00:03:12.231Z,1749340992.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-08T00:03:12.234Z,1749340992.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.749161 m,
      nav range: 55.660713 m,
      bearing: 140.425659 deg,
      approach rate: -0.647063 m/s,
      LOS rate: -0.014307 deg/s,
      cmd heading: 143.460446 deg,
      new cmd heading: 143.441561 deg.

2025-06-08T00:03:12.255Z,1749340992.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503528 target range: 57.749161 and range: 58.20 m.
2025-06-08T00:03:12.376Z,1749340992.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755920
2025-06-08T00:03:12.629Z,1749340992.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008757
2025-06-08T00:03:12.674Z,1749340992.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.75 m.
2025-06-08T00:03:12.675Z,1749340992.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-08T00:03:12.694Z,1749340992.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.749161 m,
      nav range: 55.374081 m,
      bearing: 140.419886 deg,
      approach rate: -0.645989 m/s,
      LOS rate: -0.013076 deg/s,
      cmd heading: 143.441568 deg,
      new cmd heading: 143.424162 deg.

2025-06-08T00:03:12.695Z,1749340992.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503224 target range: 57.749161 and range: 58.20 m.
2025-06-08T00:03:12.881Z,1749340992.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260319
2025-06-08T00:03:13.132Z,1749340993.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512309
2025-06-08T00:03:13.143Z,1749340993.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.75 m.
2025-06-08T00:03:13.143Z,1749340993.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-08T00:03:13.146Z,1749340993.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.749161 m,
      nav range: 55.069019 m,
      bearing: 140.414084 deg,
      approach rate: -0.651607 m/s,
      LOS rate: -0.012462 deg/s,
      cmd heading: 143.424164 deg,
      new cmd heading: 143.406662 deg.

2025-06-08T00:03:13.167Z,1749340993.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502918 target range: 57.749161 and range: 58.20 m.
2025-06-08T00:03:13.385Z,1749340993.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764550
2025-06-08T00:03:13.536Z,1749340993.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.75 m.
2025-06-08T00:03:13.537Z,1749340993.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-08T00:03:13.548Z,1749340993.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.749161 m,
      nav range: 54.823086 m,
      bearing: 140.410388 deg,
      approach rate: -0.624896 m/s,
      LOS rate: -0.009434 deg/s,
      cmd heading: 143.406665 deg,
      new cmd heading: 143.395527 deg.

2025-06-08T00:03:13.549Z,1749340993.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502724 target range: 57.749161 and range: 58.20 m.
2025-06-08T00:03:13.636Z,1749340993.636 [DAT](INFO): DAT read: Rx Time:00:03:12.7588

2025-06-08T00:03:13.637Z,1749340993.637 [DAT](INFO): Rx dataTimestamp_ set to:1749340993.636377
2025-06-08T00:03:13.637Z,1749340993.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017035
2025-06-08T00:03:13.888Z,1749340993.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267964
2025-06-08T00:03:14.020Z,1749340994.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:14.029Z,1749340994.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.75 m.
2025-06-08T00:03:14.029Z,1749340994.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-06-08T00:03:14.037Z,1749340994.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.749161 m,
      nav range: 54.537895 m,
      bearing: 140.407044 deg,
      approach rate: -0.578899 m/s,
      LOS rate: -0.006824 deg/s,
      cmd heading: 143.395532 deg,
      new cmd heading: 143.385447 deg.

2025-06-08T00:03:14.038Z,1749340994.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502548 target range: 57.749161 and range: 58.20 m.
2025-06-08T00:03:14.147Z,1749340994.147 [DAT](INFO): DAT read: 00:03:12.7588 LVL= 17312, 23137, 14466, 28195, AGC= 60, IDX= 407, 0.09,-0.702,-2.055,-0.586,-1.265, PHS= 0.650,-0.744, 0.676, RAW= 150.9,  -8.3, CAL= 156.7, -16.3, ROT= 353.3,  16.3

2025-06-08T00:03:14.148Z,1749340994.148 [DAT](INFO): got valid direction response:
 00:03:12.7588 LVL= 17312, 23137, 14466, 28195, AGC= 60, IDX= 407, 0.09,-0.702,-2.055,-0.586,-1.265, PHS= 0.650,-0.744, 0.676, RAW= 150.9,  -8.3, CAL= 156.7, -16.3, ROT= 353.3,  16.3

2025-06-08T00:03:14.149Z,1749340994.149 [DAT](INFO): DAT read: Bearing 353.3,  16.3 (Local)

2025-06-08T00:03:14.150Z,1749340994.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.3,  16.3 (Local)

2025-06-08T00:03:14.151Z,1749340994.151 [DAT](INFO): DAT read: Range 10 to 50 : 55.8 m  (Round-trip  74.5 ms) speed  0.7 m/s

2025-06-08T00:03:14.152Z,1749340994.152 [DAT](INFO): DAT read: user:2040>

2025-06-08T00:03:14.153Z,1749340994.153 [DAT](INFO): DAT read: Tx time:00:03:13.8802

2025-06-08T00:03:14.153Z,1749340994.153 [DAT](INFO): Ping request sent.
2025-06-08T00:03:14.153Z,1749340994.153 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:14.153Z,1749340994.153 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:14.154Z,1749340994.154 [DAT](INFO): direction in FSK: [0.953250,-0.111982,-0.280667]
2025-06-08T00:03:14.154Z,1749340994.154 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:14.155Z,1749340994.155 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:14.174Z,1749340994.174 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:14.174Z,1749340994.174 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:14.392Z,1749340994.392 [DAT](INFO): DAT read: TxSync time:00:03:13.8794

2025-06-08T00:03:14.459Z,1749340994.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.799999 m,
      deltaT: 3.532578 s,
      deltaX: -2.400002 m,
      approachRate: -0.679391 m/s,
      rangeRepo size: 4

2025-06-08T00:03:14.461Z,1749340994.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.367115 m,
      bearing: 136.923489 deg,
      lat: 36.905933 deg,
      lon: -122.115931 deg,
      deltaT: 3.532578 s,
      deltaX: -2.382046 m,
      approachRate: -0.674308 m/s,
      posRepo size: 4

2025-06-08T00:03:14.462Z,1749340994.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:14.463Z,1749340994.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:03:14.481Z,1749340994.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 54.194603 m,
      bearing: 140.256010 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006824 deg/s,
      cmd heading: 143.385451 deg,
      new cmd heading: 143.376663 deg.

2025-06-08T00:03:14.482Z,1749340994.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502395 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:14.835Z,1749340994.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:14.840Z,1749340994.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:03:14.842Z,1749340994.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 53.956963 m,
      bearing: 140.252007 deg,
      approach rate: -0.637174 m/s,
      LOS rate: -0.010780 deg/s,
      cmd heading: 143.376667 deg,
      new cmd heading: 143.364606 deg.

2025-06-08T00:03:14.843Z,1749340994.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502184 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:15.241Z,1749340995.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:15.242Z,1749340995.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:03:15.249Z,1749340995.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 53.690609 m,
      bearing: 140.250745 deg,
      approach rate: -0.648898 m/s,
      LOS rate: -0.003090 deg/s,
      cmd heading: 143.364605 deg,
      new cmd heading: 143.360800 deg.

2025-06-08T00:03:15.250Z,1749340995.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502118 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:15.597Z,1749340995.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:15.597Z,1749340995.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:03:15.601Z,1749340995.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 53.456867 m,
      bearing: 140.249409 deg,
      approach rate: -0.657501 m/s,
      LOS rate: -0.003773 deg/s,
      cmd heading: 143.360794 deg,
      new cmd heading: 143.356770 deg.

2025-06-08T00:03:15.602Z,1749340995.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502048 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:16.046Z,1749340996.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:16.056Z,1749340996.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:16.056Z,1749340996.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:03:16.059Z,1749340996.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 53.174526 m,
      bearing: 140.247468 deg,
      approach rate: -0.620325 m/s,
      LOS rate: -0.004288 deg/s,
      cmd heading: 143.356764 deg,
      new cmd heading: 143.350909 deg.

2025-06-08T00:03:16.060Z,1749340996.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501945 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:16.158Z,1749340996.158 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:16.158Z,1749340996.158 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:16.158Z,1749340996.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:16.402Z,1749340996.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:16.403Z,1749340996.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:03:16.406Z,1749340996.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 52.939236 m,
      bearing: 140.246665 deg,
      approach rate: -0.671622 m/s,
      LOS rate: -0.002301 deg/s,
      cmd heading: 143.350904 deg,
      new cmd heading: 143.348485 deg.

2025-06-08T00:03:16.412Z,1749340996.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259219
2025-06-08T00:03:16.427Z,1749340996.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501903 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:16.664Z,1749340996.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511249
2025-06-08T00:03:16.795Z,1749340996.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:16.796Z,1749340996.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:03:16.798Z,1749340996.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 52.686916 m,
      bearing: 140.244888 deg,
      approach rate: -0.642919 m/s,
      LOS rate: -0.004550 deg/s,
      cmd heading: 143.348486 deg,
      new cmd heading: 143.343128 deg.

2025-06-08T00:03:16.800Z,1749340996.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501810 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:16.916Z,1749340996.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763314
2025-06-08T00:03:17.168Z,1749340997.168 [DAT](INFO): DAT read: Rx Time:00:03:16.3558

2025-06-08T00:03:17.169Z,1749340997.169 [DAT](INFO): Rx dataTimestamp_ set to:1749340997.168414
2025-06-08T00:03:17.169Z,1749340997.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016302
2025-06-08T00:03:17.258Z,1749340997.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:17.259Z,1749340997.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:03:17.263Z,1749340997.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.80 m.
2025-06-08T00:03:17.264Z,1749340997.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-08T00:03:17.266Z,1749340997.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 52.405540 m,
      bearing: 140.238711 deg,
      approach rate: -0.609825 m/s,
      LOS rate: -0.013460 deg/s,
      cmd heading: 143.343131 deg,
      new cmd heading: 143.324500 deg.

2025-06-08T00:03:17.271Z,1749340997.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501484 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:17.420Z,1749340997.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267140
2025-06-08T00:03:17.653Z,1749340997.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.37 m.
2025-06-08T00:03:17.656Z,1749340997.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.367115 m,
      nav range: 52.150909 m,
      bearing: 140.232184 deg,
      approach rate: -0.641207 m/s,
      LOS rate: -0.016515 deg/s,
      cmd heading: 143.324498 deg,
      new cmd heading: 143.304823 deg.

2025-06-08T00:03:17.657Z,1749340997.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501141 target range: 55.367115 and range: 55.80 m.
2025-06-08T00:03:17.681Z,1749340997.681 [DAT](INFO): DAT read: 00:03:16.3558 LVL= 18352, 25585, 16034, 29859, AGC= 65, IDX= 407, 0.05,-2.498, 2.487,-2.383,-3.034, PHS= 0.624,-0.715, 0.648, RAW= 150.9,  -8.3, CAL= 156.6, -16.3, ROT= 353.4,  16.3

2025-06-08T00:03:17.682Z,1749340997.682 [DAT](INFO): got valid direction response:
 00:03:16.3558 LVL= 18352, 25585, 16034, 29859, AGC= 65, IDX= 407, 0.05,-2.498, 2.487,-2.383,-3.034, PHS= 0.624,-0.715, 0.648, RAW= 150.9,  -8.3, CAL= 156.6, -16.3, ROT= 353.4,  16.3

2025-06-08T00:03:17.692Z,1749340997.692 [DAT](INFO): DAT read: Bearing 353.4,  16.3 (Local)

2025-06-08T00:03:17.693Z,1749340997.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,  16.3 (Local)

2025-06-08T00:03:17.695Z,1749340997.695 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m  (Round-trip  71.3 ms) speed  0.5 m/s

2025-06-08T00:03:17.702Z,1749340997.702 [DAT](INFO): DAT read: user:2041>

2025-06-08T00:03:17.709Z,1749340997.709 [DAT](INFO): DAT read: Tx time:00:03:17.4803

2025-06-08T00:03:17.709Z,1749340997.709 [DAT](INFO): Ping request sent.
2025-06-08T00:03:17.710Z,1749340997.710 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:17.710Z,1749340997.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:17.744Z,1749340997.744 [DAT](INFO): direction in FSK: [0.953444,-0.110317,-0.280667]
2025-06-08T00:03:17.745Z,1749340997.745 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:17.745Z,1749340997.745 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:17.752Z,1749340997.752 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:17.753Z,1749340997.753 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:17.924Z,1749340997.924 [DAT](INFO): DAT read: TxSync time:00:03:17.4795

2025-06-08T00:03:18.074Z,1749340998.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.400002 m,
      deltaT: 3.533537 s,
      deltaX: -2.399998 m,
      approachRate: -0.679205 m/s,
      rangeRepo size: 4

2025-06-08T00:03:18.080Z,1749340998.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.983879 m,
      bearing: 138.360336 deg,
      lat: 36.905933 deg,
      lon: -122.115930 deg,
      deltaT: 3.533537 s,
      deltaX: -2.383236 m,
      approachRate: -0.674462 m/s,
      posRepo size: 4

2025-06-08T00:03:18.081Z,1749340998.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m.
2025-06-08T00:03:18.088Z,1749340998.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.983879 m,
      nav range: 51.958927 m,
      bearing: 140.167343 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016515 deg/s,
      cmd heading: 143.304827 deg,
      new cmd heading: 143.284014 deg.

2025-06-08T00:03:18.092Z,1749340998.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500778 target range: 52.983879 and range: 53.40 m.
2025-06-08T00:03:18.427Z,1749340998.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:18.430Z,1749340998.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m.
2025-06-08T00:03:18.433Z,1749340998.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.983879 m,
      nav range: 51.703758 m,
      bearing: 140.157663 deg,
      approach rate: -0.715206 m/s,
      LOS rate: -0.027266 deg/s,
      cmd heading: 143.284009 deg,
      new cmd heading: 143.254825 deg.

2025-06-08T00:03:18.434Z,1749340998.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500268 target range: 52.983879 and range: 53.40 m.
2025-06-08T00:03:18.680Z,1749340998.680 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:18.680Z,1749340998.680 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:18.680Z,1749340998.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:18.815Z,1749340998.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m.
2025-06-08T00:03:18.818Z,1749340998.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.983879 m,
      nav range: 51.468128 m,
      bearing: 140.147509 deg,
      approach rate: -0.612284 m/s,
      LOS rate: -0.026505 deg/s,
      cmd heading: 143.254830 deg,
      new cmd heading: 143.224230 deg.

2025-06-08T00:03:18.820Z,1749340998.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.499734 target range: 52.983879 and range: 53.40 m.
2025-06-08T00:03:18.932Z,1749340998.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222720
2025-06-08T00:03:19.185Z,1749340999.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475613
2025-06-08T00:03:19.268Z,1749340999.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m.
2025-06-08T00:03:19.271Z,1749340999.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.983879 m,
      nav range: 51.201454 m,
      bearing: 140.130749 deg,
      approach rate: -0.595108 m/s,
      LOS rate: -0.037596 deg/s,
      cmd heading: 143.224231 deg,
      new cmd heading: 143.173690 deg.

2025-06-08T00:03:19.276Z,1749340999.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498852 target range: 52.983879 and range: 53.40 m.
2025-06-08T00:03:19.436Z,1749340999.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726739
2025-06-08T00:03:19.617Z,1749340999.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m.
2025-06-08T00:03:19.620Z,1749340999.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.983879 m,
      nav range: 50.982647 m,
      bearing: 140.116158 deg,
      approach rate: -0.618998 m/s,
      LOS rate: -0.041456 deg/s,
      cmd heading: 143.173688 deg,
      new cmd heading: 143.129725 deg.

2025-06-08T00:03:19.621Z,1749340999.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498085 target range: 52.983879 and range: 53.40 m.
2025-06-08T00:03:19.688Z,1749340999.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978959
2025-06-08T00:03:19.940Z,1749340999.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230697
2025-06-08T00:03:20.066Z,1749341000.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m.
2025-06-08T00:03:20.095Z,1749341000.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.983879 m,
      nav range: 50.724140 m,
      bearing: 140.097806 deg,
      approach rate: -0.577106 m/s,
      LOS rate: -0.041179 deg/s,
      cmd heading: 143.129729 deg,
      new cmd heading: 143.074392 deg.

2025-06-08T00:03:20.100Z,1749341000.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497119 target range: 52.983879 and range: 53.40 m.
2025-06-08T00:03:20.192Z,1749341000.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482858
2025-06-08T00:03:20.444Z,1749341000.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734758
2025-06-08T00:03:20.461Z,1749341000.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:20.468Z,1749341000.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m.
2025-06-08T00:03:20.470Z,1749341000.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.983879 m,
      nav range: 50.483189 m,
      bearing: 140.082130 deg,
      approach rate: -0.597680 m/s,
      LOS rate: -0.039068 deg/s,
      cmd heading: 143.074390 deg,
      new cmd heading: 143.027141 deg.

2025-06-08T00:03:20.476Z,1749341000.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496294 target range: 52.983879 and range: 53.40 m.
2025-06-08T00:03:20.696Z,1749341000.696 [DAT](INFO): DAT read: Rx Time:00:03:19.9529

2025-06-08T00:03:20.697Z,1749341000.697 [DAT](INFO): Rx dataTimestamp_ set to:1749341000.696468
2025-06-08T00:03:20.697Z,1749341000.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987885
2025-06-08T00:03:20.889Z,1749341000.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m.
2025-06-08T00:03:20.892Z,1749341000.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.983879 m,
      nav range: 50.209515 m,
      bearing: 140.063648 deg,
      approach rate: -0.649784 m/s,
      LOS rate: -0.044123 deg/s,
      cmd heading: 143.027139 deg,
      new cmd heading: 142.971389 deg.

2025-06-08T00:03:20.893Z,1749341000.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495322 target range: 52.983879 and range: 53.40 m.
2025-06-08T00:03:20.950Z,1749341000.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240288
2025-06-08T00:03:21.220Z,1749341001.220 [DAT](INFO): DAT read: 00:03:19.9529 LVL= 21552, 22417, 16002, 27331, AGC= 64, IDX= 408, 0.35,-2.592, 2.330,-2.429,-3.110, PHS= 0.606,-0.796, 0.678, RAW= 152.5,  -6.8, CAL= 157.6, -14.8, ROT= 352.4,  14.8

2025-06-08T00:03:21.221Z,1749341001.221 [DAT](INFO): got valid direction response:
 00:03:19.9529 LVL= 21552, 22417, 16002, 27331, AGC= 64, IDX= 408, 0.35,-2.592, 2.330,-2.429,-3.110, PHS= 0.606,-0.796, 0.678, RAW= 152.5,  -6.8, CAL= 157.6, -14.8, ROT= 352.4,  14.8

2025-06-08T00:03:21.222Z,1749341001.222 [DAT](INFO): DAT read: Bearing 352.4,  14.8 (Local)

2025-06-08T00:03:21.223Z,1749341001.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,  14.8 (Local)

2025-06-08T00:03:21.226Z,1749341001.226 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m  (Round-trip  68.4 ms) speed  0.5 m/s

2025-06-08T00:03:21.228Z,1749341001.228 [DAT](INFO): DAT read: user:2042>

2025-06-08T00:03:21.228Z,1749341001.228 [DAT](INFO): DAT read: Tx time:00:03:21.0303

2025-06-08T00:03:21.229Z,1749341001.229 [DAT](INFO): Ping request sent.
2025-06-08T00:03:21.229Z,1749341001.229 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:21.229Z,1749341001.229 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:21.230Z,1749341001.230 [DAT](INFO): direction in FSK: [0.958330,-0.127869,-0.255446]
2025-06-08T00:03:21.230Z,1749341001.230 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:21.231Z,1749341001.231 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:21.250Z,1749341001.250 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:21.251Z,1749341001.251 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:21.379Z,1749341001.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.299999 m,
      deltaT: 3.527110 s,
      deltaX: -2.100002 m,
      approachRate: -0.595389 m/s,
      rangeRepo size: 4

2025-06-08T00:03:21.392Z,1749341001.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.898315 m,
      bearing: 138.475374 deg,
      lat: 36.905941 deg,
      lon: -122.115918 deg,
      deltaT: 3.527110 s,
      deltaX: -2.085564 m,
      approachRate: -0.591295 m/s,
      posRepo size: 4

2025-06-08T00:03:21.393Z,1749341001.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:21.399Z,1749341001.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 49.924820 m,
      bearing: 138.475200 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044123 deg/s,
      cmd heading: 142.971391 deg,
      new cmd heading: 142.907129 deg.

2025-06-08T00:03:21.400Z,1749341001.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494200 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:21.453Z,1749341001.453 [DAT](INFO): DAT read: TxSync time:00:03:21.0295

2025-06-08T00:03:21.708Z,1749341001.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:21.711Z,1749341001.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 49.716732 m,
      bearing: 138.447775 deg,
      approach rate: -0.623143 m/s,
      LOS rate: -0.082471 deg/s,
      cmd heading: 142.907133 deg,
      new cmd heading: 142.824513 deg.

2025-06-08T00:03:21.712Z,1749341001.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492758 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:22.162Z,1749341002.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:22.165Z,1749341002.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 49.441776 m,
      bearing: 138.417674 deg,
      approach rate: -0.605488 m/s,
      LOS rate: -0.066655 deg/s,
      cmd heading: 142.824515 deg,
      new cmd heading: 142.733710 deg.

2025-06-08T00:03:22.166Z,1749341002.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491173 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:22.483Z,1749341002.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:22.485Z,1749341002.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:22.488Z,1749341002.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 49.245770 m,
      bearing: 138.396486 deg,
      approach rate: -0.607095 m/s,
      LOS rate: -0.065887 deg/s,
      cmd heading: 142.733714 deg,
      new cmd heading: 142.669897 deg.

2025-06-08T00:03:22.489Z,1749341002.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490059 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:22.712Z,1749341002.712 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:22.713Z,1749341002.713 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:22.713Z,1749341002.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:22.907Z,1749341002.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:22.910Z,1749341002.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 48.990330 m,
      bearing: 138.369330 deg,
      approach rate: -0.606151 m/s,
      LOS rate: -0.064776 deg/s,
      cmd heading: 142.669893 deg,
      new cmd heading: 142.588001 deg.

2025-06-08T00:03:22.911Z,1749341002.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.488630 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:22.965Z,1749341002.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736107
2025-06-08T00:03:23.216Z,1749341003.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987448
2025-06-08T00:03:23.318Z,1749341003.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:23.337Z,1749341003.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 48.738503 m,
      bearing: 138.344493 deg,
      approach rate: -0.611966 m/s,
      LOS rate: -0.060666 deg/s,
      cmd heading: 142.587999 deg,
      new cmd heading: 142.513105 deg.

2025-06-08T00:03:23.338Z,1749341003.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487323 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:23.468Z,1749341003.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239312
2025-06-08T00:03:23.703Z,1749341003.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:23.706Z,1749341003.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 48.502682 m,
      bearing: 138.321645 deg,
      approach rate: -0.612810 m/s,
      LOS rate: -0.059664 deg/s,
      cmd heading: 142.513099 deg,
      new cmd heading: 142.444219 deg.

2025-06-08T00:03:23.707Z,1749341003.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.486121 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:23.720Z,1749341003.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491383
2025-06-08T00:03:23.972Z,1749341003.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743372
2025-06-08T00:03:24.198Z,1749341004.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:24.207Z,1749341004.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 48.198132 m,
      bearing: 138.292756 deg,
      approach rate: -0.614862 m/s,
      LOS rate: -0.058691 deg/s,
      cmd heading: 142.444224 deg,
      new cmd heading: 142.357011 deg.

2025-06-08T00:03:24.227Z,1749341004.227 [DAT](INFO): DAT read: Rx Time:00:03:23.5000

2025-06-08T00:03:24.229Z,1749341004.229 [DAT](INFO): Rx dataTimestamp_ set to:1749341004.227750
2025-06-08T00:03:24.230Z,1749341004.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001072
2025-06-08T00:03:24.236Z,1749341004.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484599 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:24.476Z,1749341004.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247406
2025-06-08T00:03:24.545Z,1749341004.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:24.547Z,1749341004.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.90 m.
2025-06-08T00:03:24.550Z,1749341004.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.898315 m,
      nav range: 47.983894 m,
      bearing: 138.272540 deg,
      approach rate: -0.614494 m/s,
      LOS rate: -0.058245 deg/s,
      cmd heading: 142.357016 deg,
      new cmd heading: 142.296096 deg.

2025-06-08T00:03:24.551Z,1749341004.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483535 target range: 50.898315 and range: 51.30 m.
2025-06-08T00:03:24.748Z,1749341004.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501973
2025-06-08T00:03:24.987Z,1749341004.987 [DAT](INFO): DAT read: 00:03:23.5000 LVL= 19296, 24417, 16274, 31139, AGC= 63, IDX= 411, 0.39,-2.176, 2.759,-1.990,-2.660, PHS= 0.571,-0.818, 0.666, RAW= 153.3,  -5.9, CAL= 158.0, -14.0, ROT= 352.0,  14.0

2025-06-08T00:03:24.988Z,1749341004.988 [DAT](INFO): got valid direction response:
 00:03:23.5000 LVL= 19296, 24417, 16274, 31139, AGC= 63, IDX= 411, 0.39,-2.176, 2.759,-1.990,-2.660, PHS= 0.571,-0.818, 0.666, RAW= 153.3,  -5.9, CAL= 158.0, -14.0, ROT= 352.0,  14.0

2025-06-08T00:03:24.989Z,1749341004.989 [DAT](INFO): DAT read: Bearing 352.0,  14.0 (Local)

2025-06-08T00:03:24.989Z,1749341004.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.0,  14.0 (Local)

2025-06-08T00:03:24.992Z,1749341004.992 [DAT](INFO): DAT read: Range 10 to 50 : 49.2 m  (Round-trip  65.6 ms) speed  0.5 m/s

2025-06-08T00:03:24.992Z,1749341004.992 [DAT](INFO): DAT read: user:2043>

2025-06-08T00:03:24.993Z,1749341004.993 [DAT](INFO): DAT read: Tx time:00:03:24.5803

2025-06-08T00:03:24.993Z,1749341004.993 [DAT](INFO): Ping request sent.
2025-06-08T00:03:24.994Z,1749341004.994 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:24.994Z,1749341004.994 [DAT](INFO): DAT read: TxSync time:00:03:24.5795

2025-06-08T00:03:24.995Z,1749341004.995 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:24.996Z,1749341004.996 [DAT](INFO): direction in FSK: [0.960853,-0.135039,-0.241922]
2025-06-08T00:03:24.997Z,1749341004.997 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:24.997Z,1749341004.997 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:25.000Z,1749341005.000 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:25.000Z,1749341005.000 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:25.089Z,1749341005.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.200001 m,
      deltaT: 3.778750 s,
      deltaX: -2.099998 m,
      approachRate: -0.555739 m/s,
      rangeRepo size: 4

2025-06-08T00:03:25.116Z,1749341005.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.812714 m,
      bearing: 137.141500 deg,
      lat: 36.905944 deg,
      lon: -122.115917 deg,
      deltaT: 3.778750 s,
      deltaX: -2.085602 m,
      approachRate: -0.551929 m/s,
      posRepo size: 4

2025-06-08T00:03:25.123Z,1749341005.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:25.146Z,1749341005.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 47.500729 m,
      bearing: 137.908053 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058245 deg/s,
      cmd heading: 142.296090 deg,
      new cmd heading: 142.203874 deg.

2025-06-08T00:03:25.156Z,1749341005.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481926 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:25.475Z,1749341005.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:25.478Z,1749341005.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 47.225361 m,
      bearing: 137.875760 deg,
      approach rate: -0.687914 m/s,
      LOS rate: -0.081144 deg/s,
      cmd heading: 142.203869 deg,
      new cmd heading: 142.106425 deg.

2025-06-08T00:03:25.479Z,1749341005.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480225 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:25.830Z,1749341005.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:25.833Z,1749341005.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 47.010391 m,
      bearing: 137.850682 deg,
      approach rate: -0.605478 m/s,
      LOS rate: -0.070958 deg/s,
      cmd heading: 142.106430 deg,
      new cmd heading: 142.030851 deg.

2025-06-08T00:03:25.834Z,1749341005.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478906 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:26.294Z,1749341006.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:26.297Z,1749341006.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 46.722694 m,
      bearing: 137.817820 deg,
      approach rate: -0.619672 m/s,
      LOS rate: -0.071216 deg/s,
      cmd heading: 142.030847 deg,
      new cmd heading: 141.931656 deg.

2025-06-08T00:03:26.298Z,1749341006.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477175 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:26.637Z,1749341006.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:26.640Z,1749341006.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:26.642Z,1749341006.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 46.509064 m,
      bearing: 137.795111 deg,
      approach rate: -0.619144 m/s,
      LOS rate: -0.066117 deg/s,
      cmd heading: 141.931659 deg,
      new cmd heading: 141.863219 deg.

2025-06-08T00:03:26.643Z,1749341006.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475980 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:26.748Z,1749341006.748 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:26.748Z,1749341006.748 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:26.749Z,1749341006.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:27.000Z,1749341007.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006541
2025-06-08T00:03:27.056Z,1749341007.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:27.063Z,1749341007.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 46.262299 m,
      bearing: 137.770052 deg,
      approach rate: -0.591806 m/s,
      LOS rate: -0.060418 deg/s,
      cmd heading: 141.863220 deg,
      new cmd heading: 141.787642 deg.

2025-06-08T00:03:27.064Z,1749341007.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474661 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:27.252Z,1749341007.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258587
2025-06-08T00:03:27.504Z,1749341007.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510553
2025-06-08T00:03:27.526Z,1749341007.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:27.529Z,1749341007.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 45.964420 m,
      bearing: 137.734287 deg,
      approach rate: -0.634381 m/s,
      LOS rate: -0.076662 deg/s,
      cmd heading: 141.787637 deg,
      new cmd heading: 141.679646 deg.

2025-06-08T00:03:27.530Z,1749341007.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472776 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:27.756Z,1749341007.756 [DAT](INFO): DAT read: Rx Time:00:03:27.0471

2025-06-08T00:03:27.757Z,1749341007.757 [DAT](INFO): Rx dataTimestamp_ set to:1749341007.756528
2025-06-08T00:03:27.757Z,1749341007.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763723
2025-06-08T00:03:27.880Z,1749341007.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:27.883Z,1749341007.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 45.748390 m,
      bearing: 137.708283 deg,
      approach rate: -0.609294 m/s,
      LOS rate: -0.073687 deg/s,
      cmd heading: 141.679652 deg,
      new cmd heading: 141.601273 deg.

2025-06-08T00:03:27.884Z,1749341007.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471408 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:28.009Z,1749341008.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014971
2025-06-08T00:03:28.263Z,1749341008.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269057
2025-06-08T00:03:28.357Z,1749341008.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.81 m.
2025-06-08T00:03:28.371Z,1749341008.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.812714 m,
      nav range: 45.452366 m,
      bearing: 137.675361 deg,
      approach rate: -0.621795 m/s,
      LOS rate: -0.069603 deg/s,
      cmd heading: 141.601269 deg,
      new cmd heading: 141.501859 deg.

2025-06-08T00:03:28.373Z,1749341008.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469673 target range: 48.812714 and range: 49.20 m.
2025-06-08T00:03:28.523Z,1749341008.523 [DAT](INFO): DAT read: 00:03:27.0471 LVL= 24400, 26353, 18226, 30179, AGC= 65, IDX= 414, 0.29,-0.709,-2.089,-0.495,-1.163, PHS= 0.543,-0.879, 0.666, RAW= 154.1,  -4.5, CAL= 158.3, -12.7, ROT= 351.7,  12.7

2025-06-08T00:03:28.524Z,1749341008.524 [DAT](INFO): got valid direction response:
 00:03:27.0471 LVL= 24400, 26353, 18226, 30179, AGC= 65, IDX= 414, 0.29,-0.709,-2.089,-0.495,-1.163, PHS= 0.543,-0.879, 0.666, RAW= 154.1,  -4.5, CAL= 158.3, -12.7, ROT= 351.7,  12.7

2025-06-08T00:03:28.525Z,1749341008.525 [DAT](INFO): DAT read: Bearing 351.7,  12.7 (Local)

2025-06-08T00:03:28.526Z,1749341008.526 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.7,  12.7 (Local)

2025-06-08T00:03:28.528Z,1749341008.528 [DAT](INFO): DAT read: Range 10 to 50 : 46.9 m  (Round-trip  62.6 ms) speed  0.6 m/s

2025-06-08T00:03:28.528Z,1749341008.528 [DAT](INFO): DAT read: user:2044>

2025-06-08T00:03:28.529Z,1749341008.529 [DAT](INFO): DAT read: Tx time:00:03:28.1303

2025-06-08T00:03:28.529Z,1749341008.529 [DAT](INFO): Ping request sent.
2025-06-08T00:03:28.529Z,1749341008.529 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:28.530Z,1749341008.530 [DAT](INFO): DAT read: TxSync time:00:03:28.1295

2025-06-08T00:03:28.531Z,1749341008.531 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:28.532Z,1749341008.532 [DAT](INFO): direction in FSK: [0.965317,-0.140824,-0.219846]
2025-06-08T00:03:28.532Z,1749341008.532 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:28.532Z,1749341008.532 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:28.536Z,1749341008.536 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:28.537Z,1749341008.537 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:28.721Z,1749341008.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.900002 m,
      deltaT: 3.532860 s,
      deltaX: -2.299999 m,
      approachRate: -0.651030 m/s,
      rangeRepo size: 4

2025-06-08T00:03:28.727Z,1749341008.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.530270 m,
      bearing: 135.740839 deg,
      lat: 36.905945 deg,
      lon: -122.115909 deg,
      deltaT: 3.532860 s,
      deltaX: -2.282444 m,
      approachRate: -0.646061 m/s,
      posRepo size: 4

2025-06-08T00:03:28.728Z,1749341008.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:28.731Z,1749341008.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 45.670525 m,
      bearing: 136.850366 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069603 deg/s,
      cmd heading: 141.501862 deg,
      new cmd heading: 141.425886 deg.

2025-06-08T00:03:28.740Z,1749341008.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468347 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:29.059Z,1749341009.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:29.061Z,1749341009.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:29.064Z,1749341009.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 45.443855 m,
      bearing: 136.821590 deg,
      approach rate: -0.664643 m/s,
      LOS rate: -0.084801 deg/s,
      cmd heading: 141.425883 deg,
      new cmd heading: 141.339122 deg.

2025-06-08T00:03:29.065Z,1749341009.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466833 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:29.269Z,1749341009.269 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:29.269Z,1749341009.269 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:29.269Z,1749341009.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:29.490Z,1749341009.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:29.493Z,1749341009.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 45.180920 m,
      bearing: 136.785312 deg,
      approach rate: -0.613799 m/s,
      LOS rate: -0.085179 deg/s,
      cmd heading: 141.339126 deg,
      new cmd heading: 141.229661 deg.

2025-06-08T00:03:29.494Z,1749341009.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464923 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:29.520Z,1749341009.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990644
2025-06-08T00:03:29.772Z,1749341009.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242526
2025-06-08T00:03:29.875Z,1749341009.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:29.878Z,1749341009.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 44.944866 m,
      bearing: 136.753006 deg,
      approach rate: -0.612943 m/s,
      LOS rate: -0.084327 deg/s,
      cmd heading: 141.229666 deg,
      new cmd heading: 141.132239 deg.

2025-06-08T00:03:29.895Z,1749341009.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463222 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:30.024Z,1749341010.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494636
2025-06-08T00:03:30.276Z,1749341010.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746549
2025-06-08T00:03:30.312Z,1749341010.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:30.314Z,1749341010.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 44.678562 m,
      bearing: 136.718527 deg,
      approach rate: -0.609726 m/s,
      LOS rate: -0.079413 deg/s,
      cmd heading: 141.132240 deg,
      new cmd heading: 141.028187 deg.

2025-06-08T00:03:30.316Z,1749341010.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461406 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:30.528Z,1749341010.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998673
2025-06-08T00:03:30.683Z,1749341010.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:30.686Z,1749341010.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 44.451077 m,
      bearing: 136.689393 deg,
      approach rate: -0.612334 m/s,
      LOS rate: -0.078824 deg/s,
      cmd heading: 141.028189 deg,
      new cmd heading: 140.940338 deg.

2025-06-08T00:03:30.687Z,1749341010.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459873 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:30.780Z,1749341010.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250965
2025-06-08T00:03:31.032Z,1749341011.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502518
2025-06-08T00:03:31.115Z,1749341011.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:31.117Z,1749341011.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:31.120Z,1749341011.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 44.194553 m,
      bearing: 136.656178 deg,
      approach rate: -0.590758 m/s,
      LOS rate: -0.076935 deg/s,
      cmd heading: 140.940339 deg,
      new cmd heading: 140.840117 deg.

2025-06-08T00:03:31.121Z,1749341011.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458124 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:31.286Z,1749341011.286 [DAT](INFO): DAT read: Rx Time:00:03:30.5941

2025-06-08T00:03:31.286Z,1749341011.286 [DAT](INFO): Rx dataTimestamp_ set to:1749341011.286136
2025-06-08T00:03:31.287Z,1749341011.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757442
2025-06-08T00:03:31.507Z,1749341011.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:31.510Z,1749341011.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 43.947685 m,
      bearing: 136.622212 deg,
      approach rate: -0.633499 m/s,
      LOS rate: -0.087652 deg/s,
      cmd heading: 140.840113 deg,
      new cmd heading: 140.737641 deg.

2025-06-08T00:03:31.511Z,1749341011.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456335 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:31.536Z,1749341011.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006546
2025-06-08T00:03:31.788Z,1749341011.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258558
2025-06-08T00:03:31.930Z,1749341011.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m.
2025-06-08T00:03:31.934Z,1749341011.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.530270 m,
      nav range: 43.702412 m,
      bearing: 136.588334 deg,
      approach rate: -0.584134 m/s,
      LOS rate: -0.081136 deg/s,
      cmd heading: 140.737646 deg,
      new cmd heading: 140.635441 deg.

2025-06-08T00:03:31.935Z,1749341011.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454551 target range: 46.530270 and range: 46.90 m.
2025-06-08T00:03:32.046Z,1749341012.046 [DAT](INFO): DAT read: 00:03:30.5941 LVL= 20304, 25585, 15778, 31219, AGC= 63, IDX= 414, 0.07,-1.685,-3.027,-1.476,-2.092, PHS= 0.495,-0.888, 0.613, RAW= 154.0,  -3.1, CAL= 157.8, -11.5, ROT= 352.2,  11.5

2025-06-08T00:03:32.048Z,1749341012.048 [DAT](INFO): got valid direction response:
 00:03:30.5941 LVL= 20304, 25585, 15778, 31219, AGC= 63, IDX= 414, 0.07,-1.685,-3.027,-1.476,-2.092, PHS= 0.495,-0.888, 0.613, RAW= 154.0,  -3.1, CAL= 157.8, -11.5, ROT= 352.2,  11.5

2025-06-08T00:03:32.049Z,1749341012.049 [DAT](INFO): DAT read: Bearing 352.2,  11.5 (Local)

2025-06-08T00:03:32.049Z,1749341012.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,  11.5 (Local)

2025-06-08T00:03:32.051Z,1749341012.051 [DAT](INFO): DAT read: Range 10 to 50 : 44.6 m  (Round-trip  59.5 ms) speed  0.6 m/s

2025-06-08T00:03:32.052Z,1749341012.052 [DAT](INFO): DAT read: user:2045>

2025-06-08T00:03:32.052Z,1749341012.052 [DAT](INFO): DAT read: Tx time:00:03:31.6804

2025-06-08T00:03:32.053Z,1749341012.053 [DAT](INFO): Ping request sent.
2025-06-08T00:03:32.053Z,1749341012.053 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:32.053Z,1749341012.053 [DAT](INFO): DAT read: TxSync time:00:03:31.6796

2025-06-08T00:03:32.054Z,1749341012.054 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:32.055Z,1749341012.055 [DAT](INFO): direction in FSK: [0.970858,-0.132991,-0.199368]
2025-06-08T00:03:32.067Z,1749341012.067 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:32.068Z,1749341012.068 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:32.071Z,1749341012.071 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:32.071Z,1749341012.071 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:32.373Z,1749341012.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.599998 m,
      deltaT: 3.527180 s,
      deltaX: -2.300003 m,
      approachRate: -0.652080 m/s,
      rangeRepo size: 4

2025-06-08T00:03:32.375Z,1749341012.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.249138 m,
      bearing: 135.505587 deg,
      lat: 36.905945 deg,
      lon: -122.115909 deg,
      deltaT: 3.527180 s,
      deltaX: -2.281132 m,
      approachRate: -0.646730 m/s,
      posRepo size: 4

2025-06-08T00:03:32.380Z,1749341012.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:32.382Z,1749341012.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 43.434353 m,
      bearing: 136.555708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.081136 deg/s,
      cmd heading: 140.635439 deg,
      new cmd heading: 140.527112 deg.

2025-06-08T00:03:32.388Z,1749341012.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452661 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:32.709Z,1749341012.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:32.712Z,1749341012.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 43.218235 m,
      bearing: 136.527564 deg,
      approach rate: -0.641216 m/s,
      LOS rate: -0.083919 deg/s,
      cmd heading: 140.527112 deg,
      new cmd heading: 140.442260 deg.

2025-06-08T00:03:32.713Z,1749341012.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451180 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:33.102Z,1749341013.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:33.105Z,1749341013.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 42.981106 m,
      bearing: 136.495634 deg,
      approach rate: -0.603779 m/s,
      LOS rate: -0.081750 deg/s,
      cmd heading: 140.442254 deg,
      new cmd heading: 140.345935 deg.

2025-06-08T00:03:33.106Z,1749341013.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449499 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:33.528Z,1749341013.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:33.530Z,1749341013.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:33.534Z,1749341013.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 42.724533 m,
      bearing: 136.466089 deg,
      approach rate: -0.599207 m/s,
      LOS rate: -0.069414 deg/s,
      cmd heading: 140.345935 deg,
      new cmd heading: 140.256769 deg.

2025-06-08T00:03:33.535Z,1749341013.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447942 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:33.552Z,1749341013.552 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:33.552Z,1749341013.552 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:33.552Z,1749341013.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:33.804Z,1749341013.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751371
2025-06-08T00:03:34.006Z,1749341014.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:34.009Z,1749341014.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 42.447617 m,
      bearing: 136.433800 deg,
      approach rate: -0.600448 m/s,
      LOS rate: -0.070471 deg/s,
      cmd heading: 140.256773 deg,
      new cmd heading: 140.159273 deg.

2025-06-08T00:03:34.010Z,1749341014.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446241 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:34.057Z,1749341014.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003940
2025-06-08T00:03:34.308Z,1749341014.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255377
2025-06-08T00:03:34.417Z,1749341014.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:34.423Z,1749341014.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 42.202190 m,
      bearing: 136.409109 deg,
      approach rate: -0.577036 m/s,
      LOS rate: -0.058389 deg/s,
      cmd heading: 140.159279 deg,
      new cmd heading: 140.084777 deg.

2025-06-08T00:03:34.425Z,1749341014.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444941 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:34.560Z,1749341014.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507361
2025-06-08T00:03:34.737Z,1749341014.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:34.756Z,1749341014.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 42.008987 m,
      bearing: 136.389967 deg,
      approach rate: -0.602417 m/s,
      LOS rate: -0.059959 deg/s,
      cmd heading: 140.084776 deg,
      new cmd heading: 140.027087 deg.

2025-06-08T00:03:34.757Z,1749341014.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443934 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:34.815Z,1749341014.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762278
2025-06-08T00:03:35.064Z,1749341015.064 [DAT](INFO): DAT read: Rx Time:00:03:34.1413

2025-06-08T00:03:35.065Z,1749341015.065 [DAT](INFO): Rx dataTimestamp_ set to:1749341015.064393
2025-06-08T00:03:35.065Z,1749341015.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012434
2025-06-08T00:03:35.149Z,1749341015.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:35.152Z,1749341015.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 41.766293 m,
      bearing: 136.365720 deg,
      approach rate: -0.589424 m/s,
      LOS rate: -0.059231 deg/s,
      cmd heading: 140.027088 deg,
      new cmd heading: 139.953924 deg.

2025-06-08T00:03:35.153Z,1749341015.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442657 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:35.216Z,1749341015.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:03:35.316Z,1749341015.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263519
2025-06-08T00:03:35.559Z,1749341015.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:35.562Z,1749341015.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.25 m.
2025-06-08T00:03:35.565Z,1749341015.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.249138 m,
      nav range: 41.525841 m,
      bearing: 136.346468 deg,
      approach rate: -0.582759 m/s,
      LOS rate: -0.046929 deg/s,
      cmd heading: 139.953923 deg,
      new cmd heading: 139.895833 deg.

2025-06-08T00:03:35.566Z,1749341015.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441643 target range: 44.249138 and range: 44.60 m.
2025-06-08T00:03:35.574Z,1749341015.574 [DAT](INFO): DAT read: 00:03:34.1413 LVL= 21392, 23665, 15442, 26947, AGC= 64, IDX= 416, 0.29,-1.338,-2.699,-1.129,-1.734, PHS= 0.485,-0.918, 0.602, RAW= 154.0,  -2.3, CAL= 157.5, -10.9, ROT= 352.5,  10.9

2025-06-08T00:03:35.575Z,1749341015.575 [DAT](INFO): got valid direction response:
 00:03:34.1413 LVL= 21392, 23665, 15442, 26947, AGC= 64, IDX= 416, 0.29,-1.338,-2.699,-1.129,-1.734, PHS= 0.485,-0.918, 0.602, RAW= 154.0,  -2.3, CAL= 157.5, -10.9, ROT= 352.5,  10.9

2025-06-08T00:03:35.576Z,1749341015.576 [DAT](INFO): DAT read: Bearing 352.5,  10.9 (Local)

2025-06-08T00:03:35.577Z,1749341015.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.5,  10.9 (Local)

2025-06-08T00:03:35.578Z,1749341015.578 [DAT](INFO): DAT read: Range 10 to 50 : 42.5 m  (Round-trip  56.7 ms) speed  0.5 m/s

2025-06-08T00:03:35.579Z,1749341015.579 [DAT](INFO): DAT read: user:2046>

2025-06-08T00:03:35.580Z,1749341015.580 [DAT](INFO): DAT read: Tx time:00:03:35.2304

2025-06-08T00:03:35.580Z,1749341015.580 [DAT](INFO): Ping request sent.
2025-06-08T00:03:35.580Z,1749341015.580 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:35.580Z,1749341015.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:35.585Z,1749341015.585 [DAT](INFO): direction in FSK: [0.973558,-0.128171,-0.189095]
2025-06-08T00:03:35.586Z,1749341015.586 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:35.587Z,1749341015.587 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:35.610Z,1749341015.610 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:35.610Z,1749341015.610 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:35.822Z,1749341015.822 [DAT](INFO): DAT read: TxSync time:00:03:35.2296

2025-06-08T00:03:35.946Z,1749341015.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.500000 m,
      deltaT: 3.527996 s,
      deltaX: -2.099998 m,
      approachRate: -0.595238 m/s,
      rangeRepo size: 4

2025-06-08T00:03:35.949Z,1749341015.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.166096 m,
      bearing: 135.855175 deg,
      lat: 36.905946 deg,
      lon: -122.115905 deg,
      deltaT: 3.527996 s,
      deltaX: -2.083042 m,
      approachRate: -0.590432 m/s,
      posRepo size: 4

2025-06-08T00:03:35.950Z,1749341015.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.17 m.
2025-06-08T00:03:35.955Z,1749341015.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.166096 m,
      nav range: 41.488926 m,
      bearing: 135.855027 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046929 deg/s,
      cmd heading: 139.895839 deg,
      new cmd heading: 139.841906 deg.

2025-06-08T00:03:35.957Z,1749341015.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440702 target range: 42.166096 and range: 42.50 m.
2025-06-08T00:03:36.220Z,1749341016.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:03:36.380Z,1749341016.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.17 m.
2025-06-08T00:03:36.386Z,1749341016.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.166096 m,
      nav range: 41.228554 m,
      bearing: 135.833147 deg,
      approach rate: -0.597514 m/s,
      LOS rate: -0.050527 deg/s,
      cmd heading: 139.841908 deg,
      new cmd heading: 139.775855 deg.

2025-06-08T00:03:36.405Z,1749341016.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439549 target range: 42.166096 and range: 42.50 m.
2025-06-08T00:03:36.740Z,1749341016.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.17 m.
2025-06-08T00:03:36.747Z,1749341016.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.166096 m,
      nav range: 41.018585 m,
      bearing: 135.816471 deg,
      approach rate: -0.585366 m/s,
      LOS rate: -0.046729 deg/s,
      cmd heading: 139.775860 deg,
      new cmd heading: 139.725576 deg.

2025-06-08T00:03:36.748Z,1749341016.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438671 target range: 42.166096 and range: 42.50 m.
2025-06-08T00:03:37.150Z,1749341017.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.17 m.
2025-06-08T00:03:37.153Z,1749341017.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.166096 m,
      nav range: 40.778286 m,
      bearing: 135.798427 deg,
      approach rate: -0.585118 m/s,
      LOS rate: -0.044195 deg/s,
      cmd heading: 139.725576 deg,
      new cmd heading: 139.671125 deg.

2025-06-08T00:03:37.154Z,1749341017.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437721 target range: 42.166096 and range: 42.50 m.
2025-06-08T00:03:37.588Z,1749341017.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:37.590Z,1749341017.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.17 m.
2025-06-08T00:03:37.593Z,1749341017.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.166096 m,
      nav range: 40.522976 m,
      bearing: 135.781410 deg,
      approach rate: -0.579917 m/s,
      LOS rate: -0.038897 deg/s,
      cmd heading: 139.671126 deg,
      new cmd heading: 139.619752 deg.

2025-06-08T00:03:37.594Z,1749341017.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436824 target range: 42.166096 and range: 42.50 m.
2025-06-08T00:03:37.836Z,1749341017.836 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:37.836Z,1749341017.836 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:37.836Z,1749341017.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:37.973Z,1749341017.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.17 m.
2025-06-08T00:03:37.976Z,1749341017.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.166096 m,
      nav range: 40.301136 m,
      bearing: 135.767210 deg,
      approach rate: -0.579886 m/s,
      LOS rate: -0.037323 deg/s,
      cmd heading: 139.619749 deg,
      new cmd heading: 139.576914 deg.

2025-06-08T00:03:37.977Z,1749341017.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436077 target range: 42.166096 and range: 42.50 m.
2025-06-08T00:03:38.088Z,1749341018.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508058
2025-06-08T00:03:38.343Z,1749341018.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762161
2025-06-08T00:03:38.442Z,1749341018.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.17 m.
2025-06-08T00:03:38.453Z,1749341018.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.166096 m,
      nav range: 40.031090 m,
      bearing: 135.743231 deg,
      approach rate: -0.575218 m/s,
      LOS rate: -0.051421 deg/s,
      cmd heading: 139.576910 deg,
      new cmd heading: 139.504489 deg.

2025-06-08T00:03:38.454Z,1749341018.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434813 target range: 42.166096 and range: 42.50 m.
2025-06-08T00:03:38.592Z,1749341018.592 [DAT](INFO): DAT read: Rx Time:00:03:37.6886

2025-06-08T00:03:38.593Z,1749341018.593 [DAT](INFO): Rx dataTimestamp_ set to:1749341018.592627
2025-06-08T00:03:38.593Z,1749341018.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013434
2025-06-08T00:03:38.760Z,1749341018.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.17 m.
2025-06-08T00:03:38.763Z,1749341018.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.166096 m,
      nav range: 39.829014 m,
      bearing: 135.725322 deg,
      approach rate: -0.635433 m/s,
      LOS rate: -0.056602 deg/s,
      cmd heading: 139.504483 deg,
      new cmd heading: 139.450482 deg.

2025-06-08T00:03:38.784Z,1749341018.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433870 target range: 42.166096 and range: 42.50 m.
2025-06-08T00:03:38.845Z,1749341018.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264802
2025-06-08T00:03:39.102Z,1749341019.102 [DAT](INFO): DAT read: 00:03:37.6886 LVL= 19312, 23953, 16866, 29555, AGC= 63, IDX= 421, 0.38, 0.221,-1.183, 0.409,-0.225, PHS= 0.534,-0.911, 0.631, RAW= 153.2,  -3.4, CAL= 157.2, -11.9, ROT= 352.8,  11.9

2025-06-08T00:03:39.103Z,1749341019.103 [DAT](INFO): got valid direction response:
 00:03:37.6886 LVL= 19312, 23953, 16866, 29555, AGC= 63, IDX= 421, 0.38, 0.221,-1.183, 0.409,-0.225, PHS= 0.534,-0.911, 0.631, RAW= 153.2,  -3.4, CAL= 157.2, -11.9, ROT= 352.8,  11.9

2025-06-08T00:03:39.104Z,1749341019.104 [DAT](INFO): DAT read: Bearing 352.8,  11.9 (Local)

2025-06-08T00:03:39.104Z,1749341019.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,  11.9 (Local)

2025-06-08T00:03:39.106Z,1749341019.106 [DAT](INFO): DAT read: Range 10 to 50 : 40.5 m  (Round-trip  54.1 ms) speed  0.5 m/s

2025-06-08T00:03:39.106Z,1749341019.106 [DAT](INFO): DAT read: user:2047>

2025-06-08T00:03:39.107Z,1749341019.107 [DAT](INFO): DAT read: Tx time:00:03:38.7804

2025-06-08T00:03:39.108Z,1749341019.108 [DAT](INFO): Ping request sent.
2025-06-08T00:03:39.108Z,1749341019.108 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:39.108Z,1749341019.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:39.109Z,1749341019.109 [DAT](INFO): direction in FSK: [0.970793,-0.122640,-0.206204]
2025-06-08T00:03:39.109Z,1749341019.109 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:39.110Z,1749341019.110 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:39.113Z,1749341019.113 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:39.113Z,1749341019.113 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:39.220Z,1749341019.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.527851 s,
      deltaX: -2.000000 m,
      approachRate: -0.566917 m/s,
      rangeRepo size: 4

2025-06-08T00:03:39.222Z,1749341019.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.181976 m,
      bearing: 135.475813 deg,
      lat: 36.905948 deg,
      lon: -122.115905 deg,
      deltaT: 3.527851 s,
      deltaX: -1.984119 m,
      approachRate: -0.562416 m/s,
      posRepo size: 4

2025-06-08T00:03:39.228Z,1749341019.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:39.235Z,1749341019.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 39.384506 m,
      bearing: 135.432171 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.056602 deg/s,
      cmd heading: 139.450483 deg,
      new cmd heading: 139.373314 deg.

2025-06-08T00:03:39.236Z,1749341019.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432523 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:39.351Z,1749341019.351 [DAT](INFO): DAT read: TxSync time:00:03:38.7796

2025-06-08T00:03:39.626Z,1749341019.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:39.633Z,1749341019.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:39.640Z,1749341019.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 39.117821 m,
      bearing: 135.405732 deg,
      approach rate: -0.637737 m/s,
      LOS rate: -0.063656 deg/s,
      cmd heading: 139.373316 deg,
      new cmd heading: 139.293458 deg.

2025-06-08T00:03:39.641Z,1749341019.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431129 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:39.855Z,1749341019.855 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:39.856Z,1749341019.856 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:39.857Z,1749341019.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:03:39.988Z,1749341019.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:39.992Z,1749341019.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 38.892456 m,
      bearing: 135.381642 deg,
      approach rate: -0.633549 m/s,
      LOS rate: -0.068113 deg/s,
      cmd heading: 139.293457 deg,
      new cmd heading: 139.220770 deg.

2025-06-08T00:03:39.993Z,1749341019.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429861 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:40.104Z,1749341020.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996405
2025-06-08T00:03:40.359Z,1749341020.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250631
2025-06-08T00:03:40.469Z,1749341020.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:40.472Z,1749341020.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 38.612930 m,
      bearing: 135.339021 deg,
      approach rate: -0.583901 m/s,
      LOS rate: -0.089675 deg/s,
      cmd heading: 139.220770 deg,
      new cmd heading: 139.091982 deg.

2025-06-08T00:03:40.473Z,1749341020.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427613 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:40.608Z,1749341020.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500518
2025-06-08T00:03:40.844Z,1749341020.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:40.847Z,1749341020.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 38.366676 m,
      bearing: 135.300288 deg,
      approach rate: -0.653679 m/s,
      LOS rate: -0.103477 deg/s,
      cmd heading: 139.091980 deg,
      new cmd heading: 138.975035 deg.

2025-06-08T00:03:40.848Z,1749341020.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425572 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:40.860Z,1749341020.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752439
2025-06-08T00:03:41.112Z,1749341021.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004442
2025-06-08T00:03:41.223Z,1749341021.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:41.226Z,1749341021.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 38.140957 m,
      bearing: 135.264238 deg,
      approach rate: -0.601771 m/s,
      LOS rate: -0.096678 deg/s,
      cmd heading: 138.975034 deg,
      new cmd heading: 138.866245 deg.

2025-06-08T00:03:41.231Z,1749341021.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423673 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:41.367Z,1749341021.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258355
2025-06-08T00:03:41.616Z,1749341021.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508473
2025-06-08T00:03:41.626Z,1749341021.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:41.629Z,1749341021.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 37.885136 m,
      bearing: 135.218947 deg,
      approach rate: -0.627787 m/s,
      LOS rate: -0.111896 deg/s,
      cmd heading: 138.866243 deg,
      new cmd heading: 138.729451 deg.

2025-06-08T00:03:41.630Z,1749341021.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421286 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:41.869Z,1749341021.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760692
2025-06-08T00:03:42.005Z,1749341022.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:42.008Z,1749341022.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:42.010Z,1749341022.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 37.650784 m,
      bearing: 135.176996 deg,
      approach rate: -0.615236 m/s,
      LOS rate: -0.110818 deg/s,
      cmd heading: 138.729448 deg,
      new cmd heading: 138.602812 deg.

2025-06-08T00:03:42.012Z,1749341022.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419075 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:42.121Z,1749341022.121 [DAT](INFO): DAT read: Rx Time:00:03:41.2358

2025-06-08T00:03:42.122Z,1749341022.122 [DAT](INFO): Rx dataTimestamp_ set to:1749341022.121282
2025-06-08T00:03:42.122Z,1749341022.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014382
2025-06-08T00:03:42.375Z,1749341022.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266572
2025-06-08T00:03:42.552Z,1749341022.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.18 m.
2025-06-08T00:03:42.555Z,1749341022.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.181976 m,
      nav range: 37.327332 m,
      bearing: 135.110293 deg,
      approach rate: -0.593430 m/s,
      LOS rate: -0.123438 deg/s,
      cmd heading: 138.602816 deg,
      new cmd heading: 138.400975 deg.

2025-06-08T00:03:42.556Z,1749341022.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415553 target range: 40.181976 and range: 40.50 m.
2025-06-08T00:03:42.632Z,1749341022.632 [DAT](INFO): DAT read: 00:03:41.2358 LVL= 20416, 26609, 16626, 31427, AGC= 64, IDX= 408, 0.02, 0.915,-0.555, 1.051, 0.446, PHS= 0.557,-0.954, 0.602, RAW= 151.5,  -2.7, CAL= 155.4, -11.3, ROT= 354.6,  11.3

2025-06-08T00:03:42.633Z,1749341022.633 [DAT](INFO): got valid direction response:
 00:03:41.2358 LVL= 20416, 26609, 16626, 31427, AGC= 64, IDX= 408, 0.02, 0.915,-0.555, 1.051, 0.446, PHS= 0.557,-0.954, 0.602, RAW= 151.5,  -2.7, CAL= 155.4, -11.3, ROT= 354.6,  11.3

2025-06-08T00:03:42.634Z,1749341022.634 [DAT](INFO): DAT read: Bearing 354.6,  11.3 (Local)

2025-06-08T00:03:42.635Z,1749341022.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  11.3 (Local)

2025-06-08T00:03:42.637Z,1749341022.637 [DAT](INFO): DAT read: Range 10 to 50 : 38.3 m  (Round-trip  51.1 ms) speed  0.5 m/s

2025-06-08T00:03:42.638Z,1749341022.638 [DAT](INFO): DAT read: user:2048>

2025-06-08T00:03:42.647Z,1749341022.647 [DAT](INFO): DAT read: Tx time:00:03:42.3305

2025-06-08T00:03:42.648Z,1749341022.648 [DAT](INFO): Ping request sent.
2025-06-08T00:03:42.648Z,1749341022.648 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:42.648Z,1749341022.648 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:42.649Z,1749341022.649 [DAT](INFO): direction in FSK: [0.976263,-0.092284,-0.195946]
2025-06-08T00:03:42.649Z,1749341022.649 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:42.649Z,1749341022.649 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:42.657Z,1749341022.657 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:42.657Z,1749341022.657 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:42.876Z,1749341022.876 [DAT](INFO): DAT read: TxSync time:00:03:42.3297

2025-06-08T00:03:42.885Z,1749341022.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.299999 m,
      deltaT: 3.529701 s,
      deltaX: -2.200001 m,
      approachRate: -0.623282 m/s,
      rangeRepo size: 4

2025-06-08T00:03:42.887Z,1749341022.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.999222 m,
      bearing: 137.423180 deg,
      lat: 36.905948 deg,
      lon: -122.115905 deg,
      deltaT: 3.529701 s,
      deltaX: -2.182755 m,
      approachRate: -0.618396 m/s,
      posRepo size: 4

2025-06-08T00:03:42.892Z,1749341022.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:42.894Z,1749341022.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 37.120808 m,
      bearing: 135.067811 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.123438 deg/s,
      cmd heading: 138.400970 deg,
      new cmd heading: 138.278196 deg.

2025-06-08T00:03:42.900Z,1749341022.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413410 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:43.230Z,1749341023.230 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-08T00:03:43.230Z,1749341023.230 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:03:43.230Z,1749341023.230 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-08T00:03:43.231Z,1749341023.231 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.299999 m (mode  2.000000 count ).
2025-06-08T00:03:43.232Z,1749341023.232 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-08T00:03:43.232Z,1749341023.232 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-08T00:03:43.234Z,1749341023.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:43.237Z,1749341023.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 36.892166 m,
      bearing: 135.020761 deg,
      approach rate: -0.653336 m/s,
      LOS rate: -0.135277 deg/s,
      cmd heading: 138.278191 deg,
      new cmd heading: 138.136166 deg.

2025-06-08T00:03:43.238Z,1749341023.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410931 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:43.647Z,1749341023.647 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-08T00:03:43.647Z,1749341023.647 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-08T00:03:43.649Z,1749341023.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:43.652Z,1749341023.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 36.631645 m,
      bearing: 134.969447 deg,
      approach rate: -0.627125 m/s,
      LOS rate: -0.124400 deg/s,
      cmd heading: 138.136164 deg,
      new cmd heading: 137.981129 deg.

2025-06-08T00:03:43.653Z,1749341023.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408225 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:44.045Z,1749341024.045 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-08T00:03:44.045Z,1749341024.045 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-08T00:03:44.046Z,1749341024.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:44.068Z,1749341024.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:44.071Z,1749341024.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 36.383316 m,
      bearing: 134.919845 deg,
      approach rate: -0.592919 m/s,
      LOS rate: -0.119240 deg/s,
      cmd heading: 137.981132 deg,
      new cmd heading: 137.831310 deg.

2025-06-08T00:03:44.076Z,1749341024.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405610 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:44.137Z,1749341024.137 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:03:44.137Z,1749341024.137 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:03:44.137Z,1749341024.137 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:03:44.391Z,1749341024.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742475
2025-06-08T00:03:44.509Z,1749341024.509 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-08T00:03:44.509Z,1749341024.509 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:03:44.509Z,1749341024.509 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-08T00:03:44.510Z,1749341024.510 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:03:44.512Z,1749341024.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:44.515Z,1749341024.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 36.098766 m,
      bearing: 134.865845 deg,
      approach rate: -0.641031 m/s,
      LOS rate: -0.122611 deg/s,
      cmd heading: 137.831305 deg,
      new cmd heading: 137.668027 deg.

2025-06-08T00:03:44.516Z,1749341024.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402760 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:44.640Z,1749341024.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992538
2025-06-08T00:03:44.854Z,1749341024.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:44.873Z,1749341024.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 35.887974 m,
      bearing: 134.827082 deg,
      approach rate: -0.615748 m/s,
      LOS rate: -0.113896 deg/s,
      cmd heading: 137.668022 deg,
      new cmd heading: 137.551051 deg.

2025-06-08T00:03:44.874Z,1749341024.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.400719 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:44.892Z,1749341024.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244639
2025-06-08T00:03:45.148Z,1749341025.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500023
2025-06-08T00:03:45.260Z,1749341025.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:45.262Z,1749341025.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 35.639736 m,
      bearing: 134.782824 deg,
      approach rate: -0.613117 m/s,
      LOS rate: -0.110073 deg/s,
      cmd heading: 137.551049 deg,
      new cmd heading: 137.417350 deg.

2025-06-08T00:03:45.263Z,1749341025.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398385 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:45.398Z,1749341025.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750554
2025-06-08T00:03:45.648Z,1749341025.648 [DAT](INFO): DAT read: Rx Time:00:03:44.7828

2025-06-08T00:03:45.649Z,1749341025.649 [DAT](INFO): Rx dataTimestamp_ set to:1749341025.648421
2025-06-08T00:03:45.649Z,1749341025.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001600
2025-06-08T00:03:45.701Z,1749341025.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:45.708Z,1749341025.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 35.387215 m,
      bearing: 134.745898 deg,
      approach rate: -0.571436 m/s,
      LOS rate: -0.084155 deg/s,
      cmd heading: 137.417355 deg,
      new cmd heading: 137.305789 deg.

2025-06-08T00:03:45.709Z,1749341025.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396438 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:45.900Z,1749341025.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252602
2025-06-08T00:03:46.079Z,1749341026.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:46.081Z,1749341026.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:03:46.084Z,1749341026.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.999222 m,
      nav range: 35.133812 m,
      bearing: 134.709912 deg,
      approach rate: -0.667339 m/s,
      LOS rate: -0.095455 deg/s,
      cmd heading: 137.305790 deg,
      new cmd heading: 137.197051 deg.

2025-06-08T00:03:46.085Z,1749341026.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394540 target range: 37.999222 and range: 38.30 m.
2025-06-08T00:03:46.162Z,1749341026.162 [DAT](INFO): DAT read: 00:03:44.7828 LVL= 21056, 27809, 18818, 32755, AGC= 61, IDX= 409,-0.36, 1.269,-0.144, 1.332, 0.791, PHS= 0.565,-0.888, 0.538, RAW= 149.1,  -3.0, CAL= 153.3, -11.8, ROT= 356.7,  11.8

2025-06-08T00:03:46.163Z,1749341026.163 [DAT](INFO): got valid direction response:
 00:03:44.7828 LVL= 21056, 27809, 18818, 32755, AGC= 61, IDX= 409,-0.36, 1.269,-0.144, 1.332, 0.791, PHS= 0.565,-0.888, 0.538, RAW= 149.1,  -3.0, CAL= 153.3, -11.8, ROT= 356.7,  11.8

2025-06-08T00:03:46.164Z,1749341026.164 [DAT](INFO): DAT read: Bearing 356.7,  11.8 (Local)

2025-06-08T00:03:46.164Z,1749341026.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.7,  11.8 (Local)

2025-06-08T00:03:46.166Z,1749341026.166 [DAT](INFO): DAT read: Range 10 to 50 : 36.0 m  (Round-trip  48.1 ms) speed  0.6 m/s

2025-06-08T00:03:46.166Z,1749341026.166 [DAT](INFO): DAT read: user:2049>

2025-06-08T00:03:46.179Z,1749341026.179 [DAT](INFO): DAT read: Tx time:00:03:45.8805

2025-06-08T00:03:46.180Z,1749341026.180 [DAT](INFO): Ping request sent.
2025-06-08T00:03:46.180Z,1749341026.180 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:46.180Z,1749341026.180 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:03:46.181Z,1749341026.181 [DAT](INFO): direction in FSK: [0.977244,-0.056347,-0.204496]
2025-06-08T00:03:46.181Z,1749341026.181 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:46.182Z,1749341026.182 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:46.191Z,1749341026.191 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:46.199Z,1749341026.199 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:46.203Z,1749341026.203 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.022803
2025-06-08T00:03:46.404Z,1749341026.404 [DAT](INFO): DAT read: TxSync time:00:03:45.8797

2025-06-08T00:03:46.405Z,1749341026.405 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.225459
2025-06-08T00:03:46.570Z,1749341026.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.000000 m,
      deltaT: 3.527077 s,
      deltaX: -2.299999 m,
      approachRate: -0.652098 m/s,
      rangeRepo size: 4

2025-06-08T00:03:46.578Z,1749341026.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.717415 m,
      bearing: 137.225740 deg,
      lat: 36.905946 deg,
      lon: -122.115905 deg,
      deltaT: 3.527077 s,
      deltaX: -2.281807 m,
      approachRate: -0.646940 m/s,
      posRepo size: 4

2025-06-08T00:03:46.578Z,1749341026.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.72 m.
2025-06-08T00:03:46.585Z,1749341026.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.717415 m,
      nav range: 35.012024 m,
      bearing: 135.044003 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.095455 deg/s,
      cmd heading: 137.197054 deg,
      new cmd heading: 137.057270 deg.

2025-06-08T00:03:46.586Z,1749341026.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392101 target range: 35.717415 and range: 36.00 m.
2025-06-08T00:03:46.658Z,1749341026.658 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.478337
2025-06-08T00:03:46.908Z,1749341026.908 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.728574
2025-06-08T00:03:46.916Z,1749341026.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.72 m.
2025-06-08T00:03:46.918Z,1749341026.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.717415 m,
      nav range: 34.780079 m,
      bearing: 135.025758 deg,
      approach rate: -0.669616 m/s,
      LOS rate: -0.053023 deg/s,
      cmd heading: 137.057267 deg,
      new cmd heading: 137.002168 deg.

2025-06-08T00:03:46.920Z,1749341026.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391139 target range: 35.717415 and range: 36.00 m.
2025-06-08T00:03:47.160Z,1749341027.160 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.980311
2025-06-08T00:03:47.389Z,1749341027.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.72 m.
2025-06-08T00:03:47.392Z,1749341027.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.717415 m,
      nav range: 34.489361 m,
      bearing: 135.002543 deg,
      approach rate: -0.613318 m/s,
      LOS rate: -0.049388 deg/s,
      cmd heading: 137.002175 deg,
      new cmd heading: 136.931943 deg.

2025-06-08T00:03:47.393Z,1749341027.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389913 target range: 35.717415 and range: 36.00 m.
2025-06-08T00:03:47.412Z,1749341027.412 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.232606
2025-06-08T00:03:47.665Z,1749341027.665 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.485271
2025-06-08T00:03:47.793Z,1749341027.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.72 m.
2025-06-08T00:03:47.800Z,1749341027.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.717415 m,
      nav range: 34.250019 m,
      bearing: 134.992210 deg,
      approach rate: -0.593186 m/s,
      LOS rate: -0.025790 deg/s,
      cmd heading: 136.931947 deg,
      new cmd heading: 136.900728 deg.

2025-06-08T00:03:47.801Z,1749341027.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389369 target range: 35.717415 and range: 36.00 m.
2025-06-08T00:03:47.916Z,1749341027.916 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.736653
2025-06-08T00:03:48.145Z,1749341028.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:48.147Z,1749341028.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.72 m.
2025-06-08T00:03:48.150Z,1749341028.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.717415 m,
      nav range: 34.032085 m,
      bearing: 134.984470 deg,
      approach rate: -0.614982 m/s,
      LOS rate: -0.021980 deg/s,
      cmd heading: 136.900733 deg,
      new cmd heading: 136.877366 deg.

2025-06-08T00:03:48.151Z,1749341028.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388961 target range: 35.717415 and range: 36.00 m.
2025-06-08T00:03:48.170Z,1749341028.170 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.989784
2025-06-08T00:03:48.420Z,1749341028.420 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.240431
2025-06-08T00:03:48.587Z,1749341028.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.72 m.
2025-06-08T00:03:48.593Z,1749341028.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.717415 m,
      nav range: 33.764175 m,
      bearing: 134.984547 deg,
      approach rate: -0.609980 m/s,
      LOS rate: 0.000177 deg/s,
      cmd heading: 136.877360 deg,
      new cmd heading: 136.877592 deg.

2025-06-08T00:03:48.620Z,1749341028.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388965 target range: 35.717415 and range: 36.00 m.
2025-06-08T00:03:48.673Z,1749341028.673 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.492911
2025-06-08T00:03:48.924Z,1749341028.924 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.744458
2025-06-08T00:03:48.961Z,1749341028.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.72 m.
2025-06-08T00:03:48.965Z,1749341028.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.717415 m,
      nav range: 33.542171 m,
      bearing: 134.984841 deg,
      approach rate: -0.594102 m/s,
      LOS rate: 0.000791 deg/s,
      cmd heading: 136.877592 deg,
      new cmd heading: 136.878479 deg.

2025-06-08T00:03:48.966Z,1749341028.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388980 target range: 35.717415 and range: 36.00 m.
2025-06-08T00:03:49.176Z,1749341029.176 [DAT](INFO): DAT read: Rx Time:00:03:48.3298

2025-06-08T00:03:49.177Z,1749341029.177 [DAT](INFO): Rx dataTimestamp_ set to:1749341029.176357
2025-06-08T00:03:49.177Z,1749341029.177 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.997383
2025-06-08T00:03:49.370Z,1749341029.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.72 m.
2025-06-08T00:03:49.376Z,1749341029.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.717415 m,
      nav range: 33.300518 m,
      bearing: 134.985158 deg,
      approach rate: -0.590324 m/s,
      LOS rate: 0.000782 deg/s,
      cmd heading: 136.878480 deg,
      new cmd heading: 136.879440 deg.

2025-06-08T00:03:49.377Z,1749341029.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388997 target range: 35.717415 and range: 36.00 m.
2025-06-08T00:03:49.431Z,1749341029.431 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.251425
2025-06-08T00:03:49.686Z,1749341029.686 [DAT](INFO): DAT read: 00:03:48.3298 LVL= 21088, 27185, 20642, 30499, AGC= 62, IDX= 410, 0.17,-0.448,-1.834,-0.461,-0.987, PHS= 0.627,-0.800, 0.523, RAW= 146.3,  -5.1, CAL= 151.5, -14.0, ROT= 358.5,  14.0

2025-06-08T00:03:49.687Z,1749341029.687 [DAT](INFO): got valid direction response:
 00:03:48.3298 LVL= 21088, 27185, 20642, 30499, AGC= 62, IDX= 410, 0.17,-0.448,-1.834,-0.461,-0.987, PHS= 0.627,-0.800, 0.523, RAW= 146.3,  -5.1, CAL= 151.5, -14.0, ROT= 358.5,  14.0

2025-06-08T00:03:49.688Z,1749341029.688 [DAT](INFO): DAT read: Bearing 358.5,  14.0 (Local)

2025-06-08T00:03:49.688Z,1749341029.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  14.0 (Local)

2025-06-08T00:03:49.690Z,1749341029.690 [DAT](INFO): DAT read: Range 10 to 50 : 33.9 m  (Round-trip  45.2 ms) speed  0.6 m/s

2025-06-08T00:03:49.691Z,1749341029.691 [DAT](INFO): DAT read: user:2050>

2025-06-08T00:03:49.692Z,1749341029.692 [DAT](INFO): DAT read: Tx time:00:03:49.4305

2025-06-08T00:03:49.692Z,1749341029.692 [DAT](INFO): Ping request sent.
2025-06-08T00:03:49.692Z,1749341029.692 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:49.692Z,1749341029.692 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-08T00:03:49.693Z,1749341029.693 [DAT](INFO): direction in FSK: [0.969963,-0.025400,-0.241922]
2025-06-08T00:03:49.693Z,1749341029.693 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:49.694Z,1749341029.694 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:49.725Z,1749341029.725 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:49.725Z,1749341029.725 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:49.741Z,1749341029.741 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.049024
2025-06-08T00:03:49.892Z,1749341029.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 3.527319 s,
      deltaX: -2.099998 m,
      approachRate: -0.595353 m/s,
      rangeRepo size: 4

2025-06-08T00:03:49.894Z,1749341029.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.633892 m,
      bearing: 138.479231 deg,
      lat: 36.905937 deg,
      lon: -122.115916 deg,
      deltaT: 3.527319 s,
      deltaX: -2.083523 m,
      approachRate: -0.590682 m/s,
      posRepo size: 4

2025-06-08T00:03:49.899Z,1749341029.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:49.902Z,1749341029.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 32.984077 m,
      bearing: 137.272607 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000782 deg/s,
      cmd heading: 136.879436 deg,
      new cmd heading: 136.880650 deg.

2025-06-08T00:03:49.903Z,1749341029.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389018 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:49.933Z,1749341029.933 [DAT](INFO): DAT read: TxSync time:00:03:49.4297

2025-06-08T00:03:49.935Z,1749341029.935 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.242769
2025-06-08T00:03:50.184Z,1749341030.184 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.492261
2025-06-08T00:03:50.228Z,1749341030.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:50.231Z,1749341030.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:50.234Z,1749341030.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 32.764221 m,
      bearing: 137.291420 deg,
      approach rate: -0.640400 m/s,
      LOS rate: 0.055167 deg/s,
      cmd heading: 136.880652 deg,
      new cmd heading: 136.937471 deg.

2025-06-08T00:03:50.235Z,1749341030.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390010 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:50.438Z,1749341030.438 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.745700
2025-06-08T00:03:50.642Z,1749341030.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:50.645Z,1749341030.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 32.522228 m,
      bearing: 137.316626 deg,
      approach rate: -0.587895 m/s,
      LOS rate: 0.061691 deg/s,
      cmd heading: 136.937465 deg,
      new cmd heading: 137.013647 deg.

2025-06-08T00:03:50.646Z,1749341030.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391339 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:50.690Z,1749341030.690 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.997844
2025-06-08T00:03:50.941Z,1749341030.941 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.249022
2025-06-08T00:03:51.033Z,1749341031.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:51.036Z,1749341031.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 32.293114 m,
      bearing: 137.341219 deg,
      approach rate: -0.586611 m/s,
      LOS rate: 0.063412 deg/s,
      cmd heading: 137.013649 deg,
      new cmd heading: 137.087950 deg.

2025-06-08T00:03:51.037Z,1749341031.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392636 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:51.192Z,1749341031.192 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.500299
2025-06-08T00:03:51.432Z,1749341031.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:51.435Z,1749341031.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 32.060879 m,
      bearing: 137.366287 deg,
      approach rate: -0.581919 m/s,
      LOS rate: 0.063270 deg/s,
      cmd heading: 137.087948 deg,
      new cmd heading: 137.163699 deg.

2025-06-08T00:03:51.436Z,1749341031.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393958 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:51.444Z,1749341031.444 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.752281
2025-06-08T00:03:51.696Z,1749341031.696 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.004184
2025-06-08T00:03:51.880Z,1749341031.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:51.882Z,1749341031.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 31.792498 m,
      bearing: 137.383076 deg,
      approach rate: -0.599756 m/s,
      LOS rate: 0.037835 deg/s,
      cmd heading: 137.163695 deg,
      new cmd heading: 137.214486 deg.

2025-06-08T00:03:51.884Z,1749341031.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394845 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:51.949Z,1749341031.949 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.257240
2025-06-08T00:03:52.200Z,1749341032.200 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.508192
2025-06-08T00:03:52.256Z,1749341032.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:52.258Z,1749341032.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:52.265Z,1749341032.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 31.580334 m,
      bearing: 137.397928 deg,
      approach rate: -0.560332 m/s,
      LOS rate: 0.039490 deg/s,
      cmd heading: 137.214484 deg,
      new cmd heading: 137.259341 deg.

2025-06-08T00:03:52.266Z,1749341032.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395627 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:52.452Z,1749341032.452 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760255
2025-06-08T00:03:52.682Z,1749341032.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:52.685Z,1749341032.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 31.318327 m,
      bearing: 137.400199 deg,
      approach rate: -0.617801 m/s,
      LOS rate: 0.005398 deg/s,
      cmd heading: 137.259345 deg,
      new cmd heading: 137.266213 deg.

2025-06-08T00:03:52.686Z,1749341032.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395747 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:52.705Z,1749341032.705 [DAT](INFO): DAT read: Rx Time:00:03:51.8771

2025-06-08T00:03:52.706Z,1749341032.706 [DAT](INFO): Rx dataTimestamp_ set to:1749341032.705547
2025-06-08T00:03:52.706Z,1749341032.706 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.014418
2025-06-08T00:03:52.957Z,1749341032.957 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.264869
2025-06-08T00:03:53.061Z,1749341033.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:03:53.064Z,1749341033.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.633892 m,
      nav range: 31.095387 m,
      bearing: 137.403354 deg,
      approach rate: -0.588114 m/s,
      LOS rate: 0.008384 deg/s,
      cmd heading: 137.266216 deg,
      new cmd heading: 137.275751 deg.

2025-06-08T00:03:53.065Z,1749341033.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395914 target range: 33.633892 and range: 33.90 m.
2025-06-08T00:03:53.215Z,1749341033.215 [DAT](INFO): DAT read: 00:03:51.8771 LVL= 21424, 25873, 20898, 32755, AGC= 59, IDX= 414, 0.31, 1.851, 0.490, 1.654, 1.341, PHS= 0.599,-0.804, 0.310, RAW= 138.8,  -1.7, CAL= 143.8, -10.9, ROT=   6.2,  10.9

2025-06-08T00:03:53.216Z,1749341033.216 [DAT](INFO): got valid direction response:
 00:03:51.8771 LVL= 21424, 25873, 20898, 32755, AGC= 59, IDX= 414, 0.31, 1.851, 0.490, 1.654, 1.341, PHS= 0.599,-0.804, 0.310, RAW= 138.8,  -1.7, CAL= 143.8, -10.9, ROT=   6.2,  10.9

2025-06-08T00:03:53.217Z,1749341033.217 [DAT](INFO): DAT read: Bearing   6.2,  10.9 (Local)

2025-06-08T00:03:53.217Z,1749341033.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.2,  10.9 (Local)

2025-06-08T00:03:53.219Z,1749341033.219 [DAT](INFO): DAT read: Range 10 to 50 : 31.8 m  (Round-trip  42.4 ms) speed  0.5 m/s

2025-06-08T00:03:53.220Z,1749341033.220 [DAT](INFO): DAT read: user:2051>

2025-06-08T00:03:53.220Z,1749341033.220 [DAT](INFO): DAT read: Tx time:00:03:52.9805

2025-06-08T00:03:53.221Z,1749341033.221 [DAT](INFO): Ping request sent.
2025-06-08T00:03:53.221Z,1749341033.221 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:53.221Z,1749341033.221 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-08T00:03:53.222Z,1749341033.222 [DAT](INFO): direction in FSK: [0.976215,0.106051,-0.189095]
2025-06-08T00:03:53.222Z,1749341033.222 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:53.223Z,1749341033.223 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:53.226Z,1749341033.226 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:53.226Z,1749341033.226 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:53.234Z,1749341033.234 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.012584
2025-06-08T00:03:53.460Z,1749341033.460 [DAT](INFO): DAT read: TxSync time:00:03:52.9797

2025-06-08T00:03:53.461Z,1749341033.461 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.240319
2025-06-08T00:03:53.478Z,1749341033.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 3.528114 s,
      deltaX: -2.100002 m,
      approachRate: -0.595219 m/s,
      rangeRepo size: 4

2025-06-08T00:03:53.496Z,1749341033.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.550192 m,
      bearing: 145.272351 deg,
      lat: 36.905937 deg,
      lon: -122.115916 deg,
      deltaT: 3.528114 s,
      deltaX: -2.083700 m,
      approachRate: -0.590599 m/s,
      posRepo size: 4

2025-06-08T00:03:53.500Z,1749341033.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:03:53.502Z,1749341033.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550192 m,
      nav range: 30.849941 m,
      bearing: 137.441993 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008384 deg/s,
      cmd heading: 137.275751 deg,
      new cmd heading: 137.286228 deg.

2025-06-08T00:03:53.504Z,1749341033.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396097 target range: 31.550192 and range: 31.80 m.
2025-06-08T00:03:53.712Z,1749341033.712 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.491371
2025-06-08T00:03:53.896Z,1749341033.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:03:53.899Z,1749341033.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550192 m,
      nav range: 30.600851 m,
      bearing: 137.439667 deg,
      approach rate: -0.595603 m/s,
      LOS rate: -0.005608 deg/s,
      cmd heading: 137.286229 deg,
      new cmd heading: 137.279192 deg.

2025-06-08T00:03:53.904Z,1749341033.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395974 target range: 31.550192 and range: 31.80 m.
2025-06-08T00:03:53.965Z,1749341033.965 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.744069
2025-06-08T00:03:54.216Z,1749341034.216 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.995416
2025-06-08T00:03:54.334Z,1749341034.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:54.336Z,1749341034.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:03:54.339Z,1749341034.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550192 m,
      nav range: 30.331869 m,
      bearing: 137.438226 deg,
      approach rate: -0.611157 m/s,
      LOS rate: -0.003302 deg/s,
      cmd heading: 137.279193 deg,
      new cmd heading: 137.274834 deg.

2025-06-08T00:03:54.340Z,1749341034.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395898 target range: 31.550192 and range: 31.80 m.
2025-06-08T00:03:54.468Z,1749341034.468 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.247150
2025-06-08T00:03:54.713Z,1749341034.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:03:54.720Z,1749341034.720 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.499302
2025-06-08T00:03:54.722Z,1749341034.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550192 m,
      nav range: 30.110205 m,
      bearing: 137.435955 deg,
      approach rate: -0.587351 m/s,
      LOS rate: -0.006064 deg/s,
      cmd heading: 137.274836 deg,
      new cmd heading: 137.267971 deg.

2025-06-08T00:03:54.723Z,1749341034.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395778 target range: 31.550192 and range: 31.80 m.
2025-06-08T00:03:54.972Z,1749341034.972 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.751335
2025-06-08T00:03:55.081Z,1749341035.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:03:55.084Z,1749341035.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550192 m,
      nav range: 29.889860 m,
      bearing: 137.435868 deg,
      approach rate: -0.599729 m/s,
      LOS rate: -0.000237 deg/s,
      cmd heading: 137.267965 deg,
      new cmd heading: 137.267704 deg.

2025-06-08T00:03:55.085Z,1749341035.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395773 target range: 31.550192 and range: 31.80 m.
2025-06-08T00:03:55.224Z,1749341035.224 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.003186
2025-06-08T00:03:55.476Z,1749341035.476 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.255215
2025-06-08T00:03:55.514Z,1749341035.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:03:55.521Z,1749341035.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550192 m,
      nav range: 29.633482 m,
      bearing: 137.437173 deg,
      approach rate: -0.592084 m/s,
      LOS rate: 0.003039 deg/s,
      cmd heading: 137.267705 deg,
      new cmd heading: 137.271653 deg.

2025-06-08T00:03:55.522Z,1749341035.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395842 target range: 31.550192 and range: 31.80 m.
2025-06-08T00:03:55.728Z,1749341035.728 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.507266
2025-06-08T00:03:55.896Z,1749341035.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:03:55.899Z,1749341035.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550192 m,
      nav range: 29.403374 m,
      bearing: 137.430959 deg,
      approach rate: -0.602308 m/s,
      LOS rate: -0.016394 deg/s,
      cmd heading: 137.271653 deg,
      new cmd heading: 137.252864 deg.

2025-06-08T00:03:55.916Z,1749341035.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395514 target range: 31.550192 and range: 31.80 m.
2025-06-08T00:03:55.981Z,1749341035.981 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.760260
2025-06-08T00:03:56.232Z,1749341036.232 [DAT](INFO): DAT read: Rx Time:00:03:55.4244

2025-06-08T00:03:56.233Z,1749341036.233 [DAT](INFO): Rx dataTimestamp_ set to:1749341036.232376
2025-06-08T00:03:56.233Z,1749341036.233 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.012297
2025-06-08T00:03:56.296Z,1749341036.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:03:56.303Z,1749341036.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550192 m,
      nav range: 29.176558 m,
      bearing: 137.424916 deg,
      approach rate: -0.566355 m/s,
      LOS rate: -0.015205 deg/s,
      cmd heading: 137.252870 deg,
      new cmd heading: 137.234601 deg.

2025-06-08T00:03:56.304Z,1749341036.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395196 target range: 31.550192 and range: 31.80 m.
2025-06-08T00:03:56.487Z,1749341036.487 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.265926
2025-06-08T00:03:56.748Z,1749341036.748 [DAT](INFO): DAT read: 00:03:55.4244 LVL= 22960, 29105, 20530, 32755, AGC= 59, IDX= 417, 0.45, 2.929, 1.563, 2.717, 2.397, PHS= 0.620,-0.787, 0.317, RAW= 138.2,  -2.4, CAL= 143.4, -11.7, ROT=   6.6,  11.7

2025-06-08T00:03:56.749Z,1749341036.749 [DAT](INFO): got valid direction response:
 00:03:55.4244 LVL= 22960, 29105, 20530, 32755, AGC= 59, IDX= 417, 0.45, 2.929, 1.563, 2.717, 2.397, PHS= 0.620,-0.787, 0.317, RAW= 138.2,  -2.4, CAL= 143.4, -11.7, ROT=   6.6,  11.7

2025-06-08T00:03:56.750Z,1749341036.750 [DAT](INFO): DAT read: Bearing   6.6,  11.7 (Local)

2025-06-08T00:03:56.750Z,1749341036.750 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  11.7 (Local)

2025-06-08T00:03:56.752Z,1749341036.752 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m  (Round-trip  39.6 ms) speed  0.7 m/s

2025-06-08T00:03:56.753Z,1749341036.753 [DAT](INFO): DAT read: user:2052>

2025-06-08T00:03:56.754Z,1749341036.754 [DAT](INFO): DAT read: Tx time:00:03:56.5306

2025-06-08T00:03:56.754Z,1749341036.754 [DAT](INFO): Ping request sent.
2025-06-08T00:03:56.754Z,1749341036.754 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:03:56.754Z,1749341036.754 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-08T00:03:56.755Z,1749341036.755 [DAT](INFO): direction in FSK: [0.972733,0.112549,-0.202787]
2025-06-08T00:03:56.756Z,1749341036.756 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:56.756Z,1749341036.756 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:56.763Z,1749341036.763 [DAT](INFO): publishing transmit ping time
2025-06-08T00:03:56.763Z,1749341036.763 [DAT](INFO): publishing direction and range info
2025-06-08T00:03:56.767Z,1749341036.767 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.012525
2025-06-08T00:03:56.787Z,1749341036.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 3.532213 s,
      deltaX: -2.099998 m,
      approachRate: -0.594528 m/s,
      rangeRepo size: 4

2025-06-08T00:03:56.789Z,1749341036.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.466721 m,
      bearing: 144.921858 deg,
      lat: 36.905935 deg,
      lon: -122.115924 deg,
      deltaT: 3.532213 s,
      deltaX: -2.083471 m,
      approachRate: -0.589849 m/s,
      posRepo size: 4

2025-06-08T00:03:56.790Z,1749341036.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:56.793Z,1749341036.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 28.585146 m,
      bearing: 138.763708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015205 deg/s,
      cmd heading: 137.234606 deg,
      new cmd heading: 137.212257 deg.

2025-06-08T00:03:56.794Z,1749341036.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394806 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:03:56.992Z,1749341036.992 [DAT](INFO): DAT read: TxSync time:00:03:56.5298

2025-06-08T00:03:56.993Z,1749341036.993 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.239154
2025-06-08T00:03:57.136Z,1749341037.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:57.138Z,1749341037.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:57.145Z,1749341037.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 28.374289 m,
      bearing: 138.771240 deg,
      approach rate: -0.599804 m/s,
      LOS rate: 0.021587 deg/s,
      cmd heading: 137.212258 deg,
      new cmd heading: 137.235024 deg.

2025-06-08T00:03:57.146Z,1749341037.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395203 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:03:57.244Z,1749341037.244 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.490333
2025-06-08T00:03:57.496Z,1749341037.496 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.742220
2025-06-08T00:03:57.501Z,1749341037.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:57.504Z,1749341037.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 28.151112 m,
      bearing: 138.778316 deg,
      approach rate: -0.614097 m/s,
      LOS rate: 0.019624 deg/s,
      cmd heading: 137.235029 deg,
      new cmd heading: 137.256425 deg.

2025-06-08T00:03:57.505Z,1749341037.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395576 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:03:57.748Z,1749341037.748 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.994144
2025-06-08T00:03:57.936Z,1749341037.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:57.941Z,1749341037.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 27.884710 m,
      bearing: 138.794160 deg,
      approach rate: -0.613763 m/s,
      LOS rate: 0.036853 deg/s,
      cmd heading: 137.256422 deg,
      new cmd heading: 137.304409 deg.

2025-06-08T00:03:57.942Z,1749341037.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396414 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:03:58.001Z,1749341038.001 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.247241
2025-06-08T00:03:58.252Z,1749341038.252 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.498101
2025-06-08T00:03:58.316Z,1749341038.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:58.318Z,1749341038.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 27.651705 m,
      bearing: 138.806492 deg,
      approach rate: -0.613001 m/s,
      LOS rate: 0.032716 deg/s,
      cmd heading: 137.304411 deg,
      new cmd heading: 137.341717 deg.

2025-06-08T00:03:58.320Z,1749341038.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397065 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:03:58.505Z,1749341038.505 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.750507
2025-06-08T00:03:58.747Z,1749341038.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:58.749Z,1749341038.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 27.386072 m,
      bearing: 138.825285 deg,
      approach rate: -0.616206 m/s,
      LOS rate: 0.044019 deg/s,
      cmd heading: 137.341717 deg,
      new cmd heading: 137.398643 deg.

2025-06-08T00:03:58.750Z,1749341038.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398059 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:03:58.756Z,1749341038.756 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.002297
2025-06-08T00:03:59.008Z,1749341039.008 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.254258
2025-06-08T00:03:59.119Z,1749341039.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:59.122Z,1749341039.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 27.156641 m,
      bearing: 138.841964 deg,
      approach rate: -0.616369 m/s,
      LOS rate: 0.045187 deg/s,
      cmd heading: 137.398640 deg,
      new cmd heading: 137.449100 deg.

2025-06-08T00:03:59.123Z,1749341039.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398939 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:03:59.260Z,1749341039.260 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.506089
2025-06-08T00:03:59.512Z,1749341039.512 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.758147
2025-06-08T00:03:59.558Z,1749341039.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:03:59.564Z,1749341039.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:59.567Z,1749341039.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 26.890369 m,
      bearing: 138.862158 deg,
      approach rate: -0.598152 m/s,
      LOS rate: 0.045812 deg/s,
      cmd heading: 137.449101 deg,
      new cmd heading: 137.510282 deg.

2025-06-08T00:03:59.572Z,1749341039.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.400007 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:03:59.765Z,1749341039.765 [DAT](INFO): DAT read: Rx Time:00:03:58.9714

2025-06-08T00:03:59.765Z,1749341039.765 [DAT](INFO): Rx dataTimestamp_ set to:1749341039.765185
2025-06-08T00:03:59.766Z,1749341039.766 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.012375
2025-06-08T00:03:59.986Z,1749341039.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:03:59.989Z,1749341039.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.466721 m,
      nav range: 26.618017 m,
      bearing: 138.901514 deg,
      approach rate: -0.645022 m/s,
      LOS rate: 0.094161 deg/s,
      cmd heading: 137.510286 deg,
      new cmd heading: 137.629561 deg.

2025-06-08T00:03:59.990Z,1749341039.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402089 target range: 29.466721 and range: 29.70 m.
2025-06-08T00:04:00.016Z,1749341040.016 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.262195
2025-06-08T00:04:00.277Z,1749341040.277 [DAT](INFO): DAT read: 00:03:58.9714 LVL= 22288, 32369, 23026, 32755, AGC= 60, IDX= 404,-0.09,-2.621, 2.299,-2.848,-3.130, PHS= 0.597,-0.807, 0.279, RAW= 137.6,  -1.1, CAL= 142.6, -10.3, ROT=   7.4,  10.3

2025-06-08T00:04:00.278Z,1749341040.278 [DAT](INFO): got valid direction response:
 00:03:58.9714 LVL= 22288, 32369, 23026, 32755, AGC= 60, IDX= 404,-0.09,-2.621, 2.299,-2.848,-3.130, PHS= 0.597,-0.807, 0.279, RAW= 137.6,  -1.1, CAL= 142.6, -10.3, ROT=   7.4,  10.3

2025-06-08T00:04:00.279Z,1749341040.279 [DAT](INFO): DAT read: Bearing   7.4,  10.3 (Local)

2025-06-08T00:04:00.279Z,1749341040.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.4,  10.3 (Local)

2025-06-08T00:04:00.281Z,1749341040.281 [DAT](INFO): DAT read: Range 10 to 50 : 27.5 m  (Round-trip  36.7 ms) speed  0.6 m/s

2025-06-08T00:04:00.282Z,1749341040.282 [DAT](INFO): DAT read: user:2053>

2025-06-08T00:04:00.282Z,1749341040.282 [DAT](INFO): DAT read: Tx time:00:04:00.0806

2025-06-08T00:04:00.283Z,1749341040.283 [DAT](INFO): Ping request sent.
2025-06-08T00:04:00.283Z,1749341040.283 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:00.283Z,1749341040.283 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-08T00:04:00.284Z,1749341040.284 [DAT](INFO): direction in FSK: [0.975690,0.126720,-0.178802]
2025-06-08T00:04:00.284Z,1749341040.284 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:00.285Z,1749341040.285 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:00.288Z,1749341040.288 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:00.288Z,1749341040.288 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:00.291Z,1749341040.291 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.008639
2025-06-08T00:04:00.424Z,1749341040.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.500000 m,
      deltaT: 3.530208 s,
      deltaX: -2.200001 m,
      approachRate: -0.623193 m/s,
      rangeRepo size: 4

2025-06-08T00:04:00.426Z,1749341040.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.284008 m,
      bearing: 146.122638 deg,
      lat: 36.905915 deg,
      lon: -122.115949 deg,
      deltaT: 3.530208 s,
      deltaX: -2.182713 m,
      approachRate: -0.618296 m/s,
      posRepo size: 4

2025-06-08T00:04:00.426Z,1749341040.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:00.444Z,1749341040.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 26.746593 m,
      bearing: 145.605172 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.094161 deg/s,
      cmd heading: 137.629555 deg,
      new cmd heading: 137.751776 deg.

2025-06-08T00:04:00.445Z,1749341040.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404222 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:00.524Z,1749341040.524 [DAT](INFO): DAT read: TxSync time:00:04:00.0798

2025-06-08T00:04:00.525Z,1749341040.525 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.242422
2025-06-08T00:04:00.776Z,1749341040.776 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.493425
2025-06-08T00:04:00.855Z,1749341040.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:00.858Z,1749341040.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 26.467592 m,
      bearing: 145.724622 deg,
      approach rate: -0.639593 m/s,
      LOS rate: 0.276719 deg/s,
      cmd heading: 137.751774 deg,
      new cmd heading: 138.113898 deg.

2025-06-08T00:04:00.879Z,1749341040.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410542 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:01.028Z,1749341041.028 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.745517
2025-06-08T00:04:01.182Z,1749341041.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:01.204Z,1749341041.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 26.267912 m,
      bearing: 145.810056 deg,
      approach rate: -0.610669 m/s,
      LOS rate: 0.263261 deg/s,
      cmd heading: 138.113897 deg,
      new cmd heading: 138.372144 deg.

2025-06-08T00:04:01.206Z,1749341041.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415050 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:01.281Z,1749341041.281 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.998443
2025-06-08T00:04:01.532Z,1749341041.532 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.249440
2025-06-08T00:04:01.600Z,1749341041.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:01.603Z,1749341041.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:01.605Z,1749341041.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 26.011551 m,
      bearing: 145.922471 deg,
      approach rate: -0.609550 m/s,
      LOS rate: 0.269924 deg/s,
      cmd heading: 138.372147 deg,
      new cmd heading: 138.712712 deg.

2025-06-08T00:04:01.609Z,1749341041.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420994 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:01.784Z,1749341041.784 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.501461
2025-06-08T00:04:02.036Z,1749341042.036 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.753658
2025-06-08T00:04:02.039Z,1749341042.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:02.042Z,1749341042.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 25.744097 m,
      bearing: 146.050982 deg,
      approach rate: -0.612807 m/s,
      LOS rate: 0.297510 deg/s,
      cmd heading: 138.712714 deg,
      new cmd heading: 139.102245 deg.

2025-06-08T00:04:02.043Z,1749341042.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427792 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:02.288Z,1749341042.288 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.005455
2025-06-08T00:04:02.392Z,1749341042.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:02.395Z,1749341042.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 25.526899 m,
      bearing: 146.158019 deg,
      approach rate: -0.615529 m/s,
      LOS rate: 0.305919 deg/s,
      cmd heading: 139.102239 deg,
      new cmd heading: 139.426078 deg.

2025-06-08T00:04:02.396Z,1749341042.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433444 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:02.540Z,1749341042.540 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.257465
2025-06-08T00:04:02.792Z,1749341042.792 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.509461
2025-06-08T00:04:02.814Z,1749341042.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:02.817Z,1749341042.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 25.271227 m,
      bearing: 146.282815 deg,
      approach rate: -0.605456 m/s,
      LOS rate: 0.298519 deg/s,
      cmd heading: 139.426072 deg,
      new cmd heading: 139.804244 deg.

2025-06-08T00:04:02.818Z,1749341042.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440044 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:03.044Z,1749341043.044 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.761421
2025-06-08T00:04:03.203Z,1749341043.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:03.206Z,1749341043.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 25.036205 m,
      bearing: 146.398775 deg,
      approach rate: -0.604937 m/s,
      LOS rate: 0.301278 deg/s,
      cmd heading: 139.804246 deg,
      new cmd heading: 140.155387 deg.

2025-06-08T00:04:03.207Z,1749341043.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446173 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:03.297Z,1749341043.297 [DAT](INFO): DAT read: Rx Time:00:04:02.5185

2025-06-08T00:04:03.297Z,1749341043.297 [DAT](INFO): Rx dataTimestamp_ set to:1749341043.296980
2025-06-08T00:04:03.298Z,1749341043.298 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.015123
2025-06-08T00:04:03.548Z,1749341043.548 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.265463
2025-06-08T00:04:03.601Z,1749341043.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.28 m.
2025-06-08T00:04:03.620Z,1749341043.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.284008 m,
      nav range: 24.796223 m,
      bearing: 146.518015 deg,
      approach rate: -0.602495 m/s,
      LOS rate: 0.302258 deg/s,
      cmd heading: 140.155386 deg,
      new cmd heading: 140.516563 deg.

2025-06-08T00:04:03.621Z,1749341043.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452477 target range: 27.284008 and range: 27.50 m.
2025-06-08T00:04:03.806Z,1749341043.806 [DAT](INFO): DAT read: 00:04:02.5185 LVL= 22896, 32641, 22098, 32755, AGC= 58, IDX= 406,-0.41,-3.064, 1.884, 2.964, 2.717, PHS= 0.590,-0.786, 0.244, RAW= 136.0,  -0.8, CAL= 141.2,  -9.9, ROT=   8.8,   9.9

2025-06-08T00:04:03.807Z,1749341043.807 [DAT](INFO): got valid direction response:
 00:04:02.5185 LVL= 22896, 32641, 22098, 32755, AGC= 58, IDX= 406,-0.41,-3.064, 1.884, 2.964, 2.717, PHS= 0.590,-0.786, 0.244, RAW= 136.0,  -0.8, CAL= 141.2,  -9.9, ROT=   8.8,   9.9

2025-06-08T00:04:03.808Z,1749341043.808 [DAT](INFO): DAT read: Bearing   8.8,   9.9 (Local)

2025-06-08T00:04:03.809Z,1749341043.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,   9.9 (Local)

2025-06-08T00:04:03.810Z,1749341043.810 [DAT](INFO): DAT read: Range 10 to 50 : 25.2 m  (Round-trip  33.7 ms) speed  0.5 m/s

2025-06-08T00:04:03.811Z,1749341043.811 [DAT](INFO): DAT read: user:2054>

2025-06-08T00:04:03.812Z,1749341043.812 [DAT](INFO): DAT read: Tx time:00:04:03.6322

2025-06-08T00:04:03.812Z,1749341043.812 [DAT](INFO): Ping request sent.
2025-06-08T00:04:03.812Z,1749341043.812 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:03.812Z,1749341043.812 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-08T00:04:03.813Z,1749341043.813 [DAT](INFO): direction in FSK: [0.973513,0.150708,-0.171929]
2025-06-08T00:04:03.813Z,1749341043.813 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:03.814Z,1749341043.814 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:03.821Z,1749341043.821 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:03.822Z,1749341043.822 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:03.825Z,1749341043.825 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.012754
2025-06-08T00:04:04.036Z,1749341044.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 3.529500 s,
      deltaX: -2.299999 m,
      approachRate: -0.651650 m/s,
      rangeRepo size: 4

2025-06-08T00:04:04.038Z,1749341044.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.002131 m,
      bearing: 148.081219 deg,
      lat: 36.905913 deg,
      lon: -122.115950 deg,
      deltaT: 3.529500 s,
      deltaX: -2.281878 m,
      approachRate: -0.646516 m/s,
      posRepo size: 4

2025-06-08T00:04:04.039Z,1749341044.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:04.042Z,1749341044.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 24.740252 m,
      bearing: 147.194212 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.302258 deg/s,
      cmd heading: 140.516567 deg,
      new cmd heading: 140.910875 deg.

2025-06-08T00:04:04.052Z,1749341044.052 [DAT](INFO): DAT read: TxSync time:00:04:03.6314

2025-06-08T00:04:04.053Z,1749341044.053 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.241067
2025-06-08T00:04:04.059Z,1749341044.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459359 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:04.304Z,1749341044.304 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492168
2025-06-08T00:04:04.410Z,1749341044.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:04.413Z,1749341044.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:04.416Z,1749341044.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 24.511984 m,
      bearing: 147.306435 deg,
      approach rate: -0.605870 m/s,
      LOS rate: 0.300638 deg/s,
      cmd heading: 140.910873 deg,
      new cmd heading: 141.250674 deg.

2025-06-08T00:04:04.417Z,1749341044.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465289 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:04.556Z,1749341044.556 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.744438
2025-06-08T00:04:04.808Z,1749341044.808 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996259
2025-06-08T00:04:04.972Z,1749341044.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:04.975Z,1749341044.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 24.185141 m,
      bearing: 147.466573 deg,
      approach rate: -0.583873 m/s,
      LOS rate: 0.289935 deg/s,
      cmd heading: 141.250675 deg,
      new cmd heading: 141.737568 deg.

2025-06-08T00:04:04.976Z,1749341044.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473787 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:05.061Z,1749341045.061 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.249121
2025-06-08T00:04:05.243Z,1749341045.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:05.246Z,1749341045.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 24.023134 m,
      bearing: 147.546420 deg,
      approach rate: -0.599027 m/s,
      LOS rate: 0.297231 deg/s,
      cmd heading: 141.737572 deg,
      new cmd heading: 141.978728 deg.

2025-06-08T00:04:05.247Z,1749341045.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477996 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:05.312Z,1749341045.312 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.500440
2025-06-08T00:04:05.564Z,1749341045.564 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752159
2025-06-08T00:04:05.663Z,1749341045.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:05.673Z,1749341045.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 23.785160 m,
      bearing: 147.663325 deg,
      approach rate: -0.571671 m/s,
      LOS rate: 0.283644 deg/s,
      cmd heading: 141.978732 deg,
      new cmd heading: 142.332952 deg.

2025-06-08T00:04:05.674Z,1749341045.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484179 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:05.816Z,1749341045.816 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004398
2025-06-08T00:04:06.069Z,1749341046.069 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.257421
2025-06-08T00:04:06.072Z,1749341046.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:06.095Z,1749341046.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 23.540310 m,
      bearing: 147.775568 deg,
      approach rate: -0.592390 m/s,
      LOS rate: 0.274385 deg/s,
      cmd heading: 142.332946 deg,
      new cmd heading: 142.673173 deg.

2025-06-08T00:04:06.096Z,1749341046.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490117 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:06.322Z,1749341046.322 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.509599
2025-06-08T00:04:06.356Z,1749341046.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:04:06.464Z,1749341046.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:06.466Z,1749341046.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:06.473Z,1749341046.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 23.316736 m,
      bearing: 147.878568 deg,
      approach rate: -0.568106 m/s,
      LOS rate: 0.264236 deg/s,
      cmd heading: 142.673171 deg,
      new cmd heading: 142.985132 deg.

2025-06-08T00:04:06.474Z,1749341046.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495561 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:06.573Z,1749341046.573 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.760632
2025-06-08T00:04:06.826Z,1749341046.826 [DAT](INFO): DAT read: Rx Time:00:04:06.0671

2025-06-08T00:04:06.827Z,1749341046.827 [DAT](INFO): Rx dataTimestamp_ set to:1749341046.826221
2025-06-08T00:04:06.828Z,1749341046.828 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.016107
2025-06-08T00:04:06.911Z,1749341046.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:06.914Z,1749341046.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 23.050264 m,
      bearing: 147.974704 deg,
      approach rate: -0.598529 m/s,
      LOS rate: 0.218429 deg/s,
      cmd heading: 142.985134 deg,
      new cmd heading: 143.276872 deg.

2025-06-08T00:04:06.923Z,1749341046.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500653 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:07.076Z,1749341047.076 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.264146
2025-06-08T00:04:07.263Z,1749341047.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:04:07.266Z,1749341047.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002131 m,
      nav range: 22.848080 m,
      bearing: 148.046838 deg,
      approach rate: -0.575143 m/s,
      LOS rate: 0.207010 deg/s,
      cmd heading: 143.276878 deg,
      new cmd heading: 143.495193 deg.

2025-06-08T00:04:07.267Z,1749341047.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504464 target range: 25.002131 and range: 25.20 m.
2025-06-08T00:04:07.342Z,1749341047.342 [DAT](INFO): DAT read: 00:04:06.0671 LVL= 20144, 27553, 19618, 32675, AGC= 57, IDX= 408,-0.29, 2.329, 0.923, 2.166, 1.830, PHS= 0.587,-0.860, 0.333, RAW= 140.5,  -0.9, CAL= 145.1, -10.0, ROT=   4.9,  10.0

2025-06-08T00:04:07.347Z,1749341047.347 [DAT](INFO): got valid direction response:
 00:04:06.0671 LVL= 20144, 27553, 19618, 32675, AGC= 57, IDX= 408,-0.29, 2.329, 0.923, 2.166, 1.830, PHS= 0.587,-0.860, 0.333, RAW= 140.5,  -0.9, CAL= 145.1, -10.0, ROT=   4.9,  10.0

2025-06-08T00:04:07.352Z,1749341047.352 [DAT](INFO): DAT read: Bearing   4.9,  10.0 (Local)

2025-06-08T00:04:07.352Z,1749341047.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,  10.0 (Local)

2025-06-08T00:04:07.354Z,1749341047.354 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m  (Round-trip  30.8 ms) speed  0.5 m/s

2025-06-08T00:04:07.355Z,1749341047.355 [DAT](INFO): DAT read: user:2055>

2025-06-08T00:04:07.360Z,1749341047.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:04:07.362Z,1749341047.362 [DAT](INFO): DAT read: Tx time:00:04:07.1806

2025-06-08T00:04:07.362Z,1749341047.362 [DAT](INFO): Ping request sent.
2025-06-08T00:04:07.362Z,1749341047.362 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:07.363Z,1749341047.363 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-08T00:04:07.369Z,1749341047.369 [DAT](INFO): direction in FSK: [0.981209,0.084119,-0.173648]
2025-06-08T00:04:07.369Z,1749341047.369 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:07.369Z,1749341047.369 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:07.389Z,1749341047.389 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:07.389Z,1749341047.389 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:07.402Z,1749341047.402 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.039898
2025-06-08T00:04:07.580Z,1749341047.580 [DAT](INFO): DAT read: TxSync time:00:04:07.1799

2025-06-08T00:04:07.581Z,1749341047.581 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.218934
2025-06-08T00:04:07.805Z,1749341047.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 3.529599 s,
      deltaX: -2.100000 m,
      approachRate: -0.594969 m/s,
      rangeRepo size: 4

2025-06-08T00:04:07.808Z,1749341047.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.918699 m,
      bearing: 146.326567 deg,
      lat: 36.905913 deg,
      lon: -122.115950 deg,
      deltaT: 3.529599 s,
      deltaX: -2.083431 m,
      approachRate: -0.590274 m/s,
      posRepo size: 4

2025-06-08T00:04:07.809Z,1749341047.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.92 m.
2025-06-08T00:04:07.812Z,1749341047.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.918699 m,
      nav range: 22.553129 m,
      bearing: 148.150002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.207010 deg/s,
      cmd heading: 143.495198 deg,
      new cmd heading: 143.831584 deg.

2025-06-08T00:04:07.813Z,1749341047.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510335 target range: 22.918699 and range: 23.10 m.
2025-06-08T00:04:07.832Z,1749341047.832 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.469982
2025-06-08T00:04:08.084Z,1749341048.084 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.721930
2025-06-08T00:04:08.151Z,1749341048.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.92 m.
2025-06-08T00:04:08.157Z,1749341048.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.918699 m,
      nav range: 22.339155 m,
      bearing: 148.222938 deg,
      approach rate: -0.618136 m/s,
      LOS rate: 0.212720 deg/s,
      cmd heading: 143.831585 deg,
      new cmd heading: 144.052490 deg.

2025-06-08T00:04:08.158Z,1749341048.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514190 target range: 22.918699 and range: 23.10 m.
2025-06-08T00:04:08.336Z,1749341048.336 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.973881
2025-06-08T00:04:08.501Z,1749341048.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:08.520Z,1749341048.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.92 m.
2025-06-08T00:04:08.522Z,1749341048.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.918699 m,
      nav range: 22.128933 m,
      bearing: 148.293892 deg,
      approach rate: -0.569623 m/s,
      LOS rate: 0.194085 deg/s,
      cmd heading: 144.052487 deg,
      new cmd heading: 144.267370 deg.

2025-06-08T00:04:08.532Z,1749341048.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517941 target range: 22.918699 and range: 23.10 m.
2025-06-08T00:04:08.589Z,1749341048.589 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.226957
2025-06-08T00:04:08.840Z,1749341048.840 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.477870
2025-06-08T00:04:08.927Z,1749341048.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.92 m.
2025-06-08T00:04:08.930Z,1749341048.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.918699 m,
      nav range: 21.879837 m,
      bearing: 148.378013 deg,
      approach rate: -0.611912 m/s,
      LOS rate: 0.208997 deg/s,
      cmd heading: 144.267365 deg,
      new cmd heading: 144.522598 deg.

2025-06-08T00:04:08.931Z,1749341048.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522395 target range: 22.918699 and range: 23.10 m.
2025-06-08T00:04:09.092Z,1749341049.092 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.730166
2025-06-08T00:04:09.293Z,1749341049.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.92 m.
2025-06-08T00:04:09.295Z,1749341049.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.918699 m,
      nav range: 21.664614 m,
      bearing: 148.450289 deg,
      approach rate: -0.588315 m/s,
      LOS rate: 0.199532 deg/s,
      cmd heading: 144.522595 deg,
      new cmd heading: 144.741578 deg.

2025-06-08T00:04:09.296Z,1749341049.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.526217 target range: 22.918699 and range: 23.10 m.
2025-06-08T00:04:09.344Z,1749341049.344 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.982097
2025-06-08T00:04:09.596Z,1749341049.596 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.233867
2025-06-08T00:04:09.712Z,1749341049.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.92 m.
2025-06-08T00:04:09.719Z,1749341049.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.918699 m,
      nav range: 21.426966 m,
      bearing: 148.528528 deg,
      approach rate: -0.566044 m/s,
      LOS rate: 0.188419 deg/s,
      cmd heading: 144.741585 deg,
      new cmd heading: 144.978902 deg.

2025-06-08T00:04:09.720Z,1749341049.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530359 target range: 22.918699 and range: 23.10 m.
2025-06-08T00:04:09.848Z,1749341049.848 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.485995
2025-06-08T00:04:10.100Z,1749341050.100 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.738036
2025-06-08T00:04:10.138Z,1749341050.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.92 m.
2025-06-08T00:04:10.145Z,1749341050.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.918699 m,
      nav range: 21.172501 m,
      bearing: 148.614029 deg,
      approach rate: -0.598299 m/s,
      LOS rate: 0.203448 deg/s,
      cmd heading: 144.978907 deg,
      new cmd heading: 145.238492 deg.

2025-06-08T00:04:10.146Z,1749341050.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534890 target range: 22.918699 and range: 23.10 m.
2025-06-08T00:04:10.353Z,1749341050.353 [DAT](INFO): DAT read: Rx Time:00:04:09.6128

2025-06-08T00:04:10.353Z,1749341050.353 [DAT](INFO): Rx dataTimestamp_ set to:1749341050.353157
2025-06-08T00:04:10.354Z,1749341050.354 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.992026
2025-06-08T00:04:10.510Z,1749341050.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:10.513Z,1749341050.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.92 m.
2025-06-08T00:04:10.516Z,1749341050.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.918699 m,
      nav range: 20.934420 m,
      bearing: 148.691988 deg,
      approach rate: -0.635096 m/s,
      LOS rate: 0.210326 deg/s,
      cmd heading: 145.238495 deg,
      new cmd heading: 145.475031 deg.

2025-06-08T00:04:10.517Z,1749341050.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539018 target range: 22.918699 and range: 23.10 m.
2025-06-08T00:04:10.605Z,1749341050.605 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.242517
2025-06-08T00:04:10.894Z,1749341050.894 [DAT](INFO): DAT read: 00:04:09.6128 LVL= 19440, 29217, 16562, 32435, AGC= 55, IDX= 411,-0.09,-0.977,-2.365,-0.917,-1.410, PHS= 0.520,-0.909, 0.490, RAW= 148.9,  -1.5, CAL= 152.7, -10.4, ROT= 357.3,  10.4

2025-06-08T00:04:10.896Z,1749341050.896 [DAT](INFO): got valid direction response:
 00:04:09.6128 LVL= 19440, 29217, 16562, 32435, AGC= 55, IDX= 411,-0.09,-0.977,-2.365,-0.917,-1.410, PHS= 0.520,-0.909, 0.490, RAW= 148.9,  -1.5, CAL= 152.7, -10.4, ROT= 357.3,  10.4

2025-06-08T00:04:10.897Z,1749341050.897 [DAT](INFO): DAT read: Bearing 357.3,  10.4 (Local)

2025-06-08T00:04:10.897Z,1749341050.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  10.4 (Local)

2025-06-08T00:04:10.899Z,1749341050.899 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m  (Round-trip  28.0 ms) speed  0.5 m/s

2025-06-08T00:04:10.899Z,1749341050.899 [DAT](INFO): DAT read: user:2056>

2025-06-08T00:04:10.900Z,1749341050.900 [DAT](INFO): DAT read: Tx time:00:04:10.7307

2025-06-08T00:04:10.901Z,1749341050.901 [DAT](INFO): Ping request sent.
2025-06-08T00:04:10.901Z,1749341050.901 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:10.901Z,1749341050.901 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-08T00:04:10.902Z,1749341050.902 [DAT](INFO): direction in FSK: [0.982480,-0.046333,-0.180519]
2025-06-08T00:04:10.902Z,1749341050.902 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:10.902Z,1749341050.902 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:10.910Z,1749341050.910 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:10.910Z,1749341050.910 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:10.975Z,1749341050.975 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.074040
2025-06-08T00:04:11.072Z,1749341051.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 3.528141 s,
      deltaX: -2.100000 m,
      approachRate: -0.595214 m/s,
      rangeRepo size: 4

2025-06-08T00:04:11.074Z,1749341051.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.835228 m,
      bearing: 141.391887 deg,
      lat: 36.905915 deg,
      lon: -122.115949 deg,
      deltaT: 3.528141 s,
      deltaX: -2.083471 m,
      approachRate: -0.590530 m/s,
      posRepo size: 4

2025-06-08T00:04:11.079Z,1749341051.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:11.082Z,1749341051.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 20.406445 m,
      bearing: 148.159141 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.210326 deg/s,
      cmd heading: 145.475024 deg,
      new cmd heading: 145.824824 deg.

2025-06-08T00:04:11.088Z,1749341051.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545123 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:11.108Z,1749341051.108 [DAT](INFO): DAT read: TxSync time:00:04:10.7299

2025-06-08T00:04:11.109Z,1749341051.109 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.208454
2025-06-08T00:04:11.361Z,1749341051.361 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.460164
2025-06-08T00:04:11.387Z,1749341051.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:11.390Z,1749341051.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 20.199034 m,
      bearing: 148.224092 deg,
      approach rate: -0.648159 m/s,
      LOS rate: 0.205058 deg/s,
      cmd heading: 145.824826 deg,
      new cmd heading: 146.021680 deg.

2025-06-08T00:04:11.391Z,1749341051.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.548559 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:11.612Z,1749341051.612 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.711526
2025-06-08T00:04:11.758Z,1749341051.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:11.765Z,1749341051.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 19.976324 m,
      bearing: 148.289743 deg,
      approach rate: -0.602190 m/s,
      LOS rate: 0.179493 deg/s,
      cmd heading: 146.021685 deg,
      new cmd heading: 146.220832 deg.

2025-06-08T00:04:11.766Z,1749341051.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552035 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:11.865Z,1749341051.865 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.964256
2025-06-08T00:04:12.116Z,1749341052.116 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.215458
2025-06-08T00:04:12.208Z,1749341052.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:12.210Z,1749341052.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 19.697441 m,
      bearing: 148.383859 deg,
      approach rate: -0.619014 m/s,
      LOS rate: 0.211859 deg/s,
      cmd heading: 146.220826 deg,
      new cmd heading: 146.507169 deg.

2025-06-08T00:04:12.228Z,1749341052.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557033 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:12.369Z,1749341052.369 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.468273
2025-06-08T00:04:12.582Z,1749341052.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:12.584Z,1749341052.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:12.587Z,1749341052.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 19.464130 m,
      bearing: 148.464681 deg,
      approach rate: -0.619348 m/s,
      LOS rate: 0.217124 deg/s,
      cmd heading: 146.507175 deg,
      new cmd heading: 146.752548 deg.

2025-06-08T00:04:12.588Z,1749341052.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561315 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:12.620Z,1749341052.620 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.719594
2025-06-08T00:04:12.874Z,1749341052.874 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.973594
2025-06-08T00:04:13.004Z,1749341053.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:13.006Z,1749341053.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 19.203194 m,
      bearing: 148.556249 deg,
      approach rate: -0.622147 m/s,
      LOS rate: 0.221289 deg/s,
      cmd heading: 146.752543 deg,
      new cmd heading: 147.030975 deg.

2025-06-08T00:04:13.008Z,1749341053.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566175 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:13.124Z,1749341053.124 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.223657
2025-06-08T00:04:13.376Z,1749341053.376 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.475566
2025-06-08T00:04:13.385Z,1749341053.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:13.388Z,1749341053.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 18.967175 m,
      bearing: 148.639643 deg,
      approach rate: -0.617749 m/s,
      LOS rate: 0.220989 deg/s,
      cmd heading: 147.030969 deg,
      new cmd heading: 147.284262 deg.

2025-06-08T00:04:13.389Z,1749341053.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570595 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:13.628Z,1749341053.628 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.727732
2025-06-08T00:04:13.783Z,1749341053.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:13.789Z,1749341053.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 18.718475 m,
      bearing: 148.726711 deg,
      approach rate: -0.625525 m/s,
      LOS rate: 0.221903 deg/s,
      cmd heading: 147.284259 deg,
      new cmd heading: 147.548934 deg.

2025-06-08T00:04:13.809Z,1749341053.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575215 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:13.880Z,1749341053.880 [DAT](INFO): DAT read: Rx Time:00:04:13.1600

2025-06-08T00:04:13.881Z,1749341053.881 [DAT](INFO): Rx dataTimestamp_ set to:1749341053.880511
2025-06-08T00:04:13.881Z,1749341053.881 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.980671
2025-06-08T00:04:14.132Z,1749341054.132 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.231417
2025-06-08T00:04:14.269Z,1749341054.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:14.272Z,1749341054.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 18.412352 m,
      bearing: 148.842046 deg,
      approach rate: -0.630464 m/s,
      LOS rate: 0.241482 deg/s,
      cmd heading: 147.548929 deg,
      new cmd heading: 147.900682 deg.

2025-06-08T00:04:14.273Z,1749341054.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.581354 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:14.389Z,1749341054.389 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.485879
2025-06-08T00:04:14.629Z,1749341054.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:14.645Z,1749341054.645 [DAT](INFO): DAT read: 00:04:13.1600 LVL= 23776, 30929, 16178, 32403, AGC= 57, IDX= 413, 0.35, 1.841, 0.415, 2.141, 1.504, PHS= 0.425,-1.043, 0.633, RAW= 156.5,  -0.2, CAL= 159.1,  -8.9, ROT= 350.9,   8.9

2025-06-08T00:04:14.646Z,1749341054.646 [DAT](INFO): got valid direction response:
 00:04:13.1600 LVL= 23776, 30929, 16178, 32403, AGC= 57, IDX= 413, 0.35, 1.841, 0.415, 2.141, 1.504, PHS= 0.425,-1.043, 0.633, RAW= 156.5,  -0.2, CAL= 159.1,  -8.9, ROT= 350.9,   8.9

2025-06-08T00:04:14.647Z,1749341054.647 [DAT](INFO): DAT read: Bearing 350.9,   8.9 (Local)

2025-06-08T00:04:14.647Z,1749341054.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.9,   8.9 (Local)

2025-06-08T00:04:14.649Z,1749341054.649 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m  (Round-trip  25.1 ms) speed  0.6 m/s

2025-06-08T00:04:14.649Z,1749341054.649 [DAT](INFO): DAT read: user:2057>

2025-06-08T00:04:14.650Z,1749341054.650 [DAT](INFO): DAT read: Tx time:00:04:14.2807

2025-06-08T00:04:14.650Z,1749341054.650 [DAT](INFO): Ping request sent.
2025-06-08T00:04:14.651Z,1749341054.651 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:14.651Z,1749341054.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.84 m.
2025-06-08T00:04:14.654Z,1749341054.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.835228 m,
      nav range: 18.196489 m,
      bearing: 148.925724 deg,
      approach rate: -0.595323 m/s,
      LOS rate: 0.233511 deg/s,
      cmd heading: 147.900684 deg,
      new cmd heading: 148.154694 deg.

2025-06-08T00:04:14.656Z,1749341054.656 [DAT](INFO): DAT read: TxSync time:00:04:14.2799

2025-06-08T00:04:14.657Z,1749341054.657 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-08T00:04:14.658Z,1749341054.658 [DAT](INFO): direction in FSK: [0.975525,-0.156254,-0.154710]
2025-06-08T00:04:14.658Z,1749341054.658 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:14.658Z,1749341054.658 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:14.663Z,1749341054.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.585787 target range: 20.835228 and range: 21.00 m.
2025-06-08T00:04:14.669Z,1749341054.669 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:14.670Z,1749341054.670 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:14.681Z,1749341054.681 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.030597
2025-06-08T00:04:14.891Z,1749341054.891 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.239809
2025-06-08T00:04:15.079Z,1749341055.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 3.780076 s,
      deltaX: -2.200001 m,
      approachRate: -0.581999 m/s,
      rangeRepo size: 4

2025-06-08T00:04:15.085Z,1749341055.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.652519 m,
      bearing: 138.055432 deg,
      lat: 36.905915 deg,
      lon: -122.115942 deg,
      deltaT: 3.780076 s,
      deltaX: -2.182709 m,
      approachRate: -0.577425 m/s,
      posRepo size: 4

2025-06-08T00:04:15.086Z,1749341055.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:04:15.093Z,1749341055.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652519 m,
      nav range: 18.220766 m,
      bearing: 147.473762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.233511 deg/s,
      cmd heading: 148.154699 deg,
      new cmd heading: 148.467705 deg.

2025-06-08T00:04:15.094Z,1749341055.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591250 target range: 18.652519 and range: 18.80 m.
2025-06-08T00:04:15.142Z,1749341055.142 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.491133
2025-06-08T00:04:15.392Z,1749341055.392 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.741538
2025-06-08T00:04:15.433Z,1749341055.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:04:15.440Z,1749341055.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652519 m,
      nav range: 18.003414 m,
      bearing: 147.527108 deg,
      approach rate: -0.611618 m/s,
      LOS rate: 0.151926 deg/s,
      cmd heading: 148.467699 deg,
      new cmd heading: 148.629669 deg.

2025-06-08T00:04:15.441Z,1749341055.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594077 target range: 18.652519 and range: 18.80 m.
2025-06-08T00:04:15.644Z,1749341055.644 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.993521
2025-06-08T00:04:15.801Z,1749341055.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:04:15.804Z,1749341055.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652519 m,
      nav range: 17.763819 m,
      bearing: 147.584119 deg,
      approach rate: -0.652143 m/s,
      LOS rate: 0.157268 deg/s,
      cmd heading: 148.629670 deg,
      new cmd heading: 148.803009 deg.

2025-06-08T00:04:15.805Z,1749341055.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597102 target range: 18.652519 and range: 18.80 m.
2025-06-08T00:04:15.899Z,1749341055.899 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.248095
2025-06-08T00:04:16.148Z,1749341056.148 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.497587
2025-06-08T00:04:16.232Z,1749341056.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:04:16.235Z,1749341056.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652519 m,
      nav range: 17.504108 m,
      bearing: 147.637437 deg,
      approach rate: -0.603565 m/s,
      LOS rate: 0.125749 deg/s,
      cmd heading: 148.803007 deg,
      new cmd heading: 148.965334 deg.

2025-06-08T00:04:16.236Z,1749341056.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599936 target range: 18.652519 and range: 18.80 m.
2025-06-08T00:04:16.400Z,1749341056.400 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.749476
2025-06-08T00:04:16.605Z,1749341056.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:04:16.608Z,1749341056.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652519 m,
      nav range: 17.278168 m,
      bearing: 147.682048 deg,
      approach rate: -0.604016 m/s,
      LOS rate: 0.120820 deg/s,
      cmd heading: 148.965333 deg,
      new cmd heading: 149.100915 deg.

2025-06-08T00:04:16.609Z,1749341056.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.602302 target range: 18.652519 and range: 18.80 m.
2025-06-08T00:04:16.653Z,1749341056.653 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.002352
2025-06-08T00:04:16.907Z,1749341056.907 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.255478
2025-06-08T00:04:17.042Z,1749341057.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:17.044Z,1749341057.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:04:17.047Z,1749341057.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652519 m,
      nav range: 17.016609 m,
      bearing: 147.715338 deg,
      approach rate: -0.595869 m/s,
      LOS rate: 0.077005 deg/s,
      cmd heading: 149.100912 deg,
      new cmd heading: 149.202317 deg.

2025-06-08T00:04:17.048Z,1749341057.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.604072 target range: 18.652519 and range: 18.80 m.
2025-06-08T00:04:17.156Z,1749341057.156 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.505591
2025-06-08T00:04:17.408Z,1749341057.408 [DAT](INFO): DAT read: Rx Time:00:04:16.7070

2025-06-08T00:04:17.409Z,1749341057.409 [DAT](INFO): Rx dataTimestamp_ set to:1749341057.408506
2025-06-08T00:04:17.409Z,1749341057.409 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.758760
2025-06-08T00:04:17.429Z,1749341057.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:04:17.432Z,1749341057.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652519 m,
      nav range: 16.786089 m,
      bearing: 147.740398 deg,
      approach rate: -0.598224 m/s,
      LOS rate: 0.065926 deg/s,
      cmd heading: 149.202313 deg,
      new cmd heading: 149.278525 deg.

2025-06-08T00:04:17.433Z,1749341057.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605402 target range: 18.652519 and range: 18.80 m.
2025-06-08T00:04:17.660Z,1749341057.660 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.009559
2025-06-08T00:04:17.832Z,1749341057.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:04:17.834Z,1749341057.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652519 m,
      nav range: 16.545977 m,
      bearing: 147.762802 deg,
      approach rate: -0.597294 m/s,
      LOS rate: 0.056541 deg/s,
      cmd heading: 149.278524 deg,
      new cmd heading: 149.346713 deg.

2025-06-08T00:04:17.836Z,1749341057.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606592 target range: 18.652519 and range: 18.80 m.
2025-06-08T00:04:17.914Z,1749341057.914 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.263140
2025-06-08T00:04:18.170Z,1749341058.170 [DAT](INFO): DAT read: 00:04:16.7070 LVL= 26704, 27121, 15714, 30659, AGC= 56, IDX= 415,-0.03,-0.521,-1.849,-0.097,-0.739, PHS= 0.306,-1.063, 0.639, RAW= 160.7,   1.5, CAL= 162.2,  -7.2, ROT= 347.8,   7.2

2025-06-08T00:04:18.171Z,1749341058.171 [DAT](INFO): got valid direction response:
 00:04:16.7070 LVL= 26704, 27121, 15714, 30659, AGC= 56, IDX= 415,-0.03,-0.521,-1.849,-0.097,-0.739, PHS= 0.306,-1.063, 0.639, RAW= 160.7,   1.5, CAL= 162.2,  -7.2, ROT= 347.8,   7.2

2025-06-08T00:04:18.172Z,1749341058.172 [DAT](INFO): DAT read: Bearing 347.8,   7.2 (Local)

2025-06-08T00:04:18.172Z,1749341058.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.8,   7.2 (Local)

2025-06-08T00:04:18.174Z,1749341058.174 [DAT](INFO): DAT read: Range 10 to 50 : 16.5 m  (Round-trip  22.1 ms) speed  0.6 m/s

2025-06-08T00:04:18.175Z,1749341058.175 [DAT](INFO): DAT read: user:2058>

2025-06-08T00:04:18.175Z,1749341058.175 [DAT](INFO): DAT read: Tx time:00:04:17.8307

2025-06-08T00:04:18.176Z,1749341058.176 [DAT](INFO): Ping request sent.
2025-06-08T00:04:18.176Z,1749341058.176 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:18.176Z,1749341058.176 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-08T00:04:18.177Z,1749341058.177 [DAT](INFO): direction in FSK: [0.969709,-0.209659,-0.125333]
2025-06-08T00:04:18.177Z,1749341058.177 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:18.178Z,1749341058.178 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:18.181Z,1749341058.181 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:18.181Z,1749341058.181 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:18.205Z,1749341058.205 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.029075
2025-06-08T00:04:18.368Z,1749341058.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 3.526094 s,
      deltaX: -2.299999 m,
      approachRate: -0.652280 m/s,
      rangeRepo size: 4

2025-06-08T00:04:18.370Z,1749341058.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.370632 m,
      bearing: 137.025058 deg,
      lat: 36.905927 deg,
      lon: -122.115926 deg,
      deltaT: 3.526094 s,
      deltaX: -2.281887 m,
      approachRate: -0.647143 m/s,
      posRepo size: 4

2025-06-08T00:04:18.370Z,1749341058.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:18.377Z,1749341058.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 16.054222 m,
      bearing: 140.853933 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056541 deg/s,
      cmd heading: 149.346717 deg,
      new cmd heading: 149.436822 deg.

2025-06-08T00:04:18.378Z,1749341058.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608165 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:18.416Z,1749341058.416 [DAT](INFO): DAT read: TxSync time:00:04:17.8299

2025-06-08T00:04:18.417Z,1749341058.417 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.241324
2025-06-08T00:04:18.668Z,1749341058.668 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.492077
2025-06-08T00:04:18.709Z,1749341058.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:18.716Z,1749341058.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 15.853208 m,
      bearing: 140.768764 deg,
      approach rate: -0.580640 m/s,
      LOS rate: -0.249134 deg/s,
      cmd heading: 149.436821 deg,
      new cmd heading: 149.178076 deg.

2025-06-08T00:04:18.717Z,1749341058.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.603649 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:18.922Z,1749341058.922 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.746098
2025-06-08T00:04:19.085Z,1749341059.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:19.087Z,1749341059.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:19.113Z,1749341059.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 15.624427 m,
      bearing: 140.654716 deg,
      approach rate: -0.605395 m/s,
      LOS rate: -0.306209 deg/s,
      cmd heading: 149.178080 deg,
      new cmd heading: 148.830932 deg.

2025-06-08T00:04:19.114Z,1749341059.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597590 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:19.173Z,1749341059.173 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.997534
2025-06-08T00:04:19.424Z,1749341059.424 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.248191
2025-06-08T00:04:19.495Z,1749341059.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:19.502Z,1749341059.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 15.396209 m,
      bearing: 140.534280 deg,
      approach rate: -0.559694 m/s,
      LOS rate: -0.299743 deg/s,
      cmd heading: 148.830929 deg,
      new cmd heading: 148.464269 deg.

2025-06-08T00:04:19.503Z,1749341059.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591190 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:19.676Z,1749341059.676 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.500535
2025-06-08T00:04:19.870Z,1749341059.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:19.889Z,1749341059.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 15.173717 m,
      bearing: 140.410944 deg,
      approach rate: -0.592316 m/s,
      LOS rate: -0.333158 deg/s,
      cmd heading: 148.464270 deg,
      new cmd heading: 148.088843 deg.

2025-06-08T00:04:19.890Z,1749341059.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584638 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:19.931Z,1749341059.931 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.754523
2025-06-08T00:04:20.180Z,1749341060.180 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.004244
2025-06-08T00:04:20.294Z,1749341060.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:20.313Z,1749341060.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 14.933264 m,
      bearing: 140.267365 deg,
      approach rate: -0.567886 m/s,
      LOS rate: -0.344557 deg/s,
      cmd heading: 148.088842 deg,
      new cmd heading: 147.651177 deg.

2025-06-08T00:04:20.314Z,1749341060.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576999 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:20.432Z,1749341060.432 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.256348
2025-06-08T00:04:20.684Z,1749341060.684 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.508430
2025-06-08T00:04:20.686Z,1749341060.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:20.689Z,1749341060.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 14.711472 m,
      bearing: 140.129992 deg,
      approach rate: -0.565669 m/s,
      LOS rate: -0.355644 deg/s,
      cmd heading: 147.651177 deg,
      new cmd heading: 147.232853 deg.

2025-06-08T00:04:20.690Z,1749341060.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569698 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:20.940Z,1749341060.940 [DAT](INFO): DAT read: Rx Time:00:04:20.2543

2025-06-08T00:04:20.941Z,1749341060.941 [DAT](INFO): Rx dataTimestamp_ set to:1749341060.940609
2025-06-08T00:04:20.944Z,1749341060.944 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.767171
2025-06-08T00:04:21.101Z,1749341061.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:21.103Z,1749341061.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:21.106Z,1749341061.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 14.475705 m,
      bearing: 139.974965 deg,
      approach rate: -0.565304 m/s,
      LOS rate: -0.377765 deg/s,
      cmd heading: 147.232855 deg,
      new cmd heading: 146.760213 deg.

2025-06-08T00:04:21.107Z,1749341061.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561449 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:21.189Z,1749341061.189 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.013187
2025-06-08T00:04:21.440Z,1749341061.440 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.264489
2025-06-08T00:04:21.602Z,1749341061.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.37 m.
2025-06-08T00:04:21.605Z,1749341061.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.370632 m,
      nav range: 14.193744 m,
      bearing: 139.782702 deg,
      approach rate: -0.564468 m/s,
      LOS rate: -0.392543 deg/s,
      cmd heading: 146.760206 deg,
      new cmd heading: 146.171982 deg.

2025-06-08T00:04:21.606Z,1749341061.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551182 target range: 16.370632 and range: 16.50 m.
2025-06-08T00:04:21.699Z,1749341061.699 [DAT](INFO): DAT read: 00:04:20.2543 LVL= 22448, 24817, 13586, 28915, AGC= 56, IDX= 419,-0.38, 0.022,-1.198, 0.555,-0.096, PHS= 0.206,-1.055, 0.648, RAW= 164.5,   2.7, CAL= 165.4,  -6.2, ROT= 344.6,   6.2

2025-06-08T00:04:21.700Z,1749341061.700 [DAT](INFO): got valid direction response:
 00:04:20.2543 LVL= 22448, 24817, 13586, 28915, AGC= 56, IDX= 419,-0.38, 0.022,-1.198, 0.555,-0.096, PHS= 0.206,-1.055, 0.648, RAW= 164.5,   2.7, CAL= 165.4,  -6.2, ROT= 344.6,   6.2

2025-06-08T00:04:21.701Z,1749341061.701 [DAT](INFO): DAT read: Bearing 344.6,   6.2 (Local)

2025-06-08T00:04:21.701Z,1749341061.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.6,   6.2 (Local)

2025-06-08T00:04:21.703Z,1749341061.703 [DAT](INFO): DAT read: Range 10 to 50 : 14.5 m  (Round-trip  19.4 ms) speed  0.5 m/s

2025-06-08T00:04:21.704Z,1749341061.704 [DAT](INFO): DAT read: user:2059>

2025-06-08T00:04:21.705Z,1749341061.705 [DAT](INFO): DAT read: Tx time:00:04:21.3308

2025-06-08T00:04:21.705Z,1749341061.705 [DAT](INFO): Ping request sent.
2025-06-08T00:04:21.705Z,1749341061.705 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:21.706Z,1749341061.706 [DAT](INFO): DAT read: TxSync time:00:04:21.3300

2025-06-08T00:04:21.706Z,1749341061.706 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-08T00:04:21.707Z,1749341061.707 [DAT](INFO): direction in FSK: [0.958456,-0.264003,-0.107999]
2025-06-08T00:04:21.708Z,1749341061.708 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:21.708Z,1749341061.708 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:21.715Z,1749341061.715 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:21.715Z,1749341061.715 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:21.719Z,1749341061.719 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.013568
2025-06-08T00:04:21.947Z,1749341061.947 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.241607
2025-06-08T00:04:22.016Z,1749341062.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.500000 m,
      deltaT: 3.528217 s,
      deltaX: -2.000000 m,
      approachRate: -0.566859 m/s,
      rangeRepo size: 4

2025-06-08T00:04:22.018Z,1749341062.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.386355 m,
      bearing: 134.847800 deg,
      lat: 36.905930 deg,
      lon: -122.115915 deg,
      deltaT: 3.528217 s,
      deltaX: -1.984277 m,
      approachRate: -0.562402 m/s,
      posRepo size: 4

2025-06-08T00:04:22.018Z,1749341062.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-08T00:04:22.025Z,1749341062.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.386355 m,
      nav range: 14.358826 m,
      bearing: 135.890640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.392543 deg/s,
      cmd heading: 146.171977 deg,
      new cmd heading: 145.705002 deg.

2025-06-08T00:04:22.026Z,1749341062.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543032 target range: 14.386355 and range: 14.50 m.
2025-06-08T00:04:22.196Z,1749341062.196 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.491281
2025-06-08T00:04:22.367Z,1749341062.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-08T00:04:22.370Z,1749341062.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.386355 m,
      nav range: 14.107693 m,
      bearing: 135.657485 deg,
      approach rate: -0.682239 m/s,
      LOS rate: -0.644675 deg/s,
      cmd heading: 145.704997 deg,
      new cmd heading: 144.993117 deg.

2025-06-08T00:04:22.371Z,1749341062.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530607 target range: 14.386355 and range: 14.50 m.
2025-06-08T00:04:22.448Z,1749341062.448 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.743168
2025-06-08T00:04:22.700Z,1749341062.700 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.995293
2025-06-08T00:04:22.785Z,1749341062.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-08T00:04:22.788Z,1749341062.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.386355 m,
      nav range: 13.868532 m,
      bearing: 135.427567 deg,
      approach rate: -0.571629 m/s,
      LOS rate: -0.559012 deg/s,
      cmd heading: 144.993114 deg,
      new cmd heading: 144.291503 deg.

2025-06-08T00:04:22.789Z,1749341062.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518362 target range: 14.386355 and range: 14.50 m.
2025-06-08T00:04:22.953Z,1749341062.953 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.247914
2025-06-08T00:04:23.203Z,1749341063.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:23.205Z,1749341063.205 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.499602
2025-06-08T00:04:23.207Z,1749341063.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-08T00:04:23.210Z,1749341063.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.386355 m,
      nav range: 13.620472 m,
      bearing: 135.183666 deg,
      approach rate: -0.588375 m/s,
      LOS rate: -0.589043 deg/s,
      cmd heading: 144.291503 deg,
      new cmd heading: 143.546519 deg.

2025-06-08T00:04:23.211Z,1749341063.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505359 target range: 14.386355 and range: 14.50 m.
2025-06-08T00:04:23.456Z,1749341063.456 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.751069
2025-06-08T00:04:23.589Z,1749341063.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-08T00:04:23.593Z,1749341063.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.386355 m,
      nav range: 13.393116 m,
      bearing: 134.955208 deg,
      approach rate: -0.594346 m/s,
      LOS rate: -0.607366 deg/s,
      cmd heading: 143.546520 deg,
      new cmd heading: 142.849546 deg.

2025-06-08T00:04:23.594Z,1749341063.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493195 target range: 14.386355 and range: 14.50 m.
2025-06-08T00:04:23.709Z,1749341063.709 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.003548
2025-06-08T00:04:23.963Z,1749341063.963 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.257380
2025-06-08T00:04:24.068Z,1749341064.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-08T00:04:24.071Z,1749341064.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.386355 m,
      nav range: 13.108030 m,
      bearing: 134.665064 deg,
      approach rate: -0.596747 m/s,
      LOS rate: -0.620541 deg/s,
      cmd heading: 142.849541 deg,
      new cmd heading: 141.960253 deg.

2025-06-08T00:04:24.072Z,1749341064.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477674 target range: 14.386355 and range: 14.50 m.
2025-06-08T00:04:24.213Z,1749341064.213 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.507448
2025-06-08T00:04:24.401Z,1749341064.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-08T00:04:24.404Z,1749341064.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.386355 m,
      nav range: 12.909463 m,
      bearing: 134.461387 deg,
      approach rate: -0.595540 m/s,
      LOS rate: -0.620258 deg/s,
      cmd heading: 141.960250 deg,
      new cmd heading: 141.339848 deg.

2025-06-08T00:04:24.405Z,1749341064.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466846 target range: 14.386355 and range: 14.50 m.
2025-06-08T00:04:24.464Z,1749341064.464 [DAT](INFO): DAT read: Rx Time:00:04:23.7516

2025-06-08T00:04:24.465Z,1749341064.465 [DAT](INFO): Rx dataTimestamp_ set to:1749341064.464652
2025-06-08T00:04:24.465Z,1749341064.465 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.760421
2025-06-08T00:04:24.716Z,1749341064.716 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.011033
2025-06-08T00:04:24.799Z,1749341064.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.39 m.
2025-06-08T00:04:24.802Z,1749341064.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.386355 m,
      nav range: 12.671275 m,
      bearing: 134.215446 deg,
      approach rate: -0.597607 m/s,
      LOS rate: -0.628658 deg/s,
      cmd heading: 141.339850 deg,
      new cmd heading: 140.588202 deg.

2025-06-08T00:04:24.804Z,1749341064.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453727 target range: 14.386355 and range: 14.50 m.
2025-06-08T00:04:24.972Z,1749341064.972 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.266858
2025-06-08T00:04:25.226Z,1749341065.226 [DAT](INFO): DAT read: 00:04:23.7516 LVL= 22272, 29489, 12770, 31539, AGC= 53, IDX= 407,-0.16, 1.023,-0.112, 1.664, 0.999, PHS= 0.112,-1.064, 0.661, RAW= 168.2,   3.9, CAL= 168.6,  -5.1, ROT= 341.4,   5.1

2025-06-08T00:04:25.228Z,1749341065.228 [DAT](INFO): got valid direction response:
 00:04:23.7516 LVL= 22272, 29489, 12770, 31539, AGC= 53, IDX= 407,-0.16, 1.023,-0.112, 1.664, 0.999, PHS= 0.112,-1.064, 0.661, RAW= 168.2,   3.9, CAL= 168.6,  -5.1, ROT= 341.4,   5.1

2025-06-08T00:04:25.229Z,1749341065.229 [DAT](INFO): DAT read: Bearing 341.4,   5.1 (Local)

2025-06-08T00:04:25.229Z,1749341065.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.4,   5.1 (Local)

2025-06-08T00:04:25.231Z,1749341065.231 [DAT](INFO): DAT read: Range 10 to 50 : 12.4 m  (Round-trip  16.6 ms) speed  0.5 m/s

2025-06-08T00:04:25.232Z,1749341065.232 [DAT](INFO): DAT read: user:2060>

2025-06-08T00:04:25.232Z,1749341065.232 [DAT](INFO): DAT read: Tx time:00:04:24.8308

2025-06-08T00:04:25.233Z,1749341065.233 [DAT](INFO): Ping request sent.
2025-06-08T00:04:25.233Z,1749341065.233 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:25.233Z,1749341065.233 [DAT](INFO): DAT read: TxSync time:00:04:24.8300

2025-06-08T00:04:25.234Z,1749341065.234 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-08T00:04:25.239Z,1749341065.239 [DAT](INFO): direction in FSK: [0.944016,-0.317697,-0.088894]
2025-06-08T00:04:25.239Z,1749341065.239 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:25.240Z,1749341065.240 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:25.243Z,1749341065.243 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:25.243Z,1749341065.243 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:25.282Z,1749341065.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.400000 m,
      deltaT: 3.527926 s,
      deltaX: -2.100000 m,
      approachRate: -0.595251 m/s,
      rangeRepo size: 4

2025-06-08T00:04:25.286Z,1749341065.286 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.053085
2025-06-08T00:04:25.293Z,1749341065.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.302822 m,
      bearing: 130.006791 deg,
      lat: 36.905932 deg,
      lon: -122.115914 deg,
      deltaT: 3.527926 s,
      deltaX: -2.083533 m,
      approachRate: -0.590583 m/s,
      posRepo size: 4

2025-06-08T00:04:25.293Z,1749341065.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:25.304Z,1749341065.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 12.343449 m,
      bearing: 132.826307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.628658 deg/s,
      cmd heading: 140.588202 deg,
      new cmd heading: 139.677922 deg.

2025-06-08T00:04:25.306Z,1749341065.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437840 target range: 12.302822 and range: 12.40 m.
2025-06-08T00:04:25.472Z,1749341065.472 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.239485
2025-06-08T00:04:25.628Z,1749341065.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:25.631Z,1749341065.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:25.637Z,1749341065.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 12.117265 m,
      bearing: 132.573952 deg,
      approach rate: -0.648634 m/s,
      LOS rate: -0.737191 deg/s,
      cmd heading: 139.677915 deg,
      new cmd heading: 138.906768 deg.

2025-06-08T00:04:25.638Z,1749341065.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424381 target range: 12.302822 and range: 12.40 m.
2025-06-08T00:04:25.726Z,1749341065.726 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.493458
2025-06-08T00:04:25.980Z,1749341065.980 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.747322
2025-06-08T00:04:26.090Z,1749341066.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:26.093Z,1749341066.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 11.830740 m,
      bearing: 132.268700 deg,
      approach rate: -0.623303 m/s,
      LOS rate: -0.680121 deg/s,
      cmd heading: 138.906773 deg,
      new cmd heading: 137.968927 deg.

2025-06-08T00:04:26.094Z,1749341066.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408012 target range: 12.302822 and range: 12.40 m.
2025-06-08T00:04:26.232Z,1749341066.232 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.999259
2025-06-08T00:04:26.414Z,1749341066.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:26.417Z,1749341066.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 11.632516 m,
      bearing: 132.055512 deg,
      approach rate: -0.612164 m/s,
      LOS rate: -0.669593 deg/s,
      cmd heading: 137.968933 deg,
      new cmd heading: 137.318500 deg.

2025-06-08T00:04:26.418Z,1749341066.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396660 target range: 12.302822 and range: 12.40 m.
2025-06-08T00:04:26.484Z,1749341066.484 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.251580
2025-06-08T00:04:26.736Z,1749341066.736 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.503383
2025-06-08T00:04:26.837Z,1749341066.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:26.844Z,1749341066.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 11.383048 m,
      bearing: 131.788253 deg,
      approach rate: -0.589373 m/s,
      LOS rate: -0.645241 deg/s,
      cmd heading: 137.318494 deg,
      new cmd heading: 136.499204 deg.

2025-06-08T00:04:26.845Z,1749341066.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.382360 target range: 12.302822 and range: 12.40 m.
2025-06-08T00:04:26.989Z,1749341066.989 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.755949
2025-06-08T00:04:27.240Z,1749341067.240 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.007439
2025-06-08T00:04:27.245Z,1749341067.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:27.248Z,1749341067.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 11.128135 m,
      bearing: 131.516077 deg,
      approach rate: -0.625477 m/s,
      LOS rate: -0.683129 deg/s,
      cmd heading: 136.499200 deg,
      new cmd heading: 135.664031 deg.

2025-06-08T00:04:27.249Z,1749341067.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367784 target range: 12.302822 and range: 12.40 m.
2025-06-08T00:04:27.492Z,1749341067.492 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.259388
2025-06-08T00:04:27.684Z,1749341067.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:27.687Z,1749341067.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:27.689Z,1749341067.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 10.859912 m,
      bearing: 131.233437 deg,
      approach rate: -0.607225 m/s,
      LOS rate: -0.655667 deg/s,
      cmd heading: 135.664031 deg,
      new cmd heading: 134.795237 deg.

2025-06-08T00:04:27.690Z,1749341067.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352621 target range: 12.302822 and range: 12.40 m.
2025-06-08T00:04:27.744Z,1749341067.744 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.511540
2025-06-08T00:04:27.999Z,1749341067.999 [DAT](INFO): DAT read: Rx Time:00:04:27.2489

2025-06-08T00:04:28.000Z,1749341068.000 [DAT](INFO): Rx dataTimestamp_ set to:1749341067.999408
2025-06-08T00:04:28.001Z,1749341068.001 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.768462
2025-06-08T00:04:28.164Z,1749341068.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:28.172Z,1749341068.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 10.576558 m,
      bearing: 130.912306 deg,
      approach rate: -0.593366 m/s,
      LOS rate: -0.690487 deg/s,
      cmd heading: 134.795231 deg,
      new cmd heading: 133.806133 deg.

2025-06-08T00:04:28.173Z,1749341068.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335358 target range: 12.302822 and range: 12.40 m.
2025-06-08T00:04:28.251Z,1749341068.251 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.017465
2025-06-08T00:04:28.522Z,1749341068.522 [DAT](INFO): DAT read: 00:04:27.2489 LVL= 22112, 28577, 13874, 32675, AGC= 51, IDX= 411,-0.26,-2.505, 2.566,-1.846,-2.528, PHS= 0.111,-1.142, 0.679, RAW= 167.7,   4.4, CAL= 168.0,  -4.7, ROT= 342.0,   4.7

2025-06-08T00:04:28.523Z,1749341068.523 [DAT](INFO): got valid direction response:
 00:04:27.2489 LVL= 22112, 28577, 13874, 32675, AGC= 51, IDX= 411,-0.26,-2.505, 2.566,-1.846,-2.528, PHS= 0.111,-1.142, 0.679, RAW= 167.7,   4.4, CAL= 168.0,  -4.7, ROT= 342.0,   4.7

2025-06-08T00:04:28.524Z,1749341068.524 [DAT](INFO): DAT read: Bearing 342.0,   4.7 (Local)

2025-06-08T00:04:28.525Z,1749341068.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.0,   4.7 (Local)

2025-06-08T00:04:28.526Z,1749341068.526 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m  (Round-trip  13.9 ms) speed  0.5 m/s

2025-06-08T00:04:28.527Z,1749341068.527 [DAT](INFO): DAT read: user:2061>

2025-06-08T00:04:28.532Z,1749341068.532 [DAT](INFO): DAT read: Tx time:00:04:28.3308

2025-06-08T00:04:28.532Z,1749341068.532 [DAT](INFO): Ping request sent.
2025-06-08T00:04:28.532Z,1749341068.532 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:28.533Z,1749341068.533 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-08T00:04:28.534Z,1749341068.534 [DAT](INFO): direction in FSK: [0.947858,-0.307978,-0.081939]
2025-06-08T00:04:28.534Z,1749341068.534 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:28.534Z,1749341068.534 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:28.538Z,1749341068.538 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:28.538Z,1749341068.538 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:28.542Z,1749341068.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 3.281465 s,
      deltaX: -2.000000 m,
      approachRate: -0.609484 m/s,
      rangeRepo size: 4

2025-06-08T00:04:28.542Z,1749341068.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:28.545Z,1749341068.545 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.012866
2025-06-08T00:04:28.549Z,1749341068.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 10.397943 m,
      bearing: 130.724492 deg,
      approach rate: -0.474072 m/s,
      LOS rate: -0.507051 deg/s,
      cmd heading: 133.806138 deg,
      new cmd heading: 133.233036 deg.

2025-06-08T00:04:28.550Z,1749341068.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325355 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:28.752Z,1749341068.752 [DAT](INFO): DAT read: TxSync time:00:04:28.3300

2025-06-08T00:04:28.753Z,1749341068.753 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.220828
2025-06-08T00:04:28.885Z,1749341068.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:28.908Z,1749341068.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 10.156547 m,
      bearing: 130.474529 deg,
      approach rate: -0.701931 m/s,
      LOS rate: -0.744111 deg/s,
      cmd heading: 133.233030 deg,
      new cmd heading: 132.465368 deg.

2025-06-08T00:04:28.909Z,1749341068.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311957 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:29.005Z,1749341069.005 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.472653
2025-06-08T00:04:29.256Z,1749341069.256 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.723858
2025-06-08T00:04:29.268Z,1749341069.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:29.270Z,1749341069.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 9.922343 m,
      bearing: 130.237689 deg,
      approach rate: -0.612867 m/s,
      LOS rate: -0.634394 deg/s,
      cmd heading: 132.465372 deg,
      new cmd heading: 131.738121 deg.

2025-06-08T00:04:29.288Z,1749341069.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299264 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:29.508Z,1749341069.508 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.975756
2025-06-08T00:04:29.665Z,1749341069.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:29.672Z,1749341069.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 9.697173 m,
      bearing: 130.012509 deg,
      approach rate: -0.565253 m/s,
      LOS rate: -0.578400 deg/s,
      cmd heading: 131.738121 deg,
      new cmd heading: 131.046932 deg.

2025-06-08T00:04:29.673Z,1749341069.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287200 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:29.760Z,1749341069.760 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.227952
2025-06-08T00:04:30.012Z,1749341070.012 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.479763
2025-06-08T00:04:30.121Z,1749341070.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:30.127Z,1749341070.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:30.130Z,1749341070.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 9.436389 m,
      bearing: 129.753531 deg,
      approach rate: -0.569653 m/s,
      LOS rate: -0.581339 deg/s,
      cmd heading: 131.046933 deg,
      new cmd heading: 130.248583 deg.

2025-06-08T00:04:30.135Z,1749341070.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273267 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:30.264Z,1749341070.264 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.732104
2025-06-08T00:04:30.486Z,1749341070.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:30.489Z,1749341070.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 9.209495 m,
      bearing: 129.532027 deg,
      approach rate: -0.624570 m/s,
      LOS rate: -0.624754 deg/s,
      cmd heading: 130.248579 deg,
      new cmd heading: 129.567728 deg.

2025-06-08T00:04:30.490Z,1749341070.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261384 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:30.517Z,1749341070.517 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.984318
2025-06-08T00:04:30.768Z,1749341070.768 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.235747
2025-06-08T00:04:30.888Z,1749341070.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:30.891Z,1749341070.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 8.985267 m,
      bearing: 129.319108 deg,
      approach rate: -0.558282 m/s,
      LOS rate: -0.543354 deg/s,
      cmd heading: 129.567732 deg,
      new cmd heading: 128.913065 deg.

2025-06-08T00:04:30.900Z,1749341070.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249957 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:31.020Z,1749341071.020 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.487776
2025-06-08T00:04:31.272Z,1749341071.272 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.739895
2025-06-08T00:04:31.296Z,1749341071.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:31.299Z,1749341071.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 8.745086 m,
      bearing: 129.130965 deg,
      approach rate: -0.588637 m/s,
      LOS rate: -0.473763 deg/s,
      cmd heading: 128.913059 deg,
      new cmd heading: 128.333151 deg.

2025-06-08T00:04:31.300Z,1749341071.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239836 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:31.525Z,1749341071.525 [DAT](INFO): DAT read: Rx Time:00:04:30.7461

2025-06-08T00:04:31.525Z,1749341071.525 [DAT](INFO): Rx dataTimestamp_ set to:1749341071.524965
2025-06-08T00:04:31.526Z,1749341071.526 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.993452
2025-06-08T00:04:31.680Z,1749341071.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-06-08T00:04:31.683Z,1749341071.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.302822 m,
      nav range: 8.524958 m,
      bearing: 128.968936 deg,
      approach rate: -0.573282 m/s,
      LOS rate: -0.432870 deg/s,
      cmd heading: 128.333148 deg,
      new cmd heading: 127.834521 deg.

2025-06-08T00:04:31.684Z,1749341071.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231133 target range: 12.302822 and range: 10.40 m.
2025-06-08T00:04:31.777Z,1749341071.777 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.244169
2025-06-08T00:04:32.034Z,1749341072.034 [DAT](INFO): DAT read: 00:04:30.7461 LVL= 21392, 27489, 15602, 32755, AGC= 53, IDX= 414, 0.00,-1.065,-2.387,-0.670,-1.155, PHS= 0.178,-1.184, 0.483, RAW= 159.9,   6.9, CAL= 159.9,  -2.6, ROT= 350.1,   2.6

2025-06-08T00:04:32.035Z,1749341072.035 [DAT](INFO): got valid direction response:
 00:04:30.7461 LVL= 21392, 27489, 15602, 32755, AGC= 53, IDX= 414, 0.00,-1.065,-2.387,-0.670,-1.155, PHS= 0.178,-1.184, 0.483, RAW= 159.9,   6.9, CAL= 159.9,  -2.6, ROT= 350.1,   2.6

2025-06-08T00:04:32.036Z,1749341072.036 [DAT](INFO): DAT read: Bearing 350.1,   2.6 (Local)

2025-06-08T00:04:32.036Z,1749341072.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.1,   2.6 (Local)

2025-06-08T00:04:32.038Z,1749341072.038 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m  (Round-trip  11.1 ms) speed  0.6 m/s

2025-06-08T00:04:32.039Z,1749341072.039 [DAT](INFO): DAT read: user:2062>

2025-06-08T00:04:32.046Z,1749341072.046 [DAT](INFO): DAT read: Tx time:00:04:31.8309

2025-06-08T00:04:32.046Z,1749341072.046 [DAT](INFO): Ping request sent.
2025-06-08T00:04:32.046Z,1749341072.046 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:32.046Z,1749341072.046 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-08T00:04:32.072Z,1749341072.072 [DAT](INFO): direction in FSK: [0.984095,-0.171752,-0.045363]
2025-06-08T00:04:32.072Z,1749341072.072 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:32.072Z,1749341072.072 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:32.090Z,1749341072.090 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:32.090Z,1749341072.090 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:32.155Z,1749341072.155 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.109331
2025-06-08T00:04:32.264Z,1749341072.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 3.526405 s,
      deltaX: -2.099999 m,
      approachRate: -0.595507 m/s,
      rangeRepo size: 4

2025-06-08T00:04:32.266Z,1749341072.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.234997 m,
      bearing: 127.727888 deg,
      lat: 36.905933 deg,
      lon: -122.115913 deg,
      deltaT: 6.807870 s,
      deltaX: -4.067825 m,
      approachRate: -0.597518 m/s,
      posRepo size: 4

2025-06-08T00:04:32.267Z,1749341072.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.23 m.
2025-06-08T00:04:32.271Z,1749341072.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.30 m.
2025-06-08T00:04:32.272Z,1749341072.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-08T00:04:32.274Z,1749341072.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 8.209551 m,
      bearing: 127.727858 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.432870 deg/s,
      cmd heading: 127.834517 deg,
      new cmd heading: 127.087567 deg.

2025-06-08T00:04:32.280Z,1749341072.280 [DAT](INFO): DAT read: TxSync time:00:04:31.8301

2025-06-08T00:04:32.281Z,1749341072.281 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.235167
2025-06-08T00:04:32.282Z,1749341072.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218096 target range: 8.234997 and range: 8.30 m.
2025-06-08T00:04:32.532Z,1749341072.532 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.486162
2025-06-08T00:04:32.578Z,1749341072.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:32.585Z,1749341072.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:32.591Z,1749341072.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 8.020483 m,
      bearing: 127.570157 deg,
      approach rate: -0.574494 m/s,
      LOS rate: -0.490480 deg/s,
      cmd heading: 127.087568 deg,
      new cmd heading: 126.603324 deg.

2025-06-08T00:04:32.592Z,1749341072.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209645 target range: 8.234997 and range: 8.30 m.
2025-06-08T00:04:32.784Z,1749341072.784 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.738465
2025-06-08T00:04:32.977Z,1749341072.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:32.996Z,1749341072.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 7.790756 m,
      bearing: 127.387601 deg,
      approach rate: -0.585129 m/s,
      LOS rate: -0.478692 deg/s,
      cmd heading: 126.603321 deg,
      new cmd heading: 126.039523 deg.

2025-06-08T00:04:32.997Z,1749341072.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199805 target range: 8.234997 and range: 8.30 m.
2025-06-08T00:04:33.038Z,1749341073.038 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.991420
2025-06-08T00:04:33.288Z,1749341073.288 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.242071
2025-06-08T00:04:33.405Z,1749341073.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:33.408Z,1749341073.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 7.550378 m,
      bearing: 127.166052 deg,
      approach rate: -0.562225 m/s,
      LOS rate: -0.534681 deg/s,
      cmd heading: 126.039530 deg,
      new cmd heading: 125.353757 deg.

2025-06-08T00:04:33.408Z,1749341073.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187836 target range: 8.234997 and range: 8.30 m.
2025-06-08T00:04:33.544Z,1749341073.544 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.496899
2025-06-08T00:04:33.792Z,1749341073.792 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.746135
2025-06-08T00:04:33.823Z,1749341073.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:33.826Z,1749341073.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 7.324301 m,
      bearing: 126.988248 deg,
      approach rate: -0.540399 m/s,
      LOS rate: -0.438128 deg/s,
      cmd heading: 125.353751 deg,
      new cmd heading: 124.803894 deg.

2025-06-08T00:04:33.827Z,1749341073.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.178239 target range: 8.234997 and range: 8.30 m.
2025-06-08T00:04:34.044Z,1749341074.044 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.998093
2025-06-08T00:04:34.233Z,1749341074.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:34.236Z,1749341074.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 7.079754 m,
      bearing: 126.782841 deg,
      approach rate: -0.596571 m/s,
      LOS rate: -0.518398 deg/s,
      cmd heading: 124.803894 deg,
      new cmd heading: 124.166414 deg.

2025-06-08T00:04:34.237Z,1749341074.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167113 target range: 8.234997 and range: 8.30 m.
2025-06-08T00:04:34.297Z,1749341074.297 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.250497
2025-06-08T00:04:34.549Z,1749341074.549 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.502790
2025-06-08T00:04:34.618Z,1749341074.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:34.621Z,1749341074.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:34.624Z,1749341074.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 6.857022 m,
      bearing: 126.609121 deg,
      approach rate: -0.574227 m/s,
      LOS rate: -0.462416 deg/s,
      cmd heading: 124.166419 deg,
      new cmd heading: 123.628347 deg.

2025-06-08T00:04:34.625Z,1749341074.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.157722 target range: 8.234997 and range: 8.30 m.
2025-06-08T00:04:34.800Z,1749341074.800 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.754112
2025-06-08T00:04:35.052Z,1749341075.052 [DAT](INFO): DAT read: Rx Time:00:04:34.2436

2025-06-08T00:04:35.053Z,1749341075.053 [DAT](INFO): Rx dataTimestamp_ set to:1749341075.052428
2025-06-08T00:04:35.053Z,1749341075.053 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.007253
2025-06-08T00:04:35.152Z,1749341075.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:35.169Z,1749341075.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 6.566894 m,
      bearing: 126.398752 deg,
      approach rate: -0.553304 m/s,
      LOS rate: -0.418918 deg/s,
      cmd heading: 123.628350 deg,
      new cmd heading: 122.969391 deg.

2025-06-08T00:04:35.176Z,1749341075.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.146221 target range: 8.234997 and range: 8.30 m.
2025-06-08T00:04:35.304Z,1749341075.304 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.258405
2025-06-08T00:04:35.562Z,1749341075.562 [DAT](INFO): DAT read: 00:04:34.2436 LVL= 32752, 32753, 24370, 32755, AGC= 56, IDX= 419,-0.10,-1.511,-3.018,-1.214,-1.641, PHS= 0.219,-1.330, 0.425, RAW= 156.2,   8.3, CAL= 156.1,  -1.1, ROT= 353.9,   1.1

2025-06-08T00:04:35.563Z,1749341075.563 [DAT](INFO): got valid direction response:
 00:04:34.2436 LVL= 32752, 32753, 24370, 32755, AGC= 56, IDX= 419,-0.10,-1.511,-3.018,-1.214,-1.641, PHS= 0.219,-1.330, 0.425, RAW= 156.2,   8.3, CAL= 156.1,  -1.1, ROT= 353.9,   1.1

2025-06-08T00:04:35.564Z,1749341075.564 [DAT](INFO): DAT read: Bearing 353.9,   1.1 (Local)

2025-06-08T00:04:35.565Z,1749341075.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,   1.1 (Local)

2025-06-08T00:04:35.566Z,1749341075.566 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m  (Round-trip  8.5 ms) speed  0.4 m/s

2025-06-08T00:04:35.567Z,1749341075.567 [DAT](INFO): DAT read: user:2063>

2025-06-08T00:04:35.572Z,1749341075.572 [DAT](INFO): DAT read: Tx time:00:04:35.3309

2025-06-08T00:04:35.572Z,1749341075.572 [DAT](INFO): Ping request sent.
2025-06-08T00:04:35.572Z,1749341075.572 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:35.572Z,1749341075.572 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-08T00:04:35.573Z,1749341075.573 [DAT](INFO): direction in FSK: [0.994155,-0.106245,-0.019197]
2025-06-08T00:04:35.574Z,1749341075.574 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:35.574Z,1749341075.574 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:35.585Z,1749341075.585 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:35.585Z,1749341075.585 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:35.597Z,1749341075.597 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.024739
2025-06-08T00:04:35.626Z,1749341075.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 3.528055 s,
      deltaX: -2.000000 m,
      approachRate: -0.566885 m/s,
      rangeRepo size: 4

2025-06-08T00:04:35.632Z,1749341075.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.250626 m,
      bearing: 126.148828 deg,
      lat: 36.905934 deg,
      lon: -122.115913 deg,
      deltaT: 3.528055 s,
      deltaX: -1.984371 m,
      approachRate: -0.562455 m/s,
      posRepo size: 4

2025-06-08T00:04:35.634Z,1749341075.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.25 m. 8.23 m.
2025-06-08T00:04:35.648Z,1749341075.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 6.287020 m,
      bearing: 126.190119 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.432870 deg/s,
      cmd heading: 122.969387 deg,
      new cmd heading: 122.345426 deg.

2025-06-08T00:04:35.649Z,1749341075.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.135330 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:35.808Z,1749341075.808 [DAT](INFO): DAT read: TxSync time:00:04:35.3301

2025-06-08T00:04:35.809Z,1749341075.809 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.237090
2025-06-08T00:04:35.994Z,1749341075.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:36.001Z,1749341076.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 6.068885 m,
      bearing: 126.035051 deg,
      approach rate: -0.592170 m/s,
      LOS rate: -0.436093 deg/s,
      cmd heading: 122.345422 deg,
      new cmd heading: 121.863509 deg.

2025-06-08T00:04:36.002Z,1749341076.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126920 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:36.065Z,1749341076.065 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.491804
2025-06-08T00:04:36.312Z,1749341076.312 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.740191
2025-06-08T00:04:36.400Z,1749341076.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:36.403Z,1749341076.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 5.826367 m,
      bearing: 125.828321 deg,
      approach rate: -0.597567 m/s,
      LOS rate: -0.530588 deg/s,
      cmd heading: 121.863511 deg,
      new cmd heading: 121.217534 deg.

2025-06-08T00:04:36.408Z,1749341076.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.115645 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:36.564Z,1749341076.564 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.991996
2025-06-08T00:04:36.746Z,1749341076.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:36.764Z,1749341076.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:36.768Z,1749341076.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 5.604267 m,
      bearing: 125.652287 deg,
      approach rate: -0.609392 m/s,
      LOS rate: -0.502136 deg/s,
      cmd heading: 121.217539 deg,
      new cmd heading: 120.668526 deg.

2025-06-08T00:04:36.769Z,1749341076.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106063 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:36.817Z,1749341076.817 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.244841
2025-06-08T00:04:37.068Z,1749341077.068 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.496149
2025-06-08T00:04:37.156Z,1749341077.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:37.159Z,1749341077.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 5.357398 m,
      bearing: 125.468711 deg,
      approach rate: -0.630085 m/s,
      LOS rate: -0.490131 deg/s,
      cmd heading: 120.668529 deg,
      new cmd heading: 120.092444 deg.

2025-06-08T00:04:37.160Z,1749341077.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096009 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:37.320Z,1749341077.320 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.748217
2025-06-08T00:04:37.488Z,1749341077.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:04:37.572Z,1749341077.572 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.000190
2025-06-08T00:04:37.606Z,1749341077.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:37.609Z,1749341077.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 5.087776 m,
      bearing: 125.286017 deg,
      approach rate: -0.599322 m/s,
      LOS rate: -0.427616 deg/s,
      cmd heading: 120.092443 deg,
      new cmd heading: 119.515337 deg.

2025-06-08T00:04:37.610Z,1749341077.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085936 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:37.824Z,1749341077.824 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.251985
2025-06-08T00:04:37.991Z,1749341077.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:37.994Z,1749341077.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 4.871390 m,
      bearing: 125.156498 deg,
      approach rate: -0.567291 m/s,
      LOS rate: -0.354637 deg/s,
      cmd heading: 119.515333 deg,
      new cmd heading: 119.109524 deg.

2025-06-08T00:04:37.995Z,1749341077.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078853 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:38.077Z,1749341078.077 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.504838
2025-06-08T00:04:38.328Z,1749341078.328 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.755902
2025-06-08T00:04:38.411Z,1749341078.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:38.421Z,1749341078.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 4.618171 m,
      bearing: 125.040440 deg,
      approach rate: -0.629291 m/s,
      LOS rate: -0.304238 deg/s,
      cmd heading: 119.109524 deg,
      new cmd heading: 118.742264 deg.

2025-06-08T00:04:38.422Z,1749341078.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072443 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:38.492Z,1749341078.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:04:38.580Z,1749341078.580 [DAT](INFO): DAT read: Rx Time:00:04:37.7414

2025-06-08T00:04:38.581Z,1749341078.581 [DAT](INFO): Rx dataTimestamp_ set to:1749341078.580382
2025-06-08T00:04:38.581Z,1749341078.581 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.009082
2025-06-08T00:04:38.767Z,1749341078.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:38.769Z,1749341078.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:38.792Z,1749341078.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 4.388361 m,
      bearing: 124.956564 deg,
      approach rate: -0.605633 m/s,
      LOS rate: -0.232622 deg/s,
      cmd heading: 118.742265 deg,
      new cmd heading: 118.477459 deg.

2025-06-08T00:04:38.793Z,1749341078.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067822 target range: 8.234997 and range: 6.30 m.
2025-06-08T00:04:38.832Z,1749341078.832 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.260205
2025-06-08T00:04:39.090Z,1749341079.090 [DAT](INFO): DAT read: 00:04:37.7414 LVL= 13888, 32753, 17682, 32755, AGC= 43, IDX= 411,-0.31,-0.146,-2.450,-1.792,-1.575, PHS= 1.516,-0.828,-0.220, RAW= 104.5,  -4.5, CAL= 111.5, -13.9, ROT=  38.5,  13.9

2025-06-08T00:04:39.091Z,1749341079.091 [DAT](INFO): got valid direction response:
 00:04:37.7414 LVL= 13888, 32753, 17682, 32755, AGC= 43, IDX= 411,-0.31,-0.146,-2.450,-1.792,-1.575, PHS= 1.516,-0.828,-0.220, RAW= 104.5,  -4.5, CAL= 111.5, -13.9, ROT=  38.5,  13.9

2025-06-08T00:04:39.092Z,1749341079.092 [DAT](INFO): DAT read: Bearing  38.5,  13.9 (Local)

2025-06-08T00:04:39.092Z,1749341079.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.5,  13.9 (Local)

2025-06-08T00:04:39.094Z,1749341079.094 [DAT](INFO): DAT read: Range 10 to 50 : 4.7 m  (Round-trip  6.3 ms) speed  0.5 m/s

2025-06-08T00:04:39.094Z,1749341079.094 [DAT](INFO): DAT read: user:2064>

2025-06-08T00:04:39.095Z,1749341079.095 [DAT](INFO): DAT read: Tx time:00:04:38.8309

2025-06-08T00:04:39.096Z,1749341079.096 [DAT](INFO): Ping request sent.
2025-06-08T00:04:39.096Z,1749341079.096 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:39.096Z,1749341079.096 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-08T00:04:39.097Z,1749341079.097 [DAT](INFO): direction in FSK: [0.759691,0.604285,-0.240228]
2025-06-08T00:04:39.097Z,1749341079.097 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:39.097Z,1749341079.097 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:39.101Z,1749341079.101 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:39.101Z,1749341079.101 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:39.104Z,1749341079.104 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.008525
2025-06-08T00:04:39.304Z,1749341079.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 3.527900 s,
      deltaX: -1.600000 m,
      approachRate: -0.453528 m/s,
      rangeRepo size: 4

2025-06-08T00:04:39.306Z,1749341079.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.663143 m,
      bearing: 165.570811 deg,
      lat: 36.905934 deg,
      lon: -122.115913 deg,
      deltaT: 7.055955 s,
      deltaX: -3.571854 m,
      approachRate: -0.506218 m/s,
      posRepo size: 4

2025-06-08T00:04:39.312Z,1749341079.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.66 m. 8.23 m.
2025-06-08T00:04:39.314Z,1749341079.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 4.077638 m,
      bearing: 124.867863 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.432870 deg/s,
      cmd heading: 118.477459 deg,
      new cmd heading: 117.783185 deg.

2025-06-08T00:04:39.319Z,1749341079.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055704 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:39.336Z,1749341079.336 [DAT](INFO): DAT read: TxSync time:00:04:38.8301

2025-06-08T00:04:39.337Z,1749341079.337 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.241461
2025-06-08T00:04:39.588Z,1749341079.588 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.492548
2025-06-08T00:04:39.647Z,1749341079.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:39.650Z,1749341079.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 3.860232 m,
      bearing: 124.860417 deg,
      approach rate: -0.633659 m/s,
      LOS rate: -0.022925 deg/s,
      cmd heading: 117.783183 deg,
      new cmd heading: 117.759587 deg.

2025-06-08T00:04:39.663Z,1749341079.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055293 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:39.841Z,1749341079.841 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.744862
2025-06-08T00:04:40.007Z,1749341080.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:40.014Z,1749341080.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 3.645281 m,
      bearing: 124.880670 deg,
      approach rate: -0.597750 m/s,
      LOS rate: 0.059643 deg/s,
      cmd heading: 117.759592 deg,
      new cmd heading: 117.823935 deg.

2025-06-08T00:04:40.015Z,1749341080.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056416 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:40.093Z,1749341080.093 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.997192
2025-06-08T00:04:40.344Z,1749341080.344 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.248460
2025-06-08T00:04:40.448Z,1749341080.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:40.451Z,1749341080.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 3.386258 m,
      bearing: 125.023945 deg,
      approach rate: -0.586905 m/s,
      LOS rate: 0.349470 deg/s,
      cmd heading: 117.823932 deg,
      new cmd heading: 118.286625 deg.

2025-06-08T00:04:40.452Z,1749341080.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064491 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:40.596Z,1749341080.596 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.500399
2025-06-08T00:04:40.827Z,1749341080.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:40.830Z,1749341080.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:40.833Z,1749341080.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 3.162345 m,
      bearing: 125.166726 deg,
      approach rate: -0.586334 m/s,
      LOS rate: 0.400357 deg/s,
      cmd heading: 118.286623 deg,
      new cmd heading: 118.745286 deg.

2025-06-08T00:04:40.834Z,1749341080.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072496 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:40.851Z,1749341080.852 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.755759
2025-06-08T00:04:41.100Z,1749341081.100 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.004485
2025-06-08T00:04:41.352Z,1749341081.352 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.256420
2025-06-08T00:04:41.376Z,1749341081.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:41.378Z,1749341081.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 2.855410 m,
      bearing: 125.704475 deg,
      approach rate: -0.579646 m/s,
      LOS rate: 1.124684 deg/s,
      cmd heading: 118.745284 deg,
      new cmd heading: 120.531337 deg.

2025-06-08T00:04:41.383Z,1749341081.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103669 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:41.604Z,1749341081.604 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.508439
2025-06-08T00:04:41.714Z,1749341081.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:41.721Z,1749341081.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 2.651666 m,
      bearing: 126.173521 deg,
      approach rate: -0.575018 m/s,
      LOS rate: 1.425467 deg/s,
      cmd heading: 120.531337 deg,
      new cmd heading: 122.046224 deg.

2025-06-08T00:04:41.722Z,1749341081.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130108 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:41.856Z,1749341081.856 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.760455
2025-06-08T00:04:42.108Z,1749341082.108 [DAT](INFO): DAT read: Rx Time:00:04:41.2388

2025-06-08T00:04:42.109Z,1749341082.109 [DAT](INFO): Rx dataTimestamp_ set to:1749341082.108605
2025-06-08T00:04:42.109Z,1749341082.109 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.013706
2025-06-08T00:04:42.110Z,1749341082.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:42.113Z,1749341082.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 2.421309 m,
      bearing: 126.834460 deg,
      approach rate: -0.585115 m/s,
      LOS rate: 1.838486 deg/s,
      cmd heading: 122.046219 deg,
      new cmd heading: 124.216588 deg.

2025-06-08T00:04:42.114Z,1749341082.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167989 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:42.360Z,1749341082.360 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.264462
2025-06-08T00:04:42.514Z,1749341082.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 8.23 m.
2025-06-08T00:04:42.517Z,1749341082.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.234997 m,
      nav range: 2.187397 m,
      bearing: 127.681283 deg,
      approach rate: -0.575962 m/s,
      LOS rate: 2.308025 deg/s,
      cmd heading: 124.216593 deg,
      new cmd heading: 127.026372 deg.

2025-06-08T00:04:42.517Z,1749341082.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217028 target range: 8.234997 and range: 4.70 m.
2025-06-08T00:04:42.614Z,1749341082.614 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.7 ms) speed  0.4 m/s

2025-06-08T00:04:42.615Z,1749341082.615 [DAT](INFO): DAT read: user:2065>

2025-06-08T00:04:42.617Z,1749341082.617 [DAT](INFO): DAT read: Tx time:00:04:42.3310

2025-06-08T00:04:42.617Z,1749341082.617 [DAT](INFO): Ping request sent.
2025-06-08T00:04:42.617Z,1749341082.617 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:42.618Z,1749341082.618 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-08T00:04:42.618Z,1749341082.618 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:42.619Z,1749341082.619 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:42.620Z,1749341082.620 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.002766
2025-06-08T00:04:42.864Z,1749341082.864 [DAT](INFO): DAT read: TxSync time:00:04:42.3302

2025-06-08T00:04:42.865Z,1749341082.865 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.247771
2025-06-08T00:04:42.932Z,1749341082.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:42.940Z,1749341082.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.528682 s,
      deltaX: -2.000000 m,
      approachRate: -0.566784 m/s,
      rangeRepo size: 4

2025-06-08T00:04:42.941Z,1749341082.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-06-08T00:04:42.942Z,1749341082.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-08T00:04:43.116Z,1749341083.116 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.498876
2025-06-08T00:04:43.368Z,1749341083.368 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.750895
2025-06-08T00:04:43.620Z,1749341083.620 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.002908
2025-06-08T00:04:43.875Z,1749341083.875 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.257436
2025-06-08T00:04:44.128Z,1749341084.128 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.511090
2025-06-08T00:04:44.380Z,1749341084.380 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.762938
2025-06-08T00:04:44.633Z,1749341084.633 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.015847
2025-06-08T00:04:44.884Z,1749341084.884 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.266978
2025-06-08T00:04:45.137Z,1749341085.137 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.519472
2025-06-08T00:04:45.387Z,1749341085.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:45.393Z,1749341085.393 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.775705
2025-06-08T00:04:45.645Z,1749341085.645 [DAT](INFO): DAT read: Rx Time:00:04:44.7377

2025-06-08T00:04:45.646Z,1749341085.646 [DAT](INFO): Rx dataTimestamp_ set to:1749341085.645261
2025-06-08T00:04:45.646Z,1749341085.646 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.029245
2025-06-08T00:04:45.896Z,1749341085.896 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.278890
2025-06-08T00:04:46.149Z,1749341086.149 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed -0.2 m/s

2025-06-08T00:04:46.150Z,1749341086.150 [DAT](INFO): DAT read: user:2066>

2025-06-08T00:04:46.151Z,1749341086.151 [DAT](INFO): DAT read: Tx time:00:04:45.8310

2025-06-08T00:04:46.151Z,1749341086.151 [DAT](INFO): Ping request sent.
2025-06-08T00:04:46.151Z,1749341086.151 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:46.151Z,1749341086.151 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-08T00:04:46.152Z,1749341086.152 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:46.152Z,1749341086.152 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:46.153Z,1749341086.153 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.001872
2025-06-08T00:04:46.400Z,1749341086.400 [DAT](INFO): DAT read: TxSync time:00:04:45.8302

2025-06-08T00:04:46.401Z,1749341086.401 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.249927
2025-06-08T00:04:46.573Z,1749341086.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.535465 s,
      deltaX: -0.800000 m,
      approachRate: -0.226279 m/s,
      rangeRepo size: 4

2025-06-08T00:04:46.652Z,1749341086.652 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.500979
2025-06-08T00:04:46.904Z,1749341086.904 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.753122
2025-06-08T00:04:47.156Z,1749341087.156 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.004916
2025-06-08T00:04:47.401Z,1749341087.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:47.410Z,1749341087.410 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.258724
2025-06-08T00:04:47.660Z,1749341087.660 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.508958
2025-06-08T00:04:47.912Z,1749341087.912 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.761026
2025-06-08T00:04:48.165Z,1749341088.165 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.014210
2025-06-08T00:04:48.416Z,1749341088.416 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.264865
2025-06-08T00:04:48.668Z,1749341088.668 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.517085
2025-06-08T00:04:48.920Z,1749341088.920 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.768889
2025-06-08T00:04:49.172Z,1749341089.172 [DAT](INFO): DAT read: Rx Time:00:04:48.2388

2025-06-08T00:04:49.173Z,1749341089.173 [DAT](INFO): Rx dataTimestamp_ set to:1749341089.172367
2025-06-08T00:04:49.173Z,1749341089.173 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.022008
2025-06-08T00:04:49.424Z,1749341089.424 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.273061
2025-06-08T00:04:49.433Z,1749341089.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:49.679Z,1749341089.679 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.7 ms) speed -0.5 m/s

2025-06-08T00:04:49.680Z,1749341089.680 [DAT](INFO): DAT read: user:2067>

2025-06-08T00:04:49.681Z,1749341089.681 [DAT](INFO): DAT read: Tx time:00:04:49.3310

2025-06-08T00:04:49.682Z,1749341089.682 [DAT](INFO): Ping request sent.
2025-06-08T00:04:49.682Z,1749341089.682 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:49.683Z,1749341089.683 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-06-08T00:04:49.689Z,1749341089.689 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:49.690Z,1749341089.690 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:49.692Z,1749341089.692 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.009302
2025-06-08T00:04:49.819Z,1749341089.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.528629 s,
      deltaX: 0.800000 m,
      approachRate: 0.226717 m/s,
      rangeRepo size: 4

2025-06-08T00:04:49.929Z,1749341089.929 [DAT](INFO): DAT read: TxSync time:00:04:49.3302

2025-06-08T00:04:49.931Z,1749341089.931 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.248559
2025-06-08T00:04:50.180Z,1749341090.180 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.498236
2025-06-08T00:04:50.437Z,1749341090.437 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.753004
2025-06-08T00:04:50.688Z,1749341090.688 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.006225
2025-06-08T00:04:50.941Z,1749341090.941 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.258611
2025-06-08T00:04:51.192Z,1749341091.192 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.510096
2025-06-08T00:04:51.445Z,1749341091.445 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.763165
2025-06-08T00:04:51.448Z,1749341091.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:51.696Z,1749341091.696 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.014284
2025-06-08T00:04:51.949Z,1749341091.949 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.267367
2025-06-08T00:04:52.200Z,1749341092.200 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.518187
2025-06-08T00:04:52.452Z,1749341092.452 [DAT](INFO): DAT read: Rx Time:00:04:51.7416

2025-06-08T00:04:52.453Z,1749341092.453 [DAT](INFO): Rx dataTimestamp_ set to:1749341092.452431
2025-06-08T00:04:52.453Z,1749341092.453 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.771294
2025-06-08T00:04:52.704Z,1749341092.704 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.022165
2025-06-08T00:04:52.960Z,1749341092.960 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.277538
2025-06-08T00:04:53.214Z,1749341093.214 [DAT](INFO): DAT read: 00:04:51.7416 LVL= 19440, 18641, 21746, 24451, AGC= 52, IDX= 446,-0.43, 1.599, 2.166,-0.013, 1.270, PHS= 0.417, 0.943,-1.287, RAW=  16.9,  -0.7, CAL=  16.6,  -2.4, ROT= 133.4,   2.4

2025-06-08T00:04:53.216Z,1749341093.216 [DAT](INFO): got valid direction response:
 00:04:51.7416 LVL= 19440, 18641, 21746, 24451, AGC= 52, IDX= 446,-0.43, 1.599, 2.166,-0.013, 1.270, PHS= 0.417, 0.943,-1.287, RAW=  16.9,  -0.7, CAL=  16.6,  -2.4, ROT= 133.4,   2.4

2025-06-08T00:04:53.217Z,1749341093.217 [DAT](INFO): DAT read: Bearing 133.4,   2.4 (Local)

2025-06-08T00:04:53.217Z,1749341093.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 133.4,   2.4 (Local)

2025-06-08T00:04:53.219Z,1749341093.219 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m  (Round-trip  6.4 ms) speed -0.5 m/s

2025-06-08T00:04:53.220Z,1749341093.220 [DAT](INFO): DAT read: user:2068>

2025-06-08T00:04:53.221Z,1749341093.221 [DAT](INFO): DAT read: Tx time:00:04:52.8311

2025-06-08T00:04:53.221Z,1749341093.221 [DAT](INFO): Ping request sent.
2025-06-08T00:04:53.221Z,1749341093.221 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:53.222Z,1749341093.222 [DAT](INFO): DAT read: TxSync time:00:04:52.8303

2025-06-08T00:04:53.222Z,1749341093.222 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-08T00:04:53.223Z,1749341093.223 [DAT](INFO): direction in FSK: [-0.686485,0.725937,-0.041876]
2025-06-08T00:04:53.224Z,1749341093.224 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:53.224Z,1749341093.224 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:53.239Z,1749341093.239 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:53.239Z,1749341093.239 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:53.243Z,1749341093.243 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.021315
2025-06-08T00:04:53.463Z,1749341093.463 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.241168
2025-06-08T00:04:53.485Z,1749341093.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 3.531383 s,
      deltaX: 2.100000 m,
      approachRate: 0.594668 m/s,
      rangeRepo size: 4

2025-06-08T00:04:53.492Z,1749341093.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.762235 m,
      bearing: 261.720709 deg,
      lat: 36.905933 deg,
      lon: -122.115913 deg,
      deltaT: 21.180114 s,
      deltaX: -3.472762 m,
      approachRate: -0.163963 m/s,
      posRepo size: 4

2025-06-08T00:04:53.493Z,1749341093.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-06-08T00:04:53.712Z,1749341093.712 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.490875
2025-06-08T00:04:53.848Z,1749341093.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:53.850Z,1749341093.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.80 m.
2025-06-08T00:04:53.965Z,1749341093.965 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.743394
2025-06-08T00:04:54.216Z,1749341094.216 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.994906
2025-06-08T00:04:54.229Z,1749341094.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-06-08T00:04:54.471Z,1749341094.471 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.248669
2025-06-08T00:04:54.649Z,1749341094.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.80 m.
2025-06-08T00:04:54.721Z,1749341094.721 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.499837
2025-06-08T00:04:54.972Z,1749341094.972 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.750853
2025-06-08T00:04:55.089Z,1749341095.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-06-08T00:04:55.224Z,1749341095.224 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.002957
2025-06-08T00:04:55.479Z,1749341095.479 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.257130
2025-06-08T00:04:55.728Z,1749341095.728 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.506781
2025-06-08T00:04:55.880Z,1749341095.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:55.882Z,1749341095.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.80 m.
2025-06-08T00:04:55.980Z,1749341095.980 [DAT](INFO): DAT read: Rx Time:00:04:55.2444

2025-06-08T00:04:55.981Z,1749341095.981 [DAT](INFO): Rx dataTimestamp_ set to:1749341095.980501
2025-06-08T00:04:55.981Z,1749341095.981 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.760027
2025-06-08T00:04:56.232Z,1749341096.232 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.010851
2025-06-08T00:04:56.261Z,1749341096.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.80 m.
2025-06-08T00:04:56.489Z,1749341096.489 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.266424
2025-06-08T00:04:56.662Z,1749341096.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.80 m.
2025-06-08T00:04:56.744Z,1749341096.744 [DAT](INFO): DAT read: 00:04:55.2444 LVL= 29392, 25585, 32114, 32755, AGC= 56, IDX= 458, 0.29,-2.237,-0.286,-2.402,-1.557, PHS=-0.592, 1.318,-0.848, RAW= 336.2,   1.2, CAL= 337.6,   1.3, ROT= 172.4,  -1.3

2025-06-08T00:04:56.746Z,1749341096.746 [DAT](INFO): got valid direction response:
 00:04:55.2444 LVL= 29392, 25585, 32114, 32755, AGC= 56, IDX= 458, 0.29,-2.237,-0.286,-2.402,-1.557, PHS=-0.592, 1.318,-0.848, RAW= 336.2,   1.2, CAL= 337.6,   1.3, ROT= 172.4,  -1.3

2025-06-08T00:04:56.747Z,1749341096.747 [DAT](INFO): DAT read: Bearing 172.4,  -1.3 (Local)

2025-06-08T00:04:56.748Z,1749341096.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.4,  -1.3 (Local)

2025-06-08T00:04:56.750Z,1749341096.750 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m  (Round-trip  9.1 ms) speed -0.5 m/s

2025-06-08T00:04:56.756Z,1749341096.756 [DAT](INFO): DAT read: user:2069>

2025-06-08T00:04:56.757Z,1749341096.757 [DAT](INFO): DAT read: Tx time:00:04:56.3311

2025-06-08T00:04:56.757Z,1749341096.757 [DAT](INFO): Ping request sent.
2025-06-08T00:04:56.757Z,1749341096.757 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:04:56.758Z,1749341096.758 [DAT](INFO): DAT read: TxSync time:00:04:56.3303

2025-06-08T00:04:56.758Z,1749341096.758 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-08T00:04:56.763Z,1749341096.763 [DAT](INFO): direction in FSK: [-0.990960,0.132222,0.022687]
2025-06-08T00:04:56.764Z,1749341096.764 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:56.764Z,1749341096.764 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:56.767Z,1749341096.767 [DAT](INFO): publishing transmit ping time
2025-06-08T00:04:56.783Z,1749341096.783 [DAT](INFO): publishing direction and range info
2025-06-08T00:04:56.787Z,1749341096.787 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.029523
2025-06-08T00:04:56.988Z,1749341096.988 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.231226
2025-06-08T00:04:57.053Z,1749341097.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 3.527970 s,
      deltaX: 2.000000 m,
      approachRate: 0.566898 m/s,
      rangeRepo size: 4

2025-06-08T00:04:57.055Z,1749341097.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.746446 m,
      bearing: 300.865776 deg,
      lat: 36.905933 deg,
      lon: -122.115917 deg,
      deltaT: 3.527970 s,
      deltaX: 1.984211 m,
      approachRate: 0.562423 m/s,
      posRepo size: 4

2025-06-08T00:04:57.240Z,1749341097.240 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.483098
2025-06-08T00:04:57.495Z,1749341097.495 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.737286
2025-06-08T00:04:57.745Z,1749341097.745 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.987836
2025-06-08T00:04:57.881Z,1749341097.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:04:57.997Z,1749341097.997 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.239526
2025-06-08T00:04:58.248Z,1749341098.248 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.491253
2025-06-08T00:04:58.503Z,1749341098.503 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.745585
2025-06-08T00:04:58.753Z,1749341098.753 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.995889
2025-06-08T00:04:59.004Z,1749341099.004 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.247175
2025-06-08T00:04:59.256Z,1749341099.256 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.499191
2025-06-08T00:04:59.511Z,1749341099.511 [DAT](INFO): DAT read: Rx Time:00:04:58.7469

2025-06-08T00:04:59.513Z,1749341099.513 [DAT](INFO): Rx dataTimestamp_ set to:1749341099.512067
2025-06-08T00:04:59.515Z,1749341099.515 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.757361
2025-06-08T00:04:59.760Z,1749341099.760 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.003168
2025-06-08T00:04:59.931Z,1749341099.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:05:00.026Z,1749341100.026 [DAT](INFO): DAT read: 00:04:58.7469 LVL= 25552, 26689, 26866, 32755, AGC= 57, IDX= 452,-0.08,-0.812, 0.962,-1.031,-0.196, PHS=-0.528, 1.205,-0.838, RAW= 338.1,   1.7, CAL= 339.4,   2.0, ROT= 170.6,  -2.0

2025-06-08T00:05:00.034Z,1749341100.034 [DAT](INFO): got valid direction response:
 00:04:58.7469 LVL= 25552, 26689, 26866, 32755, AGC= 57, IDX= 452,-0.08,-0.812, 0.962,-1.031,-0.196, PHS=-0.528, 1.205,-0.838, RAW= 338.1,   1.7, CAL= 339.4,   2.0, ROT= 170.6,  -2.0

2025-06-08T00:05:00.040Z,1749341100.040 [DAT](INFO): DAT read: Bearing 170.6,  -2.0 (Local)

2025-06-08T00:05:00.040Z,1749341100.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.6,  -2.0 (Local)

2025-06-08T00:05:00.042Z,1749341100.042 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m  (Round-trip  11.7 ms) speed -0.6 m/s

2025-06-08T00:05:00.043Z,1749341100.043 [DAT](INFO): DAT read: user:2070>

2025-06-08T00:05:00.048Z,1749341100.048 [DAT](INFO): DAT read: Tx time:00:04:59.8311

2025-06-08T00:05:00.048Z,1749341100.048 [DAT](INFO): Ping request sent.
2025-06-08T00:05:00.049Z,1749341100.049 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:00.049Z,1749341100.049 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-08T00:05:00.051Z,1749341100.051 [DAT](INFO): direction in FSK: [-0.985971,0.163226,0.034899]
2025-06-08T00:05:00.059Z,1749341100.059 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:00.060Z,1749341100.060 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:00.073Z,1749341100.073 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:00.074Z,1749341100.074 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:00.081Z,1749341100.081 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.033041
2025-06-08T00:05:00.264Z,1749341100.264 [DAT](INFO): DAT read: TxSync time:00:04:59.8303

2025-06-08T00:05:00.265Z,1749341100.265 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.216612
2025-06-08T00:05:00.303Z,1749341100.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 3.277747 s,
      deltaX: 1.900000 m,
      approachRate: 0.579666 m/s,
      rangeRepo size: 4

2025-06-08T00:05:00.310Z,1749341100.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.631449 m,
      bearing: 299.280398 deg,
      lat: 36.905931 deg,
      lon: -122.115919 deg,
      deltaT: 3.277747 s,
      deltaX: 1.885003 m,
      approachRate: 0.575091 m/s,
      posRepo size: 4

2025-06-08T00:05:00.311Z,1749341100.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 8.70 m. Rolling out.
2025-06-08T00:05:00.311Z,1749341100.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-06-08T00:05:00.336Z,1749341100.336 [DockingStepper](INFO): Changing to mode: 1
2025-06-08T00:05:00.336Z,1749341100.336 [DockingStepper](INFO): Standby mode.
2025-06-08T00:05:00.399Z,1749341100.399 [DockingStepper](INFO): Commanding positive:54402
2025-06-08T00:05:00.519Z,1749341100.519 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.469693
2025-06-08T00:05:00.723Z,1749341100.723 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-08T00:05:00.723Z,1749341100.723 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-08T00:05:00.724Z,1749341100.724 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-08T00:05:00.725Z,1749341100.725 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 8.700000 m (mode  5.000000 count ).
2025-06-08T00:05:00.725Z,1749341100.725 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-08T00:05:00.725Z,1749341100.725 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-08T00:05:00.726Z,1749341100.726 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-06-08T00:05:00.726Z,1749341100.726 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-08T00:05:00.726Z,1749341100.726 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-06-08T00:05:00.728Z,1749341100.728 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  8.700000 m (mode  5.000000 count ).
2025-06-08T00:05:00.728Z,1749341100.728 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-06-08T00:05:00.728Z,1749341100.728 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-06-08T00:05:00.730Z,1749341100.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.63 m.
2025-06-08T00:05:00.769Z,1749341100.769 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.720470
2025-06-08T00:05:01.020Z,1749341101.020 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.971718
2025-06-08T00:05:01.098Z,1749341101.098 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-08T00:05:01.098Z,1749341101.098 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-08T00:05:01.099Z,1749341101.099 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-06-08T00:05:01.099Z,1749341101.099 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-06-08T00:05:01.101Z,1749341101.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.63 m.
2025-06-08T00:05:01.272Z,1749341101.272 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.223680
2025-06-08T00:05:01.482Z,1749341101.482 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-08T00:05:01.482Z,1749341101.482 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-08T00:05:01.482Z,1749341101.482 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-06-08T00:05:01.483Z,1749341101.483 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-06-08T00:05:01.485Z,1749341101.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.63 m.
2025-06-08T00:05:01.526Z,1749341101.526 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.476951
2025-06-08T00:05:01.776Z,1749341101.776 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.727680
2025-06-08T00:05:01.991Z,1749341101.991 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-08T00:05:01.991Z,1749341101.991 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-08T00:05:01.992Z,1749341101.992 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-08T00:05:01.992Z,1749341101.992 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-08T00:05:01.993Z,1749341101.993 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-06-08T00:05:01.993Z,1749341101.993 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-08T00:05:01.993Z,1749341101.993 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-06-08T00:05:01.993Z,1749341101.993 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-06-08T00:05:01.997Z,1749341101.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.63 m.
2025-06-08T00:05:02.028Z,1749341102.028 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.979995
2025-06-08T00:05:02.280Z,1749341102.280 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.231849
2025-06-08T00:05:02.304Z,1749341102.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.63 m.
2025-06-08T00:05:02.534Z,1749341102.534 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.485693
2025-06-08T00:05:02.735Z,1749341102.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.63 m.
2025-06-08T00:05:02.784Z,1749341102.784 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.735841
2025-06-08T00:05:03.036Z,1749341103.036 [DAT](INFO): DAT read: Rx Time:00:05:02.2497

2025-06-08T00:05:03.037Z,1749341103.037 [DAT](INFO): Rx dataTimestamp_ set to:1749341103.036400
2025-06-08T00:05:03.037Z,1749341103.037 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.988800
2025-06-08T00:05:03.136Z,1749341103.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.63 m.
2025-06-08T00:05:03.288Z,1749341103.288 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.239675
2025-06-08T00:05:03.548Z,1749341103.548 [DAT](INFO): DAT read: 00:05:02.2497 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 448,-0.15, 1.744,-2.848, 1.448, 2.385, PHS=-0.553, 1.097,-0.940, RAW= 340.3,   4.3, CAL= 341.6,   5.8, ROT= 168.4,  -5.8

2025-06-08T00:05:03.549Z,1749341103.549 [DAT](INFO): got valid direction response:
 00:05:02.2497 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 448,-0.15, 1.744,-2.848, 1.448, 2.385, PHS=-0.553, 1.097,-0.940, RAW= 340.3,   4.3, CAL= 341.6,   5.8, ROT= 168.4,  -5.8

2025-06-08T00:05:03.550Z,1749341103.550 [DAT](INFO): DAT read: Bearing 168.4,  -5.8 (Local)

2025-06-08T00:05:03.550Z,1749341103.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.4,  -5.8 (Local)

2025-06-08T00:05:03.552Z,1749341103.552 [DAT](INFO): DAT read: Range 10 to 50 : 10.8 m  (Round-trip  14.4 ms) speed -0.4 m/s

2025-06-08T00:05:03.552Z,1749341103.552 [DAT](INFO): DAT read: user:2071>

2025-06-08T00:05:03.553Z,1749341103.553 [DAT](INFO): DAT read: Tx time:00:05:03.3811

2025-06-08T00:05:03.554Z,1749341103.554 [DAT](INFO): Ping request sent.
2025-06-08T00:05:03.554Z,1749341103.554 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:03.556Z,1749341103.556 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-08T00:05:03.558Z,1749341103.558 [DAT](INFO): direction in FSK: [-0.974560,0.200049,0.101056]
2025-06-08T00:05:03.560Z,1749341103.560 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:03.561Z,1749341103.561 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:03.620Z,1749341103.620 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:03.621Z,1749341103.621 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:03.648Z,1749341103.648 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.094565
2025-06-08T00:05:03.662Z,1749341103.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 3.527627 s,
      deltaX: 2.100000 m,
      approachRate: 0.595301 m/s,
      rangeRepo size: 4

2025-06-08T00:05:03.673Z,1749341103.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.714805 m,
      bearing: 296.783244 deg,
      lat: 36.905926 deg,
      lon: -122.115922 deg,
      deltaT: 3.527627 s,
      deltaX: 2.083356 m,
      approachRate: 0.590583 m/s,
      posRepo size: 4

2025-06-08T00:05:03.673Z,1749341103.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:03.793Z,1749341103.793 [DAT](INFO): DAT read: TxSync time:00:05:03.3803

2025-06-08T00:05:03.794Z,1749341103.794 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.239812
2025-06-08T00:05:04.021Z,1749341104.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:04.044Z,1749341104.044 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.490357
2025-06-08T00:05:04.296Z,1749341104.296 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.742390
2025-06-08T00:05:04.384Z,1749341104.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:04.548Z,1749341104.548 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.994427
2025-06-08T00:05:04.787Z,1749341104.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:04.801Z,1749341104.801 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.247176
2025-06-08T00:05:05.052Z,1749341105.052 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.498396
2025-06-08T00:05:05.187Z,1749341105.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:05.304Z,1749341105.304 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.750411
2025-06-08T00:05:05.556Z,1749341105.556 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.002331
2025-06-08T00:05:05.657Z,1749341105.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:05.808Z,1749341105.808 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.254533
2025-06-08T00:05:06.025Z,1749341106.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:06.064Z,1749341106.064 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.510176
2025-06-08T00:05:06.312Z,1749341106.312 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.758388
2025-06-08T00:05:06.395Z,1749341106.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:06.564Z,1749341106.564 [DAT](INFO): DAT read: Rx Time:00:05:05.8028

2025-06-08T00:05:06.565Z,1749341106.565 [DAT](INFO): Rx dataTimestamp_ set to:1749341106.564325
2025-06-08T00:05:06.565Z,1749341106.565 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.011416
2025-06-08T00:05:06.808Z,1749341106.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:05:06.825Z,1749341106.825 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.270933
2025-06-08T00:05:07.081Z,1749341107.081 [DAT](INFO): DAT read: 00:05:05.8028 LVL= 27888, 28737, 23314, 32755, AGC= 63, IDX= 465,-0.24,-0.442, 0.975,-0.810, 0.034, PHS=-0.388, 0.989,-0.846, RAW= 343.9,   3.0, CAL= 345.0,   3.9, ROT= 165.0,  -3.9

2025-06-08T00:05:07.083Z,1749341107.083 [DAT](INFO): got valid direction response:
 00:05:05.8028 LVL= 27888, 28737, 23314, 32755, AGC= 63, IDX= 465,-0.24,-0.442, 0.975,-0.810, 0.034, PHS=-0.388, 0.989,-0.846, RAW= 343.9,   3.0, CAL= 345.0,   3.9, ROT= 165.0,  -3.9

2025-06-08T00:05:07.084Z,1749341107.084 [DAT](INFO): DAT read: Bearing 165.0,  -3.9 (Local)

2025-06-08T00:05:07.085Z,1749341107.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.0,  -3.9 (Local)

2025-06-08T00:05:07.089Z,1749341107.089 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m  (Round-trip  17.5 ms) speed -0.3 m/s

2025-06-08T00:05:07.090Z,1749341107.090 [DAT](INFO): DAT read: user:2072>

2025-06-08T00:05:07.090Z,1749341107.090 [DAT](INFO): DAT read: Tx time:00:05:06.9311

2025-06-08T00:05:07.091Z,1749341107.091 [DAT](INFO): Ping request sent.
2025-06-08T00:05:07.091Z,1749341107.091 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:07.092Z,1749341107.092 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-08T00:05:07.093Z,1749341107.093 [DAT](INFO): direction in FSK: [-0.963689,0.258220,0.068015]
2025-06-08T00:05:07.093Z,1749341107.093 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:07.093Z,1749341107.093 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:07.113Z,1749341107.113 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:07.113Z,1749341107.113 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:07.116Z,1749341107.116 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.025520
2025-06-08T00:05:07.233Z,1749341107.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 3.534460 s,
      deltaX: 2.300000 m,
      approachRate: 0.650736 m/s,
      rangeRepo size: 4

2025-06-08T00:05:07.235Z,1749341107.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.996612 m,
      bearing: 292.474355 deg,
      lat: 36.905926 deg,
      lon: -122.115922 deg,
      deltaT: 3.534460 s,
      deltaX: 2.281807 m,
      approachRate: 0.645589 m/s,
      posRepo size: 4

2025-06-08T00:05:07.239Z,1749341107.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:07.329Z,1749341107.329 [DAT](INFO): DAT read: TxSync time:00:05:06.9303

2025-06-08T00:05:07.329Z,1749341107.329 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.238666
2025-06-08T00:05:07.580Z,1749341107.580 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.489317
2025-06-08T00:05:07.604Z,1749341107.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:07.833Z,1749341107.833 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.741956
2025-06-08T00:05:08.084Z,1749341108.084 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.993339
2025-06-08T00:05:08.177Z,1749341108.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:08.336Z,1749341108.336 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.245306
2025-06-08T00:05:08.507Z,1749341108.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:08.589Z,1749341108.589 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.498141
2025-06-08T00:05:08.612Z,1749341108.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:05:08.841Z,1749341108.841 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.750077
2025-06-08T00:05:08.988Z,1749341108.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:09.093Z,1749341109.093 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.001707
2025-06-08T00:05:09.344Z,1749341109.344 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.253391
2025-06-08T00:05:09.373Z,1749341109.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:09.596Z,1749341109.596 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.505324
2025-06-08T00:05:09.621Z,1749341109.621 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:05:09.764Z,1749341109.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:09.849Z,1749341109.849 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.758496
2025-06-08T00:05:10.100Z,1749341110.100 [DAT](INFO): DAT read: Rx Time:00:05:09.3563

2025-06-08T00:05:10.101Z,1749341110.101 [DAT](INFO): Rx dataTimestamp_ set to:1749341110.100341
2025-06-08T00:05:10.101Z,1749341110.101 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.010377
2025-06-08T00:05:10.181Z,1749341110.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:10.352Z,1749341110.352 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.261357
2025-06-08T00:05:10.572Z,1749341110.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:05:10.607Z,1749341110.607 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.515820
2025-06-08T00:05:10.862Z,1749341110.862 [DAT](INFO): DAT read: 00:05:09.3563 LVL= 31728, 28721, 28850, 32755, AGC= 65, IDX= 467, 0.24, 1.484,-3.140, 1.290, 2.101, PHS=-0.529, 1.089,-0.813, RAW= 338.0,   2.9, CAL= 339.3,   3.7, ROT= 170.7,  -3.7

2025-06-08T00:05:10.864Z,1749341110.864 [DAT](INFO): got valid direction response:
 00:05:09.3563 LVL= 31728, 28721, 28850, 32755, AGC= 65, IDX= 467, 0.24, 1.484,-3.140, 1.290, 2.101, PHS=-0.529, 1.089,-0.813, RAW= 338.0,   2.9, CAL= 339.3,   3.7, ROT= 170.7,  -3.7

2025-06-08T00:05:10.865Z,1749341110.865 [DAT](INFO): DAT read: Bearing 170.7,  -3.7 (Local)

2025-06-08T00:05:10.865Z,1749341110.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.7,  -3.7 (Local)

2025-06-08T00:05:10.869Z,1749341110.869 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m  (Round-trip  20.9 ms) speed -0.6 m/s

2025-06-08T00:05:10.872Z,1749341110.872 [DAT](INFO): DAT read: user:2073>

2025-06-08T00:05:10.875Z,1749341110.875 [DAT](INFO): DAT read: Tx time:00:05:10.4812

2025-06-08T00:05:10.876Z,1749341110.876 [DAT](INFO): Ping request sent.
2025-06-08T00:05:10.876Z,1749341110.876 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:10.876Z,1749341110.876 [DAT](INFO): DAT read: TxSync time:00:05:10.4804

2025-06-08T00:05:10.877Z,1749341110.877 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-08T00:05:10.878Z,1749341110.878 [DAT](INFO): direction in FSK: [-0.984799,0.161267,0.064532]
2025-06-08T00:05:10.878Z,1749341110.878 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:10.878Z,1749341110.878 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:10.882Z,1749341110.882 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:10.882Z,1749341110.882 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:10.887Z,1749341110.887 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.010544
2025-06-08T00:05:11.073Z,1749341111.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.780175 s,
      deltaX: 2.500000 m,
      approachRate: 0.661345 m/s,
      rangeRepo size: 4

2025-06-08T00:05:11.079Z,1749341111.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.477116 m,
      bearing: 297.178958 deg,
      lat: 36.905926 deg,
      lon: -122.115920 deg,
      deltaT: 3.780175 s,
      deltaX: 2.480504 m,
      approachRate: 0.656188 m/s,
      posRepo size: 4

2025-06-08T00:05:11.080Z,1749341111.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:11.110Z,1749341111.110 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.234012
2025-06-08T00:05:11.360Z,1749341111.360 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.484565
2025-06-08T00:05:11.398Z,1749341111.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:11.612Z,1749341111.612 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.736381
2025-06-08T00:05:11.813Z,1749341111.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:11.865Z,1749341111.865 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.989668
2025-06-08T00:05:12.116Z,1749341112.116 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.240426
2025-06-08T00:05:12.189Z,1749341112.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:12.368Z,1749341112.368 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.492337
2025-06-08T00:05:12.612Z,1749341112.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:12.621Z,1749341112.621 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.744877
2025-06-08T00:05:12.872Z,1749341112.872 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.996436
2025-06-08T00:05:13.035Z,1749341113.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:13.124Z,1749341113.124 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.248706
2025-06-08T00:05:13.376Z,1749341113.376 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.500372
2025-06-08T00:05:13.415Z,1749341113.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:13.630Z,1749341113.630 [DAT](INFO): DAT read: Rx Time:00:05:12.9100

2025-06-08T00:05:13.630Z,1749341113.630 [DAT](INFO): Rx dataTimestamp_ set to:1749341113.629821
2025-06-08T00:05:13.631Z,1749341113.631 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.754943
2025-06-08T00:05:13.831Z,1749341113.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:13.881Z,1749341113.881 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.005167
2025-06-08T00:05:14.137Z,1749341114.137 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.260454
2025-06-08T00:05:14.225Z,1749341114.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:05:14.394Z,1749341114.394 [DAT](INFO): DAT read: 00:05:12.9100 LVL= 26832, 25889, 24610, 32755, AGC= 65, IDX= 458,-0.31, 0.345, 1.943, 0.178, 0.947, PHS=-0.514, 1.043,-0.772, RAW= 337.6,   2.9, CAL= 338.9,   3.7, ROT= 171.1,  -3.7

2025-06-08T00:05:14.396Z,1749341114.396 [DAT](INFO): got valid direction response:
 00:05:12.9100 LVL= 26832, 25889, 24610, 32755, AGC= 65, IDX= 458,-0.31, 0.345, 1.943, 0.178, 0.947, PHS=-0.514, 1.043,-0.772, RAW= 337.6,   2.9, CAL= 338.9,   3.7, ROT= 171.1,  -3.7

2025-06-08T00:05:14.397Z,1749341114.397 [DAT](INFO): DAT read: Bearing 171.1,  -3.7 (Local)

2025-06-08T00:05:14.397Z,1749341114.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.1,  -3.7 (Local)

2025-06-08T00:05:14.398Z,1749341114.398 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m  (Round-trip  24.7 ms) speed -0.6 m/s

2025-06-08T00:05:14.399Z,1749341114.399 [DAT](INFO): DAT read: user:2074>

2025-06-08T00:05:14.400Z,1749341114.400 [DAT](INFO): DAT read: Tx time:00:05:14.0312

2025-06-08T00:05:14.400Z,1749341114.400 [DAT](INFO): Ping request sent.
2025-06-08T00:05:14.401Z,1749341114.401 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:14.401Z,1749341114.401 [DAT](INFO): DAT read: TxSync time:00:05:14.0304

2025-06-08T00:05:14.402Z,1749341114.402 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-08T00:05:14.403Z,1749341114.403 [DAT](INFO): direction in FSK: [-0.985901,0.154388,0.064532]
2025-06-08T00:05:14.403Z,1749341114.403 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:14.404Z,1749341114.404 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:14.406Z,1749341114.406 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:14.407Z,1749341114.407 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:14.411Z,1749341114.411 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.009949
2025-06-08T00:05:14.636Z,1749341114.636 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.235579
2025-06-08T00:05:14.649Z,1749341114.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 3.527871 s,
      deltaX: 2.900000 m,
      approachRate: 0.822025 m/s,
      rangeRepo size: 4

2025-06-08T00:05:14.656Z,1749341114.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.355324 m,
      bearing: 298.140406 deg,
      lat: 36.905918 deg,
      lon: -122.115921 deg,
      deltaT: 3.527871 s,
      deltaX: 2.878208 m,
      approachRate: 0.815848 m/s,
      posRepo size: 4

2025-06-08T00:05:14.656Z,1749341114.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:14.893Z,1749341114.893 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.492258
2025-06-08T00:05:15.063Z,1749341115.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:15.143Z,1749341115.143 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.741982
2025-06-08T00:05:15.392Z,1749341115.392 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.991584
2025-06-08T00:05:15.492Z,1749341115.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:15.644Z,1749341115.644 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.243571
2025-06-08T00:05:15.896Z,1749341115.896 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.495615
2025-06-08T00:05:15.901Z,1749341115.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:16.148Z,1749341116.148 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.747513
2025-06-08T00:05:16.254Z,1749341116.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:16.400Z,1749341116.400 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.999497
2025-06-08T00:05:16.652Z,1749341116.652 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.251745
2025-06-08T00:05:16.680Z,1749341116.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:16.904Z,1749341116.904 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.503625
2025-06-08T00:05:17.059Z,1749341117.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:17.156Z,1749341117.156 [DAT](INFO): DAT read: Rx Time:00:05:16.4639

2025-06-08T00:05:17.157Z,1749341117.157 [DAT](INFO): Rx dataTimestamp_ set to:1749341117.156368
2025-06-08T00:05:17.158Z,1749341117.158 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.757014
2025-06-08T00:05:17.408Z,1749341117.408 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.007551
2025-06-08T00:05:17.457Z,1749341117.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:17.661Z,1749341117.661 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.260207
2025-06-08T00:05:17.906Z,1749341117.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.36 m.
2025-06-08T00:05:17.918Z,1749341117.918 [DAT](INFO): DAT read: 00:05:16.4639 LVL= 31984, 26305, 28450, 32755, AGC= 66, IDX= 465,-0.04, 0.051, 1.950,-0.118, 0.809, PHS=-0.670, 1.188,-0.930, RAW= 336.5,   4.2, CAL= 338.0,   5.7, ROT= 172.0,  -5.7

2025-06-08T00:05:17.920Z,1749341117.920 [DAT](INFO): got valid direction response:
 00:05:16.4639 LVL= 31984, 26305, 28450, 32755, AGC= 66, IDX= 465,-0.04, 0.051, 1.950,-0.118, 0.809, PHS=-0.670, 1.188,-0.930, RAW= 336.5,   4.2, CAL= 338.0,   5.7, ROT= 172.0,  -5.7

2025-06-08T00:05:17.921Z,1749341117.921 [DAT](INFO): DAT read: Bearing 172.0,  -5.7 (Local)

2025-06-08T00:05:17.921Z,1749341117.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.0,  -5.7 (Local)

2025-06-08T00:05:17.923Z,1749341117.923 [DAT](INFO): DAT read: Range 10 to 50 : 21.4 m  (Round-trip  28.6 ms) speed -0.7 m/s

2025-06-08T00:05:17.924Z,1749341117.924 [DAT](INFO): DAT read: user:2075>

2025-06-08T00:05:17.925Z,1749341117.925 [DAT](INFO): DAT read: Tx time:00:05:17.5812

2025-06-08T00:05:17.925Z,1749341117.925 [DAT](INFO): Ping request sent.
2025-06-08T00:05:17.925Z,1749341117.925 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:17.925Z,1749341117.925 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-08T00:05:17.926Z,1749341117.926 [DAT](INFO): direction in FSK: [-0.985372,0.138485,0.099320]
2025-06-08T00:05:17.927Z,1749341117.927 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:17.927Z,1749341117.927 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:17.930Z,1749341117.930 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:17.930Z,1749341117.930 [DAT](INFO): publishing direction and range info
2025-06-08T00:05:17.937Z,1749341117.937 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.011911
2025-06-08T00:05:18.166Z,1749341118.166 [DAT](INFO): DAT read: TxSync time:00:05:17.5804

2025-06-08T00:05:18.166Z,1749341118.166 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.241349
2025-06-08T00:05:18.275Z,1749341118.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.400000 m,
      deltaT: 3.528170 s,
      deltaX: 2.900000 m,
      approachRate: 0.821956 m/s,
      rangeRepo size: 4

2025-06-08T00:05:18.278Z,1749341118.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.233337 m,
      bearing: 298.913975 deg,
      lat: 36.905918 deg,
      lon: -122.115921 deg,
      deltaT: 3.528170 s,
      deltaX: 2.878014 m,
      approachRate: 0.815724 m/s,
      posRepo size: 4

2025-06-08T00:05:18.278Z,1749341118.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:18.416Z,1749341118.416 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.491098
2025-06-08T00:05:18.665Z,1749341118.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:18.668Z,1749341118.668 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.743241
2025-06-08T00:05:18.920Z,1749341118.920 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.995154
2025-06-08T00:05:19.094Z,1749341119.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:19.173Z,1749341119.173 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.247586
2025-06-08T00:05:19.424Z,1749341119.424 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.499120
2025-06-08T00:05:19.466Z,1749341119.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:19.678Z,1749341119.678 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.752554
2025-06-08T00:05:19.928Z,1749341119.928 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.003181
2025-06-08T00:05:19.987Z,1749341119.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:20.181Z,1749341120.181 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.255405
2025-06-08T00:05:20.337Z,1749341120.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:20.433Z,1749341120.433 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.507601
2025-06-08T00:05:20.691Z,1749341120.691 [DAT](INFO): DAT read: Rx Time:00:05:20.0178

2025-06-08T00:05:20.692Z,1749341120.692 [DAT](INFO): Rx dataTimestamp_ set to:1749341120.691549
2025-06-08T00:05:20.692Z,1749341120.692 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.767381
2025-06-08T00:05:20.716Z,1749341120.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:20.944Z,1749341120.944 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.019434
2025-06-08T00:05:21.133Z,1749341121.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:21.196Z,1749341121.196 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.271268
2025-06-08T00:05:21.458Z,1749341121.458 [DAT](INFO): DAT read: 00:05:20.0178 LVL= 32752, 24801, 29298, 32755, AGC= 67, IDX= 472, 0.24,-0.403, 1.746,-0.518, 0.327, PHS=-0.642, 1.466,-0.848, RAW= 334.6,   0.2, CAL= 336.1,  -0.1, ROT= 173.9,   0.1

2025-06-08T00:05:21.460Z,1749341121.460 [DAT](INFO): got valid direction response:
 00:05:20.0178 LVL= 32752, 24801, 29298, 32755, AGC= 67, IDX= 472, 0.24,-0.403, 1.746,-0.518, 0.327, PHS=-0.642, 1.466,-0.848, RAW= 334.6,   0.2, CAL= 336.1,  -0.1, ROT= 173.9,   0.1

2025-06-08T00:05:21.460Z,1749341121.460 [DAT](INFO): DAT read: $Error in header

2025-06-08T00:05:21.461Z,1749341121.461 [DAT](INFO): Received a bad header
2025-06-08T00:05:21.471Z,1749341121.471 [DAT](INFO): #Rx 28: Read direction message, but no range.
2025-06-08T00:05:21.472Z,1749341121.472 [DAT](INFO): direction in FSK: [-0.994336,0.106264,-0.001745]
2025-06-08T00:05:21.476Z,1749341121.476 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.550653
2025-06-08T00:05:21.563Z,1749341121.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:21.704Z,1749341121.704 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.779178
2025-06-08T00:05:21.953Z,1749341121.953 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.027877
2025-06-08T00:05:21.986Z,1749341121.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:22.205Z,1749341122.205 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.279656
2025-06-08T00:05:22.308Z,1749341122.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:22.456Z,1749341122.456 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.531109
2025-06-08T00:05:22.708Z,1749341122.708 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.783099
2025-06-08T00:05:22.725Z,1749341122.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:22.961Z,1749341122.961 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.035864
2025-06-08T00:05:23.151Z,1749341123.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:23.213Z,1749341123.213 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.287919
2025-06-08T00:05:23.464Z,1749341123.464 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.539145
2025-06-08T00:05:23.548Z,1749341123.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:23.716Z,1749341123.716 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.791130
2025-06-08T00:05:23.969Z,1749341123.969 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.043647
2025-06-08T00:05:23.985Z,1749341123.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:24.221Z,1749341124.221 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.296362
2025-06-08T00:05:24.409Z,1749341124.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:24.477Z,1749341124.477 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.551808
2025-06-08T00:05:24.724Z,1749341124.724 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.799072
2025-06-08T00:05:24.812Z,1749341124.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:24.976Z,1749341124.976 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.051138
2025-06-08T00:05:25.228Z,1749341125.228 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.303208
2025-06-08T00:05:25.251Z,1749341125.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:25.480Z,1749341125.480 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.555137
2025-06-08T00:05:25.667Z,1749341125.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:25.733Z,1749341125.733 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.807691
2025-06-08T00:05:25.984Z,1749341125.984 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.059098
2025-06-08T00:05:26.097Z,1749341126.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:26.236Z,1749341126.236 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.311353
2025-06-08T00:05:26.469Z,1749341126.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:26.488Z,1749341126.488 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.563341
2025-06-08T00:05:26.740Z,1749341126.740 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.815468
2025-06-08T00:05:26.882Z,1749341126.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:26.993Z,1749341126.993 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.067839
2025-06-08T00:05:27.244Z,1749341127.244 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.319068
2025-06-08T00:05:27.299Z,1749341127.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:27.496Z,1749341127.496 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.571079
2025-06-08T00:05:27.679Z,1749341127.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:27.749Z,1749341127.749 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.824084
2025-06-08T00:05:28.002Z,1749341128.002 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.076731
2025-06-08T00:05:28.097Z,1749341128.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:28.252Z,1749341128.252 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.327235
2025-06-08T00:05:28.485Z,1749341128.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:28.504Z,1749341128.504 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.579210
2025-06-08T00:05:28.756Z,1749341128.756 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:05:28.757Z,1749341128.757 [DAT](INFO): response not received
2025-06-08T00:05:28.757Z,1749341128.757 [DAT](INFO): DAT read: user:2077>

2025-06-08T00:05:28.758Z,1749341128.758 [DAT](INFO): DAT read: Tx time:00:05:28.5314

2025-06-08T00:05:28.758Z,1749341128.758 [DAT](INFO): Ping request sent.
2025-06-08T00:05:28.758Z,1749341128.758 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:28.758Z,1749341128.758 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:28.759Z,1749341128.759 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.000743
2025-06-08T00:05:28.907Z,1749341128.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:29.009Z,1749341129.009 [DAT](INFO): DAT read: TxSync time:00:05:28.5306

2025-06-08T00:05:29.010Z,1749341129.010 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.251863
2025-06-08T00:05:29.260Z,1749341129.260 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.501945
2025-06-08T00:05:29.331Z,1749341129.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:29.512Z,1749341129.512 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.753943
2025-06-08T00:05:29.696Z,1749341129.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:29.764Z,1749341129.764 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.006010
2025-06-08T00:05:30.016Z,1749341130.016 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.257894
2025-06-08T00:05:30.153Z,1749341130.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:30.270Z,1749341130.270 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.511433
2025-06-08T00:05:30.521Z,1749341130.521 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.761739
2025-06-08T00:05:30.521Z,1749341130.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:30.772Z,1749341130.772 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.013943
2025-06-08T00:05:30.907Z,1749341130.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:31.024Z,1749341131.024 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.266053
2025-06-08T00:05:31.277Z,1749341131.277 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.518101
2025-06-08T00:05:31.368Z,1749341131.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:31.528Z,1749341131.528 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.769837
2025-06-08T00:05:31.743Z,1749341131.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:31.780Z,1749341131.780 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.022028
2025-06-08T00:05:32.035Z,1749341132.035 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.276306
2025-06-08T00:05:32.162Z,1749341132.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:32.285Z,1749341132.285 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.526283
2025-06-08T00:05:32.536Z,1749341132.536 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.777988
2025-06-08T00:05:32.618Z,1749341132.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:32.788Z,1749341132.788 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.029818
2025-06-08T00:05:33.008Z,1749341133.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:33.043Z,1749341133.043 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.284176
2025-06-08T00:05:33.293Z,1749341133.293 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.533908
2025-06-08T00:05:33.396Z,1749341133.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:33.544Z,1749341133.544 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.785823
2025-06-08T00:05:33.781Z,1749341133.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:33.796Z,1749341133.796 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.037929
2025-06-08T00:05:34.051Z,1749341134.051 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.292131
2025-06-08T00:05:34.292Z,1749341134.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:34.300Z,1749341134.300 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.541902
2025-06-08T00:05:34.552Z,1749341134.552 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.793876
2025-06-08T00:05:34.626Z,1749341134.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:34.804Z,1749341134.804 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.045917
2025-06-08T00:05:35.020Z,1749341135.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:35.059Z,1749341135.059 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.300166
2025-06-08T00:05:35.308Z,1749341135.308 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.549937
2025-06-08T00:05:35.428Z,1749341135.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:35.560Z,1749341135.560 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.801844
2025-06-08T00:05:35.794Z,1749341135.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:35.813Z,1749341135.813 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.054285
2025-06-08T00:05:36.067Z,1749341136.067 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.307877
2025-06-08T00:05:36.219Z,1749341136.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:36.317Z,1749341136.317 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.558429
2025-06-08T00:05:36.568Z,1749341136.568 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.809818
2025-06-08T00:05:36.619Z,1749341136.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:36.820Z,1749341136.820 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.061936
2025-06-08T00:05:37.001Z,1749341137.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:37.076Z,1749341137.076 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.316322
2025-06-08T00:05:37.324Z,1749341137.324 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.565758
2025-06-08T00:05:37.451Z,1749341137.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:37.576Z,1749341137.576 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.817820
2025-06-08T00:05:37.823Z,1749341137.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:37.828Z,1749341137.828 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.070001
2025-06-08T00:05:38.083Z,1749341138.083 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.324087
2025-06-08T00:05:38.240Z,1749341138.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:38.332Z,1749341138.332 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.573793
2025-06-08T00:05:38.584Z,1749341138.584 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.825844
2025-06-08T00:05:38.815Z,1749341138.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:38.852Z,1749341138.852 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.093779
2025-06-08T00:05:39.107Z,1749341139.107 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.347709
2025-06-08T00:05:39.186Z,1749341139.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:39.358Z,1749341139.358 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.599995
2025-06-08T00:05:39.539Z,1749341139.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:39.614Z,1749341139.614 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:05:39.614Z,1749341139.614 [DAT](INFO): response not received
2025-06-08T00:05:39.615Z,1749341139.615 [DAT](INFO): DAT read: user:2078>

2025-06-08T00:05:39.615Z,1749341139.615 [DAT](ERROR): No response from remote modem.
2025-06-08T00:05:39.616Z,1749341139.616 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.857289
2025-06-08T00:05:39.748Z,1749341139.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:05:39.864Z,1749341139.864 [DAT](INFO): DAT read: Tx time:00:05:39.4815

2025-06-08T00:05:39.865Z,1749341139.865 [DAT](INFO): Ping request sent.
2025-06-08T00:05:39.865Z,1749341139.865 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:39.865Z,1749341139.865 [DAT](INFO): DAT read: TxSync time:00:05:39.4807

2025-06-08T00:05:39.866Z,1749341139.866 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:39.866Z,1749341139.866 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.001584
2025-06-08T00:05:39.994Z,1749341139.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:40.119Z,1749341140.119 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.253614
2025-06-08T00:05:40.368Z,1749341140.368 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.503497
2025-06-08T00:05:40.381Z,1749341140.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:40.620Z,1749341140.620 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.755441
2025-06-08T00:05:40.752Z,1749341140.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:05:40.765Z,1749341140.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:40.873Z,1749341140.873 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.008569
2025-06-08T00:05:41.127Z,1749341141.127 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.261643
2025-06-08T00:05:41.227Z,1749341141.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:41.376Z,1749341141.376 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.511435
2025-06-08T00:05:41.580Z,1749341141.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:41.629Z,1749341141.629 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.764388
2025-06-08T00:05:41.880Z,1749341141.880 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.015346
2025-06-08T00:05:41.991Z,1749341141.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:42.135Z,1749341142.135 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.269283
2025-06-08T00:05:42.384Z,1749341142.384 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.519601
2025-06-08T00:05:42.387Z,1749341142.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:42.637Z,1749341142.637 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.771714
2025-06-08T00:05:42.792Z,1749341142.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:42.888Z,1749341142.888 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.023449
2025-06-08T00:05:43.143Z,1749341143.143 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.277813
2025-06-08T00:05:43.257Z,1749341143.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:43.392Z,1749341143.392 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.527404
2025-06-08T00:05:43.624Z,1749341143.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:43.644Z,1749341143.644 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.779457
2025-06-08T00:05:43.896Z,1749341143.896 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.031631
2025-06-08T00:05:44.013Z,1749341144.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:44.148Z,1749341144.148 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.283388
2025-06-08T00:05:44.401Z,1749341144.401 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.535832
2025-06-08T00:05:44.405Z,1749341144.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:44.653Z,1749341144.653 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.787854
2025-06-08T00:05:44.854Z,1749341144.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:44.906Z,1749341144.906 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.041156
2025-06-08T00:05:45.159Z,1749341145.159 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.293573
2025-06-08T00:05:45.325Z,1749341145.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:45.409Z,1749341145.409 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.544603
2025-06-08T00:05:45.660Z,1749341145.660 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.795415
2025-06-08T00:05:45.697Z,1749341145.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:45.913Z,1749341145.913 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.047841
2025-06-08T00:05:46.117Z,1749341146.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:46.167Z,1749341146.167 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.301538
2025-06-08T00:05:46.416Z,1749341146.416 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.551360
2025-06-08T00:05:46.586Z,1749341146.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:46.669Z,1749341146.669 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.803550
2025-06-08T00:05:46.913Z,1749341146.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:46.920Z,1749341146.920 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.055579
2025-06-08T00:05:47.173Z,1749341147.173 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.308143
2025-06-08T00:05:47.336Z,1749341147.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:47.424Z,1749341147.424 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.559481
2025-06-08T00:05:47.676Z,1749341147.676 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=7.811574
2025-06-08T00:05:47.736Z,1749341147.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:47.929Z,1749341147.929 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.063846
2025-06-08T00:05:48.105Z,1749341148.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:48.180Z,1749341148.180 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.315530
2025-06-08T00:05:48.432Z,1749341148.432 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.567464
2025-06-08T00:05:48.538Z,1749341148.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:48.684Z,1749341148.684 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.819416
2025-06-08T00:05:48.923Z,1749341148.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:48.937Z,1749341148.937 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.072460
2025-06-08T00:05:49.188Z,1749341149.188 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.323476
2025-06-08T00:05:49.354Z,1749341149.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:49.442Z,1749341149.442 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.576784
2025-06-08T00:05:49.692Z,1749341149.692 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.827417
2025-06-08T00:05:49.728Z,1749341149.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:49.945Z,1749341149.945 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.080319
2025-06-08T00:05:50.136Z,1749341150.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:50.196Z,1749341150.196 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.331543
2025-06-08T00:05:50.448Z,1749341150.448 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.583402
2025-06-08T00:05:50.602Z,1749341150.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:50.701Z,1749341150.701 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:05:50.702Z,1749341150.702 [DAT](INFO): response not received
2025-06-08T00:05:50.702Z,1749341150.702 [DAT](INFO): DAT read: user:2079>

2025-06-08T00:05:50.703Z,1749341150.703 [DAT](INFO): DAT read: Tx time:00:05:50.4316

2025-06-08T00:05:50.704Z,1749341150.704 [DAT](INFO): Ping request sent.
2025-06-08T00:05:50.704Z,1749341150.704 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:05:50.704Z,1749341150.704 [DAT](INFO): publishing transmit ping time
2025-06-08T00:05:50.705Z,1749341150.705 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.000764
2025-06-08T00:05:50.938Z,1749341150.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:50.952Z,1749341150.952 [DAT](INFO): DAT read: TxSync time:00:05:50.4308

2025-06-08T00:05:50.954Z,1749341150.954 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.249644
2025-06-08T00:05:51.208Z,1749341151.208 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.503753
2025-06-08T00:05:51.363Z,1749341151.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:51.460Z,1749341151.460 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.756249
2025-06-08T00:05:51.712Z,1749341151.712 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.008395
2025-06-08T00:05:51.752Z,1749341151.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:51.965Z,1749341151.965 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.260901
2025-06-08T00:05:52.155Z,1749341152.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:52.218Z,1749341152.218 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.513682
2025-06-08T00:05:52.468Z,1749341152.468 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.764168
2025-06-08T00:05:52.586Z,1749341152.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:52.720Z,1749341152.720 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.016347
2025-06-08T00:05:52.960Z,1749341152.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:52.973Z,1749341152.973 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.269019
2025-06-08T00:05:53.224Z,1749341153.224 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.520141
2025-06-08T00:05:53.390Z,1749341153.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:53.477Z,1749341153.477 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.773386
2025-06-08T00:05:53.728Z,1749341153.728 [DAT](INFO): DAT read: Rx Time:00:05:52.9056

2025-06-08T00:05:53.729Z,1749341153.729 [DAT](INFO): Rx dataTimestamp_ set to:1749341153.728366
2025-06-08T00:05:53.729Z,1749341153.729 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.025285
2025-06-08T00:05:53.788Z,1749341153.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:53.983Z,1749341153.983 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.279396
2025-06-08T00:05:54.202Z,1749341154.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:54.257Z,1749341154.257 [DAT](INFO): DAT read: 00:05:52.9056 LVL= 32144, 32465, 29426, 32755, AGC= 68, IDX= 248, 0.25, 3.129,-1.417, 2.856,-2.787, PHS=-0.279, 1.417,-0.643, RAW= 339.5,  -5.3, CAL= 341.2,  -7.4, ROT= 168.8,   7.4

2025-06-08T00:05:54.258Z,1749341154.258 [DAT](INFO): got valid direction response:
 00:05:52.9056 LVL= 32144, 32465, 29426, 32755, AGC= 68, IDX= 248, 0.25, 3.129,-1.417, 2.856,-2.787, PHS=-0.279, 1.417,-0.643, RAW= 339.5,  -5.3, CAL= 341.2,  -7.4, ROT= 168.8,   7.4

2025-06-08T00:05:54.260Z,1749341154.260 [DAT](INFO): DAT read: $Error in header

2025-06-08T00:05:54.260Z,1749341154.260 [DAT](INFO): Received a bad header
2025-06-08T00:05:54.272Z,1749341154.272 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-06-08T00:05:54.273Z,1749341154.273 [DAT](INFO): direction in FSK: [-0.972785,0.192617,-0.128796]
2025-06-08T00:05:54.281Z,1749341154.281 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.577157
2025-06-08T00:05:54.500Z,1749341154.500 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.796265
2025-06-08T00:05:54.597Z,1749341154.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:54.752Z,1749341154.752 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.048211
2025-06-08T00:05:54.989Z,1749341154.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:55.007Z,1749341155.007 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.303012
2025-06-08T00:05:55.256Z,1749341155.256 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.552232
2025-06-08T00:05:55.425Z,1749341155.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:55.513Z,1749341155.513 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=4.808935
2025-06-08T00:05:55.764Z,1749341155.764 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.060273
2025-06-08T00:05:55.782Z,1749341155.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:56.016Z,1749341156.016 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.312246
2025-06-08T00:05:56.200Z,1749341156.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:56.269Z,1749341156.269 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.564875
2025-06-08T00:05:56.520Z,1749341156.520 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=5.816478
2025-06-08T00:05:56.621Z,1749341156.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:56.772Z,1749341156.772 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.068270
2025-06-08T00:05:57.024Z,1749341157.024 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.320332
2025-06-08T00:05:57.065Z,1749341157.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:57.276Z,1749341157.276 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.572202
2025-06-08T00:05:57.454Z,1749341157.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:57.529Z,1749341157.529 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=6.825023
2025-06-08T00:05:57.780Z,1749341157.780 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.076268
2025-06-08T00:05:57.824Z,1749341157.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:58.035Z,1749341158.035 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.331107
2025-06-08T00:05:58.225Z,1749341158.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:58.284Z,1749341158.284 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.580377
2025-06-08T00:05:58.536Z,1749341158.536 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=7.832147
2025-06-08T00:05:58.683Z,1749341158.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:58.788Z,1749341158.788 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.084204
2025-06-08T00:05:59.018Z,1749341159.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:59.040Z,1749341159.040 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.336309
2025-06-08T00:05:59.292Z,1749341159.292 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.588130
2025-06-08T00:05:59.497Z,1749341159.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:05:59.544Z,1749341159.544 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.840340
2025-06-08T00:05:59.796Z,1749341159.796 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.092345
2025-06-08T00:05:59.853Z,1749341159.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:00.049Z,1749341160.049 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.344587
2025-06-08T00:06:00.229Z,1749341160.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:00.232Z,1749341160.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:00.305Z,1749341160.305 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.600877
2025-06-08T00:06:00.552Z,1749341160.552 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.848227
2025-06-08T00:06:00.668Z,1749341160.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:00.804Z,1749341160.804 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.100267
2025-06-08T00:06:01.056Z,1749341161.056 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.352307
2025-06-08T00:06:01.066Z,1749341161.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:01.308Z,1749341161.308 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.604252
2025-06-08T00:06:01.519Z,1749341161.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:01.561Z,1749341161.561 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:06:01.562Z,1749341161.562 [DAT](INFO): response not received
2025-06-08T00:06:01.562Z,1749341161.562 [DAT](INFO): DAT read: user:2081>

2025-06-08T00:06:01.563Z,1749341161.563 [DAT](INFO): DAT read: Tx time:00:06:01.3816

2025-06-08T00:06:01.564Z,1749341161.564 [DAT](INFO): Ping request sent.
2025-06-08T00:06:01.564Z,1749341161.564 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:01.564Z,1749341161.564 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:01.565Z,1749341161.565 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.001090
2025-06-08T00:06:01.812Z,1749341161.812 [DAT](INFO): DAT read: TxSync time:00:06:01.3808

2025-06-08T00:06:01.813Z,1749341161.813 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.249161
2025-06-08T00:06:01.895Z,1749341161.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:02.065Z,1749341162.065 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.501153
2025-06-08T00:06:02.291Z,1749341162.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:02.316Z,1749341162.316 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.752299
2025-06-08T00:06:02.568Z,1749341162.568 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.004215
2025-06-08T00:06:02.713Z,1749341162.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:02.820Z,1749341162.820 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.256236
2025-06-08T00:06:03.072Z,1749341163.072 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.508322
2025-06-08T00:06:03.090Z,1749341163.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:03.325Z,1749341163.325 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.760633
2025-06-08T00:06:03.545Z,1749341163.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:03.578Z,1749341163.578 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.013607
2025-06-08T00:06:03.828Z,1749341163.828 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.264185
2025-06-08T00:06:03.908Z,1749341163.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:04.085Z,1749341164.085 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.521148
2025-06-08T00:06:04.315Z,1749341164.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:04.332Z,1749341164.332 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.768410
2025-06-08T00:06:04.584Z,1749341164.584 [DAT](INFO): DAT read: Rx Time:00:06:03.8682

2025-06-08T00:06:04.585Z,1749341164.585 [DAT](INFO): Rx dataTimestamp_ set to:1749341164.584339
2025-06-08T00:06:04.585Z,1749341164.585 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.021278
2025-06-08T00:06:04.748Z,1749341164.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:04.836Z,1749341164.836 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.272361
2025-06-08T00:06:05.091Z,1749341165.091 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.526457
2025-06-08T00:06:05.163Z,1749341165.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:05.346Z,1749341165.346 [DAT](INFO): DAT read: 00:06:03.8682 LVL= 29552, 24049, 26258, 32755, AGC= 68, IDX=  40, 0.01,-2.699,-0.909,-2.905,-2.265, PHS=-0.346, 1.404,-0.642, RAW= 337.7,  -4.4, CAL= 339.4,  -6.2, ROT= 170.6,   6.2

2025-06-08T00:06:05.349Z,1749341165.349 [DAT](INFO): got valid direction response:
 00:06:03.8682 LVL= 29552, 24049, 26258, 32755, AGC= 68, IDX=  40, 0.01,-2.699,-0.909,-2.905,-2.265, PHS=-0.346, 1.404,-0.642, RAW= 337.7,  -4.4, CAL= 339.4,  -6.2, ROT= 170.6,   6.2

2025-06-08T00:06:05.350Z,1749341165.350 [DAT](INFO): DAT read: $Error in header

2025-06-08T00:06:05.350Z,1749341165.350 [DAT](INFO): Received a bad header
2025-06-08T00:06:05.364Z,1749341165.364 [DAT](INFO): #Rx 30: Read direction message, but no range.
2025-06-08T00:06:05.365Z,1749341165.365 [DAT](INFO): direction in FSK: [-0.980802,0.162370,-0.107999]
2025-06-08T00:06:05.385Z,1749341165.385 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.820680
2025-06-08T00:06:05.561Z,1749341165.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:05.595Z,1749341165.595 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.031323
2025-06-08T00:06:05.844Z,1749341165.844 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.280284
2025-06-08T00:06:05.924Z,1749341165.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:06.096Z,1749341166.096 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.532195
2025-06-08T00:06:06.319Z,1749341166.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:06.365Z,1749341166.365 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.800661
2025-06-08T00:06:06.616Z,1749341166.616 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.052270
2025-06-08T00:06:06.746Z,1749341166.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:06.868Z,1749341166.868 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.304167
2025-06-08T00:06:07.120Z,1749341167.120 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.556308
2025-06-08T00:06:07.156Z,1749341167.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:07.373Z,1749341167.373 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.808603
2025-06-08T00:06:07.590Z,1749341167.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:07.626Z,1749341167.626 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.062365
2025-06-08T00:06:07.876Z,1749341167.876 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.312164
2025-06-08T00:06:08.038Z,1749341168.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:08.129Z,1749341168.129 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.565158
2025-06-08T00:06:08.380Z,1749341168.380 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.816217
2025-06-08T00:06:08.419Z,1749341168.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:08.633Z,1749341168.633 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.069068
2025-06-08T00:06:08.884Z,1749341168.884 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.320267
2025-06-08T00:06:08.977Z,1749341168.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:09.138Z,1749341169.138 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.573289
2025-06-08T00:06:09.388Z,1749341169.388 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.824313
2025-06-08T00:06:09.390Z,1749341169.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:09.640Z,1749341169.640 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.076436
2025-06-08T00:06:09.812Z,1749341169.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:09.892Z,1749341169.892 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.328243
2025-06-08T00:06:10.144Z,1749341170.144 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.580307
2025-06-08T00:06:10.214Z,1749341170.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:10.400Z,1749341170.400 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.835906
2025-06-08T00:06:10.648Z,1749341170.648 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.084231
2025-06-08T00:06:10.705Z,1749341170.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:10.873Z,1749341170.873 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:06:10.903Z,1749341170.903 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.339166
2025-06-08T00:06:11.006Z,1749341171.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:11.152Z,1749341171.152 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.588274
2025-06-08T00:06:11.404Z,1749341171.404 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.840026
2025-06-08T00:06:11.418Z,1749341171.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:11.656Z,1749341171.656 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.092285
2025-06-08T00:06:11.836Z,1749341171.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:11.876Z,1749341171.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:06:11.908Z,1749341171.908 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.344434
2025-06-08T00:06:12.160Z,1749341172.160 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.596263
2025-06-08T00:06:12.210Z,1749341172.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:12.413Z,1749341172.413 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.848824
2025-06-08T00:06:12.664Z,1749341172.664 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:06:12.665Z,1749341172.665 [DAT](INFO): response not received
2025-06-08T00:06:12.665Z,1749341172.665 [DAT](INFO): DAT read: user:2083>

2025-06-08T00:06:12.666Z,1749341172.666 [DAT](INFO): DAT read: Tx time:00:06:12.3333

2025-06-08T00:06:12.666Z,1749341172.666 [DAT](INFO): Ping request sent.
2025-06-08T00:06:12.666Z,1749341172.666 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:12.666Z,1749341172.666 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:12.667Z,1749341172.667 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.000747
2025-06-08T00:06:12.663Z,1749341172.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:12.916Z,1749341172.916 [DAT](INFO): DAT read: TxSync time:00:06:12.3325

2025-06-08T00:06:12.917Z,1749341172.917 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.250869
2025-06-08T00:06:13.040Z,1749341173.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:13.172Z,1749341173.172 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.506052
2025-06-08T00:06:13.411Z,1749341173.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:13.424Z,1749341173.424 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.758013
2025-06-08T00:06:13.676Z,1749341173.676 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.009806
2025-06-08T00:06:13.839Z,1749341173.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:13.928Z,1749341173.928 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.261932
2025-06-08T00:06:14.180Z,1749341174.180 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.513910
2025-06-08T00:06:14.245Z,1749341174.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:14.432Z,1749341174.432 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.765848
2025-06-08T00:06:14.684Z,1749341174.684 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.018012
2025-06-08T00:06:14.690Z,1749341174.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:14.937Z,1749341174.937 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.270491
2025-06-08T00:06:15.054Z,1749341175.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:15.188Z,1749341175.188 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.521859
2025-06-08T00:06:15.438Z,1749341175.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:15.440Z,1749341175.440 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.773992
2025-06-08T00:06:15.692Z,1749341175.692 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.025925
2025-06-08T00:06:15.864Z,1749341175.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:15.945Z,1749341175.945 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.278666
2025-06-08T00:06:16.196Z,1749341176.196 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.530128
2025-06-08T00:06:16.245Z,1749341176.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:16.449Z,1749341176.449 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.782989
2025-06-08T00:06:16.703Z,1749341176.703 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.036546
2025-06-08T00:06:16.757Z,1749341176.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:16.953Z,1749341176.953 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.286669
2025-06-08T00:06:17.179Z,1749341177.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:17.205Z,1749341177.205 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.538494
2025-06-08T00:06:17.456Z,1749341177.456 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=4.789850
2025-06-08T00:06:17.595Z,1749341177.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:17.710Z,1749341177.710 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.044228
2025-06-08T00:06:17.961Z,1749341177.961 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.294536
2025-06-08T00:06:18.036Z,1749341178.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:18.212Z,1749341178.212 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.545891
2025-06-08T00:06:18.396Z,1749341178.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:18.464Z,1749341178.464 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=5.797957
2025-06-08T00:06:18.719Z,1749341178.719 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.051849
2025-06-08T00:06:18.825Z,1749341178.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:18.969Z,1749341178.969 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.302550
2025-06-08T00:06:19.199Z,1749341179.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:19.220Z,1749341179.220 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.553865
2025-06-08T00:06:19.472Z,1749341179.472 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=6.805967
2025-06-08T00:06:19.598Z,1749341179.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:19.727Z,1749341179.727 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.060217
2025-06-08T00:06:19.976Z,1749341179.976 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.309789
2025-06-08T00:06:20.033Z,1749341180.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:20.228Z,1749341180.228 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.561944
2025-06-08T00:06:20.428Z,1749341180.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:20.481Z,1749341180.481 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=7.814252
2025-06-08T00:06:20.736Z,1749341180.736 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.068684
2025-06-08T00:06:20.902Z,1749341180.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:20.986Z,1749341180.986 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.319743
2025-06-08T00:06:21.222Z,1749341181.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:21.236Z,1749341181.236 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.569928
2025-06-08T00:06:21.488Z,1749341181.488 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=8.821894
2025-06-08T00:06:21.635Z,1749341181.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:21.743Z,1749341181.743 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.075971
2025-06-08T00:06:21.992Z,1749341181.992 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.325844
2025-06-08T00:06:22.072Z,1749341182.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:22.245Z,1749341182.245 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.578264
2025-06-08T00:06:22.425Z,1749341182.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:22.498Z,1749341182.498 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.832183
2025-06-08T00:06:22.751Z,1749341182.751 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.083795
2025-06-08T00:06:22.904Z,1749341182.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:23.000Z,1749341183.000 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.333940
2025-06-08T00:06:23.254Z,1749341183.254 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.587391
2025-06-08T00:06:23.294Z,1749341183.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:23.504Z,1749341183.504 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:06:23.504Z,1749341183.504 [DAT](INFO): response not received
2025-06-08T00:06:23.505Z,1749341183.505 [DAT](INFO): DAT read: user:2084>

2025-06-08T00:06:23.506Z,1749341183.506 [DAT](INFO): DAT read: Tx time:00:06:23.2818

2025-06-08T00:06:23.506Z,1749341183.506 [DAT](INFO): Ping request sent.
2025-06-08T00:06:23.506Z,1749341183.506 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:23.506Z,1749341183.506 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:23.507Z,1749341183.507 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.000738
2025-06-08T00:06:23.663Z,1749341183.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:23.760Z,1749341183.760 [DAT](INFO): DAT read: TxSync time:00:06:23.2811

2025-06-08T00:06:23.762Z,1749341183.762 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.255685
2025-06-08T00:06:24.008Z,1749341184.008 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.501989
2025-06-08T00:06:24.087Z,1749341184.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:24.260Z,1749341184.260 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.754079
2025-06-08T00:06:24.446Z,1749341184.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:24.512Z,1749341184.512 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.006184
2025-06-08T00:06:24.766Z,1749341184.766 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.260094
2025-06-08T00:06:24.877Z,1749341184.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:25.016Z,1749341185.016 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.510196
2025-06-08T00:06:25.268Z,1749341185.268 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.762407
2025-06-08T00:06:25.273Z,1749341185.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:25.522Z,1749341185.522 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.015796
2025-06-08T00:06:25.667Z,1749341185.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:25.775Z,1749341185.775 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.268595
2025-06-08T00:06:26.024Z,1749341186.024 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.518099
2025-06-08T00:06:26.094Z,1749341186.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:26.278Z,1749341186.278 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.772255
2025-06-08T00:06:26.468Z,1749341186.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:26.532Z,1749341186.532 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.026037
2025-06-08T00:06:26.787Z,1749341186.787 [DAT](INFO): DAT read: Rx Time:00:06:25.8885

2025-06-08T00:06:26.789Z,1749341186.789 [DAT](INFO): Rx dataTimestamp_ set to:1749341186.788051
2025-06-08T00:06:26.791Z,1749341186.791 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.283891
2025-06-08T00:06:26.940Z,1749341186.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:27.037Z,1749341187.037 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.531297
2025-06-08T00:06:27.294Z,1749341187.294 [DAT](INFO): DAT read: 00:06:25.8885 LVL= 25664, 16337, 22242, 22483, AGC= 71, IDX=  85, 0.25, 2.202,-2.414, 2.310, 1.743, PHS= 0.547, 2.173, 0.564, RAW= 329.5, -35.7, CAL= 331.4, -49.4, ROT= 178.6,  49.4

2025-06-08T00:06:27.295Z,1749341187.295 [DAT](INFO): got valid direction response:
 00:06:25.8885 LVL= 25664, 16337, 22242, 22483, AGC= 71, IDX=  85, 0.25, 2.202,-2.414, 2.310, 1.743, PHS= 0.547, 2.173, 0.564, RAW= 329.5, -35.7, CAL= 331.4, -49.4, ROT= 178.6,  49.4

2025-06-08T00:06:27.296Z,1749341187.296 [DAT](INFO): DAT read: Bearing 178.6,  49.4 (Local)

2025-06-08T00:06:27.297Z,1749341187.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.6,  49.4 (Local)

2025-06-08T00:06:27.298Z,1749341187.298 [DAT](INFO): DAT read: Range 10 to 50 : 151.8 m  (Round-trip  202.5 ms) speed  0.0 m/s

2025-06-08T00:06:27.299Z,1749341187.299 [DAT](INFO): DAT read: user:2085>

2025-06-08T00:06:27.300Z,1749341187.300 [DAT](INFO): DAT read: Tx time:00:06:26.9819

2025-06-08T00:06:27.300Z,1749341187.300 [DAT](INFO): Ping request sent.
2025-06-08T00:06:27.300Z,1749341187.300 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:27.301Z,1749341187.301 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-08T00:06:27.302Z,1749341187.302 [DAT](INFO): direction in FSK: [-0.650580,0.015900,-0.759271]
2025-06-08T00:06:27.302Z,1749341187.302 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:27.302Z,1749341187.302 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:27.305Z,1749341187.305 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:27.305Z,1749341187.305 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:27.317Z,1749341187.317 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.016553
2025-06-08T00:06:27.320Z,1749341187.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.800003 m,
      deltaT: 69.375901 s,
      deltaX: 130.400009 m,
      approachRate: 1.879615 m/s,
      rangeRepo size: 4

2025-06-08T00:06:27.321Z,1749341187.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.23 m.
2025-06-08T00:06:27.321Z,1749341187.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 151.80 m. Resuming terminal guidance.
2025-06-08T00:06:27.321Z,1749341187.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-08T00:06:27.541Z,1749341187.541 [DAT](INFO): DAT read: TxSync time:00:06:26.9811

2025-06-08T00:06:27.542Z,1749341187.542 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.241895
2025-06-08T00:06:27.696Z,1749341187.696 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-08T00:06:27.696Z,1749341187.696 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-08T00:06:27.697Z,1749341187.697 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-08T00:06:27.698Z,1749341187.698 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 151.800003 m (mode  1.000000 count ).
2025-06-08T00:06:27.698Z,1749341187.698 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-08T00:06:27.698Z,1749341187.698 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-08T00:06:27.795Z,1749341187.795 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.494054
2025-06-08T00:06:28.044Z,1749341188.044 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.743790
2025-06-08T00:06:28.120Z,1749341188.120 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-08T00:06:28.120Z,1749341188.120 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-08T00:06:28.121Z,1749341188.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:28.296Z,1749341188.296 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.995815
2025-06-08T00:06:28.505Z,1749341188.505 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-08T00:06:28.505Z,1749341188.505 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-08T00:06:28.551Z,1749341188.551 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.250188
2025-06-08T00:06:28.801Z,1749341188.801 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.500833
2025-06-08T00:06:28.965Z,1749341188.965 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-08T00:06:28.965Z,1749341188.965 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-08T00:06:28.965Z,1749341188.965 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-08T00:06:28.965Z,1749341188.965 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-08T00:06:29.053Z,1749341189.053 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.752820
2025-06-08T00:06:29.304Z,1749341189.304 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.003981
2025-06-08T00:06:29.556Z,1749341189.556 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.255829
2025-06-08T00:06:29.808Z,1749341189.808 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.508043
2025-06-08T00:06:30.060Z,1749341190.060 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.759863
2025-06-08T00:06:30.151Z,1749341190.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:30.312Z,1749341190.312 [DAT](INFO): DAT read: Rx Time:00:06:29.5900

2025-06-08T00:06:30.313Z,1749341190.313 [DAT](INFO): Rx dataTimestamp_ set to:1749341190.312367
2025-06-08T00:06:30.313Z,1749341190.313 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.012904
2025-06-08T00:06:30.565Z,1749341190.565 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.264287
2025-06-08T00:06:30.820Z,1749341190.820 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.518905
2025-06-08T00:06:31.075Z,1749341191.075 [DAT](INFO): DAT read: 00:06:29.5900 LVL= 26528, 26609, 22226, 32755, AGC= 65, IDX= 436, 0.39, 0.653, 2.460, 0.812, 0.323, PHS= 0.418, 2.185, 0.486, RAW= 328.1, -32.2, CAL= 330.0, -45.8, ROT= 180.0,  45.8

2025-06-08T00:06:31.077Z,1749341191.077 [DAT](INFO): got valid direction response:
 00:06:29.5900 LVL= 26528, 26609, 22226, 32755, AGC= 65, IDX= 436, 0.39, 0.653, 2.460, 0.812, 0.323, PHS= 0.418, 2.185, 0.486, RAW= 328.1, -32.2, CAL= 330.0, -45.8, ROT= 180.0,  45.8

2025-06-08T00:06:31.078Z,1749341191.078 [DAT](INFO): DAT read: Bearing 180.0,  45.8 (Local)

2025-06-08T00:06:31.079Z,1749341191.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.0,  45.8 (Local)

2025-06-08T00:06:31.081Z,1749341191.081 [DAT](INFO): DAT read: Range 10 to 50 : 153.0 m  (Round-trip  204.0 ms) speed -0.4 m/s

2025-06-08T00:06:31.082Z,1749341191.082 [DAT](INFO): DAT read: user:2086>

2025-06-08T00:06:31.085Z,1749341191.085 [DAT](INFO): DAT read: Tx time:00:06:30.6819

2025-06-08T00:06:31.085Z,1749341191.085 [DAT](INFO): Ping request sent.
2025-06-08T00:06:31.085Z,1749341191.085 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:31.086Z,1749341191.086 [DAT](INFO): DAT read: TxSync time:00:06:30.6811

2025-06-08T00:06:31.086Z,1749341191.086 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-08T00:06:31.087Z,1749341191.087 [DAT](INFO): direction in FSK: [-0.697165,-0.000000,-0.716911]
2025-06-08T00:06:31.088Z,1749341191.088 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:31.088Z,1749341191.088 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:31.091Z,1749341191.091 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:31.091Z,1749341191.091 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:31.094Z,1749341191.094 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.009153
2025-06-08T00:06:31.321Z,1749341191.321 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.235650
2025-06-08T00:06:31.363Z,1749341191.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.000000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-08T00:06:31.365Z,1749341191.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.811081 m,
      bearing: 306.210197 deg,
      lat: 36.905918 deg,
      lon: -122.115921 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-08T00:06:31.366Z,1749341191.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:31.369Z,1749341191.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 83.238495 m,
      bearing: 303.006234 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 307.026369 deg,
      new cmd heading: 303.006234 deg.

2025-06-08T00:06:31.370Z,1749341191.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288456 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:31.572Z,1749341191.572 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.486968
2025-06-08T00:06:31.743Z,1749341191.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:31.745Z,1749341191.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 83.577271 m,
      bearing: 303.006369 deg,
      approach rate: 0.889985 m/s,
      LOS rate: 0.000355 deg/s,
      cmd heading: 303.006234 deg,
      new cmd heading: 303.006369 deg.

2025-06-08T00:06:31.746Z,1749341191.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288459 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:31.825Z,1749341191.825 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.739376
2025-06-08T00:06:32.076Z,1749341192.076 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.990974
2025-06-08T00:06:32.168Z,1749341192.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:32.170Z,1749341192.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:32.173Z,1749341192.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 83.901413 m,
      bearing: 302.990142 deg,
      approach rate: 0.757951 m/s,
      LOS rate: -0.037799 deg/s,
      cmd heading: 303.006371 deg,
      new cmd heading: 302.990142 deg.

2025-06-08T00:06:32.174Z,1749341192.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288176 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:32.328Z,1749341192.328 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.243070
2025-06-08T00:06:32.544Z,1749341192.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:32.547Z,1749341192.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 84.207626 m,
      bearing: 302.969263 deg,
      approach rate: 0.821090 m/s,
      LOS rate: -0.055782 deg/s,
      cmd heading: 302.990142 deg,
      new cmd heading: 302.969263 deg.

2025-06-08T00:06:32.548Z,1749341192.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287811 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:32.581Z,1749341192.581 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.495316
2025-06-08T00:06:32.832Z,1749341192.832 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.746956
2025-06-08T00:06:33.079Z,1749341193.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:33.081Z,1749341193.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 84.579239 m,
      bearing: 302.928526 deg,
      approach rate: 0.693945 m/s,
      LOS rate: -0.075737 deg/s,
      cmd heading: 302.969269 deg,
      new cmd heading: 302.928526 deg.

2025-06-08T00:06:33.082Z,1749341193.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287100 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:33.084Z,1749341193.084 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.999137
2025-06-08T00:06:33.336Z,1749341193.336 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.251034
2025-06-08T00:06:33.362Z,1749341193.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:33.365Z,1749341193.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 84.799782 m,
      bearing: 302.900428 deg,
      approach rate: 0.777701 m/s,
      LOS rate: -0.098824 deg/s,
      cmd heading: 302.928534 deg,
      new cmd heading: 302.900428 deg.

2025-06-08T00:06:33.366Z,1749341193.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286610 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:33.588Z,1749341193.588 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.503026
2025-06-08T00:06:33.816Z,1749341193.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:33.819Z,1749341193.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 85.125511 m,
      bearing: 302.853407 deg,
      approach rate: 0.717281 m/s,
      LOS rate: -0.103147 deg/s,
      cmd heading: 302.900421 deg,
      new cmd heading: 302.853407 deg.

2025-06-08T00:06:33.820Z,1749341193.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285789 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:33.840Z,1749341193.840 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.755139
2025-06-08T00:06:34.092Z,1749341194.092 [DAT](INFO): DAT read: Rx Time:00:06:33.2466

2025-06-08T00:06:34.093Z,1749341194.093 [DAT](INFO): Rx dataTimestamp_ set to:1749341194.092396
2025-06-08T00:06:34.093Z,1749341194.093 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.008073
2025-06-08T00:06:34.233Z,1749341194.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:34.251Z,1749341194.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:34.254Z,1749341194.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 85.401459 m,
      bearing: 302.797560 deg,
      approach rate: 0.658910 m/s,
      LOS rate: -0.132922 deg/s,
      cmd heading: 302.853402 deg,
      new cmd heading: 302.797560 deg.

2025-06-08T00:06:34.255Z,1749341194.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284814 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:34.344Z,1749341194.344 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.259232
2025-06-08T00:06:34.604Z,1749341194.604 [DAT](INFO): DAT read: 00:06:33.2466 LVL= 32752, 24001, 24034, 32755, AGC= 68, IDX= 488,-0.01,-1.889, 0.416,-1.147,-0.955, PHS=-0.845, 1.419,-0.195, RAW= 313.8,  -3.8, CAL= 317.2,  -5.3, ROT= 192.8,   5.3

2025-06-08T00:06:34.606Z,1749341194.606 [DAT](INFO): got valid direction response:
 00:06:33.2466 LVL= 32752, 24001, 24034, 32755, AGC= 68, IDX= 488,-0.01,-1.889, 0.416,-1.147,-0.955, PHS=-0.845, 1.419,-0.195, RAW= 313.8,  -3.8, CAL= 317.2,  -5.3, ROT= 192.8,   5.3

2025-06-08T00:06:34.607Z,1749341194.607 [DAT](INFO): DAT read: $Error in header

2025-06-08T00:06:34.607Z,1749341194.607 [DAT](INFO): Received a bad header
2025-06-08T00:06:34.619Z,1749341194.619 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-06-08T00:06:34.620Z,1749341194.620 [DAT](INFO): direction in FSK: [-0.970980,-0.220601,-0.092371]
2025-06-08T00:06:34.625Z,1749341194.625 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.539959
2025-06-08T00:06:34.720Z,1749341194.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:34.722Z,1749341194.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 85.709587 m,
      bearing: 302.729634 deg,
      approach rate: 0.638676 m/s,
      LOS rate: -0.140288 deg/s,
      cmd heading: 302.797558 deg,
      new cmd heading: 302.729634 deg.

2025-06-08T00:06:34.723Z,1749341194.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283629 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:34.848Z,1749341194.848 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.762949
2025-06-08T00:06:35.101Z,1749341195.101 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.015504
2025-06-08T00:06:35.249Z,1749341195.249 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,              +0.00,  .00,944.95
2025-06-08T00:06:35.270Z,1749341195.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:35.273Z,1749341195.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 86.075760 m,
      bearing: 302.649578 deg,
      approach rate: 0.663188 m/s,
      LOS rate: -0.144376 deg/s,
      cmd heading: 302.729639 deg,
      new cmd heading: 302.649578 deg.

2025-06-08T00:06:35.273Z,1749341195.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282232 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:35.353Z,1749341195.353 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.267765
2025-06-08T00:06:35.601Z,1749341195.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:35.604Z,1749341195.604 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.519086
2025-06-08T00:06:35.605Z,1749341195.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 86.292007 m,
      bearing: 302.594286 deg,
      approach rate: 0.652679 m/s,
      LOS rate: -0.166464 deg/s,
      cmd heading: 302.649589 deg,
      new cmd heading: 302.594286 deg.

2025-06-08T00:06:35.606Z,1749341195.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281267 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:35.856Z,1749341195.856 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=4.770967
2025-06-08T00:06:36.075Z,1749341196.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:36.081Z,1749341196.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 86.570221 m,
      bearing: 302.508867 deg,
      approach rate: 0.587604 m/s,
      LOS rate: -0.179829 deg/s,
      cmd heading: 302.594292 deg,
      new cmd heading: 302.508867 deg.

2025-06-08T00:06:36.082Z,1749341196.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279776 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:36.108Z,1749341196.108 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=5.023131
2025-06-08T00:06:36.360Z,1749341196.360 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=5.275036
2025-06-08T00:06:36.430Z,1749341196.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:36.433Z,1749341196.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:36.435Z,1749341196.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 86.783440 m,
      bearing: 302.434757 deg,
      approach rate: 0.595826 m/s,
      LOS rate: -0.206588 deg/s,
      cmd heading: 302.508860 deg,
      new cmd heading: 302.434757 deg.

2025-06-08T00:06:36.436Z,1749341196.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278482 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:36.612Z,1749341196.612 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=5.526956
2025-06-08T00:06:36.815Z,1749341196.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:36.818Z,1749341196.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 87.003525 m,
      bearing: 302.353780 deg,
      approach rate: 0.575063 m/s,
      LOS rate: -0.211050 deg/s,
      cmd heading: 302.434766 deg,
      new cmd heading: 302.353780 deg.

2025-06-08T00:06:36.819Z,1749341196.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277069 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:36.865Z,1749341196.865 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=5.779771
2025-06-08T00:06:37.116Z,1749341197.116 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=6.030936
2025-06-08T00:06:37.284Z,1749341197.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:37.287Z,1749341197.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 87.259941 m,
      bearing: 302.252710 deg,
      approach rate: 0.546925 m/s,
      LOS rate: -0.214944 deg/s,
      cmd heading: 302.353787 deg,
      new cmd heading: 302.252710 deg.

2025-06-08T00:06:37.296Z,1749341197.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275305 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:37.369Z,1749341197.369 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=6.283368
2025-06-08T00:06:37.620Z,1749341197.620 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=6.535136
2025-06-08T00:06:37.653Z,1749341197.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:37.660Z,1749341197.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 87.467224 m,
      bearing: 302.171516 deg,
      approach rate: 0.561918 m/s,
      LOS rate: -0.219584 deg/s,
      cmd heading: 302.252700 deg,
      new cmd heading: 302.171516 deg.

2025-06-08T00:06:37.661Z,1749341197.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273888 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:37.873Z,1749341197.873 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=6.787332
2025-06-08T00:06:38.078Z,1749341198.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:38.097Z,1749341198.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 87.728973 m,
      bearing: 302.073587 deg,
      approach rate: 0.615798 m/s,
      LOS rate: -0.229704 deg/s,
      cmd heading: 302.171503 deg,
      new cmd heading: 302.073587 deg.

2025-06-08T00:06:38.098Z,1749341198.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272179 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:38.124Z,1749341198.124 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=7.039184
2025-06-08T00:06:38.376Z,1749341198.376 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=7.290984
2025-06-08T00:06:38.442Z,1749341198.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:38.449Z,1749341198.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:38.455Z,1749341198.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 87.929405 m,
      bearing: 301.984762 deg,
      approach rate: 0.540946 m/s,
      LOS rate: -0.239182 deg/s,
      cmd heading: 302.073585 deg,
      new cmd heading: 301.984762 deg.

2025-06-08T00:06:38.456Z,1749341198.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270628 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:38.628Z,1749341198.628 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=7.542952
2025-06-08T00:06:38.843Z,1749341198.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:38.846Z,1749341198.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 88.152794 m,
      bearing: 301.886351 deg,
      approach rate: 0.566163 m/s,
      LOS rate: -0.248784 deg/s,
      cmd heading: 301.984766 deg,
      new cmd heading: 301.886351 deg.

2025-06-08T00:06:38.847Z,1749341198.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.268911 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:38.895Z,1749341198.895 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=7.809440
2025-06-08T00:06:39.144Z,1749341199.144 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=8.058994
2025-06-08T00:06:39.250Z,1749341199.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:39.269Z,1749341199.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 88.374077 m,
      bearing: 301.786092 deg,
      approach rate: 0.543611 m/s,
      LOS rate: -0.245684 deg/s,
      cmd heading: 301.886356 deg,
      new cmd heading: 301.786092 deg.

2025-06-08T00:06:39.270Z,1749341199.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.267161 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:39.397Z,1749341199.397 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=8.311361
2025-06-08T00:06:39.634Z,1749341199.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:39.648Z,1749341199.648 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=8.563037
2025-06-08T00:06:39.657Z,1749341199.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 88.575684 m,
      bearing: 301.685241 deg,
      approach rate: 0.525179 m/s,
      LOS rate: -0.262115 deg/s,
      cmd heading: 301.786089 deg,
      new cmd heading: 301.685241 deg.

2025-06-08T00:06:39.658Z,1749341199.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265401 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:39.901Z,1749341199.901 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=8.815341
2025-06-08T00:06:40.108Z,1749341200.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:40.110Z,1749341200.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 88.820473 m,
      bearing: 301.573519 deg,
      approach rate: 0.521700 m/s,
      LOS rate: -0.237449 deg/s,
      cmd heading: 301.685248 deg,
      new cmd heading: 301.573519 deg.

2025-06-08T00:06:40.115Z,1749341200.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263451 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:40.154Z,1749341200.154 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=9.068924
2025-06-08T00:06:40.404Z,1749341200.404 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=9.319091
2025-06-08T00:06:40.462Z,1749341200.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:40.468Z,1749341200.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:40.470Z,1749341200.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 89.015198 m,
      bearing: 301.480141 deg,
      approach rate: 0.534049 m/s,
      LOS rate: -0.255537 deg/s,
      cmd heading: 301.573506 deg,
      new cmd heading: 301.480141 deg.

2025-06-08T00:06:40.480Z,1749341200.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261821 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:40.656Z,1749341200.656 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=9.570958
2025-06-08T00:06:40.858Z,1749341200.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:40.860Z,1749341200.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 89.215874 m,
      bearing: 301.379265 deg,
      approach rate: 0.518169 m/s,
      LOS rate: -0.259888 deg/s,
      cmd heading: 301.480151 deg,
      new cmd heading: 301.379265 deg.

2025-06-08T00:06:40.861Z,1749341200.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.260060 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:40.909Z,1749341200.909 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=9.823946
2025-06-08T00:06:41.160Z,1749341201.160 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.074980
2025-06-08T00:06:41.307Z,1749341201.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:41.310Z,1749341201.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 89.436615 m,
      bearing: 301.277294 deg,
      approach rate: 0.492967 m/s,
      LOS rate: -0.227162 deg/s,
      cmd heading: 301.379256 deg,
      new cmd heading: 301.277294 deg.

2025-06-08T00:06:41.311Z,1749341201.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.258281 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:41.412Z,1749341201.412 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.326978
2025-06-08T00:06:41.650Z,1749341201.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:41.653Z,1749341201.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 89.632484 m,
      bearing: 301.182351 deg,
      approach rate: 0.563872 m/s,
      LOS rate: -0.272725 deg/s,
      cmd heading: 301.277295 deg,
      new cmd heading: 301.182351 deg.

2025-06-08T00:06:41.654Z,1749341201.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256624 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:41.664Z,1749341201.664 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.579065
2025-06-08T00:06:41.916Z,1749341201.916 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:06:41.917Z,1749341201.917 [DAT](INFO): response not received
2025-06-08T00:06:41.917Z,1749341201.917 [DAT](INFO): DAT read: user:2088>

2025-06-08T00:06:41.918Z,1749341201.918 [DAT](INFO): DAT read: Tx time:00:06:41.6320

2025-06-08T00:06:41.918Z,1749341201.918 [DAT](INFO): Ping request sent.
2025-06-08T00:06:41.918Z,1749341201.918 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:41.918Z,1749341201.918 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:41.919Z,1749341201.919 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.000742
2025-06-08T00:06:42.001Z,1749341202.001 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:06:42.159Z,1749341202.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:42.165Z,1749341202.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 89.876961 m,
      bearing: 301.067219 deg,
      approach rate: 0.480912 m/s,
      LOS rate: -0.225862 deg/s,
      cmd heading: 301.182355 deg,
      new cmd heading: 301.067219 deg.

2025-06-08T00:06:42.166Z,1749341202.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254614 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:42.168Z,1749341202.168 [DAT](INFO): DAT read: TxSync time:00:06:41.6312

2025-06-08T00:06:42.169Z,1749341202.169 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.251046
2025-06-08T00:06:42.421Z,1749341202.421 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.502921
2025-06-08T00:06:42.584Z,1749341202.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:42.586Z,1749341202.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:42.589Z,1749341202.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 90.085808 m,
      bearing: 300.963874 deg,
      approach rate: 0.488824 m/s,
      LOS rate: -0.241327 deg/s,
      cmd heading: 301.067225 deg,
      new cmd heading: 300.963874 deg.

2025-06-08T00:06:42.589Z,1749341202.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.252810 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:42.672Z,1749341202.672 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.754033
2025-06-08T00:06:42.928Z,1749341202.928 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.009380
2025-06-08T00:06:42.000Z,1749341203.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:06:43.061Z,1749341203.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:43.078Z,1749341203.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 90.290504 m,
      bearing: 300.857318 deg,
      approach rate: 0.440340 m/s,
      LOS rate: -0.228701 deg/s,
      cmd heading: 300.963871 deg,
      new cmd heading: 300.857318 deg.

2025-06-08T00:06:43.085Z,1749341203.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.250951 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:43.177Z,1749341203.177 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.258595
2025-06-08T00:06:43.428Z,1749341203.428 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.510035
2025-06-08T00:06:43.435Z,1749341203.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:43.437Z,1749341203.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 90.473991 m,
      bearing: 300.764615 deg,
      approach rate: 0.477962 m/s,
      LOS rate: -0.240991 deg/s,
      cmd heading: 300.857320 deg,
      new cmd heading: 300.764615 deg.

2025-06-08T00:06:43.438Z,1749341203.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.249333 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:43.680Z,1749341203.680 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.761989
2025-06-08T00:06:43.850Z,1749341203.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:43.853Z,1749341203.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 90.653496 m,
      bearing: 300.674404 deg,
      approach rate: 0.431876 m/s,
      LOS rate: -0.216612 deg/s,
      cmd heading: 300.764621 deg,
      new cmd heading: 300.674404 deg.

2025-06-08T00:06:43.854Z,1749341203.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247758 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:43.933Z,1749341203.933 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.014709
2025-06-08T00:06:44.184Z,1749341204.184 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.265943
2025-06-08T00:06:44.247Z,1749341204.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:44.249Z,1749341204.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 90.819298 m,
      bearing: 300.581524 deg,
      approach rate: 0.418380 m/s,
      LOS rate: -0.233944 deg/s,
      cmd heading: 300.674408 deg,
      new cmd heading: 300.581524 deg.

2025-06-08T00:06:44.250Z,1749341204.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.246137 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:44.436Z,1749341204.436 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.518028
2025-06-08T00:06:44.689Z,1749341204.689 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.770358
2025-06-08T00:06:44.714Z,1749341204.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:44.717Z,1749341204.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:44.719Z,1749341204.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 90.996185 m,
      bearing: 300.477451 deg,
      approach rate: 0.376311 m/s,
      LOS rate: -0.220974 deg/s,
      cmd heading: 300.581517 deg,
      new cmd heading: 300.477451 deg.

2025-06-08T00:06:44.720Z,1749341204.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244321 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:44.941Z,1749341204.941 [DAT](INFO): DAT read: Rx Time:00:06:44.1598

2025-06-08T00:06:44.942Z,1749341204.942 [DAT](INFO): Rx dataTimestamp_ set to:1749341204.941451
2025-06-08T00:06:44.943Z,1749341204.943 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.024478
2025-06-08T00:06:45.138Z,1749341205.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.81 m.
2025-06-08T00:06:45.145Z,1749341205.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 151.811081 m,
      nav range: 91.150795 m,
      bearing: 300.382002 deg,
      approach rate: 0.367165 m/s,
      LOS rate: -0.226287 deg/s,
      cmd heading: 300.477452 deg,
      new cmd heading: 300.382002 deg.

2025-06-08T00:06:45.145Z,1749341205.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242655 target range: 151.811081 and range: 153.00 m.
2025-06-08T00:06:45.194Z,1749341205.194 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.275479
2025-06-08T00:06:45.450Z,1749341205.450 [DAT](INFO): DAT read: 00:06:44.1598 LVL= 32752, 23009, 24290, 32755, AGC= 61, IDX=  46,-0.21, 0.059, 2.556, 1.961, 1.572, PHS=-1.425, 1.032, 0.387, RAW= 284.7,   0.1, CAL= 287.2,  -1.0, ROT= 222.8,   1.0

2025-06-08T00:06:45.451Z,1749341205.451 [DAT](INFO): got valid direction response:
 00:06:44.1598 LVL= 32752, 23009, 24290, 32755, AGC= 61, IDX=  46,-0.21, 0.059, 2.556, 1.961, 1.572, PHS=-1.425, 1.032, 0.387, RAW= 284.7,   0.1, CAL= 287.2,  -1.0, ROT= 222.8,   1.0

2025-06-08T00:06:45.452Z,1749341205.452 [DAT](INFO): DAT read: Bearing 222.8,   1.0 (Local)

2025-06-08T00:06:45.453Z,1749341205.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.8,   1.0 (Local)

2025-06-08T00:06:45.454Z,1749341205.454 [DAT](INFO): DAT read: Range 10 to 50 : 92.7 m  (Round-trip  123.6 ms) speed  0.0 m/s

2025-06-08T00:06:45.455Z,1749341205.455 [DAT](INFO): DAT read: user:2089>

2025-06-08T00:06:45.456Z,1749341205.456 [DAT](INFO): DAT read: Tx time:00:06:45.2821

2025-06-08T00:06:45.456Z,1749341205.456 [DAT](INFO): Ping request sent.
2025-06-08T00:06:45.456Z,1749341205.456 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:45.456Z,1749341205.456 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-08T00:06:45.457Z,1749341205.457 [DAT](INFO): direction in FSK: [-0.733618,-0.679338,-0.017452]
2025-06-08T00:06:45.458Z,1749341205.458 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:45.458Z,1749341205.458 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:45.485Z,1749341205.485 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:45.485Z,1749341205.485 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:45.497Z,1749341205.497 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.040962
2025-06-08T00:06:45.594Z,1749341205.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.699997 m,
      deltaT: 14.376179 s,
      deltaX: -60.300003 m,
      approachRate: -4.194439 m/s,
      rangeRepo size: 2

2025-06-08T00:06:45.601Z,1749341205.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.974983 m,
      bearing: 293.123043 deg,
      lat: 36.905918 deg,
      lon: -122.115985 deg,
      deltaT: 14.376179 s,
      deltaX: -59.836098 m,
      approachRate: -4.162170 m/s,
      posRepo size: 2

2025-06-08T00:06:45.601Z,1749341205.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:45.608Z,1749341205.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 96.295357 m,
      bearing: 298.552878 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.226287 deg/s,
      cmd heading: 300.381994 deg,
      new cmd heading: 300.072818 deg.

2025-06-08T00:06:45.609Z,1749341205.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237258 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:45.696Z,1749341205.696 [DAT](INFO): DAT read: TxSync time:00:06:45.2813

2025-06-08T00:06:45.697Z,1749341205.697 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.241195
2025-06-08T00:06:45.949Z,1749341205.949 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.492663
2025-06-08T00:06:46.068Z,1749341206.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:46.098Z,1749341206.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 96.462715 m,
      bearing: 298.439751 deg,
      approach rate: 0.353583 m/s,
      LOS rate: -0.238592 deg/s,
      cmd heading: 300.072805 deg,
      new cmd heading: 299.734017 deg.

2025-06-08T00:06:46.106Z,1749341206.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231346 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:46.202Z,1749341206.202 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.745273
2025-06-08T00:06:46.453Z,1749341206.453 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.996443
2025-06-08T00:06:46.471Z,1749341206.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:46.477Z,1749341206.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 96.594734 m,
      bearing: 298.338427 deg,
      approach rate: 0.326685 m/s,
      LOS rate: -0.250387 deg/s,
      cmd heading: 299.734027 deg,
      new cmd heading: 299.430473 deg.

2025-06-08T00:06:46.478Z,1749341206.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.226048 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:46.705Z,1749341206.705 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.248666
2025-06-08T00:06:46.897Z,1749341206.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:46.899Z,1749341206.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:46.902Z,1749341206.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 96.736557 m,
      bearing: 298.223933 deg,
      approach rate: 0.331315 m/s,
      LOS rate: -0.267079 deg/s,
      cmd heading: 299.430466 deg,
      new cmd heading: 299.087492 deg.

2025-06-08T00:06:46.903Z,1749341206.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220061 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:46.959Z,1749341206.959 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.502672
2025-06-08T00:06:47.208Z,1749341207.208 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.752380
2025-06-08T00:06:47.373Z,1749341207.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:47.376Z,1749341207.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 96.880569 m,
      bearing: 298.090751 deg,
      approach rate: 0.303466 m/s,
      LOS rate: -0.280226 deg/s,
      cmd heading: 299.087481 deg,
      new cmd heading: 298.688537 deg.

2025-06-08T00:06:47.377Z,1749341207.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.213099 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:47.460Z,1749341207.460 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.004326
2025-06-08T00:06:47.712Z,1749341207.712 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.256022
2025-06-08T00:06:47.729Z,1749341207.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:47.748Z,1749341207.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 96.988426 m,
      bearing: 297.991578 deg,
      approach rate: 0.303318 m/s,
      LOS rate: -0.278586 deg/s,
      cmd heading: 298.688544 deg,
      new cmd heading: 298.391360 deg.

2025-06-08T00:06:47.749Z,1749341207.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207911 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:47.965Z,1749341207.965 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.508489
2025-06-08T00:06:48.190Z,1749341208.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:48.192Z,1749341208.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 97.115608 m,
      bearing: 297.850047 deg,
      approach rate: 0.276090 m/s,
      LOS rate: -0.306837 deg/s,
      cmd heading: 298.391349 deg,
      new cmd heading: 297.967319 deg.

2025-06-08T00:06:48.193Z,1749341208.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200511 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:48.216Z,1749341208.216 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.760202
2025-06-08T00:06:48.468Z,1749341208.468 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.012048
2025-06-08T00:06:48.546Z,1749341208.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:48.549Z,1749341208.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 97.207634 m,
      bearing: 297.741292 deg,
      approach rate: 0.257957 m/s,
      LOS rate: -0.304563 deg/s,
      cmd heading: 297.967330 deg,
      new cmd heading: 297.641376 deg.

2025-06-08T00:06:48.550Z,1749341208.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.194822 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:48.721Z,1749341208.721 [DAT](INFO): DAT read: Rx Time:00:06:47.8115

2025-06-08T00:06:48.722Z,1749341208.722 [DAT](INFO): Rx dataTimestamp_ set to:1749341208.721217
2025-06-08T00:06:48.722Z,1749341208.722 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.266003
2025-06-08T00:06:48.972Z,1749341208.972 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.516303
2025-06-08T00:06:48.993Z,1749341208.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:48.995Z,1749341208.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.97 m.
2025-06-08T00:06:49.002Z,1749341209.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.974983 m,
      nav range: 97.309158 m,
      bearing: 297.614228 deg,
      approach rate: 0.226293 m/s,
      LOS rate: -0.282924 deg/s,
      cmd heading: 297.641366 deg,
      new cmd heading: 297.260578 deg.

2025-06-08T00:06:49.003Z,1749341209.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188176 target range: 91.974983 and range: 92.70 m.
2025-06-08T00:06:49.230Z,1749341209.230 [DAT](INFO): DAT read: 00:06:47.8115 LVL= 15648, 15121, 13154, 23763, AGC= 65, IDX= 463,-0.14, 1.953,-2.332,-1.820,-2.743, PHS=-1.499, 0.458, 0.919, RAW= 259.7,   1.1, CAL= 262.7,   2.0, ROT= 247.3,  -2.0

2025-06-08T00:06:49.232Z,1749341209.232 [DAT](INFO): got valid direction response:
 00:06:47.8115 LVL= 15648, 15121, 13154, 23763, AGC= 65, IDX= 463,-0.14, 1.953,-2.332,-1.820,-2.743, PHS=-1.499, 0.458, 0.919, RAW= 259.7,   1.1, CAL= 262.7,   2.0, ROT= 247.3,  -2.0

2025-06-08T00:06:49.233Z,1749341209.233 [DAT](INFO): DAT read: Bearing 247.3,  -2.0 (Local)

2025-06-08T00:06:49.233Z,1749341209.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.3,  -2.0 (Local)

2025-06-08T00:06:49.234Z,1749341209.234 [DAT](INFO): DAT read: Range 10 to 50 : 93.9 m  (Round-trip  125.2 ms) speed -0.2 m/s

2025-06-08T00:06:49.235Z,1749341209.235 [DAT](INFO): DAT read: user:2090>

2025-06-08T00:06:49.236Z,1749341209.236 [DAT](INFO): DAT read: Tx time:00:06:48.9321

2025-06-08T00:06:49.236Z,1749341209.236 [DAT](INFO): Ping request sent.
2025-06-08T00:06:49.236Z,1749341209.236 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:49.237Z,1749341209.237 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-06-08T00:06:49.238Z,1749341209.238 [DAT](INFO): direction in FSK: [-0.385671,-0.921976,0.034899]
2025-06-08T00:06:49.238Z,1749341209.238 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:49.238Z,1749341209.238 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:49.241Z,1749341209.241 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:49.242Z,1749341209.242 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:49.254Z,1749341209.254 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.017557
2025-06-08T00:06:49.445Z,1749341209.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.900002 m,
      deltaT: 3.779927 s,
      deltaX: 1.200005 m,
      approachRate: 0.317468 m/s,
      rangeRepo size: 3

2025-06-08T00:06:49.447Z,1749341209.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.169792 m,
      bearing: 302.469076 deg,
      lat: 36.905964 deg,
      lon: -122.115985 deg,
      deltaT: 3.779927 s,
      deltaX: 1.194809 m,
      approachRate: 0.316093 m/s,
      posRepo size: 3

2025-06-08T00:06:49.452Z,1749341209.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:49.454Z,1749341209.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 99.853561 m,
      bearing: 300.027804 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.282924 deg/s,
      cmd heading: 297.260570 deg,
      new cmd heading: 296.879272 deg.

2025-06-08T00:06:49.467Z,1749341209.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181521 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:49.477Z,1749341209.477 [DAT](INFO): DAT read: TxSync time:00:06:48.9313

2025-06-08T00:06:49.478Z,1749341209.478 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.241292
2025-06-08T00:06:49.728Z,1749341209.728 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.491732
2025-06-08T00:06:49.766Z,1749341209.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:49.789Z,1749341209.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 99.921997 m,
      bearing: 299.909553 deg,
      approach rate: 0.212369 m/s,
      LOS rate: -0.366705 deg/s,
      cmd heading: 296.879281 deg,
      new cmd heading: 296.524775 deg.

2025-06-08T00:06:49.790Z,1749341209.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175333 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:49.984Z,1749341209.984 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.746921
2025-06-08T00:06:50.232Z,1749341210.232 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.995686
2025-06-08T00:06:50.246Z,1749341210.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:50.254Z,1749341210.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 100.002144 m,
      bearing: 299.744236 deg,
      approach rate: 0.167059 m/s,
      LOS rate: -0.344313 deg/s,
      cmd heading: 296.524767 deg,
      new cmd heading: 296.029226 deg.

2025-06-08T00:06:50.259Z,1749341210.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166685 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:50.484Z,1749341210.484 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.247730
2025-06-08T00:06:50.580Z,1749341210.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:50.582Z,1749341210.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 100.059830 m,
      bearing: 299.613697 deg,
      approach rate: 0.173061 m/s,
      LOS rate: -0.391398 deg/s,
      cmd heading: 296.029223 deg,
      new cmd heading: 295.637838 deg.

2025-06-08T00:06:50.583Z,1749341210.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159853 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:50.736Z,1749341210.736 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.499817
2025-06-08T00:06:50.988Z,1749341210.988 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.751796
2025-06-08T00:06:50.998Z,1749341210.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:51.000Z,1749341211.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:51.005Z,1749341211.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 100.118340 m,
      bearing: 299.465607 deg,
      approach rate: 0.139030 m/s,
      LOS rate: -0.351683 deg/s,
      cmd heading: 295.637826 deg,
      new cmd heading: 295.193827 deg.

2025-06-08T00:06:51.006Z,1749341211.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152104 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:51.241Z,1749341211.241 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.004311
2025-06-08T00:06:51.399Z,1749341211.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:51.402Z,1749341211.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 100.176994 m,
      bearing: 299.308375 deg,
      approach rate: 0.147179 m/s,
      LOS rate: -0.394304 deg/s,
      cmd heading: 295.193836 deg,
      new cmd heading: 294.722426 deg.

2025-06-08T00:06:51.403Z,1749341211.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143877 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:51.493Z,1749341211.493 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.256342
2025-06-08T00:06:51.744Z,1749341211.744 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.507689
2025-06-08T00:06:51.796Z,1749341211.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:51.798Z,1749341211.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 100.225685 m,
      bearing: 299.162475 deg,
      approach rate: 0.124051 m/s,
      LOS rate: -0.371532 deg/s,
      cmd heading: 294.722417 deg,
      new cmd heading: 294.284941 deg.

2025-06-08T00:06:51.803Z,1749341211.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.136241 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:51.997Z,1749341211.997 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.760455
2025-06-08T00:06:52.248Z,1749341212.248 [DAT](INFO): DAT read: Rx Time:00:06:51.4624

2025-06-08T00:06:52.249Z,1749341212.249 [DAT](INFO): Rx dataTimestamp_ set to:1749341212.248462
2025-06-08T00:06:52.249Z,1749341212.249 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.012809
2025-06-08T00:06:52.294Z,1749341212.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:52.301Z,1749341212.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 100.272301 m,
      bearing: 298.977593 deg,
      approach rate: 0.092785 m/s,
      LOS rate: -0.367825 deg/s,
      cmd heading: 294.284930 deg,
      new cmd heading: 293.730559 deg.

2025-06-08T00:06:52.302Z,1749341212.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126565 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:52.501Z,1749341212.501 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.264294
2025-06-08T00:06:52.604Z,1749341212.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.17 m.
2025-06-08T00:06:52.607Z,1749341212.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.169792 m,
      nav range: 100.299965 m,
      bearing: 298.844735 deg,
      approach rate: 0.089228 m/s,
      LOS rate: -0.428399 deg/s,
      cmd heading: 293.730564 deg,
      new cmd heading: 293.332107 deg.

2025-06-08T00:06:52.608Z,1749341212.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119611 target range: 93.169792 and range: 93.90 m.
2025-06-08T00:06:52.759Z,1749341212.759 [DAT](INFO): DAT read: 00:06:51.4624 LVL= 21888, 15969, 17506, 29171, AGC= 60, IDX= 440, 0.06,-2.699,-1.513,-0.177,-1.412, PHS=-1.198,-0.053, 1.232, RAW= 238.1,   0.2, CAL= 241.0,   0.5, ROT= 269.0,  -0.5

2025-06-08T00:06:52.760Z,1749341212.760 [DAT](INFO): got valid direction response:
 00:06:51.4624 LVL= 21888, 15969, 17506, 29171, AGC= 60, IDX= 440, 0.06,-2.699,-1.513,-0.177,-1.412, PHS=-1.198,-0.053, 1.232, RAW= 238.1,   0.2, CAL= 241.0,   0.5, ROT= 269.0,  -0.5

2025-06-08T00:06:52.761Z,1749341212.761 [DAT](INFO): DAT read: Bearing 269.0,  -0.5 (Local)

2025-06-08T00:06:52.761Z,1749341212.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.0,  -0.5 (Local)

2025-06-08T00:06:52.763Z,1749341212.763 [DAT](INFO): DAT read: Range 10 to 50 : 94.5 m  (Round-trip  126.1 ms) speed -0.2 m/s

2025-06-08T00:06:52.764Z,1749341212.764 [DAT](INFO): DAT read: user:2091>

2025-06-08T00:06:52.765Z,1749341212.765 [DAT](INFO): DAT read: Tx time:00:06:52.5821

2025-06-08T00:06:52.765Z,1749341212.765 [DAT](INFO): Ping request sent.
2025-06-08T00:06:52.765Z,1749341212.765 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:52.765Z,1749341212.765 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-08T00:06:52.766Z,1749341212.766 [DAT](INFO): direction in FSK: [-0.017452,-0.999810,0.008727]
2025-06-08T00:06:52.766Z,1749341212.766 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:52.767Z,1749341212.767 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:52.774Z,1749341212.774 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:52.774Z,1749341212.774 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:52.794Z,1749341212.794 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.028227
2025-06-08T00:06:53.012Z,1749341213.012 [DAT](INFO): DAT read: TxSync time:00:06:52.5813

2025-06-08T00:06:53.013Z,1749341213.013 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.248102
2025-06-08T00:06:53.086Z,1749341213.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.500000 m,
      deltaT: 3.528136 s,
      deltaX: 0.599998 m,
      approachRate: 0.170061 m/s,
      rangeRepo size: 4

2025-06-08T00:06:53.096Z,1749341213.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.767227 m,
      bearing: 310.431280 deg,
      lat: 36.906029 deg,
      lon: -122.115985 deg,
      deltaT: 3.528136 s,
      deltaX: 0.597435 m,
      approachRate: 0.169334 m/s,
      posRepo size: 4

2025-06-08T00:06:53.097Z,1749341213.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:53.108Z,1749341213.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 104.008591 m,
      bearing: 302.185458 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.428399 deg/s,
      cmd heading: 293.332118 deg,
      new cmd heading: 292.713398 deg.

2025-06-08T00:06:53.109Z,1749341213.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108812 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:53.265Z,1749341213.265 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.499585
2025-06-08T00:06:53.447Z,1749341213.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:53.449Z,1749341213.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:53.452Z,1749341213.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 104.016411 m,
      bearing: 302.036736 deg,
      approach rate: 0.021484 m/s,
      LOS rate: -0.408549 deg/s,
      cmd heading: 292.713385 deg,
      new cmd heading: 292.267264 deg.

2025-06-08T00:06:53.453Z,1749341213.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101026 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:53.516Z,1749341213.516 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.751303
2025-06-08T00:06:53.768Z,1749341213.768 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.003151
2025-06-08T00:06:53.846Z,1749341213.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:53.853Z,1749341213.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 104.017578 m,
      bearing: 301.893459 deg,
      approach rate: 0.002942 m/s,
      LOS rate: -0.361113 deg/s,
      cmd heading: 292.267264 deg,
      new cmd heading: 291.837445 deg.

2025-06-08T00:06:53.854Z,1749341213.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093524 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:54.020Z,1749341214.020 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.255149
2025-06-08T00:06:54.272Z,1749341214.272 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.507301
2025-06-08T00:06:54.308Z,1749341214.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:54.311Z,1749341214.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 104.011086 m,
      bearing: 301.737886 deg,
      approach rate: -0.014050 m/s,
      LOS rate: -0.336688 deg/s,
      cmd heading: 291.837454 deg,
      new cmd heading: 291.370719 deg.

2025-06-08T00:06:54.317Z,1749341214.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085378 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:54.524Z,1749341214.524 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.759069
2025-06-08T00:06:54.642Z,1749341214.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:54.645Z,1749341214.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 103.999329 m,
      bearing: 301.613161 deg,
      approach rate: -0.035239 m/s,
      LOS rate: -0.373877 deg/s,
      cmd heading: 291.370706 deg,
      new cmd heading: 290.996495 deg.

2025-06-08T00:06:54.646Z,1749341214.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078847 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:54.776Z,1749341214.776 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.011242
2025-06-08T00:06:55.028Z,1749341215.028 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.263305
2025-06-08T00:06:55.041Z,1749341215.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:55.045Z,1749341215.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 103.979370 m,
      bearing: 301.474050 deg,
      approach rate: -0.049921 m/s,
      LOS rate: -0.348019 deg/s,
      cmd heading: 290.996494 deg,
      new cmd heading: 290.579089 deg.

2025-06-08T00:06:55.046Z,1749341215.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071562 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:55.280Z,1749341215.280 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.515184
2025-06-08T00:06:55.465Z,1749341215.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:55.467Z,1749341215.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:55.470Z,1749341215.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 103.960426 m,
      bearing: 301.332670 deg,
      approach rate: -0.044501 m/s,
      LOS rate: -0.332181 deg/s,
      cmd heading: 290.579087 deg,
      new cmd heading: 290.154877 deg.

2025-06-08T00:06:55.471Z,1749341215.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064158 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:55.533Z,1749341215.533 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.767618
2025-06-08T00:06:55.785Z,1749341215.785 [DAT](INFO): DAT read: Rx Time:00:06:55.1127

2025-06-08T00:06:55.785Z,1749341215.785 [DAT](INFO): Rx dataTimestamp_ set to:1749341215.784952
2025-06-08T00:06:55.788Z,1749341215.788 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.022542
2025-06-08T00:06:55.858Z,1749341215.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:55.861Z,1749341215.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 103.936951 m,
      bearing: 301.202111 deg,
      approach rate: -0.060019 m/s,
      LOS rate: -0.333868 deg/s,
      cmd heading: 290.154878 deg,
      new cmd heading: 289.763120 deg.

2025-06-08T00:06:55.862Z,1749341215.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057321 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:56.038Z,1749341216.038 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.272255
2025-06-08T00:06:56.288Z,1749341216.288 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.523235
2025-06-08T00:06:56.385Z,1749341216.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:06:56.392Z,1749341216.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.767227 m,
      nav range: 103.908813 m,
      bearing: 301.050986 deg,
      approach rate: -0.054029 m/s,
      LOS rate: -0.290268 deg/s,
      cmd heading: 289.763126 deg,
      new cmd heading: 289.309636 deg.

2025-06-08T00:06:56.394Z,1749341216.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.049406 target range: 93.767227 and range: 94.50 m.
2025-06-08T00:06:56.546Z,1749341216.546 [DAT](INFO): DAT read: 00:06:55.1127 LVL= 18016, 13073,  8642, 23443, AGC= 59, IDX= 427, 0.32,-3.084,-1.843,-0.587,-1.879, PHS=-1.117, 0.082, 1.289, RAW= 239.9,  -2.5, CAL= 241.2,  -6.0, ROT= 268.8,   6.0

2025-06-08T00:06:56.548Z,1749341216.548 [DAT](INFO): got valid direction response:
 00:06:55.1127 LVL= 18016, 13073,  8642, 23443, AGC= 59, IDX= 427, 0.32,-3.084,-1.843,-0.587,-1.879, PHS=-1.117, 0.082, 1.289, RAW= 239.9,  -2.5, CAL= 241.2,  -6.0, ROT= 268.8,   6.0

2025-06-08T00:06:56.549Z,1749341216.549 [DAT](INFO): DAT read: Bearing 268.8,   6.0 (Local)

2025-06-08T00:06:56.550Z,1749341216.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.8,   6.0 (Local)

2025-06-08T00:06:56.553Z,1749341216.553 [DAT](INFO): DAT read: Range 10 to 50 : 94.8 m  (Round-trip  126.4 ms) speed  0.0 m/s

2025-06-08T00:06:56.554Z,1749341216.554 [DAT](INFO): DAT read: user:2092>

2025-06-08T00:06:56.555Z,1749341216.555 [DAT](INFO): DAT read: Tx time:00:06:56.2322

2025-06-08T00:06:56.555Z,1749341216.555 [DAT](INFO): Ping request sent.
2025-06-08T00:06:56.555Z,1749341216.555 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:06:56.555Z,1749341216.555 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-06-08T00:06:56.556Z,1749341216.556 [DAT](INFO): direction in FSK: [-0.020828,-0.994304,-0.104528]
2025-06-08T00:06:56.557Z,1749341216.557 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:56.557Z,1749341216.557 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:56.560Z,1749341216.560 [DAT](INFO): publishing transmit ping time
2025-06-08T00:06:56.560Z,1749341216.560 [DAT](INFO): publishing direction and range info
2025-06-08T00:06:56.592Z,1749341216.592 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.037013
2025-06-08T00:06:56.792Z,1749341216.792 [DAT](INFO): DAT read: TxSync time:00:06:56.2314

2025-06-08T00:06:56.793Z,1749341216.793 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.237849
2025-06-08T00:06:56.891Z,1749341216.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.800003 m,
      deltaT: 3.787921 s,
      deltaX: 0.300003 m,
      approachRate: 0.079200 m/s,
      rangeRepo size: 4

2025-06-08T00:06:56.893Z,1749341216.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.067070 m,
      bearing: 294.493642 deg,
      lat: 36.905964 deg,
      lon: -122.115939 deg,
      deltaT: 3.787921 s,
      deltaX: 0.299843 m,
      approachRate: 0.079158 m/s,
      posRepo size: 4

2025-06-08T00:06:56.894Z,1749341216.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.07 m.
2025-06-08T00:06:56.897Z,1749341216.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.067070 m,
      nav range: 96.763588 m,
      bearing: 298.414238 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.290268 deg/s,
      cmd heading: 289.309628 deg,
      new cmd heading: 288.864476 deg.

2025-06-08T00:06:56.898Z,1749341216.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041636 target range: 94.067070 and range: 94.80 m.
2025-06-08T00:06:57.044Z,1749341217.044 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.488968
2025-06-08T00:06:57.302Z,1749341217.302 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.745921
2025-06-08T00:06:57.410Z,1749341217.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.07 m.
2025-06-08T00:06:57.417Z,1749341217.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.067070 m,
      nav range: 96.738060 m,
      bearing: 298.244309 deg,
      approach rate: -0.049133 m/s,
      LOS rate: -0.327143 deg/s,
      cmd heading: 288.864464 deg,
      new cmd heading: 288.354558 deg.

2025-06-08T00:06:57.418Z,1749341217.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032736 target range: 94.067070 and range: 94.80 m.
2025-06-08T00:06:57.548Z,1749341217.548 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.992942
2025-06-08T00:06:57.768Z,1749341217.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:57.770Z,1749341217.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.07 m.
2025-06-08T00:06:57.773Z,1749341217.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.067070 m,
      nav range: 96.716133 m,
      bearing: 298.124752 deg,
      approach rate: -0.060802 m/s,
      LOS rate: -0.331602 deg/s,
      cmd heading: 288.354549 deg,
      new cmd heading: 287.995801 deg.

2025-06-08T00:06:57.774Z,1749341217.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026475 target range: 94.067070 and range: 94.80 m.
2025-06-08T00:06:57.802Z,1749341217.802 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.246737
2025-06-08T00:06:58.052Z,1749341218.052 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.496981
2025-06-08T00:06:58.176Z,1749341218.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.07 m.
2025-06-08T00:06:58.179Z,1749341218.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.067070 m,
      nav range: 96.686623 m,
      bearing: 297.989831 deg,
      approach rate: -0.072776 m/s,
      LOS rate: -0.332831 deg/s,
      cmd heading: 287.995801 deg,
      new cmd heading: 287.590923 deg.

2025-06-08T00:06:58.200Z,1749341218.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019409 target range: 94.067070 and range: 94.80 m.
2025-06-08T00:06:58.305Z,1749341218.305 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.750270
2025-06-08T00:06:58.556Z,1749341218.556 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.001309
2025-06-08T00:06:58.618Z,1749341218.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.07 m.
2025-06-08T00:06:58.625Z,1749341218.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.067070 m,
      nav range: 96.650467 m,
      bearing: 297.859899 deg,
      approach rate: -0.081866 m/s,
      LOS rate: -0.294310 deg/s,
      cmd heading: 287.590934 deg,
      new cmd heading: 287.200999 deg.

2025-06-08T00:06:58.626Z,1749341218.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012603 target range: 94.067070 and range: 94.80 m.
2025-06-08T00:06:58.808Z,1749341218.808 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.253006
2025-06-08T00:06:58.977Z,1749341218.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.07 m.
2025-06-08T00:06:58.981Z,1749341218.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.067070 m,
      nav range: 96.610428 m,
      bearing: 297.734546 deg,
      approach rate: -0.111280 m/s,
      LOS rate: -0.348538 deg/s,
      cmd heading: 287.201012 deg,
      new cmd heading: 286.824801 deg.

2025-06-08T00:06:58.982Z,1749341218.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006037 target range: 94.067070 and range: 94.80 m.
2025-06-08T00:06:59.061Z,1749341219.061 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.505841
2025-06-08T00:06:59.316Z,1749341219.316 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.759454
2025-06-08T00:06:59.401Z,1749341219.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.07 m.
2025-06-08T00:06:59.404Z,1749341219.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.067070 m,
      nav range: 96.549561 m,
      bearing: 297.603179 deg,
      approach rate: -0.143807 m/s,
      LOS rate: -0.310566 deg/s,
      cmd heading: 286.824806 deg,
      new cmd heading: 286.430463 deg.

2025-06-08T00:06:59.405Z,1749341219.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999155 target range: 94.067070 and range: 94.80 m.
2025-06-08T00:06:59.564Z,1749341219.564 [DAT](INFO): DAT read: Rx Time:00:06:58.7625

2025-06-08T00:06:59.565Z,1749341219.565 [DAT](INFO): Rx dataTimestamp_ set to:1749341219.564409
2025-06-08T00:06:59.565Z,1749341219.565 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.010083
2025-06-08T00:06:59.816Z,1749341219.816 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.261051
2025-06-08T00:06:59.826Z,1749341219.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:06:59.829Z,1749341219.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.07 m.
2025-06-08T00:06:59.832Z,1749341219.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.067070 m,
      nav range: 96.482727 m,
      bearing: 297.471863 deg,
      approach rate: -0.156129 m/s,
      LOS rate: -0.306979 deg/s,
      cmd heading: 286.430458 deg,
      new cmd heading: 286.036243 deg.

2025-06-08T00:06:59.833Z,1749341219.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.992274 target range: 94.067070 and range: 94.80 m.
2025-06-08T00:07:00.075Z,1749341220.075 [DAT](INFO): DAT read: 00:06:58.7625 LVL= 19680, 20305, 10098, 23139, AGC= 66, IDX= 440,-0.43,-0.092, 0.907, 2.519, 1.059, PHS=-1.063,-0.105, 1.457, RAW= 232.1,  -2.7, CAL= 231.5,  -7.8, ROT= 278.5,   7.8

2025-06-08T00:07:00.076Z,1749341220.076 [DAT](INFO): got valid direction response:
 00:06:58.7625 LVL= 19680, 20305, 10098, 23139, AGC= 66, IDX= 440,-0.43,-0.092, 0.907, 2.519, 1.059, PHS=-1.063,-0.105, 1.457, RAW= 232.1,  -2.7, CAL= 231.5,  -7.8, ROT= 278.5,   7.8

2025-06-08T00:07:00.077Z,1749341220.077 [DAT](INFO): DAT read: Bearing 278.5,   7.8 (Local)

2025-06-08T00:07:00.077Z,1749341220.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.5,   7.8 (Local)

2025-06-08T00:07:00.079Z,1749341220.079 [DAT](INFO): DAT read: Range 10 to 50 : 94.5 m  (Round-trip  126.1 ms) speed  0.0 m/s

2025-06-08T00:07:00.080Z,1749341220.080 [DAT](INFO): DAT read: user:2093>

2025-06-08T00:07:00.081Z,1749341220.081 [DAT](INFO): DAT read: Tx time:00:06:59.8822

2025-06-08T00:07:00.081Z,1749341220.081 [DAT](INFO): Ping request sent.
2025-06-08T00:07:00.081Z,1749341220.081 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:00.081Z,1749341220.081 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-06-08T00:07:00.082Z,1749341220.082 [DAT](INFO): direction in FSK: [0.146442,-0.979865,-0.135716]
2025-06-08T00:07:00.082Z,1749341220.082 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:00.083Z,1749341220.083 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:00.086Z,1749341220.086 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:00.086Z,1749341220.086 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:00.089Z,1749341220.089 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.008427
2025-06-08T00:07:00.229Z,1749341220.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.500000 m,
      deltaT: 3.528209 s,
      deltaX: -0.300003 m,
      approachRate: -0.085030 m/s,
      rangeRepo size: 4

2025-06-08T00:07:00.237Z,1749341220.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.771263 m,
      bearing: 290.876086 deg,
      lat: 36.905898 deg,
      lon: -122.115939 deg,
      deltaT: 3.528209 s,
      deltaX: -0.295807 m,
      approachRate: -0.083841 m/s,
      posRepo size: 4

2025-06-08T00:07:00.238Z,1749341220.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:00.255Z,1749341220.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 93.301514 m,
      bearing: 293.386908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.306979 deg/s,
      cmd heading: 286.036247 deg,
      new cmd heading: 285.668383 deg.

2025-06-08T00:07:00.256Z,1749341220.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985854 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:00.323Z,1749341220.323 [DAT](INFO): DAT read: TxSync time:00:06:59.8814

2025-06-08T00:07:00.326Z,1749341220.326 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.244531
2025-06-08T00:07:00.572Z,1749341220.572 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.491161
2025-06-08T00:07:00.658Z,1749341220.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:00.661Z,1749341220.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 93.227371 m,
      bearing: 293.239637 deg,
      approach rate: -0.172597 m/s,
      LOS rate: -0.343108 deg/s,
      cmd heading: 285.668373 deg,
      new cmd heading: 285.226216 deg.

2025-06-08T00:07:00.662Z,1749341220.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978137 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:00.824Z,1749341220.824 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.743172
2025-06-08T00:07:01.021Z,1749341221.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:01.048Z,1749341221.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 93.162216 m,
      bearing: 293.121664 deg,
      approach rate: -0.179623 m/s,
      LOS rate: -0.325461 deg/s,
      cmd heading: 285.226214 deg,
      new cmd heading: 284.872052 deg.

2025-06-08T00:07:01.049Z,1749341221.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.971955 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:01.079Z,1749341221.079 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.997930
2025-06-08T00:07:01.330Z,1749341221.330 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.249004
2025-06-08T00:07:01.427Z,1749341221.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:01.430Z,1749341221.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 93.079338 m,
      bearing: 292.987179 deg,
      approach rate: -0.203961 m/s,
      LOS rate: -0.331260 deg/s,
      cmd heading: 284.872055 deg,
      new cmd heading: 284.468247 deg.

2025-06-08T00:07:01.431Z,1749341221.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.964908 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:01.582Z,1749341221.582 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.500733
2025-06-08T00:07:01.808Z,1749341221.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:01.832Z,1749341221.832 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.751316
2025-06-08T00:07:01.870Z,1749341221.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 92.995583 m,
      bearing: 292.862228 deg,
      approach rate: -0.219522 m/s,
      LOS rate: -0.327788 deg/s,
      cmd heading: 284.468254 deg,
      new cmd heading: 284.093070 deg.

2025-06-08T00:07:01.871Z,1749341221.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958359 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:02.084Z,1749341222.084 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.003124
2025-06-08T00:07:02.218Z,1749341222.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:02.220Z,1749341222.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:02.223Z,1749341222.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 92.899017 m,
      bearing: 292.728863 deg,
      approach rate: -0.234382 m/s,
      LOS rate: -0.324039 deg/s,
      cmd heading: 284.093058 deg,
      new cmd heading: 283.692552 deg.

2025-06-08T00:07:02.224Z,1749341222.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.951369 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:02.341Z,1749341222.341 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.259862
2025-06-08T00:07:02.588Z,1749341222.588 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.507321
2025-06-08T00:07:02.652Z,1749341222.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:02.655Z,1749341222.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 92.795006 m,
      bearing: 292.593283 deg,
      approach rate: -0.243771 m/s,
      LOS rate: -0.318113 deg/s,
      cmd heading: 283.692563 deg,
      new cmd heading: 283.285374 deg.

2025-06-08T00:07:02.660Z,1749341222.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944263 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:02.840Z,1749341222.840 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.759153
2025-06-08T00:07:03.020Z,1749341223.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:03.023Z,1749341223.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 92.691437 m,
      bearing: 292.466225 deg,
      approach rate: -0.277425 m/s,
      LOS rate: -0.340723 deg/s,
      cmd heading: 283.285374 deg,
      new cmd heading: 282.903781 deg.

2025-06-08T00:07:03.025Z,1749341223.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937603 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:03.093Z,1749341223.093 [DAT](INFO): DAT read: Rx Time:00:07:02.4114

2025-06-08T00:07:03.093Z,1749341223.093 [DAT](INFO): Rx dataTimestamp_ set to:1749341223.093179
2025-06-08T00:07:03.094Z,1749341223.094 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.013075
2025-06-08T00:07:03.347Z,1749341223.347 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.265308
2025-06-08T00:07:03.464Z,1749341223.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:03.467Z,1749341223.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 92.572136 m,
      bearing: 292.319712 deg,
      approach rate: -0.268910 m/s,
      LOS rate: -0.330673 deg/s,
      cmd heading: 282.903785 deg,
      new cmd heading: 282.463689 deg.

2025-06-08T00:07:03.486Z,1749341223.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929921 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:03.597Z,1749341223.597 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.515537
2025-06-08T00:07:03.830Z,1749341223.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.77 m.
2025-06-08T00:07:03.835Z,1749341223.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.771263 m,
      nav range: 92.462646 m,
      bearing: 292.192292 deg,
      approach rate: -0.299494 m/s,
      LOS rate: -0.348953 deg/s,
      cmd heading: 282.463675 deg,
      new cmd heading: 282.080968 deg.

2025-06-08T00:07:03.837Z,1749341223.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923242 target range: 93.771263 and range: 94.50 m.
2025-06-08T00:07:03.856Z,1749341223.856 [DAT](INFO): DAT read: 00:07:02.4114 LVL= 26768, 28657, 16146, 28883, AGC= 66, IDX= 429, 0.20, 1.638, 1.887,-2.524, 2.420, PHS=-0.694,-0.486, 1.336, RAW= 215.4,  -1.6, CAL= 214.2,  -8.2, ROT= 295.8,   8.2

2025-06-08T00:07:03.857Z,1749341223.857 [DAT](INFO): got valid direction response:
 00:07:02.4114 LVL= 26768, 28657, 16146, 28883, AGC= 66, IDX= 429, 0.20, 1.638, 1.887,-2.524, 2.420, PHS=-0.694,-0.486, 1.336, RAW= 215.4,  -1.6, CAL= 214.2,  -8.2, ROT= 295.8,   8.2

2025-06-08T00:07:03.858Z,1749341223.858 [DAT](INFO): DAT read: Bearing 295.8,   8.2 (Local)

2025-06-08T00:07:03.859Z,1749341223.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.8,   8.2 (Local)

2025-06-08T00:07:03.860Z,1749341223.860 [DAT](INFO): DAT read: Range 10 to 50 : 93.7 m  (Round-trip  125.0 ms) speed  0.2 m/s

2025-06-08T00:07:03.861Z,1749341223.861 [DAT](INFO): DAT read: user:2094>

2025-06-08T00:07:03.862Z,1749341223.862 [DAT](INFO): DAT read: Tx time:00:07:03.5322

2025-06-08T00:07:03.862Z,1749341223.862 [DAT](INFO): Ping request sent.
2025-06-08T00:07:03.862Z,1749341223.862 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:03.862Z,1749341223.862 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-06-08T00:07:03.864Z,1749341223.864 [DAT](INFO): direction in FSK: [0.430781,-0.891114,-0.142629]
2025-06-08T00:07:03.864Z,1749341223.864 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:03.864Z,1749341223.864 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:03.875Z,1749341223.875 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:03.876Z,1749341223.876 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:03.879Z,1749341223.879 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.016524
2025-06-08T00:07:04.105Z,1749341224.105 [DAT](INFO): DAT read: TxSync time:00:07:03.5314

2025-06-08T00:07:04.106Z,1749341224.106 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.244011
2025-06-08T00:07:04.244Z,1749341224.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.699997 m,
      deltaT: 3.780317 s,
      deltaX: -0.800003 m,
      approachRate: -0.211623 m/s,
      rangeRepo size: 4

2025-06-08T00:07:04.246Z,1749341224.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.976067 m,
      bearing: 292.195865 deg,
      lat: 36.905899 deg,
      lon: -122.115935 deg,
      deltaT: 3.780317 s,
      deltaX: -0.795197 m,
      approachRate: -0.210352 m/s,
      posRepo size: 4

2025-06-08T00:07:04.247Z,1749341224.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.98 m.
2025-06-08T00:07:04.250Z,1749341224.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.976067 m,
      nav range: 91.974693 m,
      bearing: 292.196194 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.348953 deg/s,
      cmd heading: 282.080966 deg,
      new cmd heading: 281.647963 deg.

2025-06-08T00:07:04.251Z,1749341224.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915684 target range: 92.976067 and range: 93.70 m.
2025-06-08T00:07:04.356Z,1749341224.356 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.492551
2025-06-08T00:07:04.604Z,1749341224.604 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.742278
2025-06-08T00:07:04.667Z,1749341224.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:04.670Z,1749341224.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.98 m.
2025-06-08T00:07:04.673Z,1749341224.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.976067 m,
      nav range: 91.840942 m,
      bearing: 292.049183 deg,
      approach rate: -0.313726 m/s,
      LOS rate: -0.345330 deg/s,
      cmd heading: 281.647959 deg,
      new cmd heading: 281.206295 deg.

2025-06-08T00:07:04.674Z,1749341224.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907976 target range: 92.976067 and range: 93.70 m.
2025-06-08T00:07:04.856Z,1749341224.856 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.994068
2025-06-08T00:07:05.035Z,1749341225.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.98 m.
2025-06-08T00:07:05.038Z,1749341225.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.976067 m,
      nav range: 91.721664 m,
      bearing: 291.925859 deg,
      approach rate: -0.326311 m/s,
      LOS rate: -0.337820 deg/s,
      cmd heading: 281.206292 deg,
      new cmd heading: 280.835842 deg.

2025-06-08T00:07:05.039Z,1749341225.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901510 target range: 92.976067 and range: 93.70 m.
2025-06-08T00:07:05.109Z,1749341225.109 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.246809
2025-06-08T00:07:05.363Z,1749341225.363 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.500076
2025-06-08T00:07:05.480Z,1749341225.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.98 m.
2025-06-08T00:07:05.482Z,1749341225.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.976067 m,
      nav range: 91.579460 m,
      bearing: 291.774919 deg,
      approach rate: -0.320126 m/s,
      LOS rate: -0.340319 deg/s,
      cmd heading: 280.835850 deg,
      new cmd heading: 280.382337 deg.

2025-06-08T00:07:05.484Z,1749341225.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893595 target range: 92.976067 and range: 93.70 m.
2025-06-08T00:07:05.612Z,1749341225.612 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.750119
2025-06-08T00:07:05.862Z,1749341225.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.98 m.
2025-06-08T00:07:05.864Z,1749341225.864 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.002068
2025-06-08T00:07:05.866Z,1749341225.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.976067 m,
      nav range: 91.457436 m,
      bearing: 291.653057 deg,
      approach rate: -0.321039 m/s,
      LOS rate: -0.321039 deg/s,
      cmd heading: 280.382325 deg,
      new cmd heading: 280.016257 deg.

2025-06-08T00:07:05.867Z,1749341225.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.887206 target range: 92.976067 and range: 93.70 m.
2025-06-08T00:07:06.116Z,1749341226.116 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.253919
2025-06-08T00:07:06.255Z,1749341226.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.98 m.
2025-06-08T00:07:06.258Z,1749341226.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.976067 m,
      nav range: 91.314163 m,
      bearing: 291.517181 deg,
      approach rate: -0.362222 m/s,
      LOS rate: -0.344062 deg/s,
      cmd heading: 280.016255 deg,
      new cmd heading: 279.607993 deg.

2025-06-08T00:07:06.259Z,1749341226.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880080 target range: 92.976067 and range: 93.70 m.
2025-06-08T00:07:06.371Z,1749341226.371 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.508443
2025-06-08T00:07:06.620Z,1749341226.620 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.757995
2025-06-08T00:07:06.691Z,1749341226.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:06.694Z,1749341226.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.98 m.
2025-06-08T00:07:06.697Z,1749341226.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.976067 m,
      nav range: 91.159607 m,
      bearing: 291.376305 deg,
      approach rate: -0.352433 m/s,
      LOS rate: -0.321780 deg/s,
      cmd heading: 279.608000 deg,
      new cmd heading: 279.184667 deg.

2025-06-08T00:07:06.698Z,1749341226.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872692 target range: 92.976067 and range: 93.70 m.
2025-06-08T00:07:06.872Z,1749341226.872 [DAT](INFO): DAT read: Rx Time:00:07:06.0600

2025-06-08T00:07:06.873Z,1749341226.873 [DAT](INFO): Rx dataTimestamp_ set to:1749341226.872301
2025-06-08T00:07:06.873Z,1749341226.873 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.010975
2025-06-08T00:07:07.063Z,1749341227.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.98 m.
2025-06-08T00:07:07.066Z,1749341227.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.976067 m,
      nav range: 91.024010 m,
      bearing: 291.259365 deg,
      approach rate: -0.367079 m/s,
      LOS rate: -0.317046 deg/s,
      cmd heading: 279.184665 deg,
      new cmd heading: 278.833325 deg.

2025-06-08T00:07:07.067Z,1749341227.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866560 target range: 92.976067 and range: 93.70 m.
2025-06-08T00:07:07.125Z,1749341227.125 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.262932
2025-06-08T00:07:07.382Z,1749341227.382 [DAT](INFO): DAT read: 00:07:06.0600 LVL= 22480, 23137, 14786, 28851, AGC= 59, IDX= 431,-0.46,-2.241,-2.620,-0.658,-1.629, PHS=-0.524,-0.945, 0.967, RAW= 197.9,   5.8, CAL= 198.5,  -2.4, ROT= 311.5,   2.4

2025-06-08T00:07:07.385Z,1749341227.385 [DAT](INFO): got valid direction response:
 00:07:06.0600 LVL= 22480, 23137, 14786, 28851, AGC= 59, IDX= 431,-0.46,-2.241,-2.620,-0.658,-1.629, PHS=-0.524,-0.945, 0.967, RAW= 197.9,   5.8, CAL= 198.5,  -2.4, ROT= 311.5,   2.4

2025-06-08T00:07:07.388Z,1749341227.388 [DAT](INFO): DAT read: Bearing 311.5,   2.4 (Local)

2025-06-08T00:07:07.388Z,1749341227.388 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,   2.4 (Local)

2025-06-08T00:07:07.393Z,1749341227.393 [DAT](INFO): DAT read: Range 10 to 50 : 92.7 m  (Round-trip  123.7 ms) speed  0.3 m/s

2025-06-08T00:07:07.395Z,1749341227.395 [DAT](INFO): DAT read: user:2095>

2025-06-08T00:07:07.399Z,1749341227.399 [DAT](INFO): DAT read: Tx time:00:07:07.1822

2025-06-08T00:07:07.400Z,1749341227.400 [DAT](INFO): Ping request sent.
2025-06-08T00:07:07.401Z,1749341227.401 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:07.401Z,1749341227.401 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-06-08T00:07:07.405Z,1749341227.405 [DAT](INFO): direction in FSK: [0.662039,-0.748299,-0.041876]
2025-06-08T00:07:07.406Z,1749341227.406 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:07.407Z,1749341227.407 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:07.454Z,1749341227.454 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:07.455Z,1749341227.455 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:07.474Z,1749341227.474 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.073904
2025-06-08T00:07:07.601Z,1749341227.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.699997 m,
      deltaT: 3.527400 s,
      deltaX: -1.000000 m,
      approachRate: -0.283495 m/s,
      rangeRepo size: 4

2025-06-08T00:07:07.607Z,1749341227.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.983795 m,
      bearing: 295.020603 deg,
      lat: 36.905899 deg,
      lon: -122.115935 deg,
      deltaT: 3.527400 s,
      deltaX: -0.992271 m,
      approachRate: -0.281304 m/s,
      posRepo size: 4

2025-06-08T00:07:07.608Z,1749341227.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:07.611Z,1749341227.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 90.834808 m,
      bearing: 291.100227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.317046 deg/s,
      cmd heading: 278.833320 deg,
      new cmd heading: 278.322206 deg.

2025-06-08T00:07:07.618Z,1749341227.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857639 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:07.632Z,1749341227.632 [DAT](INFO): DAT read: TxSync time:00:07:07.1814

2025-06-08T00:07:07.633Z,1749341227.633 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.233159
2025-06-08T00:07:07.880Z,1749341227.880 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.480209
2025-06-08T00:07:07.964Z,1749341227.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:07.972Z,1749341227.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 90.694824 m,
      bearing: 290.987564 deg,
      approach rate: -0.390244 m/s,
      LOS rate: -0.314563 deg/s,
      cmd heading: 278.322204 deg,
      new cmd heading: 277.983698 deg.

2025-06-08T00:07:07.973Z,1749341227.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851731 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:08.132Z,1749341228.132 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.731987
2025-06-08T00:07:08.327Z,1749341228.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:08.332Z,1749341228.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 90.543907 m,
      bearing: 290.873157 deg,
      approach rate: -0.410132 m/s,
      LOS rate: -0.311429 deg/s,
      cmd heading: 277.983700 deg,
      new cmd heading: 277.639912 deg.

2025-06-08T00:07:08.334Z,1749341228.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845731 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:08.389Z,1749341228.389 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.988214
2025-06-08T00:07:08.636Z,1749341228.636 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.236073
2025-06-08T00:07:08.772Z,1749341228.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:08.774Z,1749341228.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:08.790Z,1749341228.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 90.365402 m,
      bearing: 290.742519 deg,
      approach rate: -0.398866 m/s,
      LOS rate: -0.292486 deg/s,
      cmd heading: 277.639922 deg,
      new cmd heading: 277.247238 deg.

2025-06-08T00:07:08.799Z,1749341228.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838877 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:08.889Z,1749341228.889 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.488637
2025-06-08T00:07:09.140Z,1749341229.140 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.740059
2025-06-08T00:07:09.199Z,1749341229.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:09.202Z,1749341229.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 90.179855 m,
      bearing: 290.612077 deg,
      approach rate: -0.437008 m/s,
      LOS rate: -0.307853 deg/s,
      cmd heading: 277.247241 deg,
      new cmd heading: 276.855118 deg.

2025-06-08T00:07:09.205Z,1749341229.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832033 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:09.392Z,1749341229.392 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.992000
2025-06-08T00:07:09.579Z,1749341229.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:09.582Z,1749341229.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 90.015640 m,
      bearing: 290.503118 deg,
      approach rate: -0.432371 m/s,
      LOS rate: -0.287407 deg/s,
      cmd heading: 276.855106 deg,
      new cmd heading: 276.527638 deg.

2025-06-08T00:07:09.591Z,1749341229.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826318 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:09.644Z,1749341229.644 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.244079
2025-06-08T00:07:09.896Z,1749341229.896 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.496017
2025-06-08T00:07:10.006Z,1749341230.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:10.009Z,1749341230.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 89.847244 m,
      bearing: 290.396187 deg,
      approach rate: -0.394320 m/s,
      LOS rate: -0.250863 deg/s,
      cmd heading: 276.527640 deg,
      new cmd heading: 276.206247 deg.

2025-06-08T00:07:10.010Z,1749341230.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820708 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:10.148Z,1749341230.148 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.748066
2025-06-08T00:07:10.366Z,1749341230.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:10.369Z,1749341230.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 89.668304 m,
      bearing: 290.281896 deg,
      approach rate: -0.497288 m/s,
      LOS rate: -0.318257 deg/s,
      cmd heading: 276.206238 deg,
      new cmd heading: 275.862687 deg.

2025-06-08T00:07:10.370Z,1749341230.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814712 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:10.401Z,1749341230.401 [DAT](INFO): DAT read: Rx Time:00:07:09.7081

2025-06-08T00:07:10.402Z,1749341230.402 [DAT](INFO): Rx dataTimestamp_ set to:1749341230.401389
2025-06-08T00:07:10.403Z,1749341230.403 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.002425
2025-06-08T00:07:10.653Z,1749341230.653 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.252431
2025-06-08T00:07:10.760Z,1749341230.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:10.762Z,1749341230.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 89.485413 m,
      bearing: 290.173793 deg,
      approach rate: -0.464556 m/s,
      LOS rate: -0.275149 deg/s,
      cmd heading: 275.862680 deg,
      new cmd heading: 275.537712 deg.

2025-06-08T00:07:10.764Z,1749341230.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809040 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:10.904Z,1749341230.904 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.504079
2025-06-08T00:07:11.145Z,1749341231.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:11.147Z,1749341231.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.98 m.
2025-06-08T00:07:11.150Z,1749341231.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.983795 m,
      nav range: 89.302246 m,
      bearing: 290.070885 deg,
      approach rate: -0.473070 m/s,
      LOS rate: -0.266328 deg/s,
      cmd heading: 275.537699 deg,
      new cmd heading: 275.228346 deg.

2025-06-08T00:07:11.151Z,1749341231.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803641 target range: 91.983795 and range: 92.70 m.
2025-06-08T00:07:11.162Z,1749341231.162 [DAT](INFO): DAT read: 00:07:09.7081 LVL= 32752, 32753, 19298, 32755, AGC= 65, IDX= 426,-0.46, 1.750, 0.857, 2.955, 2.094, PHS=-0.257,-1.191, 0.858, RAW= 182.9,   6.7, CAL= 182.7,  -2.5, ROT= 327.3,   2.5

2025-06-08T00:07:11.163Z,1749341231.163 [DAT](INFO): got valid direction response:
 00:07:09.7081 LVL= 32752, 32753, 19298, 32755, AGC= 65, IDX= 426,-0.46, 1.750, 0.857, 2.955, 2.094, PHS=-0.257,-1.191, 0.858, RAW= 182.9,   6.7, CAL= 182.7,  -2.5, ROT= 327.3,   2.5

2025-06-08T00:07:11.164Z,1749341231.164 [DAT](INFO): DAT read: Bearing 327.3,   2.5 (Local)

2025-06-08T00:07:11.165Z,1749341231.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.3,   2.5 (Local)

2025-06-08T00:07:11.166Z,1749341231.166 [DAT](INFO): DAT read: Range 10 to 50 : 91.2 m  (Round-trip  121.6 ms) speed  0.4 m/s

2025-06-08T00:07:11.171Z,1749341231.171 [DAT](INFO): DAT read: user:2096>

2025-06-08T00:07:11.188Z,1749341231.188 [DAT](INFO): DAT read: Tx time:00:07:10.8323

2025-06-08T00:07:11.188Z,1749341231.188 [DAT](INFO): Ping request sent.
2025-06-08T00:07:11.188Z,1749341231.188 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:11.189Z,1749341231.189 [DAT](INFO): DAT read: TxSync time:00:07:10.8315

2025-06-08T00:07:11.190Z,1749341231.190 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-06-08T00:07:11.191Z,1749341231.191 [DAT](INFO): direction in FSK: [0.840710,-0.539726,-0.043619]
2025-06-08T00:07:11.192Z,1749341231.192 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:11.192Z,1749341231.192 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:11.199Z,1749341231.199 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:11.199Z,1749341231.199 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:11.203Z,1749341231.203 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.014343
2025-06-08T00:07:11.408Z,1749341231.408 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.219921
2025-06-08T00:07:11.589Z,1749341231.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.199997 m,
      deltaT: 3.780105 s,
      deltaX: -1.500000 m,
      approachRate: -0.396814 m/s,
      rangeRepo size: 4

2025-06-08T00:07:11.591Z,1749341231.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.493675 m,
      bearing: 297.132408 deg,
      lat: 36.905899 deg,
      lon: -122.115935 deg,
      deltaT: 3.780105 s,
      deltaX: -1.490120 m,
      approachRate: -0.394201 m/s,
      posRepo size: 4

2025-06-08T00:07:11.592Z,1749341231.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:11.594Z,1749341231.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 89.097816 m,
      bearing: 289.960401 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.266328 deg/s,
      cmd heading: 275.228347 deg,
      new cmd heading: 274.875798 deg.

2025-06-08T00:07:11.612Z,1749341231.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797488 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:11.661Z,1749341231.661 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.472872
2025-06-08T00:07:11.912Z,1749341231.912 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.723768
2025-06-08T00:07:12.031Z,1749341232.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:12.033Z,1749341232.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 88.872749 m,
      bearing: 289.851824 deg,
      approach rate: -0.508283 m/s,
      LOS rate: -0.245826 deg/s,
      cmd heading: 274.875800 deg,
      new cmd heading: 274.549249 deg.

2025-06-08T00:07:12.034Z,1749341232.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791789 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:12.164Z,1749341232.164 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.975883
2025-06-08T00:07:12.368Z,1749341232.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:12.372Z,1749341232.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 88.703812 m,
      bearing: 289.774837 deg,
      approach rate: -0.504928 m/s,
      LOS rate: -0.230542 deg/s,
      cmd heading: 274.549262 deg,
      new cmd heading: 274.317861 deg.

2025-06-08T00:07:12.373Z,1749341232.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787750 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:12.416Z,1749341232.416 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.227922
2025-06-08T00:07:12.668Z,1749341232.668 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.479791
2025-06-08T00:07:12.815Z,1749341232.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:12.818Z,1749341232.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 88.477386 m,
      bearing: 289.667860 deg,
      approach rate: -0.503411 m/s,
      LOS rate: -0.238449 deg/s,
      cmd heading: 274.317855 deg,
      new cmd heading: 273.996108 deg.

2025-06-08T00:07:12.835Z,1749341232.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782134 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:12.921Z,1749341232.921 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.732575
2025-06-08T00:07:13.128Z,1749341233.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:07:13.172Z,1749341233.172 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.983795
2025-06-08T00:07:13.215Z,1749341233.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:13.218Z,1749341233.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:13.221Z,1749341233.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 88.267868 m,
      bearing: 289.579740 deg,
      approach rate: -0.520565 m/s,
      LOS rate: -0.219461 deg/s,
      cmd heading: 273.996098 deg,
      new cmd heading: 273.731112 deg.

2025-06-08T00:07:13.222Z,1749341233.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.777509 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:13.424Z,1749341233.424 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.235826
2025-06-08T00:07:13.603Z,1749341233.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:13.605Z,1749341233.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 88.063728 m,
      bearing: 289.502778 deg,
      approach rate: -0.530259 m/s,
      LOS rate: -0.200374 deg/s,
      cmd heading: 273.731114 deg,
      new cmd heading: 273.499695 deg.

2025-06-08T00:07:13.606Z,1749341233.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773470 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:13.676Z,1749341233.676 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.488081
2025-06-08T00:07:13.928Z,1749341233.928 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.739823
2025-06-08T00:07:14.037Z,1749341234.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:14.040Z,1749341234.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 87.827866 m,
      bearing: 289.419272 deg,
      approach rate: -0.542738 m/s,
      LOS rate: -0.192669 deg/s,
      cmd heading: 273.499708 deg,
      new cmd heading: 273.248520 deg.

2025-06-08T00:07:14.041Z,1749341234.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769086 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:14.132Z,1749341234.132 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:07:14.180Z,1749341234.180 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.991780
2025-06-08T00:07:14.432Z,1749341234.432 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.243898
2025-06-08T00:07:14.466Z,1749341234.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:14.494Z,1749341234.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 87.605782 m,
      bearing: 289.345910 deg,
      approach rate: -0.518327 m/s,
      LOS rate: -0.171657 deg/s,
      cmd heading: 273.248521 deg,
      new cmd heading: 273.027875 deg.

2025-06-08T00:07:14.508Z,1749341234.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.765235 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:14.684Z,1749341234.684 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.495865
2025-06-08T00:07:14.941Z,1749341234.941 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.752006
2025-06-08T00:07:15.020Z,1749341235.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:15.022Z,1749341235.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 87.280075 m,
      bearing: 289.249090 deg,
      approach rate: -0.588023 m/s,
      LOS rate: -0.175448 deg/s,
      cmd heading: 273.027878 deg,
      new cmd heading: 272.736339 deg.

2025-06-08T00:07:15.024Z,1749341235.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760147 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:15.192Z,1749341235.192 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=4.004085
2025-06-08T00:07:15.355Z,1749341235.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:15.357Z,1749341235.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:15.361Z,1749341235.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 87.087677 m,
      bearing: 289.195916 deg,
      approach rate: -0.569281 m/s,
      LOS rate: -0.157682 deg/s,
      cmd heading: 272.736338 deg,
      new cmd heading: 272.576465 deg.

2025-06-08T00:07:15.362Z,1749341235.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757357 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:15.445Z,1749341235.445 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=4.256738
2025-06-08T00:07:15.696Z,1749341235.696 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=4.507767
2025-06-08T00:07:15.797Z,1749341235.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:15.804Z,1749341235.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 86.849976 m,
      bearing: 289.132144 deg,
      approach rate: -0.541206 m/s,
      LOS rate: -0.145597 deg/s,
      cmd heading: 272.576457 deg,
      new cmd heading: 272.384616 deg.

2025-06-08T00:07:15.805Z,1749341235.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754008 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:15.949Z,1749341235.949 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=4.760306
2025-06-08T00:07:16.157Z,1749341236.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:16.160Z,1749341236.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 86.632324 m,
      bearing: 289.077813 deg,
      approach rate: -0.603698 m/s,
      LOS rate: -0.151075 deg/s,
      cmd heading: 272.384611 deg,
      new cmd heading: 272.221210 deg.

2025-06-08T00:07:16.161Z,1749341236.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.751156 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:16.200Z,1749341236.200 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.011980
2025-06-08T00:07:16.452Z,1749341236.452 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.263707
2025-06-08T00:07:16.632Z,1749341236.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:16.635Z,1749341236.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 86.364906 m,
      bearing: 289.020023 deg,
      approach rate: -0.563156 m/s,
      LOS rate: -0.122076 deg/s,
      cmd heading: 272.221206 deg,
      new cmd heading: 272.047300 deg.

2025-06-08T00:07:16.640Z,1749341236.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.748121 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:16.705Z,1749341236.705 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.516366
2025-06-08T00:07:16.957Z,1749341236.957 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=5.768389
2025-06-08T00:07:16.984Z,1749341236.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:16.987Z,1749341236.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 86.145615 m,
      bearing: 288.972353 deg,
      approach rate: -0.622597 m/s,
      LOS rate: -0.135685 deg/s,
      cmd heading: 272.047309 deg,
      new cmd heading: 271.903935 deg.

2025-06-08T00:07:16.989Z,1749341236.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745619 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:17.209Z,1749341237.209 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.020629
2025-06-08T00:07:17.385Z,1749341237.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:17.388Z,1749341237.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:17.390Z,1749341237.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 85.906349 m,
      bearing: 288.930433 deg,
      approach rate: -0.592805 m/s,
      LOS rate: -0.104151 deg/s,
      cmd heading: 271.903930 deg,
      new cmd heading: 271.777818 deg.

2025-06-08T00:07:17.392Z,1749341237.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743418 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:17.462Z,1749341237.462 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.273340
2025-06-08T00:07:17.712Z,1749341237.712 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.523843
2025-06-08T00:07:17.813Z,1749341237.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:17.816Z,1749341237.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 85.654190 m,
      bearing: 288.893335 deg,
      approach rate: -0.593176 m/s,
      LOS rate: -0.087524 deg/s,
      cmd heading: 271.777817 deg,
      new cmd heading: 271.666197 deg.

2025-06-08T00:07:17.817Z,1749341237.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741469 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:17.965Z,1749341237.965 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.776455
2025-06-08T00:07:18.184Z,1749341238.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:18.187Z,1749341238.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 85.435059 m,
      bearing: 288.865897 deg,
      approach rate: -0.590225 m/s,
      LOS rate: -0.074094 deg/s,
      cmd heading: 271.666184 deg,
      new cmd heading: 271.583658 deg.

2025-06-08T00:07:18.188Z,1749341238.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.740029 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:18.233Z,1749341238.233 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=7.044531
2025-06-08T00:07:18.486Z,1749341238.486 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=7.297324
2025-06-08T00:07:18.656Z,1749341238.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:18.659Z,1749341238.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 85.149849 m,
      bearing: 288.834154 deg,
      approach rate: -0.604163 m/s,
      LOS rate: -0.067467 deg/s,
      cmd heading: 271.583648 deg,
      new cmd heading: 271.488100 deg.

2025-06-08T00:07:18.660Z,1749341238.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738361 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:18.736Z,1749341238.736 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=7.547956
2025-06-08T00:07:18.989Z,1749341238.989 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=7.800942
2025-06-08T00:07:19.001Z,1749341239.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:19.004Z,1749341239.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 84.943794 m,
      bearing: 288.818977 deg,
      approach rate: -0.598281 m/s,
      LOS rate: -0.044174 deg/s,
      cmd heading: 271.488108 deg,
      new cmd heading: 271.442466 deg.

2025-06-08T00:07:19.005Z,1749341239.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.737565 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:19.240Z,1749341239.240 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.051916
2025-06-08T00:07:19.390Z,1749341239.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:19.392Z,1749341239.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:19.395Z,1749341239.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 84.702415 m,
      bearing: 288.806535 deg,
      approach rate: -0.616739 m/s,
      LOS rate: -0.031880 deg/s,
      cmd heading: 271.442455 deg,
      new cmd heading: 271.405023 deg.

2025-06-08T00:07:19.396Z,1749341239.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736911 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:19.493Z,1749341239.493 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.304809
2025-06-08T00:07:19.744Z,1749341239.744 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.555803
2025-06-08T00:07:19.817Z,1749341239.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:19.820Z,1749341239.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 84.442764 m,
      bearing: 288.800320 deg,
      approach rate: -0.610849 m/s,
      LOS rate: -0.014666 deg/s,
      cmd heading: 271.405025 deg,
      new cmd heading: 271.386323 deg.

2025-06-08T00:07:19.821Z,1749341239.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736585 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:19.996Z,1749341239.996 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=8.807864
2025-06-08T00:07:20.221Z,1749341240.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:20.224Z,1749341240.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 84.202370 m,
      bearing: 288.794532 deg,
      approach rate: -0.595897 m/s,
      LOS rate: -0.014389 deg/s,
      cmd heading: 271.386311 deg,
      new cmd heading: 271.368896 deg.

2025-06-08T00:07:20.225Z,1749341240.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736281 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:20.248Z,1749341240.248 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=9.059836
2025-06-08T00:07:20.500Z,1749341240.500 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=9.311802
2025-06-08T00:07:20.677Z,1749341240.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:20.680Z,1749341240.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 83.915672 m,
      bearing: 288.795087 deg,
      approach rate: -0.628500 m/s,
      LOS rate: 0.001221 deg/s,
      cmd heading: 271.368907 deg,
      new cmd heading: 271.370578 deg.

2025-06-08T00:07:20.681Z,1749341240.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736310 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:20.754Z,1749341240.754 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=9.565618
2025-06-08T00:07:21.004Z,1749341241.004 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=9.815879
2025-06-08T00:07:21.010Z,1749341241.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:21.012Z,1749341241.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 83.712097 m,
      bearing: 288.799331 deg,
      approach rate: -0.611717 m/s,
      LOS rate: 0.012786 deg/s,
      cmd heading: 271.370574 deg,
      new cmd heading: 271.383339 deg.

2025-06-08T00:07:21.013Z,1749341241.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736533 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:21.256Z,1749341241.256 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=10.068040
2025-06-08T00:07:21.466Z,1749341241.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:21.469Z,1749341241.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:21.487Z,1749341241.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 83.428802 m,
      bearing: 288.810936 deg,
      approach rate: -0.617049 m/s,
      LOS rate: 0.025362 deg/s,
      cmd heading: 271.383333 deg,
      new cmd heading: 271.418265 deg.

2025-06-08T00:07:21.488Z,1749341241.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.737143 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:21.508Z,1749341241.508 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=10.319953
2025-06-08T00:07:21.760Z,1749341241.760 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=10.571838
2025-06-08T00:07:21.903Z,1749341241.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:21.909Z,1749341241.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 83.167160 m,
      bearing: 288.815276 deg,
      approach rate: -0.603071 m/s,
      LOS rate: 0.010034 deg/s,
      cmd heading: 271.418276 deg,
      new cmd heading: 271.431335 deg.

2025-06-08T00:07:21.910Z,1749341241.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.737370 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:22.013Z,1749341242.013 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:07:22.013Z,1749341242.013 [DAT](INFO): response not received
2025-06-08T00:07:22.014Z,1749341242.014 [DAT](INFO): DAT read: user:2097>

2025-06-08T00:07:22.015Z,1749341242.015 [DAT](INFO): DAT read: Tx time:00:07:21.7824

2025-06-08T00:07:22.015Z,1749341242.015 [DAT](INFO): Ping request sent.
2025-06-08T00:07:22.016Z,1749341242.016 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:22.016Z,1749341242.016 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:22.017Z,1749341242.017 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.001093
2025-06-08T00:07:22.264Z,1749341242.264 [DAT](INFO): DAT read: TxSync time:00:07:21.7816

2025-06-08T00:07:22.265Z,1749341242.265 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.249626
2025-06-08T00:07:22.269Z,1749341242.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:22.276Z,1749341242.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 82.941917 m,
      bearing: 288.828589 deg,
      approach rate: -0.615214 m/s,
      LOS rate: 0.036463 deg/s,
      cmd heading: 271.431335 deg,
      new cmd heading: 271.471384 deg.

2025-06-08T00:07:22.277Z,1749341242.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738070 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:22.516Z,1749341242.516 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.500522
2025-06-08T00:07:22.701Z,1749341242.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:22.704Z,1749341242.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 82.677689 m,
      bearing: 288.844495 deg,
      approach rate: -0.611262 m/s,
      LOS rate: 0.036913 deg/s,
      cmd heading: 271.471387 deg,
      new cmd heading: 271.519256 deg.

2025-06-08T00:07:22.705Z,1749341242.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738905 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:22.769Z,1749341242.769 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.753746
2025-06-08T00:07:23.022Z,1749341243.022 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.005899
2025-06-08T00:07:23.048Z,1749341243.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:23.051Z,1749341243.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 82.471001 m,
      bearing: 288.866214 deg,
      approach rate: -0.595407 m/s,
      LOS rate: 0.062724 deg/s,
      cmd heading: 271.519253 deg,
      new cmd heading: 271.584575 deg.

2025-06-08T00:07:23.068Z,1749341243.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.740045 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:23.272Z,1749341243.272 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.256436
2025-06-08T00:07:23.445Z,1749341243.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:23.448Z,1749341243.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 82.234932 m,
      bearing: 288.891157 deg,
      approach rate: -0.595326 m/s,
      LOS rate: 0.063081 deg/s,
      cmd heading: 271.584577 deg,
      new cmd heading: 271.659619 deg.

2025-06-08T00:07:23.449Z,1749341243.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741355 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:23.526Z,1749341243.526 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.509961
2025-06-08T00:07:23.776Z,1749341243.776 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.760541
2025-06-08T00:07:23.864Z,1749341243.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:23.866Z,1749341243.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:23.869Z,1749341243.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 81.988228 m,
      bearing: 288.922215 deg,
      approach rate: -0.585770 m/s,
      LOS rate: 0.073967 deg/s,
      cmd heading: 271.659627 deg,
      new cmd heading: 271.753084 deg.

2025-06-08T00:07:23.870Z,1749341243.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.742986 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:24.028Z,1749341244.028 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.012541
2025-06-08T00:07:24.280Z,1749341244.280 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.264743
2025-06-08T00:07:24.323Z,1749341244.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:24.325Z,1749341244.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 81.721519 m,
      bearing: 288.961328 deg,
      approach rate: -0.583831 m/s,
      LOS rate: 0.085899 deg/s,
      cmd heading: 271.753092 deg,
      new cmd heading: 271.870814 deg.

2025-06-08T00:07:24.326Z,1749341244.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745041 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:24.532Z,1749341244.532 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.516594
2025-06-08T00:07:24.746Z,1749341244.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:24.749Z,1749341244.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 81.477188 m,
      bearing: 288.995573 deg,
      approach rate: -0.577002 m/s,
      LOS rate: 0.081114 deg/s,
      cmd heading: 271.870817 deg,
      new cmd heading: 271.973860 deg.

2025-06-08T00:07:24.750Z,1749341244.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.746840 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:24.784Z,1749341244.784 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.768518
2025-06-08T00:07:25.036Z,1749341245.036 [DAT](INFO): DAT read: Rx Time:00:07:24.2968

2025-06-08T00:07:25.037Z,1749341245.037 [DAT](INFO): Rx dataTimestamp_ set to:1749341245.036639
2025-06-08T00:07:25.037Z,1749341245.037 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.021890
2025-06-08T00:07:25.080Z,1749341245.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:25.082Z,1749341245.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 81.283730 m,
      bearing: 289.022837 deg,
      approach rate: -0.580213 m/s,
      LOS rate: 0.081961 deg/s,
      cmd heading: 271.973871 deg,
      new cmd heading: 272.055855 deg.

2025-06-08T00:07:25.084Z,1749341245.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.748271 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:25.291Z,1749341245.291 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.275005
2025-06-08T00:07:25.488Z,1749341245.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.49 m.
2025-06-08T00:07:25.490Z,1749341245.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.493675 m,
      nav range: 81.061188 m,
      bearing: 289.062132 deg,
      approach rate: -0.545519 m/s,
      LOS rate: 0.096589 deg/s,
      cmd heading: 272.055860 deg,
      new cmd heading: 272.174069 deg.

2025-06-08T00:07:25.492Z,1749341245.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.750334 target range: 90.493675 and range: 91.20 m.
2025-06-08T00:07:25.578Z,1749341245.578 [DAT](INFO): DAT read: 00:07:24.2968 LVL= 26240, 29873, 31586, 32755, AGC= 67, IDX= 294, 0.47,-0.731,-2.186,-1.319,-1.232, PHS= 0.589,-0.907,-0.090, RAW= 123.0,   6.3, CAL= 131.5,   1.6, ROT=  18.5,  -1.6

2025-06-08T00:07:25.579Z,1749341245.579 [DAT](INFO): got valid direction response:
 00:07:24.2968 LVL= 26240, 29873, 31586, 32755, AGC= 67, IDX= 294, 0.47,-0.731,-2.186,-1.319,-1.232, PHS= 0.589,-0.907,-0.090, RAW= 123.0,   6.3, CAL= 131.5,   1.6, ROT=  18.5,  -1.6

2025-06-08T00:07:25.600Z,1749341245.600 [DAT](INFO): DAT read: Bearing  18.5,  -1.6 (Local)

2025-06-08T00:07:25.601Z,1749341245.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.5,  -1.6 (Local)

2025-06-08T00:07:25.602Z,1749341245.602 [DAT](INFO): DAT read: Range 10 to 50 : 82.7 m  (Round-trip  110.3 ms) speed  0.4 m/s

2025-06-08T00:07:25.603Z,1749341245.603 [DAT](INFO): DAT read: user:2098>

2025-06-08T00:07:25.613Z,1749341245.613 [DAT](INFO): DAT read: Tx time:00:07:25.3824

2025-06-08T00:07:25.613Z,1749341245.613 [DAT](INFO): Ping request sent.
2025-06-08T00:07:25.613Z,1749341245.613 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:25.613Z,1749341245.613 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-08T00:07:25.614Z,1749341245.614 [DAT](INFO): direction in FSK: [0.947954,0.317181,0.027922]
2025-06-08T00:07:25.615Z,1749341245.615 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:25.615Z,1749341245.615 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:25.637Z,1749341245.637 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:25.638Z,1749341245.638 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:25.646Z,1749341245.646 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.032994
2025-06-08T00:07:25.796Z,1749341245.796 [DAT](INFO): DAT read: TxSync time:00:07:25.3816

2025-06-08T00:07:25.797Z,1749341245.797 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.184081
2025-06-08T00:07:25.924Z,1749341245.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.699997 m,
      deltaT: 14.389570 s,
      deltaX: -8.500000 m,
      approachRate: -0.590706 m/s,
      rangeRepo size: 4

2025-06-08T00:07:25.926Z,1749341245.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.054207 m,
      bearing: 286.519406 deg,
      lat: 36.905899 deg,
      lon: -122.115935 deg,
      deltaT: 14.389570 s,
      deltaX: -8.439468 m,
      approachRate: -0.586499 m/s,
      posRepo size: 4

2025-06-08T00:07:25.931Z,1749341245.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:25.940Z,1749341245.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 80.816376 m,
      bearing: 289.104355 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.096589 deg/s,
      cmd heading: 272.174077 deg,
      new cmd heading: 272.299234 deg.

2025-06-08T00:07:25.941Z,1749341245.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752518 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:26.049Z,1749341246.049 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.435875
2025-06-08T00:07:26.277Z,1749341246.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:26.279Z,1749341246.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:26.282Z,1749341246.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 80.600800 m,
      bearing: 289.144397 deg,
      approach rate: -0.599181 m/s,
      LOS rate: 0.111594 deg/s,
      cmd heading: 272.299234 deg,
      new cmd heading: 272.419683 deg.

2025-06-08T00:07:26.283Z,1749341246.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754621 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:26.301Z,1749341246.301 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.688346
2025-06-08T00:07:26.552Z,1749341246.552 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.939011
2025-06-08T00:07:26.728Z,1749341246.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:26.730Z,1749341246.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 80.377098 m,
      bearing: 289.188787 deg,
      approach rate: -0.498465 m/s,
      LOS rate: 0.099187 deg/s,
      cmd heading: 272.419691 deg,
      new cmd heading: 272.553231 deg.

2025-06-08T00:07:26.736Z,1749341246.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.756951 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:26.805Z,1749341246.805 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.192185
2025-06-08T00:07:27.056Z,1749341247.056 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.443123
2025-06-08T00:07:27.095Z,1749341247.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:27.098Z,1749341247.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 80.140427 m,
      bearing: 289.237188 deg,
      approach rate: -0.644570 m/s,
      LOS rate: 0.132208 deg/s,
      cmd heading: 272.553235 deg,
      new cmd heading: 272.698865 deg.

2025-06-08T00:07:27.099Z,1749341247.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759493 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:27.308Z,1749341247.308 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.695062
2025-06-08T00:07:27.469Z,1749341247.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:27.472Z,1749341247.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 79.930824 m,
      bearing: 289.281028 deg,
      approach rate: -0.560391 m/s,
      LOS rate: 0.117517 deg/s,
      cmd heading: 272.698854 deg,
      new cmd heading: 272.830718 deg.

2025-06-08T00:07:27.473Z,1749341247.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761795 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:27.560Z,1749341247.560 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.947405
2025-06-08T00:07:27.812Z,1749341247.812 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.199038
2025-06-08T00:07:27.915Z,1749341247.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:27.918Z,1749341247.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 79.691780 m,
      bearing: 289.333497 deg,
      approach rate: -0.540892 m/s,
      LOS rate: 0.119080 deg/s,
      cmd heading: 272.830732 deg,
      new cmd heading: 272.988611 deg.

2025-06-08T00:07:27.919Z,1749341247.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764550 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:28.064Z,1749341248.064 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.451346
2025-06-08T00:07:28.282Z,1749341248.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:28.285Z,1749341248.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:28.288Z,1749341248.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 79.470634 m,
      bearing: 289.382664 deg,
      approach rate: -0.591742 m/s,
      LOS rate: 0.131926 deg/s,
      cmd heading: 272.988618 deg,
      new cmd heading: 273.136528 deg.

2025-06-08T00:07:28.289Z,1749341248.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767132 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:28.316Z,1749341248.316 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.703172
2025-06-08T00:07:28.568Z,1749341248.568 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.955042
2025-06-08T00:07:28.770Z,1749341248.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:28.773Z,1749341248.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 79.196304 m,
      bearing: 289.444256 deg,
      approach rate: -0.565633 m/s,
      LOS rate: 0.127435 deg/s,
      cmd heading: 273.136533 deg,
      new cmd heading: 273.321949 deg.

2025-06-08T00:07:28.774Z,1749341248.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.770368 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:28.821Z,1749341248.821 [DAT](INFO): DAT read: Rx Time:00:07:27.8940

2025-06-08T00:07:28.822Z,1749341248.822 [DAT](INFO): Rx dataTimestamp_ set to:1749341248.821257
2025-06-08T00:07:28.822Z,1749341248.822 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.209411
2025-06-08T00:07:29.072Z,1749341249.072 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.459216
2025-06-08T00:07:29.165Z,1749341249.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:29.172Z,1749341249.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 78.971855 m,
      bearing: 289.496429 deg,
      approach rate: -0.568078 m/s,
      LOS rate: 0.132426 deg/s,
      cmd heading: 273.321959 deg,
      new cmd heading: 273.478924 deg.

2025-06-08T00:07:29.173Z,1749341249.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773108 target range: 82.054207 and range: 82.70 m.
2025-06-08T00:07:29.325Z,1749341249.325 [DAT](INFO): DAT read: Range 10 to 50 : 80.6 m  (Round-trip  107.5 ms) speed  0.5 m/s

2025-06-08T00:07:29.326Z,1749341249.326 [DAT](INFO): DAT read: user:2099>

2025-06-08T00:07:29.327Z,1749341249.327 [DAT](INFO): DAT read: Tx time:00:07:28.9824

2025-06-08T00:07:29.327Z,1749341249.327 [DAT](INFO): Ping request sent.
2025-06-08T00:07:29.327Z,1749341249.327 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:29.327Z,1749341249.327 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-06-08T00:07:29.327Z,1749341249.327 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:29.328Z,1749341249.328 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:29.329Z,1749341249.329 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.001989
2025-06-08T00:07:29.516Z,1749341249.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.599998 m,
      deltaT: 3.778242 s,
      deltaX: -2.099998 m,
      approachRate: -0.555814 m/s,
      rangeRepo size: 4

2025-06-08T00:07:29.517Z,1749341249.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:29.520Z,1749341249.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 78.763779 m,
      bearing: 289.543917 deg,
      approach rate: -0.594299 m/s,
      LOS rate: 0.135990 deg/s,
      cmd heading: 273.478917 deg,
      new cmd heading: 273.621755 deg.

2025-06-08T00:07:29.521Z,1749341249.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775600 target range: 82.054207 and range: 80.60 m.
2025-06-08T00:07:29.577Z,1749341249.577 [DAT](INFO): DAT read: TxSync time:00:07:28.9816

2025-06-08T00:07:29.578Z,1749341249.578 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.250933
2025-06-08T00:07:29.828Z,1749341249.828 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.501169
2025-06-08T00:07:30.020Z,1749341250.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:30.022Z,1749341250.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 78.461838 m,
      bearing: 289.616772 deg,
      approach rate: -0.598530 m/s,
      LOS rate: 0.144975 deg/s,
      cmd heading: 273.621749 deg,
      new cmd heading: 273.841156 deg.

2025-06-08T00:07:30.024Z,1749341250.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779430 target range: 82.054207 and range: 80.60 m.
2025-06-08T00:07:30.080Z,1749341250.080 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.753403
2025-06-08T00:07:30.332Z,1749341250.332 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.005209
2025-06-08T00:07:30.402Z,1749341250.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:30.404Z,1749341250.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:30.407Z,1749341250.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 78.231361 m,
      bearing: 289.670922 deg,
      approach rate: -0.599020 m/s,
      LOS rate: 0.141154 deg/s,
      cmd heading: 273.841162 deg,
      new cmd heading: 274.004091 deg.

2025-06-08T00:07:30.408Z,1749341250.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782274 target range: 82.054207 and range: 80.60 m.
2025-06-08T00:07:30.584Z,1749341250.584 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.257240
2025-06-08T00:07:30.836Z,1749341250.836 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.509256
2025-06-08T00:07:30.840Z,1749341250.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:30.843Z,1749341250.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 77.966637 m,
      bearing: 289.738651 deg,
      approach rate: -0.606752 m/s,
      LOS rate: 0.155763 deg/s,
      cmd heading: 274.004103 deg,
      new cmd heading: 274.207979 deg.

2025-06-08T00:07:30.844Z,1749341250.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785832 target range: 82.054207 and range: 80.60 m.
2025-06-08T00:07:31.088Z,1749341251.088 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.761163
2025-06-08T00:07:31.224Z,1749341251.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:31.226Z,1749341251.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 77.731621 m,
      bearing: 289.796754 deg,
      approach rate: -0.613313 m/s,
      LOS rate: 0.152088 deg/s,
      cmd heading: 274.207971 deg,
      new cmd heading: 274.382807 deg.

2025-06-08T00:07:31.228Z,1749341251.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788883 target range: 82.054207 and range: 80.60 m.
2025-06-08T00:07:31.340Z,1749341251.340 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.013267
2025-06-08T00:07:31.592Z,1749341251.592 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.265252
2025-06-08T00:07:31.633Z,1749341251.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:31.640Z,1749341251.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 77.490913 m,
      bearing: 289.854176 deg,
      approach rate: -0.588504 m/s,
      LOS rate: 0.140826 deg/s,
      cmd heading: 274.382796 deg,
      new cmd heading: 274.555596 deg.

2025-06-08T00:07:31.641Z,1749341251.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791899 target range: 82.054207 and range: 80.60 m.
2025-06-08T00:07:31.846Z,1749341251.846 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.518897
2025-06-08T00:07:32.092Z,1749341252.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:32.094Z,1749341252.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 77.191452 m,
      bearing: 289.928521 deg,
      approach rate: -0.652785 m/s,
      LOS rate: 0.162692 deg/s,
      cmd heading: 274.555600 deg,
      new cmd heading: 274.779500 deg.

2025-06-08T00:07:32.096Z,1749341252.096 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.769341
2025-06-08T00:07:32.097Z,1749341252.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795807 target range: 82.054207 and range: 80.60 m.
2025-06-08T00:07:32.348Z,1749341252.348 [DAT](INFO): DAT read: Rx Time:00:07:31.4912

2025-06-08T00:07:32.349Z,1749341252.349 [DAT](INFO): Rx dataTimestamp_ set to:1749341252.348351
2025-06-08T00:07:32.349Z,1749341252.349 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.022257
2025-06-08T00:07:32.470Z,1749341252.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:32.473Z,1749341252.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.05 m.
2025-06-08T00:07:32.475Z,1749341252.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.054207 m,
      nav range: 76.950630 m,
      bearing: 289.986427 deg,
      approach rate: -0.631699 m/s,
      LOS rate: 0.152367 deg/s,
      cmd heading: 274.779494 deg,
      new cmd heading: 274.953754 deg.

2025-06-08T00:07:32.476Z,1749341252.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798848 target range: 82.054207 and range: 80.60 m.
2025-06-08T00:07:32.601Z,1749341252.601 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.273663
2025-06-08T00:07:32.858Z,1749341252.858 [DAT](INFO): DAT read: 00:07:31.4912 LVL= 30832, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.18, 0.971,-0.455, 0.338, 0.265, PHS= 0.794,-0.673, 0.070, RAW= 120.4,  -3.0, CAL= 126.3, -13.1, ROT=  23.7,  13.1

2025-06-08T00:07:32.863Z,1749341252.863 [DAT](INFO): got valid direction response:
 00:07:31.4912 LVL= 30832, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.18, 0.971,-0.455, 0.338, 0.265, PHS= 0.794,-0.673, 0.070, RAW= 120.4,  -3.0, CAL= 126.3, -13.1, ROT=  23.7,  13.1

2025-06-08T00:07:32.864Z,1749341252.864 [DAT](INFO): DAT read: Bearing  23.7,  13.1 (Local)

2025-06-08T00:07:32.865Z,1749341252.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.7,  13.1 (Local)

2025-06-08T00:07:32.866Z,1749341252.866 [DAT](INFO): DAT read: Range 10 to 50 : 78.3 m  (Round-trip  104.5 ms) speed  0.6 m/s

2025-06-08T00:07:32.867Z,1749341252.867 [DAT](INFO): DAT read: user:2100>

2025-06-08T00:07:32.868Z,1749341252.868 [DAT](INFO): DAT read: Tx time:00:07:32.5825

2025-06-08T00:07:32.868Z,1749341252.868 [DAT](INFO): Ping request sent.
2025-06-08T00:07:32.868Z,1749341252.868 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:32.869Z,1749341252.869 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-06-08T00:07:32.869Z,1749341252.869 [DAT](INFO): direction in FSK: [0.891833,0.391487,-0.226651]
2025-06-08T00:07:32.870Z,1749341252.870 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:32.870Z,1749341252.870 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:32.900Z,1749341252.900 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:32.901Z,1749341252.901 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:32.912Z,1749341252.912 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.043807
2025-06-08T00:07:32.990Z,1749341252.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.300003 m,
      deltaT: 3.528199 s,
      deltaX: -2.299995 m,
      approachRate: -0.651889 m/s,
      rangeRepo size: 4

2025-06-08T00:07:33.001Z,1749341253.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.686005 m,
      bearing: 295.235775 deg,
      lat: 36.905954 deg,
      lon: -122.115918 deg,
      deltaT: 7.306441 s,
      deltaX: -4.368202 m,
      approachRate: -0.597856 m/s,
      posRepo size: 4

2025-06-08T00:07:33.001Z,1749341253.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:33.008Z,1749341253.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 77.630371 m,
      bearing: 294.719870 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.152367 deg/s,
      cmd heading: 274.953746 deg,
      new cmd heading: 275.190066 deg.

2025-06-08T00:07:33.009Z,1749341253.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802973 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:33.104Z,1749341253.104 [DAT](INFO): DAT read: TxSync time:00:07:32.5817

2025-06-08T00:07:33.105Z,1749341253.105 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.236826
2025-06-08T00:07:33.308Z,1749341253.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:33.310Z,1749341253.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 77.426201 m,
      bearing: 294.785434 deg,
      approach rate: -0.659256 m/s,
      LOS rate: 0.212263 deg/s,
      cmd heading: 275.190070 deg,
      new cmd heading: 275.387282 deg.

2025-06-08T00:07:33.315Z,1749341253.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806415 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:33.356Z,1749341253.356 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.488176
2025-06-08T00:07:33.608Z,1749341253.608 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.739935
2025-06-08T00:07:33.688Z,1749341253.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:33.690Z,1749341253.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 77.177719 m,
      bearing: 294.864413 deg,
      approach rate: -0.639532 m/s,
      LOS rate: 0.203926 deg/s,
      cmd heading: 275.387271 deg,
      new cmd heading: 275.624968 deg.

2025-06-08T00:07:33.692Z,1749341253.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810563 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:33.860Z,1749341253.860 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.991960
2025-06-08T00:07:34.105Z,1749341254.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:34.107Z,1749341254.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 76.914238 m,
      bearing: 294.953115 deg,
      approach rate: -0.632335 m/s,
      LOS rate: 0.213608 deg/s,
      cmd heading: 275.624962 deg,
      new cmd heading: 275.891978 deg.

2025-06-08T00:07:34.108Z,1749341254.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815223 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:34.112Z,1749341254.112 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.244031
2025-06-08T00:07:34.364Z,1749341254.364 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.495927
2025-06-08T00:07:34.565Z,1749341254.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:34.568Z,1749341254.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:34.571Z,1749341254.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 76.623795 m,
      bearing: 295.048220 deg,
      approach rate: -0.626722 m/s,
      LOS rate: 0.205995 deg/s,
      cmd heading: 275.891968 deg,
      new cmd heading: 276.178361 deg.

2025-06-08T00:07:34.572Z,1749341254.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820222 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:34.616Z,1749341254.616 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.748006
2025-06-08T00:07:34.868Z,1749341254.868 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.999977
2025-06-08T00:07:35.047Z,1749341255.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:35.049Z,1749341255.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 76.325691 m,
      bearing: 295.147904 deg,
      approach rate: -0.622995 m/s,
      LOS rate: 0.209140 deg/s,
      cmd heading: 276.178371 deg,
      new cmd heading: 276.478590 deg.

2025-06-08T00:07:35.050Z,1749341255.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825462 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:35.120Z,1749341255.120 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.251994
2025-06-08T00:07:35.372Z,1749341255.372 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.503848
2025-06-08T00:07:35.461Z,1749341255.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:35.464Z,1749341255.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 76.066971 m,
      bearing: 295.233494 deg,
      approach rate: -0.623659 m/s,
      LOS rate: 0.207021 deg/s,
      cmd heading: 276.478599 deg,
      new cmd heading: 276.736241 deg.

2025-06-08T00:07:35.465Z,1749341255.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829958 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:35.625Z,1749341255.625 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.756278
2025-06-08T00:07:35.876Z,1749341255.876 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.008002
2025-06-08T00:07:36.006Z,1749341256.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:36.009Z,1749341256.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 75.727013 m,
      bearing: 295.346935 deg,
      approach rate: -0.624479 m/s,
      LOS rate: 0.209319 deg/s,
      cmd heading: 276.736234 deg,
      new cmd heading: 277.078081 deg.

2025-06-08T00:07:36.010Z,1749341256.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835925 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:36.128Z,1749341256.128 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.259859
2025-06-08T00:07:36.349Z,1749341256.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:36.357Z,1749341256.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 75.517487 m,
      bearing: 295.416421 deg,
      approach rate: -0.610166 m/s,
      LOS rate: 0.202912 deg/s,
      cmd heading: 277.078071 deg,
      new cmd heading: 277.287105 deg.

2025-06-08T00:07:36.358Z,1749341256.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839573 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:36.380Z,1749341256.380 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.512011
2025-06-08T00:07:36.633Z,1749341256.633 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.764687
2025-06-08T00:07:36.738Z,1749341256.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:36.740Z,1749341256.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:36.743Z,1749341256.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 75.267670 m,
      bearing: 295.498737 deg,
      approach rate: -0.638735 m/s,
      LOS rate: 0.211164 deg/s,
      cmd heading: 277.287102 deg,
      new cmd heading: 277.534867 deg.

2025-06-08T00:07:36.744Z,1749341256.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.843897 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:36.884Z,1749341256.884 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=4.016114
2025-06-08T00:07:37.136Z,1749341257.136 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=4.268224
2025-06-08T00:07:37.179Z,1749341257.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:37.182Z,1749341257.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 74.993568 m,
      bearing: 295.590547 deg,
      approach rate: -0.624567 m/s,
      LOS rate: 0.209962 deg/s,
      cmd heading: 277.534874 deg,
      new cmd heading: 277.811308 deg.

2025-06-08T00:07:37.183Z,1749341257.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848722 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:37.389Z,1749341257.389 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=4.521026
2025-06-08T00:07:37.595Z,1749341257.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:37.598Z,1749341257.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 74.733437 m,
      bearing: 295.676096 deg,
      approach rate: -0.625344 m/s,
      LOS rate: 0.206373 deg/s,
      cmd heading: 277.811306 deg,
      new cmd heading: 278.068846 deg.

2025-06-08T00:07:37.599Z,1749341257.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853217 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:37.640Z,1749341257.640 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=4.771760
2025-06-08T00:07:37.897Z,1749341257.897 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=5.027706
2025-06-08T00:07:38.029Z,1749341258.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:38.032Z,1749341258.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 74.465683 m,
      bearing: 295.761592 deg,
      approach rate: -0.617168 m/s,
      LOS rate: 0.197776 deg/s,
      cmd heading: 278.068858 deg,
      new cmd heading: 278.326267 deg.

2025-06-08T00:07:38.033Z,1749341258.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857710 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:38.144Z,1749341258.144 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=5.275916
2025-06-08T00:07:38.398Z,1749341258.398 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=5.529282
2025-06-08T00:07:38.484Z,1749341258.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:38.486Z,1749341258.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 74.185371 m,
      bearing: 295.849159 deg,
      approach rate: -0.622204 m/s,
      LOS rate: 0.195105 deg/s,
      cmd heading: 278.326274 deg,
      new cmd heading: 278.589965 deg.

2025-06-08T00:07:38.492Z,1749341258.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862312 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:38.648Z,1749341258.648 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=5.779947
2025-06-08T00:07:38.903Z,1749341258.903 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=6.034140
2025-06-08T00:07:38.978Z,1749341258.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:38.980Z,1749341258.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:38.983Z,1749341258.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 73.864105 m,
      bearing: 295.945335 deg,
      approach rate: -0.641806 m/s,
      LOS rate: 0.192971 deg/s,
      cmd heading: 278.589974 deg,
      new cmd heading: 278.879757 deg.

2025-06-08T00:07:38.984Z,1749341258.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867370 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:39.152Z,1749341259.152 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=6.283798
2025-06-08T00:07:39.342Z,1749341259.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:39.345Z,1749341259.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 73.634178 m,
      bearing: 296.013426 deg,
      approach rate: -0.635602 m/s,
      LOS rate: 0.188817 deg/s,
      cmd heading: 278.879766 deg,
      new cmd heading: 279.084676 deg.

2025-06-08T00:07:39.346Z,1749341259.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870946 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:39.406Z,1749341259.406 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=6.537570
2025-06-08T00:07:39.656Z,1749341259.656 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=6.787914
2025-06-08T00:07:39.720Z,1749341259.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:39.722Z,1749341259.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 73.394089 m,
      bearing: 296.083741 deg,
      approach rate: -0.634996 m/s,
      LOS rate: 0.186578 deg/s,
      cmd heading: 279.084671 deg,
      new cmd heading: 279.296303 deg.

2025-06-08T00:07:39.724Z,1749341259.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874640 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:39.912Z,1749341259.912 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=7.043378
2025-06-08T00:07:40.155Z,1749341260.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:40.158Z,1749341260.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 73.113541 m,
      bearing: 296.156563 deg,
      approach rate: -0.645325 m/s,
      LOS rate: 0.168150 deg/s,
      cmd heading: 279.296298 deg,
      new cmd heading: 279.515601 deg.

2025-06-08T00:07:40.160Z,1749341260.160 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=7.291998
2025-06-08T00:07:40.161Z,1749341260.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878468 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:40.412Z,1749341260.412 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=7.544054
2025-06-08T00:07:40.529Z,1749341260.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:40.532Z,1749341260.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 72.870773 m,
      bearing: 296.217536 deg,
      approach rate: -0.647934 m/s,
      LOS rate: 0.163278 deg/s,
      cmd heading: 279.515602 deg,
      new cmd heading: 279.699131 deg.

2025-06-08T00:07:40.533Z,1749341260.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881671 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:40.664Z,1749341260.664 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=7.796051
2025-06-08T00:07:40.921Z,1749341260.921 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=8.052491
2025-06-08T00:07:41.012Z,1749341261.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:41.014Z,1749341261.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:41.017Z,1749341261.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 72.553139 m,
      bearing: 296.291112 deg,
      approach rate: -0.654702 m/s,
      LOS rate: 0.152316 deg/s,
      cmd heading: 279.699143 deg,
      new cmd heading: 279.920834 deg.

2025-06-08T00:07:41.018Z,1749341261.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885540 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:41.170Z,1749341261.170 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=8.301628
2025-06-08T00:07:41.377Z,1749341261.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:41.380Z,1749341261.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 72.314980 m,
      bearing: 296.345639 deg,
      approach rate: -0.656815 m/s,
      LOS rate: 0.150873 deg/s,
      cmd heading: 279.920823 deg,
      new cmd heading: 280.084941 deg.

2025-06-08T00:07:41.381Z,1749341261.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888404 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:41.420Z,1749341261.420 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=8.551924
2025-06-08T00:07:41.672Z,1749341261.672 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=8.803887
2025-06-08T00:07:41.788Z,1749341261.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:41.791Z,1749341261.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 72.044815 m,
      bearing: 296.406761 deg,
      approach rate: -0.657346 m/s,
      LOS rate: 0.149277 deg/s,
      cmd heading: 280.084939 deg,
      new cmd heading: 280.268993 deg.

2025-06-08T00:07:41.792Z,1749341261.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.891617 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:41.930Z,1749341261.930 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=9.058445
2025-06-08T00:07:42.177Z,1749341262.177 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=9.308692
2025-06-08T00:07:42.325Z,1749341262.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:42.332Z,1749341262.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 71.711098 m,
      bearing: 296.468718 deg,
      approach rate: -0.621298 m/s,
      LOS rate: 0.115885 deg/s,
      cmd heading: 280.268999 deg,
      new cmd heading: 280.455733 deg.

2025-06-08T00:07:42.333Z,1749341262.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894876 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:42.428Z,1749341262.428 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=9.559933
2025-06-08T00:07:42.641Z,1749341262.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:42.648Z,1749341262.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 71.496956 m,
      bearing: 296.506888 deg,
      approach rate: -0.678605 m/s,
      LOS rate: 0.121322 deg/s,
      cmd heading: 280.455736 deg,
      new cmd heading: 280.570590 deg.

2025-06-08T00:07:42.649Z,1749341262.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896881 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:42.680Z,1749341262.680 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=9.812015
2025-06-08T00:07:42.935Z,1749341262.935 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.066642
2025-06-08T00:07:43.072Z,1749341263.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:43.074Z,1749341263.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:43.077Z,1749341263.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 71.205154 m,
      bearing: 296.555648 deg,
      approach rate: -0.673567 m/s,
      LOS rate: 0.113015 deg/s,
      cmd heading: 280.570593 deg,
      new cmd heading: 280.717473 deg.

2025-06-08T00:07:43.078Z,1749341263.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.899444 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:43.184Z,1749341263.184 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.315963
2025-06-08T00:07:43.436Z,1749341263.436 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=10.567831
2025-06-08T00:07:43.466Z,1749341263.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:43.469Z,1749341263.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 70.948608 m,
      bearing: 296.597747 deg,
      approach rate: -0.653894 m/s,
      LOS rate: 0.107691 deg/s,
      cmd heading: 280.717469 deg,
      new cmd heading: 280.844222 deg.

2025-06-08T00:07:43.470Z,1749341263.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901656 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:43.691Z,1749341263.691 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:07:43.691Z,1749341263.691 [DAT](INFO): response not received
2025-06-08T00:07:43.691Z,1749341263.691 [DAT](INFO): DAT read: user:2101>

2025-06-08T00:07:43.692Z,1749341263.692 [DAT](INFO): DAT read: Tx time:00:07:43.5326

2025-06-08T00:07:43.692Z,1749341263.692 [DAT](INFO): Ping request sent.
2025-06-08T00:07:43.693Z,1749341263.693 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:43.693Z,1749341263.693 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:43.693Z,1749341263.693 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.000743
2025-06-08T00:07:43.835Z,1749341263.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:43.838Z,1749341263.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 70.707603 m,
      bearing: 296.636543 deg,
      approach rate: -0.653222 m/s,
      LOS rate: 0.105510 deg/s,
      cmd heading: 280.844210 deg,
      new cmd heading: 280.960993 deg.

2025-06-08T00:07:43.839Z,1749341263.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903695 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:43.945Z,1749341263.945 [DAT](INFO): DAT read: TxSync time:00:07:43.5318

2025-06-08T00:07:43.948Z,1749341263.948 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.255378
2025-06-08T00:07:44.194Z,1749341264.194 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.501023
2025-06-08T00:07:44.256Z,1749341264.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:07:44.309Z,1749341264.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:44.311Z,1749341264.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 70.397041 m,
      bearing: 296.681165 deg,
      approach rate: -0.656069 m/s,
      LOS rate: 0.094681 deg/s,
      cmd heading: 280.961006 deg,
      new cmd heading: 281.095462 deg.

2025-06-08T00:07:44.312Z,1749341264.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.906041 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:44.444Z,1749341264.444 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.751655
2025-06-08T00:07:44.656Z,1749341264.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:44.660Z,1749341264.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 70.163971 m,
      bearing: 296.713907 deg,
      approach rate: -0.670264 m/s,
      LOS rate: 0.094473 deg/s,
      cmd heading: 281.095452 deg,
      new cmd heading: 281.194005 deg.

2025-06-08T00:07:44.661Z,1749341264.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907761 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:44.696Z,1749341264.696 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.003813
2025-06-08T00:07:44.951Z,1749341264.951 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.257641
2025-06-08T00:07:45.096Z,1749341265.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:45.098Z,1749341265.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:45.101Z,1749341265.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 69.867691 m,
      bearing: 296.756017 deg,
      approach rate: -0.670329 m/s,
      LOS rate: 0.095678 deg/s,
      cmd heading: 281.193998 deg,
      new cmd heading: 281.320864 deg.

2025-06-08T00:07:45.102Z,1749341265.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909976 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:45.202Z,1749341265.202 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.509706
2025-06-08T00:07:45.259Z,1749341265.259 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:07:45.456Z,1749341265.456 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.763685
2025-06-08T00:07:45.465Z,1749341265.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:45.468Z,1749341265.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 69.621887 m,
      bearing: 296.789795 deg,
      approach rate: -0.670251 m/s,
      LOS rate: 0.092431 deg/s,
      cmd heading: 281.320875 deg,
      new cmd heading: 281.422567 deg.

2025-06-08T00:07:45.469Z,1749341265.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911750 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:45.709Z,1749341265.709 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.015891
2025-06-08T00:07:45.867Z,1749341265.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:45.870Z,1749341265.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 69.349754 m,
      bearing: 296.826153 deg,
      approach rate: -0.676660 m/s,
      LOS rate: 0.090759 deg/s,
      cmd heading: 281.422563 deg,
      new cmd heading: 281.532065 deg.

2025-06-08T00:07:45.871Z,1749341265.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.913661 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:45.963Z,1749341265.963 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.269777
2025-06-08T00:07:46.212Z,1749341266.212 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.519534
2025-06-08T00:07:46.305Z,1749341266.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:46.332Z,1749341266.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 69.046608 m,
      bearing: 296.875163 deg,
      approach rate: -0.691936 m/s,
      LOS rate: 0.112357 deg/s,
      cmd heading: 281.532065 deg,
      new cmd heading: 281.679740 deg.

2025-06-08T00:07:46.333Z,1749341266.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.916239 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:46.468Z,1749341266.468 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.775786
2025-06-08T00:07:46.705Z,1749341266.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:46.710Z,1749341266.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 68.771194 m,
      bearing: 296.918139 deg,
      approach rate: -0.693276 m/s,
      LOS rate: 0.108613 deg/s,
      cmd heading: 281.679733 deg,
      new cmd heading: 281.809177 deg.

2025-06-08T00:07:46.711Z,1749341266.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918498 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:46.720Z,1749341266.720 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.027612
2025-06-08T00:07:46.977Z,1749341266.977 [DAT](INFO): DAT read: Rx Time:00:07:46.0285

2025-06-08T00:07:46.978Z,1749341266.978 [DAT](INFO): Rx dataTimestamp_ set to:1749341266.977056
2025-06-08T00:07:46.980Z,1749341266.980 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.287050
2025-06-08T00:07:47.126Z,1749341267.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:47.132Z,1749341267.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.69 m.
2025-06-08T00:07:47.135Z,1749341267.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.686005 m,
      nav range: 68.487297 m,
      bearing: 296.965315 deg,
      approach rate: -0.661211 m/s,
      LOS rate: 0.110331 deg/s,
      cmd heading: 281.809179 deg,
      new cmd heading: 281.951294 deg.

2025-06-08T00:07:47.140Z,1749341267.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.920979 target range: 77.686005 and range: 78.30 m.
2025-06-08T00:07:47.226Z,1749341267.226 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.532928
2025-06-08T00:07:47.486Z,1749341267.486 [DAT](INFO): DAT read: 00:07:46.0285 LVL= 25520, 25185, 26194, 32755, AGC= 66, IDX= 280,-0.37, 0.463,-1.260, 0.054,-0.277, PHS= 0.828,-0.936, 0.328, RAW= 134.0,  -2.8, CAL= 139.5, -12.6, ROT=  10.5,  12.6

2025-06-08T00:07:47.487Z,1749341267.487 [DAT](INFO): got valid direction response:
 00:07:46.0285 LVL= 25520, 25185, 26194, 32755, AGC= 66, IDX= 280,-0.37, 0.463,-1.260, 0.054,-0.277, PHS= 0.828,-0.936, 0.328, RAW= 134.0,  -2.8, CAL= 139.5, -12.6, ROT=  10.5,  12.6

2025-06-08T00:07:47.488Z,1749341267.488 [DAT](INFO): DAT read: Bearing  10.5,  12.6 (Local)

2025-06-08T00:07:47.489Z,1749341267.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5,  12.6 (Local)

2025-06-08T00:07:47.490Z,1749341267.490 [DAT](INFO): DAT read: Range 10 to 50 : 68.7 m  (Round-trip  91.7 ms) speed  0.7 m/s

2025-06-08T00:07:47.492Z,1749341267.492 [DAT](INFO): DAT read: user:2102>

2025-06-08T00:07:47.496Z,1749341267.496 [DAT](INFO): DAT read: Tx time:00:07:47.1326

2025-06-08T00:07:47.497Z,1749341267.497 [DAT](INFO): Ping request sent.
2025-06-08T00:07:47.497Z,1749341267.497 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:47.498Z,1749341267.498 [DAT](INFO): DAT read: TxSync time:00:07:47.1318

2025-06-08T00:07:47.499Z,1749341267.499 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-08T00:07:47.512Z,1749341267.512 [DAT](INFO): direction in FSK: [0.959575,0.177847,-0.218143]
2025-06-08T00:07:47.512Z,1749341267.512 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:47.512Z,1749341267.512 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:47.524Z,1749341267.524 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:47.524Z,1749341267.524 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:47.535Z,1749341267.535 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.030111
2025-06-08T00:07:47.541Z,1749341267.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.699997 m,
      deltaT: 14.623967 s,
      deltaX: -9.600006 m,
      approachRate: -0.656457 m/s,
      rangeRepo size: 4

2025-06-08T00:07:47.548Z,1749341267.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.161949 m,
      bearing: 292.664387 deg,
      lat: 36.905954 deg,
      lon: -122.115918 deg,
      deltaT: 14.623967 s,
      deltaX: -9.524055 m,
      approachRate: -0.651263 m/s,
      posRepo size: 4

2025-06-08T00:07:47.548Z,1749341267.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:47.551Z,1749341267.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 68.197510 m,
      bearing: 297.013234 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.110331 deg/s,
      cmd heading: 281.951302 deg,
      new cmd heading: 282.086601 deg.

2025-06-08T00:07:47.552Z,1749341267.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923340 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:47.729Z,1749341267.729 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.231684
2025-06-08T00:07:47.906Z,1749341267.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:47.909Z,1749341267.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 67.925842 m,
      bearing: 297.058010 deg,
      approach rate: -0.744229 m/s,
      LOS rate: 0.123155 deg/s,
      cmd heading: 282.086594 deg,
      new cmd heading: 282.221460 deg.

2025-06-08T00:07:47.910Z,1749341267.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.925694 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:47.982Z,1749341267.982 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.484963
2025-06-08T00:07:48.232Z,1749341268.232 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.735203
2025-06-08T00:07:48.348Z,1749341268.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:48.350Z,1749341268.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 67.622231 m,
      bearing: 297.122281 deg,
      approach rate: -0.693634 m/s,
      LOS rate: 0.147493 deg/s,
      cmd heading: 282.221449 deg,
      new cmd heading: 282.415127 deg.

2025-06-08T00:07:48.356Z,1749341268.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929074 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:48.485Z,1749341268.485 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.987960
2025-06-08T00:07:48.705Z,1749341268.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:48.708Z,1749341268.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 67.346886 m,
      bearing: 297.180036 deg,
      approach rate: -0.760897 m/s,
      LOS rate: 0.160256 deg/s,
      cmd heading: 282.415126 deg,
      new cmd heading: 282.589101 deg.

2025-06-08T00:07:48.709Z,1749341268.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932110 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:48.736Z,1749341268.736 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.239236
2025-06-08T00:07:48.991Z,1749341268.991 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.493415
2025-06-08T00:07:49.171Z,1749341269.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:49.174Z,1749341269.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:49.177Z,1749341269.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 67.003304 m,
      bearing: 297.264980 deg,
      approach rate: -0.733697 m/s,
      LOS rate: 0.182322 deg/s,
      cmd heading: 282.589105 deg,
      new cmd heading: 282.845241 deg.

2025-06-08T00:07:49.178Z,1749341269.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.936581 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:49.240Z,1749341269.240 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.743508
2025-06-08T00:07:49.488Z,1749341269.488 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-08T00:07:49.492Z,1749341269.492 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.995514
2025-06-08T00:07:49.512Z,1749341269.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:49.531Z,1749341269.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 66.754097 m,
      bearing: 297.326736 deg,
      approach rate: -0.735617 m/s,
      LOS rate: 0.182974 deg/s,
      cmd heading: 282.845237 deg,
      new cmd heading: 283.031196 deg.

2025-06-08T00:07:49.532Z,1749341269.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.939826 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:49.744Z,1749341269.744 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.247212
2025-06-08T00:07:49.927Z,1749341269.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:49.930Z,1749341269.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 66.449295 m,
      bearing: 297.402441 deg,
      approach rate: -0.735075 m/s,
      LOS rate: 0.183412 deg/s,
      cmd heading: 283.031182 deg,
      new cmd heading: 283.259338 deg.

2025-06-08T00:07:49.932Z,1749341269.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.943808 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:49.999Z,1749341269.999 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.501370
2025-06-08T00:07:50.248Z,1749341270.248 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.751309
2025-06-08T00:07:50.312Z,1749341270.312 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25060716090724,35.0, +10.61492.0,  0
2025-06-08T00:07:50.327Z,1749341270.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:50.330Z,1749341270.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 66.155449 m,
      bearing: 297.475566 deg,
      approach rate: -0.735060 m/s,
      LOS rate: 0.183735 deg/s,
      cmd heading: 283.259338 deg,
      new cmd heading: 283.479685 deg.

2025-06-08T00:07:50.331Z,1749341270.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.947654 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:50.500Z,1749341270.500 [DAT](INFO): DAT read: Rx Time:00:07:49.6249

2025-06-08T00:07:50.501Z,1749341270.501 [DAT](INFO): Rx dataTimestamp_ set to:1749341270.500301
2025-06-08T00:07:50.501Z,1749341270.501 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.004237
2025-06-08T00:07:50.717Z,1749341270.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.16 m.
2025-06-08T00:07:50.720Z,1749341270.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.161949 m,
      nav range: 65.868309 m,
      bearing: 297.547189 deg,
      approach rate: -0.735453 m/s,
      LOS rate: 0.184248 deg/s,
      cmd heading: 283.479680 deg,
      new cmd heading: 283.695484 deg.

2025-06-08T00:07:50.721Z,1749341270.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.951420 target range: 68.161949 and range: 68.70 m.
2025-06-08T00:07:50.753Z,1749341270.753 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.256080
2025-06-08T00:07:51.010Z,1749341271.010 [DAT](INFO): DAT read: 00:07:49.6249 LVL= 21600, 26433, 23090, 29315, AGC= 66, IDX= 402, 0.15, 1.798,-0.025, 1.329, 0.976, PHS= 0.910,-0.954, 0.350, RAW= 133.0,  -3.7, CAL= 138.4, -13.9, ROT=  11.6,  13.9

2025-06-08T00:07:51.011Z,1749341271.011 [DAT](INFO): got valid direction response:
 00:07:49.6249 LVL= 21600, 26433, 23090, 29315, AGC= 66, IDX= 402, 0.15, 1.798,-0.025, 1.329, 0.976, PHS= 0.910,-0.954, 0.350, RAW= 133.0,  -3.7, CAL= 138.4, -13.9, ROT=  11.6,  13.9

2025-06-08T00:07:51.012Z,1749341271.012 [DAT](INFO): DAT read: Bearing  11.6,  13.9 (Local)

2025-06-08T00:07:51.013Z,1749341271.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.6,  13.9 (Local)

2025-06-08T00:07:51.018Z,1749341271.018 [DAT](INFO): DAT read: Range 10 to 50 : 66.0 m  (Round-trip  88.1 ms) speed  0.9 m/s

2025-06-08T00:07:51.020Z,1749341271.020 [DAT](INFO): DAT read: user:2103>

2025-06-08T00:07:51.022Z,1749341271.022 [DAT](INFO): DAT read: Tx time:00:07:50.7326

2025-06-08T00:07:51.023Z,1749341271.023 [DAT](INFO): Ping request sent.
2025-06-08T00:07:51.024Z,1749341271.024 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:07:51.025Z,1749341271.025 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-08T00:07:51.045Z,1749341271.045 [DAT](INFO): direction in FSK: [0.950890,0.195190,-0.240228]
2025-06-08T00:07:51.046Z,1749341271.046 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:51.047Z,1749341271.047 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:51.101Z,1749341271.101 [DAT](INFO): publishing transmit ping time
2025-06-08T00:07:51.101Z,1749341271.101 [DAT](INFO): publishing direction and range info
2025-06-08T00:07:51.121Z,1749341271.121 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.097813
2025-06-08T00:07:51.248Z,1749341271.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.000000 m,
      deltaT: 3.527942 s,
      deltaX: -2.699997 m,
      approachRate: -0.765318 m/s,
      rangeRepo size: 4

2025-06-08T00:07:51.250Z,1749341271.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.483475 m,
      bearing: 294.891004 deg,
      lat: 36.905912 deg,
      lon: -122.115937 deg,
      deltaT: 3.527942 s,
      deltaX: -2.678474 m,
      approachRate: -0.759217 m/s,
      posRepo size: 4

2025-06-08T00:07:51.256Z,1749341271.256 [DAT](INFO): DAT read: TxSync time:00:07:50.7318

2025-06-08T00:07:51.257Z,1749341271.257 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.234032
2025-06-08T00:07:51.251Z,1749341271.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:51.264Z,1749341271.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 65.048958 m,
      bearing: 293.288686 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.184248 deg/s,
      cmd heading: 283.695486 deg,
      new cmd heading: 283.986234 deg.

2025-06-08T00:07:51.265Z,1749341271.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.956495 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:51.513Z,1749341271.513 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.489976
2025-06-08T00:07:51.573Z,1749341271.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:51.580Z,1749341271.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:51.582Z,1749341271.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 64.804390 m,
      bearing: 293.349452 deg,
      approach rate: -0.726538 m/s,
      LOS rate: 0.181199 deg/s,
      cmd heading: 283.986234 deg,
      new cmd heading: 284.169219 deg.

2025-06-08T00:07:51.588Z,1749341271.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.959689 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:51.764Z,1749341271.764 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.741296
2025-06-08T00:07:51.977Z,1749341271.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:51.985Z,1749341271.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 64.529510 m,
      bearing: 293.417755 deg,
      approach rate: -0.691284 m/s,
      LOS rate: 0.172503 deg/s,
      cmd heading: 284.169228 deg,
      new cmd heading: 284.375008 deg.

2025-06-08T00:07:51.986Z,1749341271.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963280 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:52.030Z,1749341272.030 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.006986
2025-06-08T00:07:52.283Z,1749341272.283 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.260197
2025-06-08T00:07:52.408Z,1749341272.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:52.411Z,1749341272.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 64.219894 m,
      bearing: 293.498124 deg,
      approach rate: -0.718909 m/s,
      LOS rate: 0.187512 deg/s,
      cmd heading: 284.375008 deg,
      new cmd heading: 284.617277 deg.

2025-06-08T00:07:52.412Z,1749341272.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967509 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:52.532Z,1749341272.532 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.509111
2025-06-08T00:07:52.784Z,1749341272.784 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.761091
2025-06-08T00:07:52.865Z,1749341272.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:52.869Z,1749341272.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 63.913342 m,
      bearing: 293.577252 deg,
      approach rate: -0.670953 m/s,
      LOS rate: 0.174019 deg/s,
      cmd heading: 284.617289 deg,
      new cmd heading: 284.855811 deg.

2025-06-08T00:07:52.870Z,1749341272.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.971672 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:53.036Z,1749341273.036 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.013350
2025-06-08T00:07:53.269Z,1749341273.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:53.272Z,1749341273.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 63.638592 m,
      bearing: 293.640341 deg,
      approach rate: -0.679616 m/s,
      LOS rate: 0.156728 deg/s,
      cmd heading: 284.855799 deg,
      new cmd heading: 285.045880 deg.

2025-06-08T00:07:53.273Z,1749341273.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.974989 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:53.288Z,1749341273.288 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.265108
2025-06-08T00:07:53.540Z,1749341273.540 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.517045
2025-06-08T00:07:53.738Z,1749341273.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:53.740Z,1749341273.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:53.743Z,1749341273.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 63.336170 m,
      bearing: 293.710437 deg,
      approach rate: -0.642220 m/s,
      LOS rate: 0.149567 deg/s,
      cmd heading: 285.045869 deg,
      new cmd heading: 285.257161 deg.

2025-06-08T00:07:53.744Z,1749341273.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978677 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:53.792Z,1749341273.792 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.769225
2025-06-08T00:07:54.044Z,1749341274.044 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.021152
2025-06-08T00:07:54.213Z,1749341274.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:54.220Z,1749341274.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 63.026035 m,
      bearing: 293.770708 deg,
      approach rate: -0.656469 m/s,
      LOS rate: 0.128205 deg/s,
      cmd heading: 285.257168 deg,
      new cmd heading: 285.438871 deg.

2025-06-08T00:07:54.221Z,1749341274.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981848 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:54.296Z,1749341274.296 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.273198
2025-06-08T00:07:54.540Z,1749341274.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:54.543Z,1749341274.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 62.796486 m,
      bearing: 293.814774 deg,
      approach rate: -0.700478 m/s,
      LOS rate: 0.134959 deg/s,
      cmd heading: 285.438878 deg,
      new cmd heading: 285.571557 deg.

2025-06-08T00:07:54.544Z,1749341274.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.984164 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:54.549Z,1749341274.549 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.525447
2025-06-08T00:07:54.800Z,1749341274.800 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.777258
2025-06-08T00:07:54.955Z,1749341274.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:54.960Z,1749341274.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 62.524487 m,
      bearing: 293.866262 deg,
      approach rate: -0.656141 m/s,
      LOS rate: 0.124745 deg/s,
      cmd heading: 285.571548 deg,
      new cmd heading: 285.726684 deg.

2025-06-08T00:07:54.961Z,1749341274.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986871 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:55.052Z,1749341275.052 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.029297
2025-06-08T00:07:55.304Z,1749341275.304 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.281106
2025-06-08T00:07:55.394Z,1749341275.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:55.428Z,1749341275.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 62.237164 m,
      bearing: 293.911788 deg,
      approach rate: -0.654105 m/s,
      LOS rate: 0.104120 deg/s,
      cmd heading: 285.726675 deg,
      new cmd heading: 285.863883 deg.

2025-06-08T00:07:55.429Z,1749341275.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989266 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:55.556Z,1749341275.556 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.533057
2025-06-08T00:07:55.808Z,1749341275.808 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=4.785049
2025-06-08T00:07:55.840Z,1749341275.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:55.843Z,1749341275.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:55.845Z,1749341275.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 61.946304 m,
      bearing: 293.955923 deg,
      approach rate: -0.648702 m/s,
      LOS rate: 0.098897 deg/s,
      cmd heading: 285.863880 deg,
      new cmd heading: 285.996907 deg.

2025-06-08T00:07:55.846Z,1749341275.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991588 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:56.060Z,1749341276.060 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.036943
2025-06-08T00:07:56.292Z,1749341276.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:56.295Z,1749341276.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 61.642384 m,
      bearing: 293.985728 deg,
      approach rate: -0.675729 m/s,
      LOS rate: 0.066593 deg/s,
      cmd heading: 285.996905 deg,
      new cmd heading: 286.086759 deg.

2025-06-08T00:07:56.300Z,1749341276.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993156 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:56.312Z,1749341276.312 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.289106
2025-06-08T00:07:56.564Z,1749341276.564 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.541061
2025-06-08T00:07:56.611Z,1749341276.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:56.614Z,1749341276.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 61.423492 m,
      bearing: 294.007378 deg,
      approach rate: -0.686969 m/s,
      LOS rate: 0.068188 deg/s,
      cmd heading: 286.086763 deg,
      new cmd heading: 286.151944 deg.

2025-06-08T00:07:56.615Z,1749341276.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994294 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:56.817Z,1749341276.817 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=5.794337
2025-06-08T00:07:57.014Z,1749341277.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:57.017Z,1749341277.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 61.154942 m,
      bearing: 294.032844 deg,
      approach rate: -0.671042 m/s,
      LOS rate: 0.063913 deg/s,
      cmd heading: 286.151950 deg,
      new cmd heading: 286.228684 deg.

2025-06-08T00:07:57.018Z,1749341277.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995633 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:57.068Z,1749341277.068 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.045366
2025-06-08T00:07:57.320Z,1749341277.320 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.297044
2025-06-08T00:07:57.437Z,1749341277.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:57.445Z,1749341277.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 60.867210 m,
      bearing: 294.050095 deg,
      approach rate: -0.675283 m/s,
      LOS rate: 0.040680 deg/s,
      cmd heading: 286.228694 deg,
      new cmd heading: 286.280694 deg.

2025-06-08T00:07:57.446Z,1749341277.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996541 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:57.572Z,1749341277.572 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.549064
2025-06-08T00:07:57.793Z,1749341277.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:57.796Z,1749341277.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 60.606194 m,
      bearing: 294.065535 deg,
      approach rate: -0.733472 m/s,
      LOS rate: 0.043573 deg/s,
      cmd heading: 286.280685 deg,
      new cmd heading: 286.327203 deg.

2025-06-08T00:07:57.797Z,1749341277.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997353 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:57.825Z,1749341277.825 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.801471
2025-06-08T00:07:58.077Z,1749341278.077 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.053450
2025-06-08T00:07:58.267Z,1749341278.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:07:58.269Z,1749341278.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:58.272Z,1749341278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 60.258652 m,
      bearing: 294.072034 deg,
      approach rate: -0.729909 m/s,
      LOS rate: 0.013730 deg/s,
      cmd heading: 286.327213 deg,
      new cmd heading: 286.346825 deg.

2025-06-08T00:07:58.273Z,1749341278.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997695 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:58.328Z,1749341278.328 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.305222
2025-06-08T00:07:58.581Z,1749341278.581 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.557490
2025-06-08T00:07:58.640Z,1749341278.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:58.643Z,1749341278.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 59.988075 m,
      bearing: 294.076600 deg,
      approach rate: -0.731667 m/s,
      LOS rate: 0.012400 deg/s,
      cmd heading: 286.346829 deg,
      new cmd heading: 286.360586 deg.

2025-06-08T00:07:58.644Z,1749341278.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997935 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:58.833Z,1749341278.833 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=7.809518
2025-06-08T00:07:59.058Z,1749341279.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:59.061Z,1749341279.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 59.682514 m,
      bearing: 294.081511 deg,
      approach rate: -0.729607 m/s,
      LOS rate: 0.011787 deg/s,
      cmd heading: 286.360599 deg,
      new cmd heading: 286.375408 deg.

2025-06-08T00:07:59.062Z,1749341279.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998194 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:59.085Z,1749341279.085 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.062049
2025-06-08T00:07:59.339Z,1749341279.339 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.315919
2025-06-08T00:07:59.492Z,1749341279.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:59.494Z,1749341279.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 59.365170 m,
      bearing: 294.086044 deg,
      approach rate: -0.732017 m/s,
      LOS rate: 0.010511 deg/s,
      cmd heading: 286.375407 deg,
      new cmd heading: 286.389077 deg.

2025-06-08T00:07:59.495Z,1749341279.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998432 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:07:59.589Z,1749341279.589 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.565540
2025-06-08T00:07:59.840Z,1749341279.840 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=8.817129
2025-06-08T00:07:59.867Z,1749341279.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:07:59.870Z,1749341279.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 59.089977 m,
      bearing: 294.089751 deg,
      approach rate: -0.732847 m/s,
      LOS rate: 0.009918 deg/s,
      cmd heading: 286.389067 deg,
      new cmd heading: 286.400240 deg.

2025-06-08T00:07:59.871Z,1749341279.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998627 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:00.092Z,1749341280.092 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.069225
2025-06-08T00:08:00.304Z,1749341280.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:00.307Z,1749341280.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:00.309Z,1749341280.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 58.767193 m,
      bearing: 294.094460 deg,
      approach rate: -0.734187 m/s,
      LOS rate: 0.010771 deg/s,
      cmd heading: 286.400241 deg,
      new cmd heading: 286.414448 deg.

2025-06-08T00:08:00.310Z,1749341280.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998875 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:00.345Z,1749341280.345 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.322031
2025-06-08T00:08:00.596Z,1749341280.596 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.573259
2025-06-08T00:08:00.691Z,1749341280.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:00.694Z,1749341280.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 58.483601 m,
      bearing: 294.098641 deg,
      approach rate: -0.737789 m/s,
      LOS rate: 0.010929 deg/s,
      cmd heading: 286.414448 deg,
      new cmd heading: 286.427051 deg.

2025-06-08T00:08:00.695Z,1749341280.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999095 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:00.848Z,1749341280.848 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.825135
2025-06-08T00:08:01.100Z,1749341281.100 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.077142
2025-06-08T00:08:01.102Z,1749341281.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:01.105Z,1749341281.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 58.182259 m,
      bearing: 294.103128 deg,
      approach rate: -0.733091 m/s,
      LOS rate: 0.010972 deg/s,
      cmd heading: 286.427043 deg,
      new cmd heading: 286.440574 deg.

2025-06-08T00:08:01.106Z,1749341281.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999331 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:01.352Z,1749341281.352 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.329138
2025-06-08T00:08:01.518Z,1749341281.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:01.525Z,1749341281.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 57.892799 m,
      bearing: 294.110538 deg,
      approach rate: -0.695866 m/s,
      LOS rate: 0.017902 deg/s,
      cmd heading: 286.440567 deg,
      new cmd heading: 286.462906 deg.

2025-06-08T00:08:01.526Z,1749341281.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999721 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:01.605Z,1749341281.605 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=10.581849
2025-06-08T00:08:01.856Z,1749341281.856 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:08:01.857Z,1749341281.857 [DAT](INFO): response not received
2025-06-08T00:08:01.857Z,1749341281.857 [DAT](INFO): DAT read: user:2104>

2025-06-08T00:08:01.858Z,1749341281.858 [DAT](INFO): DAT read: Tx time:00:08:01.6828

2025-06-08T00:08:01.858Z,1749341281.858 [DAT](INFO): Ping request sent.
2025-06-08T00:08:01.858Z,1749341281.858 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:08:01.858Z,1749341281.858 [DAT](INFO): publishing transmit ping time
2025-06-08T00:08:01.859Z,1749341281.859 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.000738
2025-06-08T00:08:01.888Z,1749341281.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:01.891Z,1749341281.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 57.614544 m,
      bearing: 294.117169 deg,
      approach rate: -0.750968 m/s,
      LOS rate: 0.017984 deg/s,
      cmd heading: 286.462915 deg,
      new cmd heading: 286.482906 deg.

2025-06-08T00:08:01.892Z,1749341281.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000070 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:02.109Z,1749341282.109 [DAT](INFO): DAT read: TxSync time:00:08:01.6820

2025-06-08T00:08:02.110Z,1749341282.110 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.251885
2025-06-08T00:08:02.312Z,1749341282.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:02.314Z,1749341282.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:02.337Z,1749341282.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 57.312332 m,
      bearing: 294.132430 deg,
      approach rate: -0.710441 m/s,
      LOS rate: 0.036065 deg/s,
      cmd heading: 286.482914 deg,
      new cmd heading: 286.528938 deg.

2025-06-08T00:08:02.338Z,1749341282.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000874 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:02.360Z,1749341282.360 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.502218
2025-06-08T00:08:02.612Z,1749341282.612 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.753933
2025-06-08T00:08:02.707Z,1749341282.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:02.710Z,1749341282.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 57.032742 m,
      bearing: 294.146710 deg,
      approach rate: -0.710642 m/s,
      LOS rate: 0.036474 deg/s,
      cmd heading: 286.528949 deg,
      new cmd heading: 286.571999 deg.

2025-06-08T00:08:02.711Z,1749341282.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001625 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:02.864Z,1749341282.864 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.006002
2025-06-08T00:08:03.095Z,1749341283.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:03.098Z,1749341283.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 56.757133 m,
      bearing: 294.160440 deg,
      approach rate: -0.710328 m/s,
      LOS rate: 0.035558 deg/s,
      cmd heading: 286.572007 deg,
      new cmd heading: 286.613396 deg.

2025-06-08T00:08:03.099Z,1749341283.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002347 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:03.116Z,1749341283.116 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.258123
2025-06-08T00:08:03.368Z,1749341283.368 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.510018
2025-06-08T00:08:03.527Z,1749341283.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:03.529Z,1749341283.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 56.460567 m,
      bearing: 294.186509 deg,
      approach rate: -0.687441 m/s,
      LOS rate: 0.060746 deg/s,
      cmd heading: 286.613398 deg,
      new cmd heading: 286.692016 deg.

2025-06-08T00:08:03.530Z,1749341283.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003720 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:03.621Z,1749341283.621 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.762533
2025-06-08T00:08:03.872Z,1749341283.872 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.014016
2025-06-08T00:08:03.926Z,1749341283.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:03.933Z,1749341283.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 56.191517 m,
      bearing: 294.209074 deg,
      approach rate: -0.674613 m/s,
      LOS rate: 0.056849 deg/s,
      cmd heading: 286.692027 deg,
      new cmd heading: 286.760044 deg.

2025-06-08T00:08:03.934Z,1749341283.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004907 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:04.124Z,1749341284.124 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.265983
2025-06-08T00:08:04.344Z,1749341284.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:04.346Z,1749341284.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:04.349Z,1749341284.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 55.898285 m,
      bearing: 294.246584 deg,
      approach rate: -0.696788 m/s,
      LOS rate: 0.089600 deg/s,
      cmd heading: 286.760055 deg,
      new cmd heading: 286.873175 deg.

2025-06-08T00:08:04.350Z,1749341284.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006881 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:04.376Z,1749341284.376 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.518072
2025-06-08T00:08:04.628Z,1749341284.628 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.770048
2025-06-08T00:08:04.739Z,1749341284.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:04.742Z,1749341284.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 55.630672 m,
      bearing: 294.280473 deg,
      approach rate: -0.682305 m/s,
      LOS rate: 0.086819 deg/s,
      cmd heading: 286.873163 deg,
      new cmd heading: 286.975320 deg.

2025-06-08T00:08:04.743Z,1749341284.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.008664 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:04.880Z,1749341284.880 [DAT](INFO): DAT read: Rx Time:00:08:04.1614

2025-06-08T00:08:04.881Z,1749341284.881 [DAT](INFO): Rx dataTimestamp_ set to:1749341284.880437
2025-06-08T00:08:04.881Z,1749341284.881 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.023168
2025-06-08T00:08:05.119Z,1749341285.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:05.121Z,1749341285.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 55.369446 m,
      bearing: 294.313465 deg,
      approach rate: -0.687259 m/s,
      LOS rate: 0.087208 deg/s,
      cmd heading: 286.975316 deg,
      new cmd heading: 287.074759 deg.

2025-06-08T00:08:05.122Z,1749341285.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010400 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:05.132Z,1749341285.132 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.274000
2025-06-08T00:08:05.388Z,1749341285.388 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.529113
2025-06-08T00:08:05.544Z,1749341285.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.48 m.
2025-06-08T00:08:05.547Z,1749341285.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.483475 m,
      nav range: 55.082363 m,
      bearing: 294.358508 deg,
      approach rate: -0.674912 m/s,
      LOS rate: 0.106444 deg/s,
      cmd heading: 287.074763 deg,
      new cmd heading: 287.210595 deg.

2025-06-08T00:08:05.548Z,1749341285.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012771 target range: 65.483475 and range: 66.00 m.
2025-06-08T00:08:05.645Z,1749341285.645 [DAT](INFO): DAT read: 00:08:04.1614 LVL= 31808, 31409, 24386, 30659, AGC= 69, IDX= 263,-0.39,-0.363,-1.810,-0.699,-1.007, PHS= 0.732,-0.756, 0.305, RAW= 133.8,  -4.3, CAL= 139.3, -14.6, ROT=  10.7,  14.6

2025-06-08T00:08:05.646Z,1749341285.646 [DAT](INFO): got valid direction response:
 00:08:04.1614 LVL= 31808, 31409, 24386, 30659, AGC= 69, IDX= 263,-0.39,-0.363,-1.810,-0.699,-1.007, PHS= 0.732,-0.756, 0.305, RAW= 133.8,  -4.3, CAL= 139.3, -14.6, ROT=  10.7,  14.6

2025-06-08T00:08:05.647Z,1749341285.647 [DAT](INFO): DAT read: Bearing  10.7,  14.6 (Local)

2025-06-08T00:08:05.647Z,1749341285.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.7,  14.6 (Local)

2025-06-08T00:08:05.654Z,1749341285.654 [DAT](INFO): DAT read: Range 10 to 50 : 55.8 m  (Round-trip  74.5 ms) speed  0.6 m/s

2025-06-08T00:08:05.660Z,1749341285.660 [DAT](INFO): DAT read: user:2105>

2025-06-08T00:08:05.661Z,1749341285.661 [DAT](INFO): DAT read: Tx time:00:08:05.2828

2025-06-08T00:08:05.661Z,1749341285.661 [DAT](INFO): Ping request sent.
2025-06-08T00:08:05.661Z,1749341285.661 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:08:05.662Z,1749341285.662 [DAT](INFO): DAT read: TxSync time:00:08:05.2820

2025-06-08T00:08:05.662Z,1749341285.662 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-08T00:08:05.664Z,1749341285.664 [DAT](INFO): direction in FSK: [0.950883,0.179671,-0.252069]
2025-06-08T00:08:05.664Z,1749341285.664 [DAT](INFO): publishing transmit ping time
2025-06-08T00:08:05.664Z,1749341285.664 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:05.683Z,1749341285.683 [DAT](INFO): publishing transmit ping time
2025-06-08T00:08:05.684Z,1749341285.684 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:05.687Z,1749341285.687 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.025358
2025-06-08T00:08:05.888Z,1749341285.888 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.227024
2025-06-08T00:08:05.948Z,1749341285.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.799999 m,
      deltaT: 14.633784 s,
      deltaX: -10.200001 m,
      approachRate: -0.697017 m/s,
      rangeRepo size: 4

2025-06-08T00:08:05.951Z,1749341285.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.363499 m,
      bearing: 299.298353 deg,
      lat: 36.905925 deg,
      lon: -122.115924 deg,
      deltaT: 14.633784 s,
      deltaX: -10.119976 m,
      approachRate: -0.691549 m/s,
      posRepo size: 4

2025-06-08T00:08:05.952Z,1749341285.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:05.953Z,1749341285.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:05.973Z,1749341285.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 54.338177 m,
      bearing: 296.313899 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.106444 deg/s,
      cmd heading: 287.210602 deg,
      new cmd heading: 287.339002 deg.

2025-06-08T00:08:05.974Z,1749341285.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.015012 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:05.998Z,1749341285.998 [DockingStepper](INFO): Changing to mode: 2
2025-06-08T00:08:05.998Z,1749341285.998 [DockingStepper](INFO): Armed mode.
2025-06-08T00:08:06.075Z,1749341286.075 [DockingStepper](INFO): Commanding negative:54396
2025-06-08T00:08:06.140Z,1749341286.140 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.479064
2025-06-08T00:08:06.366Z,1749341286.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:06.368Z,1749341286.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:06.368Z,1749341286.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:06.372Z,1749341286.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 54.047024 m,
      bearing: 296.379766 deg,
      approach rate: -0.690351 m/s,
      LOS rate: 0.157018 deg/s,
      cmd heading: 287.339010 deg,
      new cmd heading: 287.537675 deg.

2025-06-08T00:08:06.373Z,1749341286.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.018479 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:06.392Z,1749341286.392 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.730790
2025-06-08T00:08:06.647Z,1749341286.647 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.985308
2025-06-08T00:08:06.734Z,1749341286.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:06.735Z,1749341286.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:06.738Z,1749341286.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 53.798744 m,
      bearing: 296.436191 deg,
      approach rate: -0.678000 m/s,
      LOS rate: 0.154795 deg/s,
      cmd heading: 287.537686 deg,
      new cmd heading: 287.707740 deg.

2025-06-08T00:08:06.739Z,1749341286.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.021447 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:06.900Z,1749341286.900 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.238849
2025-06-08T00:08:07.151Z,1749341287.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:07.152Z,1749341287.152 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.490853
2025-06-08T00:08:07.153Z,1749341287.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:07.156Z,1749341287.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 53.517334 m,
      bearing: 296.500598 deg,
      approach rate: -0.675570 m/s,
      LOS rate: 0.155434 deg/s,
      cmd heading: 287.707731 deg,
      new cmd heading: 287.901968 deg.

2025-06-08T00:08:07.157Z,1749341287.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024837 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:07.404Z,1749341287.404 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.742870
2025-06-08T00:08:07.560Z,1749341287.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:07.560Z,1749341287.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:07.563Z,1749341287.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 53.243580 m,
      bearing: 296.556199 deg,
      approach rate: -0.670004 m/s,
      LOS rate: 0.136780 deg/s,
      cmd heading: 287.901981 deg,
      new cmd heading: 288.069640 deg.

2025-06-08T00:08:07.564Z,1749341287.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027764 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:07.656Z,1749341287.656 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.994977
2025-06-08T00:08:07.908Z,1749341287.908 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.246708
2025-06-08T00:08:07.978Z,1749341287.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:07.978Z,1749341287.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:07.981Z,1749341287.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 52.962952 m,
      bearing: 296.612716 deg,
      approach rate: -0.670610 m/s,
      LOS rate: 0.135772 deg/s,
      cmd heading: 288.069649 deg,
      new cmd heading: 288.240096 deg.

2025-06-08T00:08:07.982Z,1749341287.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.030739 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:08.160Z,1749341288.160 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.498885
2025-06-08T00:08:08.416Z,1749341288.416 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.754797
2025-06-08T00:08:08.424Z,1749341288.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:08.426Z,1749341288.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:08.426Z,1749341288.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:08.441Z,1749341288.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 52.672752 m,
      bearing: 296.675826 deg,
      approach rate: -0.647565 m/s,
      LOS rate: 0.141603 deg/s,
      cmd heading: 288.240103 deg,
      new cmd heading: 288.430476 deg.

2025-06-08T00:08:08.442Z,1749341288.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.034061 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:08.664Z,1749341288.664 [DAT](INFO): DAT read: Rx Time:00:08:07.7581

2025-06-08T00:08:08.665Z,1749341288.665 [DAT](INFO): Rx dataTimestamp_ set to:1749341288.664430
2025-06-08T00:08:08.665Z,1749341288.665 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.003908
2025-06-08T00:08:08.754Z,1749341288.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:08.754Z,1749341288.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:08.757Z,1749341288.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 52.424221 m,
      bearing: 296.729826 deg,
      approach rate: -0.758178 m/s,
      LOS rate: 0.165515 deg/s,
      cmd heading: 288.430474 deg,
      new cmd heading: 288.593241 deg.

2025-06-08T00:08:08.758Z,1749341288.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.036902 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:08.916Z,1749341288.916 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.254774
2025-06-08T00:08:09.174Z,1749341289.174 [DAT](INFO): DAT read: 00:08:07.7581 LVL= 20048, 25361, 20978, 28275, AGC= 64, IDX= 405,-0.44,-0.750,-2.241,-1.142,-1.323, PHS= 0.661,-0.871, 0.178, RAW= 132.0,   0.5, CAL= 137.8,  -8.0, ROT=  12.2,   8.0

2025-06-08T00:08:09.175Z,1749341289.175 [DAT](INFO): got valid direction response:
 00:08:07.7581 LVL= 20048, 25361, 20978, 28275, AGC= 64, IDX= 405,-0.44,-0.750,-2.241,-1.142,-1.323, PHS= 0.661,-0.871, 0.178, RAW= 132.0,   0.5, CAL= 137.8,  -8.0, ROT=  12.2,   8.0

2025-06-08T00:08:09.176Z,1749341289.176 [DAT](INFO): DAT read: $Error in header

2025-06-08T00:08:09.176Z,1749341289.176 [DAT](INFO): Received a bad header
2025-06-08T00:08:09.188Z,1749341289.188 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-06-08T00:08:09.188Z,1749341289.188 [DAT](INFO): direction in FSK: [0.967904,0.209268,-0.139173]
2025-06-08T00:08:09.192Z,1749341289.192 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.530585
2025-06-08T00:08:09.377Z,1749341289.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:09.377Z,1749341289.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:09.380Z,1749341289.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 52.001221 m,
      bearing: 296.822019 deg,
      approach rate: -0.679060 m/s,
      LOS rate: 0.149205 deg/s,
      cmd heading: 288.593251 deg,
      new cmd heading: 288.872078 deg.

2025-06-08T00:08:09.381Z,1749341289.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041769 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:09.421Z,1749341289.421 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.759407
2025-06-08T00:08:09.672Z,1749341289.672 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.010937
2025-06-08T00:08:09.726Z,1749341289.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:09.726Z,1749341289.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:09.737Z,1749341289.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 51.751949 m,
      bearing: 296.869421 deg,
      approach rate: -0.714220 m/s,
      LOS rate: 0.136471 deg/s,
      cmd heading: 288.872087 deg,
      new cmd heading: 289.014976 deg.

2025-06-08T00:08:09.738Z,1749341289.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044263 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:09.924Z,1749341289.924 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.262796
2025-06-08T00:08:10.091Z,1749341290.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:10.092Z,1749341290.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:10.094Z,1749341290.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 51.490265 m,
      bearing: 296.918928 deg,
      approach rate: -0.716341 m/s,
      LOS rate: 0.136212 deg/s,
      cmd heading: 289.014974 deg,
      new cmd heading: 289.164251 deg.

2025-06-08T00:08:10.096Z,1749341290.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046868 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:10.177Z,1749341290.177 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.515672
2025-06-08T00:08:10.428Z,1749341290.428 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=4.767063
2025-06-08T00:08:10.506Z,1749341290.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:10.509Z,1749341290.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:10.509Z,1749341290.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:10.524Z,1749341290.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 51.197025 m,
      bearing: 296.960592 deg,
      approach rate: -0.701592 m/s,
      LOS rate: 0.100254 deg/s,
      cmd heading: 289.164255 deg,
      new cmd heading: 289.289962 deg.

2025-06-08T00:08:10.525Z,1749341290.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.049062 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:10.680Z,1749341290.680 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.018884
2025-06-08T00:08:10.859Z,1749341290.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:10.860Z,1749341290.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:10.863Z,1749341290.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 50.949543 m,
      bearing: 296.995327 deg,
      approach rate: -0.706108 m/s,
      LOS rate: 0.099586 deg/s,
      cmd heading: 289.289958 deg,
      new cmd heading: 289.394669 deg.

2025-06-08T00:08:10.865Z,1749341290.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050890 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:10.933Z,1749341290.933 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.271744
2025-06-08T00:08:11.184Z,1749341291.184 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.522809
2025-06-08T00:08:11.279Z,1749341291.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:11.280Z,1749341291.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:11.283Z,1749341291.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 50.654388 m,
      bearing: 297.037200 deg,
      approach rate: -0.703504 m/s,
      LOS rate: 0.100387 deg/s,
      cmd heading: 289.394678 deg,
      new cmd heading: 289.521030 deg.

2025-06-08T00:08:11.284Z,1749341291.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053095 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:11.436Z,1749341291.436 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=5.774916
2025-06-08T00:08:11.688Z,1749341291.688 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.026820
2025-06-08T00:08:11.709Z,1749341291.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:11.709Z,1749341291.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:11.712Z,1749341291.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 50.365768 m,
      bearing: 297.063435 deg,
      approach rate: -0.671198 m/s,
      LOS rate: 0.061360 deg/s,
      cmd heading: 289.521037 deg,
      new cmd heading: 289.600192 deg.

2025-06-08T00:08:11.713Z,1749341291.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.054477 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:11.941Z,1749341291.941 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.279147
2025-06-08T00:08:12.071Z,1749341292.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:12.072Z,1749341292.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-06-08T00:08:12.072Z,1749341292.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.80 m.
2025-06-08T00:08:12.072Z,1749341292.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-08T00:08:12.075Z,1749341292.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 50.099560 m,
      bearing: 297.087219 deg,
      approach rate: -0.734492 m/s,
      LOS rate: 0.065970 deg/s,
      cmd heading: 289.600185 deg,
      new cmd heading: 289.671915 deg.

2025-06-08T00:08:12.076Z,1749341292.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055729 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:12.193Z,1749341292.193 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.531267
2025-06-08T00:08:12.444Z,1749341292.444 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=6.782667
2025-06-08T00:08:12.509Z,1749341292.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:12.512Z,1749341292.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:12.514Z,1749341292.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 49.792095 m,
      bearing: 297.106508 deg,
      approach rate: -0.698026 m/s,
      LOS rate: 0.044061 deg/s,
      cmd heading: 289.671929 deg,
      new cmd heading: 289.730153 deg.

2025-06-08T00:08:12.516Z,1749341292.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056745 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:12.696Z,1749341292.696 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.034748
2025-06-08T00:08:12.895Z,1749341292.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:12.898Z,1749341292.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 49.534607 m,
      bearing: 297.121922 deg,
      approach rate: -0.701007 m/s,
      LOS rate: 0.042182 deg/s,
      cmd heading: 289.730150 deg,
      new cmd heading: 289.776632 deg.

2025-06-08T00:08:12.903Z,1749341292.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057556 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:12.949Z,1749341292.949 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.287818
2025-06-08T00:08:13.200Z,1749341293.200 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.538869
2025-06-08T00:08:13.291Z,1749341293.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:13.294Z,1749341293.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 49.246521 m,
      bearing: 297.138012 deg,
      approach rate: -0.699625 m/s,
      LOS rate: 0.039303 deg/s,
      cmd heading: 289.776622 deg,
      new cmd heading: 289.825174 deg.

2025-06-08T00:08:13.295Z,1749341293.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058403 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:13.452Z,1749341293.452 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.790909
2025-06-08T00:08:13.704Z,1749341293.704 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.042894
2025-06-08T00:08:13.740Z,1749341293.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:13.757Z,1749341293.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 48.957355 m,
      bearing: 297.147809 deg,
      approach rate: -0.643650 m/s,
      LOS rate: 0.021936 deg/s,
      cmd heading: 289.825171 deg,
      new cmd heading: 289.854736 deg.

2025-06-08T00:08:13.758Z,1749341293.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058919 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:13.957Z,1749341293.957 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.295133
2025-06-08T00:08:14.113Z,1749341294.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:14.116Z,1749341294.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 48.674603 m,
      bearing: 297.157501 deg,
      approach rate: -0.758912 m/s,
      LOS rate: 0.026166 deg/s,
      cmd heading: 289.854732 deg,
      new cmd heading: 289.883978 deg.

2025-06-08T00:08:14.117Z,1749341294.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059430 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:14.209Z,1749341294.209 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.547308
2025-06-08T00:08:14.460Z,1749341294.460 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=8.798798
2025-06-08T00:08:14.535Z,1749341294.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:14.537Z,1749341294.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:14.544Z,1749341294.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 48.389709 m,
      bearing: 297.160108 deg,
      approach rate: -0.671175 m/s,
      LOS rate: 0.006177 deg/s,
      cmd heading: 289.883965 deg,
      new cmd heading: 289.891831 deg.

2025-06-08T00:08:14.545Z,1749341294.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059567 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:14.712Z,1749341294.712 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.050824
2025-06-08T00:08:14.905Z,1749341294.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:14.908Z,1749341294.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 48.133450 m,
      bearing: 297.161156 deg,
      approach rate: -0.696449 m/s,
      LOS rate: 0.002864 deg/s,
      cmd heading: 289.891834 deg,
      new cmd heading: 289.894995 deg.

2025-06-08T00:08:14.909Z,1749341294.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059622 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:14.966Z,1749341294.966 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.304131
2025-06-08T00:08:15.216Z,1749341295.216 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.554898
2025-06-08T00:08:15.333Z,1749341295.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:15.336Z,1749341295.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 47.850838 m,
      bearing: 297.162325 deg,
      approach rate: -0.659693 m/s,
      LOS rate: 0.002745 deg/s,
      cmd heading: 289.895003 deg,
      new cmd heading: 289.898531 deg.

2025-06-08T00:08:15.337Z,1749341295.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059684 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:15.382Z,1749341295.382 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:08:15.468Z,1749341295.468 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=9.806906
2025-06-08T00:08:15.720Z,1749341295.720 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.059011
2025-06-08T00:08:15.747Z,1749341295.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:15.750Z,1749341295.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 47.579437 m,
      bearing: 297.152964 deg,
      approach rate: -0.662374 m/s,
      LOS rate: -0.022979 deg/s,
      cmd heading: 289.898527 deg,
      new cmd heading: 289.870282 deg.

2025-06-08T00:08:15.756Z,1749341295.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059191 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:15.972Z,1749341295.972 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.310817
2025-06-08T00:08:16.131Z,1749341296.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:16.134Z,1749341296.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 47.308823 m,
      bearing: 297.143522 deg,
      approach rate: -0.698106 m/s,
      LOS rate: -0.024496 deg/s,
      cmd heading: 289.870278 deg,
      new cmd heading: 289.841791 deg.

2025-06-08T00:08:16.135Z,1749341296.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058693 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:16.225Z,1749341296.225 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.563551
2025-06-08T00:08:16.385Z,1749341296.385 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:08:16.476Z,1749341296.476 [DAT](INFO): DAT read: Response Not Received

2025-06-08T00:08:16.477Z,1749341296.477 [DAT](INFO): response not received
2025-06-08T00:08:16.477Z,1749341296.477 [DAT](INFO): DAT read: user:2107>

2025-06-08T00:08:16.478Z,1749341296.478 [DAT](INFO): DAT read: Tx time:00:08:16.2329

2025-06-08T00:08:16.478Z,1749341296.478 [DAT](INFO): Ping request sent.
2025-06-08T00:08:16.478Z,1749341296.478 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:08:16.478Z,1749341296.478 [DAT](INFO): publishing transmit ping time
2025-06-08T00:08:16.479Z,1749341296.479 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.000744
2025-06-08T00:08:16.629Z,1749341296.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:16.632Z,1749341296.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:16.634Z,1749341296.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 46.989967 m,
      bearing: 297.134665 deg,
      approach rate: -0.637076 m/s,
      LOS rate: -0.017815 deg/s,
      cmd heading: 289.841782 deg,
      new cmd heading: 289.815033 deg.

2025-06-08T00:08:16.636Z,1749341296.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058227 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:16.728Z,1749341296.728 [DAT](INFO): DAT read: TxSync time:00:08:16.2321

2025-06-08T00:08:16.729Z,1749341296.729 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.251025
2025-06-08T00:08:16.948Z,1749341296.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:16.952Z,1749341296.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 46.771049 m,
      bearing: 297.128515 deg,
      approach rate: -0.693625 m/s,
      LOS rate: -0.019579 deg/s,
      cmd heading: 289.815035 deg,
      new cmd heading: 289.796497 deg.

2025-06-08T00:08:16.954Z,1749341296.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057903 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:16.980Z,1749341296.980 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.501948
2025-06-08T00:08:17.232Z,1749341297.232 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.753941
2025-06-08T00:08:17.328Z,1749341297.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:17.330Z,1749341297.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 46.516106 m,
      bearing: 297.120695 deg,
      approach rate: -0.670280 m/s,
      LOS rate: -0.020672 deg/s,
      cmd heading: 289.796484 deg,
      new cmd heading: 289.772897 deg.

2025-06-08T00:08:17.332Z,1749341297.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057491 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:17.484Z,1749341297.484 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.006132
2025-06-08T00:08:17.736Z,1749341297.736 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.258182
2025-06-08T00:08:17.754Z,1749341297.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:17.757Z,1749341297.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 46.226086 m,
      bearing: 297.114054 deg,
      approach rate: -0.679506 m/s,
      LOS rate: -0.015659 deg/s,
      cmd heading: 289.772907 deg,
      new cmd heading: 289.752857 deg.

2025-06-08T00:08:17.758Z,1749341297.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057141 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:17.989Z,1749341297.989 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.510876
2025-06-08T00:08:18.134Z,1749341298.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:18.137Z,1749341298.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 45.967953 m,
      bearing: 297.107534 deg,
      approach rate: -0.680103 m/s,
      LOS rate: -0.017274 deg/s,
      cmd heading: 289.752853 deg,
      new cmd heading: 289.733184 deg.

2025-06-08T00:08:18.138Z,1749341298.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056798 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:18.241Z,1749341298.241 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.763154
2025-06-08T00:08:18.494Z,1749341298.494 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.015848
2025-06-08T00:08:18.566Z,1749341298.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:18.569Z,1749341298.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 45.676537 m,
      bearing: 297.109719 deg,
      approach rate: -0.673830 m/s,
      LOS rate: 0.005086 deg/s,
      cmd heading: 289.733182 deg,
      new cmd heading: 289.739781 deg.

2025-06-08T00:08:18.570Z,1749341298.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056913 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:18.744Z,1749341298.744 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.265951
2025-06-08T00:08:18.951Z,1749341298.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:18.954Z,1749341298.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:18.959Z,1749341298.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 45.417702 m,
      bearing: 297.110385 deg,
      approach rate: -0.667164 m/s,
      LOS rate: 0.001724 deg/s,
      cmd heading: 289.739794 deg,
      new cmd heading: 289.741800 deg.

2025-06-08T00:08:18.961Z,1749341298.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056948 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:18.996Z,1749341298.996 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.518178
2025-06-08T00:08:19.248Z,1749341299.248 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.769968
2025-06-08T00:08:19.344Z,1749341299.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:19.347Z,1749341299.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 45.151432 m,
      bearing: 297.110029 deg,
      approach rate: -0.683181 m/s,
      LOS rate: -0.000917 deg/s,
      cmd heading: 289.741788 deg,
      new cmd heading: 289.740716 deg.

2025-06-08T00:08:19.348Z,1749341299.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056930 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:19.503Z,1749341299.503 [DAT](INFO): DAT read: Rx Time:00:08:18.6981

2025-06-08T00:08:19.504Z,1749341299.504 [DAT](INFO): Rx dataTimestamp_ set to:1749341299.503511
2025-06-08T00:08:19.504Z,1749341299.504 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.026208
2025-06-08T00:08:19.752Z,1749341299.752 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.274092
2025-06-08T00:08:19.791Z,1749341299.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.36 m.
2025-06-08T00:08:19.794Z,1749341299.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.363499 m,
      nav range: 44.857285 m,
      bearing: 297.116566 deg,
      approach rate: -0.682298 m/s,
      LOS rate: 0.015263 deg/s,
      cmd heading: 289.740723 deg,
      new cmd heading: 289.760462 deg.

2025-06-08T00:08:19.795Z,1749341299.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057274 target range: 55.363499 and range: 55.80 m.
2025-06-08T00:08:20.012Z,1749341300.012 [DAT](INFO): DAT read: 00:08:18.6981 LVL= 27824, 32753, 26850, 32755, AGC= 69, IDX= 333, 0.40,-2.863, 2.080, 3.122, 2.916, PHS= 0.592,-0.789, 0.203, RAW= 134.2,  -0.1, CAL= 139.6,  -9.0, ROT=  10.4,   9.0

2025-06-08T00:08:20.014Z,1749341300.014 [DAT](INFO): got valid direction response:
 00:08:18.6981 LVL= 27824, 32753, 26850, 32755, AGC= 69, IDX= 333, 0.40,-2.863, 2.080, 3.122, 2.916, PHS= 0.592,-0.789, 0.203, RAW= 134.2,  -0.1, CAL= 139.6,  -9.0, ROT=  10.4,   9.0

2025-06-08T00:08:20.045Z,1749341300.045 [DAT](INFO): DAT read: Bearing  10.4,   9.0 (Local)

2025-06-08T00:08:20.046Z,1749341300.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,   9.0 (Local)

2025-06-08T00:08:20.047Z,1749341300.047 [DAT](INFO): DAT read: Range 10 to 50 : 45.8 m  (Round-trip  61.1 ms) speed  0.6 m/s

2025-06-08T00:08:20.048Z,1749341300.048 [DAT](INFO): DAT read: user:2108>

2025-06-08T00:08:20.049Z,1749341300.049 [DAT](INFO): DAT read: Tx time:00:08:19.7829

2025-06-08T00:08:20.049Z,1749341300.049 [DAT](INFO): Ping request sent.
2025-06-08T00:08:20.049Z,1749341300.049 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:08:20.049Z,1749341300.049 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-08T00:08:20.050Z,1749341300.050 [DAT](INFO): direction in FSK: [0.971462,0.178297,-0.156434]
2025-06-08T00:08:20.051Z,1749341300.051 [DAT](INFO): publishing transmit ping time
2025-06-08T00:08:20.051Z,1749341300.051 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:20.066Z,1749341300.066 [DAT](INFO): publishing transmit ping time
2025-06-08T00:08:20.067Z,1749341300.067 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:20.074Z,1749341300.074 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.025146
2025-06-08T00:08:20.197Z,1749341300.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.799999 m,
      deltaT: 14.366166 s,
      deltaX: -10.000000 m,
      approachRate: -0.696080 m/s,
      rangeRepo size: 4

2025-06-08T00:08:20.199Z,1749341300.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.441608 m,
      bearing: 303.504255 deg,
      lat: 36.905925 deg,
      lon: -122.115924 deg,
      deltaT: 14.366166 s,
      deltaX: -9.921890 m,
      approachRate: -0.690643 m/s,
      posRepo size: 4

2025-06-08T00:08:20.204Z,1749341300.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:20.207Z,1749341300.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 44.584137 m,
      bearing: 297.122448 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015263 deg/s,
      cmd heading: 289.760476 deg,
      new cmd heading: 289.779755 deg.

2025-06-08T00:08:20.212Z,1749341300.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057611 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:20.259Z,1749341300.259 [DAT](INFO): DAT read: TxSync time:00:08:19.7821

2025-06-08T00:08:20.260Z,1749341300.260 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.210837
2025-06-08T00:08:20.512Z,1749341300.512 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.461787
2025-06-08T00:08:20.594Z,1749341300.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:20.597Z,1749341300.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 44.298733 m,
      bearing: 297.133877 deg,
      approach rate: -0.717859 m/s,
      LOS rate: 0.028932 deg/s,
      cmd heading: 289.779764 deg,
      new cmd heading: 289.814273 deg.

2025-06-08T00:08:20.598Z,1749341300.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058213 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:20.760Z,1749341300.760 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.711001
2025-06-08T00:08:20.981Z,1749341300.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:20.983Z,1749341300.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:20.986Z,1749341300.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 44.032970 m,
      bearing: 297.146487 deg,
      approach rate: -0.682155 m/s,
      LOS rate: 0.032562 deg/s,
      cmd heading: 289.814270 deg,
      new cmd heading: 289.852328 deg.

2025-06-08T00:08:20.987Z,1749341300.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058877 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:21.025Z,1749341301.025 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.976058
2025-06-08T00:08:21.276Z,1749341301.276 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.227064
2025-06-08T00:08:21.369Z,1749341301.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:21.372Z,1749341301.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 43.769161 m,
      bearing: 297.159555 deg,
      approach rate: -0.683941 m/s,
      LOS rate: 0.034084 deg/s,
      cmd heading: 289.852328 deg,
      new cmd heading: 289.891769 deg.

2025-06-08T00:08:21.373Z,1749341301.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059566 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:21.531Z,1749341301.531 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.481268
2025-06-08T00:08:21.780Z,1749341301.780 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.730943
2025-06-08T00:08:21.829Z,1749341301.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:21.852Z,1749341301.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 43.464596 m,
      bearing: 297.177000 deg,
      approach rate: -0.661597 m/s,
      LOS rate: 0.038161 deg/s,
      cmd heading: 289.891779 deg,
      new cmd heading: 289.944481 deg.

2025-06-08T00:08:21.853Z,1749341301.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060486 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:22.032Z,1749341302.032 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.983044
2025-06-08T00:08:22.178Z,1749341302.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:22.181Z,1749341302.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 43.233604 m,
      bearing: 297.190210 deg,
      approach rate: -0.661811 m/s,
      LOS rate: 0.038048 deg/s,
      cmd heading: 289.944481 deg,
      new cmd heading: 289.984320 deg.

2025-06-08T00:08:22.182Z,1749341302.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061181 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:22.284Z,1749341302.284 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.235172
2025-06-08T00:08:22.538Z,1749341302.538 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.489006
2025-06-08T00:08:22.683Z,1749341302.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:22.686Z,1749341302.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 42.905338 m,
      bearing: 297.223672 deg,
      approach rate: -0.650564 m/s,
      LOS rate: 0.066824 deg/s,
      cmd heading: 289.984315 deg,
      new cmd heading: 290.085469 deg.

2025-06-08T00:08:22.703Z,1749341302.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062946 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:22.788Z,1749341302.788 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.739224
2025-06-08T00:08:23.022Z,1749341303.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:23.028Z,1749341303.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:23.035Z,1749341303.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 42.687214 m,
      bearing: 297.245586 deg,
      approach rate: -0.631525 m/s,
      LOS rate: 0.063772 deg/s,
      cmd heading: 290.085456 deg,
      new cmd heading: 290.151535 deg.

2025-06-08T00:08:23.036Z,1749341303.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064100 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:23.040Z,1749341303.040 [DAT](INFO): DAT read: Rx Time:00:08:22.2448

2025-06-08T00:08:23.041Z,1749341303.041 [DAT](INFO): Rx dataTimestamp_ set to:1749341303.040477
2025-06-08T00:08:23.041Z,1749341303.041 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.992184
2025-06-08T00:08:23.292Z,1749341303.292 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.242977
2025-06-08T00:08:23.421Z,1749341303.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:23.424Z,1749341303.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 42.428944 m,
      bearing: 297.271200 deg,
      approach rate: -0.657858 m/s,
      LOS rate: 0.065640 deg/s,
      cmd heading: 290.151545 deg,
      new cmd heading: 290.228854 deg.

2025-06-08T00:08:23.425Z,1749341303.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065449 target range: 45.441608 and range: 45.80 m.
2025-06-08T00:08:23.549Z,1749341303.549 [DAT](INFO): DAT read: Range 10 to 50 : 43.3 m  (Round-trip  57.8 ms) speed  0.7 m/s

2025-06-08T00:08:23.552Z,1749341303.552 [DAT](INFO): DAT read: user:2109>

2025-06-08T00:08:23.554Z,1749341303.554 [DAT](INFO): DAT read: Tx time:00:08:23.3329

2025-06-08T00:08:23.555Z,1749341303.555 [DAT](INFO): Ping request sent.
2025-06-08T00:08:23.555Z,1749341303.555 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:08:23.556Z,1749341303.556 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-06-08T00:08:23.557Z,1749341303.557 [DAT](INFO): publishing transmit ping time
2025-06-08T00:08:23.558Z,1749341303.558 [DAT](INFO): publishing transmit ping time
2025-06-08T00:08:23.562Z,1749341303.562 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.006690
2025-06-08T00:08:23.796Z,1749341303.796 [DAT](INFO): DAT read: TxSync time:00:08:23.3321

2025-06-08T00:08:23.797Z,1749341303.797 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.242334
2025-06-08T00:08:23.885Z,1749341303.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.299999 m,
      deltaT: 3.541481 s,
      deltaX: -2.500000 m,
      approachRate: -0.705919 m/s,
      rangeRepo size: 4

2025-06-08T00:08:23.887Z,1749341303.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:23.900Z,1749341303.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 42.140156 m,
      bearing: 297.301803 deg,
      approach rate: -0.629904 m/s,
      LOS rate: 0.067210 deg/s,
      cmd heading: 290.228863 deg,
      new cmd heading: 290.321302 deg.

2025-06-08T00:08:23.901Z,1749341303.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.067062 target range: 45.441608 and range: 43.30 m.
2025-06-08T00:08:24.048Z,1749341304.048 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.493818
2025-06-08T00:08:24.234Z,1749341304.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:24.237Z,1749341304.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 41.895615 m,
      bearing: 297.328903 deg,
      approach rate: -0.689857 m/s,
      LOS rate: 0.076895 deg/s,
      cmd heading: 290.321289 deg,
      new cmd heading: 290.403062 deg.

2025-06-08T00:08:24.238Z,1749341304.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.068490 target range: 45.441608 and range: 43.30 m.
2025-06-08T00:08:24.302Z,1749341304.302 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.746893
2025-06-08T00:08:24.555Z,1749341304.555 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.999578
2025-06-08T00:08:24.655Z,1749341304.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:24.658Z,1749341304.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 41.623867 m,
      bearing: 297.358249 deg,
      approach rate: -0.645329 m/s,
      LOS rate: 0.070144 deg/s,
      cmd heading: 290.403060 deg,
      new cmd heading: 290.491673 deg.

2025-06-08T00:08:24.659Z,1749341304.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070036 target range: 45.441608 and range: 43.30 m.
2025-06-08T00:08:24.804Z,1749341304.804 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.249455
2025-06-08T00:08:25.056Z,1749341305.056 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.501438
2025-06-08T00:08:25.086Z,1749341305.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:25.089Z,1749341305.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:25.092Z,1749341305.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 41.355827 m,
      bearing: 297.387575 deg,
      approach rate: -0.618206 m/s,
      LOS rate: 0.068074 deg/s,
      cmd heading: 290.491661 deg,
      new cmd heading: 290.580207 deg.

2025-06-08T00:08:25.093Z,1749341305.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071581 target range: 45.441608 and range: 43.30 m.
2025-06-08T00:08:25.308Z,1749341305.308 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.753474
2025-06-08T00:08:25.451Z,1749341305.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:25.454Z,1749341305.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 41.109844 m,
      bearing: 297.414824 deg,
      approach rate: -0.678202 m/s,
      LOS rate: 0.075579 deg/s,
      cmd heading: 290.580208 deg,
      new cmd heading: 290.662445 deg.

2025-06-08T00:08:25.455Z,1749341305.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.073017 target range: 45.441608 and range: 43.30 m.
2025-06-08T00:08:25.562Z,1749341305.562 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.007250
2025-06-08T00:08:25.812Z,1749341305.812 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.257623
2025-06-08T00:08:25.862Z,1749341305.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:25.865Z,1749341305.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 40.849403 m,
      bearing: 297.434945 deg,
      approach rate: -0.634320 m/s,
      LOS rate: 0.049318 deg/s,
      cmd heading: 290.662443 deg,
      new cmd heading: 290.723190 deg.

2025-06-08T00:08:25.866Z,1749341305.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074077 target range: 45.441608 and range: 43.30 m.
2025-06-08T00:08:26.068Z,1749341306.068 [DAT](INFO): DAT read: Rx Time:00:08:25.5169 

2025-06-08T00:08:26.070Z,1749341306.070 [DAT](INFO): Rx dataTimestamp_ set to:1749341306.069238
2025-06-08T00:08:26.075Z,1749341306.075 [DAT](INFO): DAT read: Bearing  12.2,   3.5 (Local)

2025-06-08T00:08:26.077Z,1749341306.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.2,   3.5 (Local)

2025-06-08T00:08:26.085Z,1749341306.085 [DAT](INFO): DAT read: Range 10 to 50 :    41.3 m (trip time 27.5 ms) speed 0.4

2025-06-08T00:08:26.094Z,1749341306.094 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-06-08T00:08:26.096Z,1749341306.096 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.541289
2025-06-08T00:08:26.248Z,1749341306.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.299999 m,
      deltaT: 2.524194 s,
      deltaX: -2.000000 m,
      approachRate: -0.792332 m/s,
      rangeRepo size: 4

2025-06-08T00:08:26.249Z,1749341306.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.44 m.
2025-06-08T00:08:26.252Z,1749341306.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.441608 m,
      nav range: 40.604588 m,
      bearing: 297.453711 deg,
      approach rate: -0.634889 m/s,
      LOS rate: 0.048960 deg/s,
      cmd heading: 290.723177 deg,
      new cmd heading: 290.779815 deg.

2025-06-08T00:08:26.253Z,1749341306.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075065 target range: 45.441608 and range: 41.30 m.
2025-06-08T00:08:26.321Z,1749341306.321 [DAT](INFO): DAT read: 00:08:25.5169 LVL= 32752, 26689, 28402, 32755, AGC= 70, IDX= 159, 0.00, 0.686,-0.665, 0.336, 0.238, PHS= 0.536,-0.856, 0.094, RAW= 131.9,   3.7, CAL= 137.8,  -3.5, ROT=  12.2,   3.5

2025-06-08T00:08:26.322Z,1749341306.322 [DAT](INFO): got valid direction response:
 00:08:25.5169 LVL= 32752, 26689, 28402, 32755, AGC= 70, IDX= 159, 0.00, 0.686,-0.665, 0.336, 0.238, PHS= 0.536,-0.856, 0.094, RAW= 131.9,   3.7, CAL= 137.8,  -3.5, ROT=  12.2,   3.5

2025-06-08T00:08:26.324Z,1749341306.324 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-06-08T00:08:26.325Z,1749341306.325 [DAT](INFO): direction in FSK: [0.975593,0.210931,-0.061049]
2025-06-08T00:08:26.330Z,1749341306.330 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.775191
2025-06-08T00:08:26.574Z,1749341306.574 [DAT](INFO): DAT read: Rx Time:00:08:26.0168 

2025-06-08T00:08:26.577Z,1749341306.577 [DAT](INFO): Rx dataTimestamp_ set to:1749341306.575268
2025-06-08T00:08:26.582Z,1749341306.582 [DAT](INFO): DAT read: Bearing  12.1,   4.0 (Local)

2025-06-08T00:08:26.584Z,1749341306.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.1,   4.0 (Local)

2025-06-08T00:08:26.599Z,1749341306.599 [DAT](INFO): DAT read: Range 10 to 50 :    41.1 m (trip time 27.4 ms) speed 0.9

2025-06-08T00:08:26.644Z,1749341306.644 [DAT](INFO): DAT read: 00:08:26.0168 LVL= 24096, 32753, 23906, 32755, AGC= 68, IDX= 509,-0.38,-2.695, 2.236,-3.041, 3.135, PHS= 0.541,-0.852, 0.103, RAW= 132.1,   3.4, CAL= 137.9,  -4.0, ROT=  12.1,   4.0

2025-06-08T00:08:26.645Z,1749341306.645 [DAT](INFO): got valid direction response:
 00:08:26.0168 LVL= 24096, 32753, 23906, 32755, AGC= 68, IDX= 509,-0.38,-2.695, 2.236,-3.041, 3.135, PHS= 0.541,-0.852, 0.103, RAW= 132.1,   3.4, CAL= 137.9,  -4.0, ROT=  12.1,   4.0

2025-06-08T00:08:26.645Z,1749341306.645 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-08T00:08:26.646Z,1749341306.646 [DAT](INFO): direction in FSK: [0.975401,0.209108,-0.069756]
2025-06-08T00:08:26.647Z,1749341306.647 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:26.658Z,1749341306.658 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.103665
2025-06-08T00:08:26.772Z,1749341306.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.099998 m,
      deltaT: 0.506030 s,
      deltaX: -0.200001 m,
      approachRate: -0.395235 m/s,
      rangeRepo size: 4

2025-06-08T00:08:26.774Z,1749341306.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.778164 m,
      bearing: 304.936991 deg,
      lat: 36.905945 deg,
      lon: -122.115903 deg,
      deltaT: 6.571705 s,
      deltaX: -4.663445 m,
      approachRate: -0.709625 m/s,
      posRepo size: 4

2025-06-08T00:08:26.774Z,1749341306.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.78 m.
2025-06-08T00:08:26.781Z,1749341306.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.778164 m,
      nav range: 39.703476 m,
      bearing: 301.527816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.048960 deg/s,
      cmd heading: 290.779813 deg,
      new cmd heading: 290.855510 deg.

2025-06-08T00:08:26.782Z,1749341306.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076386 target range: 40.778164 and range: 41.10 m.
2025-06-08T00:08:26.820Z,1749341306.820 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.265544
2025-06-08T00:08:27.077Z,1749341307.077 [DAT](INFO): DAT read: Rx Time:00:08:26.5166 

2025-06-08T00:08:27.079Z,1749341307.079 [DAT](INFO): Rx dataTimestamp_ set to:1749341307.077393
2025-06-08T00:08:27.091Z,1749341307.091 [DAT](INFO): DAT read: Bearing  10.3,   7.5 (Local)

2025-06-08T00:08:27.093Z,1749341307.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,   7.5 (Local)

2025-06-08T00:08:27.124Z,1749341307.124 [DAT](INFO): DAT read: Range 10 to 50 :    40.7 m (trip time 27.1 ms) speed 0.5

2025-06-08T00:08:27.141Z,1749341307.141 [DAT](INFO): DAT read: 00:08:26.5166 LVL= 21408, 27793, 19490, 32755, AGC= 66, IDX= 505, 0.11, 0.599,-0.854, 0.273, 0.072, PHS= 0.614,-0.879, 0.198, RAW= 134.3,   1.0, CAL= 139.7,  -7.5, ROT=  10.3,   7.5

2025-06-08T00:08:27.142Z,1749341307.142 [DAT](INFO): got valid direction response:
 00:08:26.5166 LVL= 21408, 27793, 19490, 32755, AGC= 66, IDX= 505, 0.11, 0.599,-0.854, 0.273, 0.072, PHS= 0.614,-0.879, 0.198, RAW= 134.3,   1.0, CAL= 139.7,  -7.5, ROT=  10.3,   7.5

2025-06-08T00:08:27.142Z,1749341307.142 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-06-08T00:08:27.152Z,1749341307.152 [DAT](INFO): direction in FSK: [0.975468,0.177273,-0.130526]
2025-06-08T00:08:27.152Z,1749341307.152 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:27.172Z,1749341307.172 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.616917
2025-06-08T00:08:27.186Z,1749341307.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.700001 m,
      deltaT: 0.502125 s,
      deltaX: -0.399998 m,
      approachRate: -0.796610 m/s,
      rangeRepo size: 4

2025-06-08T00:08:27.192Z,1749341307.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.381302 m,
      bearing: 303.253293 deg,
      lat: 36.905956 deg,
      lon: -122.115900 deg,
      deltaT: 0.502125 s,
      deltaX: -0.396862 m,
      approachRate: -0.790365 m/s,
      posRepo size: 4

2025-06-08T00:08:27.193Z,1749341307.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.38 m.
2025-06-08T00:08:27.204Z,1749341307.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.381302 m,
      nav range: 39.871689 m,
      bearing: 303.253438 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.048960 deg/s,
      cmd heading: 290.855519 deg,
      new cmd heading: 290.917527 deg.

2025-06-08T00:08:27.205Z,1749341307.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077469 target range: 40.381302 and range: 40.70 m.
2025-06-08T00:08:27.324Z,1749341307.324 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.769793
2025-06-08T00:08:27.492Z,1749341307.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:27.494Z,1749341307.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.38 m.
2025-06-08T00:08:27.497Z,1749341307.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.381302 m,
      nav range: 39.652943 m,
      bearing: 303.298542 deg,
      approach rate: -0.708272 m/s,
      LOS rate: 0.146848 deg/s,
      cmd heading: 290.917537 deg,
      new cmd heading: 291.053596 deg.

2025-06-08T00:08:27.498Z,1749341307.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079844 target range: 40.381302 and range: 40.70 m.
2025-06-08T00:08:27.582Z,1749341307.582 [DAT](INFO): DAT read: Rx Time:00:08:27.0164 

2025-06-08T00:08:27.584Z,1749341307.584 [DAT](INFO): Rx dataTimestamp_ set to:1749341307.582601
2025-06-08T00:08:27.589Z,1749341307.589 [DAT](INFO): DAT read: Bearing  10.4,   5.8 (Local)

2025-06-08T00:08:27.591Z,1749341307.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,   5.8 (Local)

2025-06-08T00:08:27.602Z,1749341307.602 [DAT](INFO): DAT read: Range 10 to 50 :    40.4 m (trip time 26.9 ms) speed 0.8

2025-06-08T00:08:27.631Z,1749341307.631 [DAT](INFO): DAT read: 00:08:27.0164 LVL= 24880, 25777, 24818, 32755, AGC= 63, IDX= 504, 0.01, 0.361,-1.116, 0.028,-0.148, PHS= 0.597,-0.921, 0.173, RAW= 134.3,   2.3, CAL= 139.6,  -5.8, ROT=  10.4,   5.8

2025-06-08T00:08:27.644Z,1749341307.644 [DAT](INFO): got valid direction response:
 00:08:27.0164 LVL= 24880, 25777, 24818, 32755, AGC= 63, IDX= 504, 0.01, 0.361,-1.116, 0.028,-0.148, PHS= 0.597,-0.921, 0.173, RAW= 134.3,   2.3, CAL= 139.6,  -5.8, ROT=  10.4,   5.8

2025-06-08T00:08:27.644Z,1749341307.644 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-06-08T00:08:27.645Z,1749341307.645 [DAT](INFO): direction in FSK: [0.978536,0.179595,-0.101056]
2025-06-08T00:08:27.646Z,1749341307.646 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:27.686Z,1749341307.686 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=4.131706
2025-06-08T00:08:27.828Z,1749341307.828 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=4.273684
2025-06-08T00:08:27.970Z,1749341307.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.400002 m,
      deltaT: 0.505208 s,
      deltaX: -0.299999 m,
      approachRate: -0.593813 m/s,
      rangeRepo size: 4

2025-06-08T00:08:27.992Z,1749341307.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.083633 m,
      bearing: 303.005643 deg,
      lat: 36.905956 deg,
      lon: -122.115900 deg,
      deltaT: 0.505208 s,
      deltaX: -0.297668 m,
      approachRate: -0.589200 m/s,
      posRepo size: 4

2025-06-08T00:08:27.993Z,1749341307.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.08 m.
2025-06-08T00:08:28.004Z,1749341308.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.083633 m,
      nav range: 39.366478 m,
      bearing: 303.370330 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.146848 deg/s,
      cmd heading: 291.053594 deg,
      new cmd heading: 291.263019 deg.

2025-06-08T00:08:28.005Z,1749341308.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.083498 target range: 40.083633 and range: 40.40 m.
2025-06-08T00:08:28.084Z,1749341308.084 [DAT](INFO): DAT read: Rx Time:00:08:27.5161 

2025-06-08T00:08:28.086Z,1749341308.086 [DAT](INFO): Rx dataTimestamp_ set to:1749341308.085128
2025-06-08T00:08:28.092Z,1749341308.092 [DAT](INFO): DAT read: Bearing  11.0,   3.8 (Local)

2025-06-08T00:08:28.093Z,1749341308.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.0,   3.8 (Local)

2025-06-08T00:08:28.104Z,1749341308.104 [DAT](INFO): DAT read: Range 10 to 50 :    39.9 m (trip time 26.6 ms) speed 0.7

2025-06-08T00:08:28.125Z,1749341308.125 [DAT](INFO): DAT read: 00:08:27.5161 LVL= 22688, 25649, 22258, 32755, AGC= 61, IDX= 501,-0.11,-2.616, 2.269,-2.946,-3.069, PHS= 0.541,-0.898, 0.121, RAW= 133.5,   3.7, CAL= 139.0,  -3.8, ROT=  11.0,   3.8

2025-06-08T00:08:28.126Z,1749341308.126 [DAT](INFO): got valid direction response:
 00:08:27.5161 LVL= 22688, 25649, 22258, 32755, AGC= 61, IDX= 501,-0.11,-2.616, 2.269,-2.946,-3.069, PHS= 0.541,-0.898, 0.121, RAW= 133.5,   3.7, CAL= 139.0,  -3.8, ROT=  11.0,   3.8

2025-06-08T00:08:28.148Z,1749341308.148 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-06-08T00:08:28.167Z,1749341308.167 [DAT](INFO): direction in FSK: [0.979469,0.190389,-0.066274]
2025-06-08T00:08:28.168Z,1749341308.168 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:28.183Z,1749341308.183 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=4.616405
2025-06-08T00:08:28.332Z,1749341308.332 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=4.777572
2025-06-08T00:08:28.354Z,1749341308.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.900002 m,
      deltaT: 0.502527 s,
      deltaX: -0.500000 m,
      approachRate: -0.994971 m/s,
      rangeRepo size: 4

2025-06-08T00:08:28.360Z,1749341308.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.587547 m,
      bearing: 303.506870 deg,
      lat: 36.905958 deg,
      lon: -122.115900 deg,
      deltaT: 0.502527 s,
      deltaX: -0.496086 m,
      approachRate: -0.987183 m/s,
      posRepo size: 4

2025-06-08T00:08:28.361Z,1749341308.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.59 m.
2025-06-08T00:08:28.373Z,1749341308.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.587547 m,
      nav range: 39.224930 m,
      bearing: 303.692766 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.146848 deg/s,
      cmd heading: 291.263008 deg,
      new cmd heading: 291.432300 deg.

2025-06-08T00:08:28.374Z,1749341308.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086453 target range: 39.587547 and range: 39.90 m.
2025-06-08T00:08:28.601Z,1749341308.601 [DAT](INFO): DAT read: Rx Time:00:08:28.0159 

2025-06-08T00:08:28.602Z,1749341308.602 [DAT](INFO): Rx dataTimestamp_ set to:1749341308.601396
2025-06-08T00:08:28.607Z,1749341308.607 [DAT](INFO): DAT read: Bearing  11.0,   4.5 (Local)

2025-06-08T00:08:28.608Z,1749341308.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.0,   4.5 (Local)

2025-06-08T00:08:28.615Z,1749341308.615 [DAT](INFO): DAT read: Range 10 to 50 :    39.6 m (trip time 26.4 ms) speed 0.7

2025-06-08T00:08:28.656Z,1749341308.656 [DAT](INFO): DAT read: 00:08:28.0159 LVL= 22336, 24561, 20178, 32755, AGC= 63, IDX= 499,-0.34,-2.742, 2.098,-3.086, 3.058, PHS= 0.571,-0.913, 0.136, RAW= 133.4,   3.2, CAL= 139.0,  -4.5, ROT=  11.0,   4.5

2025-06-08T00:08:28.657Z,1749341308.657 [DAT](INFO): got valid direction response:
 00:08:28.0159 LVL= 22336, 24561, 20178, 32755, AGC= 63, IDX= 499,-0.34,-2.742, 2.098,-3.086, 3.058, PHS= 0.571,-0.913, 0.136, RAW= 133.4,   3.2, CAL= 139.0,  -4.5, ROT=  11.0,   4.5

2025-06-08T00:08:28.658Z,1749341308.658 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-06-08T00:08:28.659Z,1749341308.659 [DAT](INFO): direction in FSK: [0.978601,0.190221,-0.078459]
2025-06-08T00:08:28.659Z,1749341308.659 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:28.662Z,1749341308.662 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=5.107825
2025-06-08T00:08:28.771Z,1749341308.771 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-08T00:08:28.771Z,1749341308.771 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:08:28.800Z,1749341308.800 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-08T00:08:28.801Z,1749341308.801 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.900002 m (mode  2.000000 count ).
2025-06-08T00:08:28.802Z,1749341308.802 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-08T00:08:28.802Z,1749341308.802 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-08T00:08:28.825Z,1749341308.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.599998 m,
      deltaT: 0.516268 s,
      deltaX: -0.300003 m,
      approachRate: -0.581099 m/s,
      rangeRepo size: 4

2025-06-08T00:08:28.831Z,1749341308.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.289867 m,
      bearing: 303.568616 deg,
      lat: 36.905958 deg,
      lon: -122.115902 deg,
      deltaT: 0.516268 s,
      deltaX: -0.297680 m,
      approachRate: -0.576600 m/s,
      posRepo size: 4

2025-06-08T00:08:28.832Z,1749341308.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.29 m.
2025-06-08T00:08:28.835Z,1749341308.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.289867 m,
      nav range: 39.074314 m,
      bearing: 303.568762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.146848 deg/s,
      cmd heading: 291.432287 deg,
      new cmd heading: 291.639743 deg.

2025-06-08T00:08:28.844Z,1749341308.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090074 target range: 39.289867 and range: 39.60 m.
2025-06-08T00:08:28.848Z,1749341308.848 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=5.293617
2025-06-08T00:08:29.101Z,1749341309.101 [DAT](INFO): DAT read: Rx Time:00:08:28.5156 

2025-06-08T00:08:29.101Z,1749341309.101 [DAT](INFO): Rx dataTimestamp_ set to:1749341309.101155
2025-06-08T00:08:29.103Z,1749341309.103 [DAT](INFO): DAT read: Bearing  10.5,   5.5 (Local)

2025-06-08T00:08:29.104Z,1749341309.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5,   5.5 (Local)

2025-06-08T00:08:29.106Z,1749341309.106 [DAT](INFO): DAT read: Range 10 to 50 :    39.2 m (trip time 26.1 ms) speed 0.6

2025-06-08T00:08:29.111Z,1749341309.111 [DAT](INFO): DAT read: 00:08:28.5156 LVL= 21344, 26289, 21362, 32755, AGC= 61, IDX= 495, 0.25,-1.868, 3.007,-2.186,-2.346, PHS= 0.566,-0.883, 0.157, RAW= 134.1,   2.5, CAL= 139.5,  -5.5, ROT=  10.5,   5.5

2025-06-08T00:08:29.112Z,1749341309.112 [DAT](INFO): got valid direction response:
 00:08:28.5156 LVL= 21344, 26289, 21362, 32755, AGC= 61, IDX= 495, 0.25,-1.868, 3.007,-2.186,-2.346, PHS= 0.566,-0.883, 0.157, RAW= 134.1,   2.5, CAL= 139.5,  -5.5, ROT=  10.5,   5.5

2025-06-08T00:08:29.112Z,1749341309.112 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-06-08T00:08:29.113Z,1749341309.113 [DAT](INFO): direction in FSK: [0.978728,0.181397,-0.095846]
2025-06-08T00:08:29.114Z,1749341309.114 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:29.117Z,1749341309.117 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=5.562670
2025-06-08T00:08:29.276Z,1749341309.276 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-08T00:08:29.276Z,1749341309.276 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-08T00:08:29.293Z,1749341309.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.200001 m,
      deltaT: 0.499759 s,
      deltaX: -0.399998 m,
      approachRate: -0.800381 m/s,
      rangeRepo size: 4

2025-06-08T00:08:29.295Z,1749341309.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.893002 m,
      bearing: 303.062377 deg,
      lat: 36.905956 deg,
      lon: -122.115902 deg,
      deltaT: 0.499759 s,
      deltaX: -0.396866 m,
      approachRate: -0.794114 m/s,
      posRepo size: 4

2025-06-08T00:08:29.299Z,1749341309.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m.
2025-06-08T00:08:29.302Z,1749341309.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.893002 m,
      nav range: 38.676216 m,
      bearing: 303.322846 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.146848 deg/s,
      cmd heading: 291.639734 deg,
      new cmd heading: 291.845698 deg.

2025-06-08T00:08:29.307Z,1749341309.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093668 target range: 38.893002 and range: 39.20 m.
2025-06-08T00:08:29.353Z,1749341309.353 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=5.797943
2025-06-08T00:08:29.609Z,1749341309.609 [DAT](INFO): DAT read: Rx Time:00:08:29.0154 

2025-06-08T00:08:29.610Z,1749341309.610 [DAT](INFO): Rx dataTimestamp_ set to:1749341309.609330
2025-06-08T00:08:29.623Z,1749341309.623 [DAT](INFO): DAT read: Bearing  11.3,   4.4 (Local)

2025-06-08T00:08:29.636Z,1749341309.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.3,   4.4 (Local)

2025-06-08T00:08:29.642Z,1749341309.642 [DAT](INFO): DAT read: Range 10 to 50 :    38.9 m (trip time 25.9 ms) speed 0.6

2025-06-08T00:08:29.672Z,1749341309.672 [DAT](INFO): DAT read: 00:08:29.0154 LVL= 22384, 29937, 20930, 32755, AGC= 63, IDX= 510,-0.01,-2.531, 2.348,-2.871,-3.000, PHS= 0.557,-0.888, 0.126, RAW= 133.1,   3.2, CAL= 138.7,  -4.4, ROT=  11.3,   4.4

2025-06-08T00:08:29.673Z,1749341309.673 [DAT](INFO): got valid direction response:
 00:08:29.0154 LVL= 22384, 29937, 20930, 32755, AGC= 63, IDX= 510,-0.01,-2.531, 2.348,-2.871,-3.000, PHS= 0.557,-0.888, 0.126, RAW= 133.1,   3.2, CAL= 138.7,  -4.4, ROT=  11.3,   4.4

2025-06-08T00:08:29.673Z,1749341309.673 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-06-08T00:08:29.674Z,1749341309.674 [DAT](INFO): direction in FSK: [0.977725,0.195369,-0.076719]
2025-06-08T00:08:29.675Z,1749341309.675 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:29.690Z,1749341309.690 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=6.135669
2025-06-08T00:08:29.794Z,1749341309.794 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-08T00:08:29.794Z,1749341309.794 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-08T00:08:29.813Z,1749341309.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.900002 m,
      deltaT: 0.508175 s,
      deltaX: -0.299999 m,
      approachRate: -0.590346 m/s,
      rangeRepo size: 4

2025-06-08T00:08:29.819Z,1749341309.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.595367 m,
      bearing: 303.787343 deg,
      lat: 36.905958 deg,
      lon: -122.115902 deg,
      deltaT: 0.508175 s,
      deltaX: -0.297634 m,
      approachRate: -0.585692 m/s,
      posRepo size: 4

2025-06-08T00:08:29.820Z,1749341309.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.60 m.
2025-06-08T00:08:29.823Z,1749341309.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.595367 m,
      nav range: 38.439865 m,
      bearing: 303.616253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.146848 deg/s,
      cmd heading: 291.845705 deg,
      new cmd heading: 292.075040 deg.

2025-06-08T00:08:29.828Z,1749341309.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097671 target range: 38.595367 and range: 38.90 m.
2025-06-08T00:08:29.856Z,1749341309.856 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=6.301569
2025-06-08T00:08:30.109Z,1749341310.109 [DAT](INFO): DAT read: Rx Time:00:08:29.5151 

2025-06-08T00:08:30.109Z,1749341310.109 [DAT](INFO): Rx dataTimestamp_ set to:1749341310.108922
2025-06-08T00:08:30.110Z,1749341310.110 [DAT](INFO): DAT read: Bearing  11.7,   3.0 (Local)

2025-06-08T00:08:30.111Z,1749341310.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.7,   3.0 (Local)

2025-06-08T00:08:30.114Z,1749341310.114 [DAT](INFO): DAT read: Range 10 to 50 :    38.4 m (trip time 25.6 ms) speed 0.7

2025-06-08T00:08:30.118Z,1749341310.118 [DAT](INFO): DAT read: 00:08:29.5151 LVL= 20864, 28017, 2065, AGC= 64, IDX= 507,-0.27, 1.209,-0.197, 0.856, 0.754, PHS= 0.542,-0.904, 0.099, RAW= 132.6,   4.1, CAL= 138.3,  -3.0, ROT=  11.7,   3.0

2025-06-08T00:08:30.119Z,1749341310.119 [DAT](INFO): unknown deviceResponse_: 00:08:29.5151 LVL= 20864, 28017, 2065, AGC= 64, IDX= 507,-0.27, 1.209,-0.197, 0.856, 0.754, PHS= 0.542,-0.904, 0.099, RAW= 132.6,   4.1, CAL= 138.3,  -3.0, ROT=  11.7,   3.0

2025-06-08T00:08:30.125Z,1749341310.125 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-06-08T00:08:30.126Z,1749341310.126 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=6.571507
2025-06-08T00:08:30.243Z,1749341310.243 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-08T00:08:30.243Z,1749341310.243 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:08:30.243Z,1749341310.243 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-08T00:08:30.248Z,1749341310.248 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-08T00:08:30.248Z,1749341310.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:30.255Z,1749341310.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.400002 m,
      deltaT: 0.499592 s,
      deltaX: -0.500000 m,
      approachRate: -1.000817 m/s,
      rangeRepo size: 4

2025-06-08T00:08:30.256Z,1749341310.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.60 m.
2025-06-08T00:08:30.259Z,1749341310.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.595367 m,
      nav range: 38.136288 m,
      bearing: 303.657482 deg,
      approach rate: -0.692894 m/s,
      LOS rate: 0.094851 deg/s,
      cmd heading: 292.075035 deg,
      new cmd heading: 292.199706 deg.

2025-06-08T00:08:30.261Z,1749341310.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.099847 target range: 38.595367 and range: 38.40 m.
2025-06-08T00:08:30.360Z,1749341310.360 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=6.805716
2025-06-08T00:08:30.614Z,1749341310.614 [DAT](INFO): DAT read: Rx Time:00:08:30.0150 

2025-06-08T00:08:30.615Z,1749341310.615 [DAT](INFO): Rx dataTimestamp_ set to:1749341310.614190
2025-06-08T00:08:30.618Z,1749341310.618 [DAT](INFO): DAT read: Bearing  10.9,   5.8 (Local)

2025-06-08T00:08:30.619Z,1749341310.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.9,   5.8 (Local)

2025-06-08T00:08:30.625Z,1749341310.625 [DAT](INFO): DAT read: Range 10 to 50 :    38.3 m (trip time 25.5 ms) speed 0.6

2025-06-08T00:08:30.669Z,1749341310.669 [DAT](INFO): DAT read: 00:08:30.0150 LVL= 22048, 27969, 20306, 32755, AGC= 64, IDX= 505, 0.30,-2.365, 2.487,-2.701,-2.863, PHS= 0.586,-0.886, 0.159, RAW= 133.6,   2.2, CAL= 139.1,  -5.8, ROT=  10.9,   5.8

2025-06-08T00:08:30.684Z,1749341310.684 [DAT](INFO): got valid direction response:
 00:08:30.0150 LVL= 22048, 27969, 20306, 32755, AGC= 64, IDX= 505, 0.30,-2.365, 2.487,-2.701,-2.863, PHS= 0.586,-0.886, 0.159, RAW= 133.6,   2.2, CAL= 139.1,  -5.8, ROT=  10.9,   5.8

2025-06-08T00:08:30.684Z,1749341310.684 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-06-08T00:08:30.685Z,1749341310.685 [DAT](INFO): direction in FSK: [0.976932,0.188127,-0.101056]
2025-06-08T00:08:30.686Z,1749341310.686 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:30.697Z,1749341310.697 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=7.142682
2025-06-08T00:08:30.810Z,1749341310.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.299999 m,
      deltaT: 0.505268 s,
      deltaX: -0.100002 m,
      approachRate: -0.197919 m/s,
      rangeRepo size: 4

2025-06-08T00:08:30.816Z,1749341310.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.000069 m,
      bearing: 303.659571 deg,
      lat: 36.905958 deg,
      lon: -122.115902 deg,
      deltaT: 1.004860 s,
      deltaX: -0.595299 m,
      approachRate: -0.592420 m/s,
      posRepo size: 4

2025-06-08T00:08:30.820Z,1749341310.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.00 m.
2025-06-08T00:08:30.822Z,1749341310.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.000069 m,
      nav range: 37.730583 m,
      bearing: 303.738774 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.094851 deg/s,
      cmd heading: 292.199700 deg,
      new cmd heading: 292.358152 deg.

2025-06-08T00:08:30.823Z,1749341310.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.102612 target range: 38.000069 and range: 38.30 m.
2025-06-08T00:08:30.865Z,1749341310.865 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=7.310235
2025-06-08T00:08:31.117Z,1749341311.117 [DAT](INFO): DAT read: Rx Time:00:08:30.5146 

2025-06-08T00:08:31.117Z,1749341311.117 [DAT](INFO): Rx dataTimestamp_ set to:1749341311.117113
2025-06-08T00:08:31.119Z,1749341311.119 [DAT](INFO): DAT read: Bearing  10.9,   4.2 (Local)

2025-06-08T00:08:31.119Z,1749341311.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.9,   4.2 (Local)

2025-06-08T00:08:31.121Z,1749341311.121 [DAT](INFO): DAT read: Range 10 to 50 :    37.7 m (trip time 25.1 ms) speed 0.6

2025-06-08T00:08:31.126Z,1749341311.126 [DAT](INFO): DAT read: 00:08:30.5146 LVL= 23200, 30369, 20594, 32755, AGC= 64, IDX= 502, 0.06, 1.900, 0.481, 1.568, 1.433, PHS= 0.555,-0.906, 0.132, RAW= 133.7,   3.4, CAL= 139.1,  -4.2, ROT=  10.9,   4.2

2025-06-08T00:08:31.127Z,1749341311.127 [DAT](INFO): got valid direction response:
 00:08:30.5146 LVL= 23200, 30369, 20594, 32755, AGC= 64, IDX= 502, 0.06, 1.900, 0.481, 1.568, 1.433, PHS= 0.555,-0.906, 0.132, RAW= 133.7,   3.4, CAL= 139.1,  -4.2, ROT=  10.9,   4.2

2025-06-08T00:08:31.127Z,1749341311.127 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-06-08T00:08:31.128Z,1749341311.128 [DAT](INFO): direction in FSK: [0.979322,0.188588,-0.073238]
2025-06-08T00:08:31.129Z,1749341311.129 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:31.136Z,1749341311.136 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=7.581653
2025-06-08T00:08:31.147Z,1749341311.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.700001 m,
      deltaT: 0.502923 s,
      deltaX: -0.599998 m,
      approachRate: -1.193022 m/s,
      rangeRepo size: 4

2025-06-08T00:08:31.150Z,1749341311.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.404770 m,
      bearing: 303.691543 deg,
      lat: 36.905957 deg,
      lon: -122.115902 deg,
      deltaT: 0.502923 s,
      deltaX: -0.595299 m,
      approachRate: -1.183678 m/s,
      posRepo size: 4

2025-06-08T00:08:31.150Z,1749341311.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.40 m.
2025-06-08T00:08:31.181Z,1749341311.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.404770 m,
      nav range: 37.453613 m,
      bearing: 303.681399 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.094851 deg/s,
      cmd heading: 292.358160 deg,
      new cmd heading: 292.454655 deg.

2025-06-08T00:08:31.182Z,1749341311.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104297 target range: 37.404770 and range: 37.70 m.
2025-06-08T00:08:31.368Z,1749341311.368 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=7.813609
2025-06-08T00:08:31.515Z,1749341311.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.40 m.
2025-06-08T00:08:31.517Z,1749341311.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.404770 m,
      nav range: 37.204506 m,
      bearing: 303.703111 deg,
      approach rate: -0.676876 m/s,
      LOS rate: 0.059391 deg/s,
      cmd heading: 292.454657 deg,
      new cmd heading: 292.520230 deg.

2025-06-08T00:08:31.518Z,1749341311.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105441 target range: 37.404770 and range: 37.70 m.
2025-06-08T00:08:31.626Z,1749341311.626 [DAT](INFO): DAT read: Rx Time:00:08:31.0145 

2025-06-08T00:08:31.627Z,1749341311.627 [DAT](INFO): Rx dataTimestamp_ set to:1749341311.626084
2025-06-08T00:08:31.631Z,1749341311.631 [DAT](INFO): DAT read: Bearing  11.5,   1.5 (Local)

2025-06-08T00:08:31.632Z,1749341311.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,   1.5 (Local)

2025-06-08T00:08:31.638Z,1749341311.638 [DAT](INFO): DAT read: Range 10 to 50 :    37.5 m (trip time 25.0 ms) speed 0.5

2025-06-08T00:08:31.656Z,1749341311.656 [DAT](INFO): DAT read: 00:08:31.0145 LVL= 25040, 30449, 22578, 32755, AGC= 64, IDX= 501,-0.18, 1.089,-0.305, 0.745, 0.665, PHS= 0.512,-0.923, 0.077, RAW= 132.8,   5.3, CAL= 138.5,  -1.5, ROT=  11.5,   1.5

2025-06-08T00:08:31.659Z,1749341311.659 [DAT](INFO): got valid direction response:
 00:08:31.0145 LVL= 25040, 30449, 22578, 32755, AGC= 64, IDX= 501,-0.18, 1.089,-0.305, 0.745, 0.665, PHS= 0.512,-0.923, 0.077, RAW= 132.8,   5.3, CAL= 138.5,  -1.5, ROT=  11.5,   1.5

2025-06-08T00:08:31.673Z,1749341311.673 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-06-08T00:08:31.680Z,1749341311.680 [DAT](INFO): direction in FSK: [0.979589,0.199300,-0.026177]
2025-06-08T00:08:31.681Z,1749341311.681 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:31.698Z,1749341311.698 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=8.143086
2025-06-08T00:08:31.872Z,1749341311.872 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=8.317597
2025-06-08T00:08:31.972Z,1749341311.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 0.508971 s,
      deltaX: -0.200001 m,
      approachRate: -0.392951 m/s,
      rangeRepo size: 4

2025-06-08T00:08:31.974Z,1749341311.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.206348 m,
      bearing: 304.247170 deg,
      lat: 36.905957 deg,
      lon: -122.115902 deg,
      deltaT: 0.508971 s,
      deltaX: -0.198421 m,
      approachRate: -0.389848 m/s,
      posRepo size: 4

2025-06-08T00:08:31.974Z,1749341311.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.21 m.
2025-06-08T00:08:31.981Z,1749341311.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.206348 m,
      nav range: 36.922810 m,
      bearing: 303.726241 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059391 deg/s,
      cmd heading: 292.520227 deg,
      new cmd heading: 292.600690 deg.

2025-06-08T00:08:31.982Z,1749341311.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106845 target range: 37.206348 and range: 37.50 m.
2025-06-08T00:08:32.125Z,1749341312.125 [DAT](INFO): DAT read: Rx Time:00:08:31.5142 

2025-06-08T00:08:32.125Z,1749341312.125 [DAT](INFO): Rx dataTimestamp_ set to:1749341312.125178
2025-06-08T00:08:32.127Z,1749341312.127 [DAT](INFO): DAT read: Bearing  10.4,   3.4 (Local)

2025-06-08T00:08:32.127Z,1749341312.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,   3.4 (Local)

2025-06-08T00:08:32.129Z,1749341312.129 [DAT](INFO): DAT read: Range 10 to 50 :    37.2 m (trip time 24.8 ms) speed 0.7

2025-06-08T00:08:32.134Z,1749341312.134 [DAT](INFO): DAT read: 00:08:31.5142 LVL= 26864, 32753, 24050, 32755, AGC= 63, IDX= 497, 0.40, 2.582, 1.180, 2.271, 2.142, PHS= 0.528,-0.915, 0.126, RAW= 134.3,   4.1, CAL= 139.6,  -3.4, ROT=  10.4,   3.4

2025-06-08T00:08:32.135Z,1749341312.135 [DAT](INFO): got valid direction response:
 00:08:31.5142 LVL= 26864, 32753, 24050, 32755, AGC= 63, IDX= 497, 0.40, 2.582, 1.180, 2.271, 2.142, PHS= 0.528,-0.915, 0.126, RAW= 134.3,   4.1, CAL= 139.6,  -3.4, ROT=  10.4,   3.4

2025-06-08T00:08:32.136Z,1749341312.136 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-06-08T00:08:32.137Z,1749341312.137 [DAT](INFO): direction in FSK: [0.981840,0.180201,-0.059306]
2025-06-08T00:08:32.137Z,1749341312.137 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:32.141Z,1749341312.141 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=8.586017
2025-06-08T00:08:32.340Z,1749341312.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 0.499094 s,
      deltaX: -0.299999 m,
      approachRate: -0.601088 m/s,
      rangeRepo size: 4

2025-06-08T00:08:32.342Z,1749341312.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.908699 m,
      bearing: 303.445392 deg,
      lat: 36.905957 deg,
      lon: -122.115902 deg,
      deltaT: 0.499094 s,
      deltaX: -0.297649 m,
      approachRate: -0.596379 m/s,
      posRepo size: 4

2025-06-08T00:08:32.343Z,1749341312.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.91 m.
2025-06-08T00:08:32.345Z,1749341312.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.908699 m,
      nav range: 36.666595 m,
      bearing: 303.746919 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059391 deg/s,
      cmd heading: 292.600687 deg,
      new cmd heading: 292.667129 deg.

2025-06-08T00:08:32.346Z,1749341312.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108005 target range: 36.908699 and range: 37.20 m.
2025-06-08T00:08:32.376Z,1749341312.376 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=8.821747
2025-06-08T00:08:32.631Z,1749341312.631 [DAT](INFO): DAT read: Rx Time:00:08:32.0140 

2025-06-08T00:08:32.631Z,1749341312.631 [DAT](INFO): Rx dataTimestamp_ set to:1749341312.631171
2025-06-08T00:08:32.633Z,1749341312.633 [DAT](INFO): DAT read: Bearing   9.6,   4.1 (Local)

2025-06-08T00:08:32.633Z,1749341312.633 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.6,   4.1 (Local)

2025-06-08T00:08:32.635Z,1749341312.635 [DAT](INFO): DAT read: Range 10 to 50 :    36.9 m (trip time 24.6 ms) speed 0.7

2025-06-08T00:08:32.641Z,1749341312.641 [DAT](INFO): DAT read: 00:08:32.0140 LVL= 22368, 25361, 19570, 31955, AGC= 63, IDX= 495, 0.13, 2.832, 1.393, 2.535, 2.377, PHS= 0.543,-0.938, 0.155, RAW= 135.4,   3.7, CAL= 140.4,  -4.1, ROT=   9.6,   4.1

2025-06-08T00:08:32.642Z,1749341312.642 [DAT](INFO): got valid direction response:
 00:08:32.0140 LVL= 22368, 25361, 19570, 31955, AGC= 63, IDX= 495, 0.13, 2.832, 1.393, 2.535, 2.377, PHS= 0.543,-0.938, 0.155, RAW= 135.4,   3.7, CAL= 140.4,  -4.1, ROT=   9.6,   4.1

2025-06-08T00:08:32.642Z,1749341312.642 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-06-08T00:08:32.645Z,1749341312.645 [DAT](INFO): direction in FSK: [0.983473,0.166342,-0.071497]
2025-06-08T00:08:32.646Z,1749341312.646 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:32.712Z,1749341312.712 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=9.144006
2025-06-08T00:08:32.860Z,1749341312.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.900002 m,
      deltaT: 0.505993 s,
      deltaX: -0.299999 m,
      approachRate: -0.592892 m/s,
      rangeRepo size: 4

2025-06-08T00:08:32.862Z,1749341312.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.611050 m,
      bearing: 302.975552 deg,
      lat: 36.905956 deg,
      lon: -122.115902 deg,
      deltaT: 0.505993 s,
      deltaX: -0.297649 m,
      approachRate: -0.588248 m/s,
      posRepo size: 4

2025-06-08T00:08:32.867Z,1749341312.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.61 m.
2025-06-08T00:08:32.870Z,1749341312.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.611050 m,
      nav range: 36.282532 m,
      bearing: 303.632273 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059391 deg/s,
      cmd heading: 292.667131 deg,
      new cmd heading: 292.759137 deg.

2025-06-08T00:08:32.875Z,1749341312.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.109611 target range: 36.611050 and range: 36.90 m.
2025-06-08T00:08:32.880Z,1749341312.880 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=9.325589
2025-06-08T00:08:33.133Z,1749341313.133 [DAT](INFO): DAT read: Rx Time:00:08:32.5136 

2025-06-08T00:08:33.133Z,1749341313.133 [DAT](INFO): Rx dataTimestamp_ set to:1749341313.132946
2025-06-08T00:08:33.135Z,1749341313.135 [DAT](INFO): DAT read: Bearing   9.4,   3.4 (Local)

2025-06-08T00:08:33.135Z,1749341313.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4,   3.4 (Local)

2025-06-08T00:08:33.137Z,1749341313.137 [DAT](INFO): DAT read: Range 10 to 50 :    36.3 m (trip time 24.2 ms) speed 0.6

2025-06-08T00:08:33.142Z,1749341313.142 [DAT](INFO): DAT read: 00:08:32.5136 LVL= 22304, 30257, 20850, 32755, AGC= 62, IDX= 508, 0.01, 1.129,-0.265, 0.850, 0.705, PHS= 0.512,-0.923, 0.142, RAW= 135.6,   4.2, CAL= 140.6,  -3.4, ROT=   9.4,   3.4

2025-06-08T00:08:33.143Z,1749341313.143 [DAT](INFO): got valid direction response:
 00:08:32.5136 LVL= 22304, 30257, 20850, 32755, AGC= 62, IDX= 508, 0.01, 1.129,-0.265, 0.850, 0.705, PHS= 0.512,-0.923, 0.142, RAW= 135.6,   4.2, CAL= 140.6,  -3.4, ROT=   9.4,   3.4

2025-06-08T00:08:33.143Z,1749341313.143 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-08T00:08:33.144Z,1749341313.144 [DAT](INFO): direction in FSK: [0.984836,0.163038,-0.059306]
2025-06-08T00:08:33.144Z,1749341313.144 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:33.148Z,1749341313.148 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=9.593171
2025-06-08T00:08:33.245Z,1749341313.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 0.501775 s,
      deltaX: -0.600002 m,
      approachRate: -1.195760 m/s,
      rangeRepo size: 4

2025-06-08T00:08:33.251Z,1749341313.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.015747 m,
      bearing: 302.997455 deg,
      lat: 36.905956 deg,
      lon: -122.115902 deg,
      deltaT: 0.501775 s,
      deltaX: -0.595303 m,
      approachRate: -1.186393 m/s,
      posRepo size: 4

2025-06-08T00:08:33.252Z,1749341313.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-08T00:08:33.255Z,1749341313.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.015747 m,
      nav range: 36.101505 m,
      bearing: 303.559381 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059391 deg/s,
      cmd heading: 292.759147 deg,
      new cmd heading: 292.828458 deg.

2025-06-08T00:08:33.260Z,1749341313.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110821 target range: 36.015747 and range: 36.30 m.
2025-06-08T00:08:33.384Z,1749341313.384 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=9.829786
2025-06-08T00:08:33.622Z,1749341313.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:33.625Z,1749341313.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-08T00:08:33.632Z,1749341313.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.015747 m,
      nav range: 35.814285 m,
      bearing: 303.577952 deg,
      approach rate: -0.755973 m/s,
      LOS rate: 0.049271 deg/s,
      cmd heading: 292.828460 deg,
      new cmd heading: 292.884619 deg.

2025-06-08T00:08:33.633Z,1749341313.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111801 target range: 36.015747 and range: 36.30 m.
2025-06-08T00:08:33.637Z,1749341313.637 [DAT](INFO): DAT read: Rx Time:00:08:33.0136 

2025-06-08T00:08:33.637Z,1749341313.637 [DAT](INFO): Rx dataTimestamp_ set to:1749341313.637060
2025-06-08T00:08:33.639Z,1749341313.639 [DAT](INFO): DAT read: Bearing   8.5,   3.9 (Local)

2025-06-08T00:08:33.639Z,1749341313.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,   3.9 (Local)

2025-06-08T00:08:33.641Z,1749341313.641 [DAT](INFO): DAT read: Range 10 to 50 :    36.3 m (trip time 24.2 ms) speed 0.6

2025-06-08T00:08:33.653Z,1749341313.653 [DAT](INFO): DAT read: 00:08:33.0136 LVL= 21216, 24737, 20434, 30195, AGC= 63, IDX= 507,-0.09, 1.744, 0.265, 1.471, 1.293, PHS= 0.539,-0.982, 0.174, RAW= 136.7,   3.9, CAL= 141.5,  -3.9, ROT=   8.5,   3.9

2025-06-08T00:08:33.657Z,1749341313.657 [DAT](INFO): got valid direction response:
 00:08:33.0136 LVL= 21216, 24737, 20434, 30195, AGC= 63, IDX= 507,-0.09, 1.744, 0.265, 1.471, 1.293, PHS= 0.539,-0.982, 0.174, RAW= 136.7,   3.9, CAL= 141.5,  -3.9, ROT=   8.5,   3.9

2025-06-08T00:08:33.658Z,1749341313.658 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-08T00:08:33.661Z,1749341313.661 [DAT](INFO): direction in FSK: [0.986726,0.147467,-0.068015]
2025-06-08T00:08:33.662Z,1749341313.662 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:33.705Z,1749341313.705 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=10.149379
2025-06-08T00:08:33.888Z,1749341313.888 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=10.333593
2025-06-08T00:08:34.096Z,1749341314.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 0.504114 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:08:34.099Z,1749341314.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.015736 m,
      bearing: 302.458436 deg,
      lat: 36.905954 deg,
      lon: -122.115904 deg,
      deltaT: 0.504114 s,
      deltaX: -0.000011 m,
      approachRate: -0.000023 m/s,
      posRepo size: 4

2025-06-08T00:08:34.103Z,1749341314.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.02 m.
2025-06-08T00:08:34.106Z,1749341314.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.015736 m,
      nav range: 35.512680 m,
      bearing: 303.163982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049271 deg/s,
      cmd heading: 292.884631 deg,
      new cmd heading: 292.951639 deg.

2025-06-08T00:08:34.111Z,1749341314.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112971 target range: 36.015736 and range: 36.30 m.
2025-06-08T00:08:34.141Z,1749341314.141 [DAT](INFO): DAT read: Rx Time:00:08:33.5133 

2025-06-08T00:08:34.141Z,1749341314.141 [DAT](INFO): Rx dataTimestamp_ set to:1749341314.141112
2025-06-08T00:08:34.143Z,1749341314.143 [DAT](INFO): DAT read: Bearing   8.8,   4.0 (Local)

2025-06-08T00:08:34.143Z,1749341314.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,   4.0 (Local)

2025-06-08T00:08:34.145Z,1749341314.145 [DAT](INFO): DAT read: Range 10 to 50 :    35.9 m (trip time 23.9 ms) speed 0.5

2025-06-08T00:08:34.150Z,1749341314.150 [DAT](INFO): DAT read: 00:08:33.5133 LVL= 24496, 32753, 20786, 32755, AGC= 62, IDX= 504,-0.17, 0.752,-0.657, 0.486, 0.320, PHS= 0.520,-0.931, 0.163, RAW= 136.3,   3.8, CAL= 141.2,  -4.0, ROT=   8.8,   4.0

2025-06-08T00:08:34.151Z,1749341314.151 [DAT](INFO): got valid direction response:
 00:08:33.5133 LVL= 24496, 32753, 20786, 32755, AGC= 62, IDX= 504,-0.17, 0.752,-0.657, 0.486, 0.320, PHS= 0.520,-0.931, 0.163, RAW= 136.3,   3.8, CAL= 141.2,  -4.0, ROT=   8.8,   4.0

2025-06-08T00:08:34.151Z,1749341314.151 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-08T00:08:34.152Z,1749341314.152 [DAT](INFO): direction in FSK: [0.985821,0.152613,-0.069756]
2025-06-08T00:08:34.153Z,1749341314.153 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:34.177Z,1749341314.177 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=10.622221
2025-06-08T00:08:34.392Z,1749341314.392 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=10.837620
2025-06-08T00:08:34.473Z,1749341314.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.900002 m,
      deltaT: 0.504052 s,
      deltaX: -0.399998 m,
      approachRate: -0.793564 m/s,
      rangeRepo size: 4

2025-06-08T00:08:34.475Z,1749341314.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.618870 m,
      bearing: 302.880442 deg,
      lat: 36.905953 deg,
      lon: -122.115906 deg,
      deltaT: 0.504052 s,
      deltaX: -0.396866 m,
      approachRate: -0.787351 m/s,
      posRepo size: 4

2025-06-08T00:08:34.480Z,1749341314.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.62 m.
2025-06-08T00:08:34.482Z,1749341314.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.618870 m,
      nav range: 35.347393 m,
      bearing: 302.964891 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049271 deg/s,
      cmd heading: 292.951649 deg,
      new cmd heading: 293.009924 deg.

2025-06-08T00:08:34.489Z,1749341314.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113988 target range: 35.618870 and range: 35.90 m.
2025-06-08T00:08:34.645Z,1749341314.645 [DAT](INFO): DAT read: Rx Time:00:08:34.0132 

2025-06-08T00:08:34.645Z,1749341314.645 [DAT](INFO): Rx dataTimestamp_ set to:1749341314.645101
2025-06-08T00:08:34.647Z,1749341314.647 [DAT](INFO): DAT read: Bearing   7.5,   3.3 (Local)

2025-06-08T00:08:34.647Z,1749341314.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.5,   3.3 (Local)

2025-06-08T00:08:34.649Z,1749341314.649 [DAT](INFO): DAT read: Range 10 to 50 :    35.7 m (trip time 23.8 ms) speed 0.5

2025-06-08T00:08:34.654Z,1749341314.654 [DAT](INFO): DAT read: 00:08:34.0132 LVL= 19856, 25169, 21234, 32451, AGC= 64, IDX= 503,-0.24, 2.628, 1.197, 2.400, 2.219, PHS= 0.497,-0.975, 0.178, RAW= 138.1,   4.5, CAL= 142.5,  -3.3, ROT=   7.5,   3.3

2025-06-08T00:08:34.658Z,1749341314.658 [DAT](INFO): got valid direction response:
 00:08:34.0132 LVL= 19856, 25169, 21234, 32451, AGC= 64, IDX= 503,-0.24, 2.628, 1.197, 2.400, 2.219, PHS= 0.497,-0.975, 0.178, RAW= 138.1,   4.5, CAL= 142.5,  -3.3, ROT=   7.5,   3.3

2025-06-08T00:08:34.660Z,1749341314.660 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-06-08T00:08:34.661Z,1749341314.661 [DAT](INFO): direction in FSK: [0.989801,0.130310,-0.057564]
2025-06-08T00:08:34.661Z,1749341314.661 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:34.669Z,1749341314.669 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=11.114128
2025-06-08T00:08:34.893Z,1749341314.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 0.503989 s,
      deltaX: -0.200001 m,
      approachRate: -0.396836 m/s,
      rangeRepo size: 4

2025-06-08T00:08:34.896Z,1749341314.896 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=11.341685
2025-06-08T00:08:34.900Z,1749341314.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.420380 m,
      bearing: 301.705425 deg,
      lat: 36.905952 deg,
      lon: -122.115907 deg,
      deltaT: 0.503989 s,
      deltaX: -0.198490 m,
      approachRate: -0.393838 m/s,
      posRepo size: 4

2025-06-08T00:08:34.900Z,1749341314.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.42 m.
2025-06-08T00:08:34.908Z,1749341314.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.420380 m,
      nav range: 35.099216 m,
      bearing: 302.752290 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049271 deg/s,
      cmd heading: 293.009924 deg,
      new cmd heading: 293.071198 deg.

2025-06-08T00:08:34.909Z,1749341314.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115057 target range: 35.420380 and range: 35.70 m.
2025-06-08T00:08:35.149Z,1749341315.149 [DAT](INFO): DAT read: Rx Time:00:08:34.5129 

2025-06-08T00:08:35.151Z,1749341315.151 [DAT](INFO): Rx dataTimestamp_ set to:1749341315.149973
2025-06-08T00:08:35.153Z,1749341315.153 [DAT](INFO): DAT read: Bearing   7.8,   4.4 (Local)

2025-06-08T00:08:35.153Z,1749341315.153 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.8,   4.4 (Local)

2025-06-08T00:08:35.157Z,1749341315.157 [DAT](INFO): DAT read: Range 10 to 50 :    35.3 m (trip time 23.5 ms) speed 0.4

2025-06-08T00:08:35.169Z,1749341315.169 [DAT](INFO): DAT read: 00:08:34.5129 LVL= 20096, 25169, 23378, 31315, AGC= 65, IDX= 500,-0.23, 1.567, 0.128, 1.326, 1.131, PHS= 0.524,-0.956, 0.192, RAW= 137.7,   3.6, CAL= 142.2,  -4.4, ROT=   7.8,   4.4

2025-06-08T00:08:35.172Z,1749341315.172 [DAT](INFO): got valid direction response:
 00:08:34.5129 LVL= 20096, 25169, 23378, 31315, AGC= 65, IDX= 500,-0.23, 1.567, 0.128, 1.326, 1.131, PHS= 0.524,-0.956, 0.192, RAW= 137.7,   3.6, CAL= 142.2,  -4.4, ROT=   7.8,   4.4

2025-06-08T00:08:35.172Z,1749341315.172 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-06-08T00:08:35.173Z,1749341315.173 [DAT](INFO): direction in FSK: [0.987828,0.135316,-0.076719]
2025-06-08T00:08:35.173Z,1749341315.173 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:35.193Z,1749341315.193 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=11.638391
2025-06-08T00:08:35.278Z,1749341315.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.299999 m,
      deltaT: 0.504872 s,
      deltaX: -0.400002 m,
      approachRate: -0.792283 m/s,
      rangeRepo size: 4

2025-06-08T00:08:35.280Z,1749341315.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.023510 m,
      bearing: 302.382221 deg,
      lat: 36.905952 deg,
      lon: -122.115908 deg,
      deltaT: 0.504872 s,
      deltaX: -0.396870 m,
      approachRate: -0.786080 m/s,
      posRepo size: 4

2025-06-08T00:08:35.281Z,1749341315.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.02 m.
2025-06-08T00:08:35.288Z,1749341315.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.023510 m,
      nav range: 34.908623 m,
      bearing: 302.665452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049271 deg/s,
      cmd heading: 293.071205 deg,
      new cmd heading: 293.128943 deg.

2025-06-08T00:08:35.289Z,1749341315.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116065 target range: 35.023510 and range: 35.30 m.
2025-06-08T00:08:35.400Z,1749341315.400 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=11.845627
2025-06-08T00:08:35.642Z,1749341315.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:35.653Z,1749341315.653 [DAT](INFO): DAT read: Rx Time:00:08:35.0128 

2025-06-08T00:08:35.654Z,1749341315.654 [DAT](INFO): Rx dataTimestamp_ set to:1749341315.653478
2025-06-08T00:08:35.660Z,1749341315.660 [DAT](INFO): DAT read: Bearing   8.1,   3.2 (Local)

2025-06-08T00:08:35.660Z,1749341315.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,   3.2 (Local)

2025-06-08T00:08:35.662Z,1749341315.662 [DAT](INFO): DAT read: Range 10 to 50 :    35.1 m (trip time 23.4 ms) speed 0.5

2025-06-08T00:08:35.667Z,1749341315.667 [DAT](INFO): DAT read: 00:08:35.0128 LVL= 23408, 26609, 20946, 32755, AGC= 66, IDX= 499,-0.17, 2.143, 0.766, 1.911, 1.747, PHS= 0.485,-0.934, 0.161, RAW= 137.4,   4.5, CAL= 141.9,  -3.2, ROT=   8.1,   3.2

2025-06-08T00:08:35.668Z,1749341315.668 [DAT](INFO): got valid direction response:
 00:08:35.0128 LVL= 23408, 26609, 20946, 32755, AGC= 66, IDX= 499,-0.17, 2.143, 0.766, 1.911, 1.747, PHS= 0.485,-0.934, 0.161, RAW= 137.4,   4.5, CAL= 141.9,  -3.2, ROT=   8.1,   3.2

2025-06-08T00:08:35.669Z,1749341315.669 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-06-08T00:08:35.670Z,1749341315.670 [DAT](INFO): direction in FSK: [0.988480,0.140682,-0.055822]
2025-06-08T00:08:35.670Z,1749341315.670 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:35.680Z,1749341315.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.02 m.
2025-06-08T00:08:35.715Z,1749341315.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.023510 m,
      nav range: 34.668404 m,
      bearing: 302.683159 deg,
      approach rate: -0.644064 m/s,
      LOS rate: 0.047803 deg/s,
      cmd heading: 293.128934 deg,
      new cmd heading: 293.182421 deg.

2025-06-08T00:08:35.723Z,1749341315.723 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=12.167427
2025-06-08T00:08:35.731Z,1749341315.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116999 target range: 35.023510 and range: 35.30 m.
2025-06-08T00:08:35.904Z,1749341315.904 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=12.349626
2025-06-08T00:08:36.157Z,1749341316.157 [DAT](INFO): DAT read: Rx Time:00:08:35.5125 

2025-06-08T00:08:36.157Z,1749341316.157 [DAT](INFO): Rx dataTimestamp_ set to:1749341316.157043
2025-06-08T00:08:36.159Z,1749341316.159 [DAT](INFO): DAT read: Bearing   8.1,   2.6 (Local)

2025-06-08T00:08:36.159Z,1749341316.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,   2.6 (Local)

2025-06-08T00:08:36.161Z,1749341316.161 [DAT](INFO): DAT read: Range 10 to 50 :    34.7 m (trip time 23.1 ms) speed 0.6

2025-06-08T00:08:36.166Z,1749341316.166 [DAT](INFO): DAT read: 00:08:35.5125 LVL= 32752, 32753, 31282, 32755, AGC= 69, IDX= 496,-0.13, 0.622,-0.759, 0.390, 0.236, PHS= 0.474,-0.948, 0.151, RAW= 137.5,   5.1, CAL= 141.9,  -2.6, ROT=   8.1,   2.6

2025-06-08T00:08:36.167Z,1749341316.167 [DAT](INFO): got valid direction response:
 00:08:35.5125 LVL= 32752, 32753, 31282, 32755, AGC= 69, IDX= 496,-0.13, 0.622,-0.759, 0.390, 0.236, PHS= 0.474,-0.948, 0.151, RAW= 137.5,   5.1, CAL= 141.9,  -2.6, ROT=   8.1,   2.6

2025-06-08T00:08:36.167Z,1749341316.167 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-06-08T00:08:36.168Z,1749341316.168 [DAT](INFO): direction in FSK: [0.989004,0.140756,-0.045363]
2025-06-08T00:08:36.169Z,1749341316.169 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:36.177Z,1749341316.177 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=12.622140
2025-06-08T00:08:36.273Z,1749341316.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.700001 m,
      deltaT: 1.007070 s,
      deltaX: -0.599998 m,
      approachRate: -0.595786 m/s,
      rangeRepo size: 4

2025-06-08T00:08:36.286Z,1749341316.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.428181 m,
      bearing: 302.874159 deg,
      lat: 36.905952 deg,
      lon: -122.115908 deg,
      deltaT: 1.007070 s,
      deltaX: -0.595329 m,
      approachRate: -0.591150 m/s,
      posRepo size: 4

2025-06-08T00:08:36.287Z,1749341316.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.43 m.
2025-06-08T00:08:36.304Z,1749341316.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.428181 m,
      nav range: 34.269875 m,
      bearing: 302.728686 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047803 deg/s,
      cmd heading: 293.182428 deg,
      new cmd heading: 293.270856 deg.

2025-06-08T00:08:36.305Z,1749341316.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118542 target range: 34.428181 and range: 34.70 m.
2025-06-08T00:08:36.408Z,1749341316.408 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=12.853699
2025-06-08T00:08:36.624Z,1749341316.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.43 m.
2025-06-08T00:08:36.626Z,1749341316.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.428181 m,
      nav range: 34.030960 m,
      bearing: 302.755491 deg,
      approach rate: -0.669369 m/s,
      LOS rate: 0.075629 deg/s,
      cmd heading: 293.270865 deg,
      new cmd heading: 293.351847 deg.

2025-06-08T00:08:36.644Z,1749341316.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119956 target range: 34.428181 and range: 34.70 m.
2025-06-08T00:08:36.661Z,1749341316.661 [DAT](INFO): DAT read: Rx Time:00:08:36.0124 

2025-06-08T00:08:36.661Z,1749341316.661 [DAT](INFO): Rx dataTimestamp_ set to:1749341316.660994
2025-06-08T00:08:36.663Z,1749341316.663 [DAT](INFO): DAT read: Bearing   8.3,   1.1 (Local)

2025-06-08T00:08:36.663Z,1749341316.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,   1.1 (Local)

2025-06-08T00:08:36.665Z,1749341316.665 [DAT](INFO): DAT read: Range 10 to 50 :    34.4 m (trip time 22.9 ms) speed 0.4

2025-06-08T00:08:36.670Z,1749341316.670 [DAT](INFO): DAT read: 00:08:36.0124 LVL= 24688, 32753, 25074, 32755, AGC= 67, IDX= 510,-0.14,-0.328,-1.659,-0.552,-0.675, PHS= 0.435,-0.937, 0.120, RAW= 137.3,   6.2, CAL= 141.7,  -1.1, ROT=   8.3,   1.1

2025-06-08T00:08:36.671Z,1749341316.671 [DAT](INFO): got valid direction response:
 00:08:36.0124 LVL= 24688, 32753, 25074, 32755, AGC= 67, IDX= 510,-0.14,-0.328,-1.659,-0.552,-0.675, PHS= 0.435,-0.937, 0.120, RAW= 137.3,   6.2, CAL= 141.7,  -1.1, ROT=   8.3,   1.1

2025-06-08T00:08:36.671Z,1749341316.671 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-06-08T00:08:36.672Z,1749341316.672 [DAT](INFO): direction in FSK: [0.989343,0.144330,-0.019197]
2025-06-08T00:08:36.673Z,1749341316.673 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:36.680Z,1749341316.680 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=13.125507
2025-06-08T00:08:36.913Z,1749341316.913 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=13.358319
2025-06-08T00:08:37.094Z,1749341317.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.503951 s,
      deltaX: -0.299999 m,
      approachRate: -0.595294 m/s,
      rangeRepo size: 4

2025-06-08T00:08:37.101Z,1749341317.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.130516 m,
      bearing: 303.247211 deg,
      lat: 36.905953 deg,
      lon: -122.115908 deg,
      deltaT: 0.503951 s,
      deltaX: -0.297665 m,
      approachRate: -0.590662 m/s,
      posRepo size: 4

2025-06-08T00:08:37.101Z,1749341317.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.13 m.
2025-06-08T00:08:37.108Z,1749341317.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.130516 m,
      nav range: 33.816616 m,
      bearing: 302.933555 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.075629 deg/s,
      cmd heading: 293.351844 deg,
      new cmd heading: 293.458521 deg.

2025-06-08T00:08:37.109Z,1749341317.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.121818 target range: 34.130516 and range: 34.40 m.
2025-06-08T00:08:37.166Z,1749341317.166 [DAT](INFO): DAT read: Rx Time:00:08:36.5121 

2025-06-08T00:08:37.166Z,1749341317.166 [DAT](INFO): Rx dataTimestamp_ set to:1749341317.166108
2025-06-08T00:08:37.168Z,1749341317.168 [DAT](INFO): DAT read: Bearing   5.9,   4.2 (Local)

2025-06-08T00:08:37.169Z,1749341317.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9,   4.2 (Local)

2025-06-08T00:08:37.172Z,1749341317.172 [DAT](INFO): DAT read: Range 10 to 50 :    33.9 m (trip time 22.6 ms) speed 0.4

2025-06-08T00:08:37.179Z,1749341317.179 [DAT](INFO): DAT read: 00:08:36.5121 LVL= 22320, 31505, 22450, 32755, AGC= 67, IDX= 506, 0.47, 1.598, 0.189, 1.424, 1.202, PHS= 0.483,-0.967, 0.219, RAW= 140.1,   4.0, CAL= 144.1,  -4.2, ROT=   5.9,   4.2

2025-06-08T00:08:37.185Z,1749341317.185 [DAT](INFO): got valid direction response:
 00:08:36.5121 LVL= 22320, 31505, 22450, 32755, AGC= 67, IDX= 506, 0.47, 1.598, 0.189, 1.424, 1.202, PHS= 0.483,-0.967, 0.219, RAW= 140.1,   4.0, CAL= 144.1,  -4.2, ROT=   5.9,   4.2

2025-06-08T00:08:37.185Z,1749341317.185 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-06-08T00:08:37.186Z,1749341317.186 [DAT](INFO): direction in FSK: [0.992032,0.102516,-0.073238]
2025-06-08T00:08:37.187Z,1749341317.187 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:37.212Z,1749341317.212 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=13.656826
2025-06-08T00:08:37.417Z,1749341317.417 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=13.862241
2025-06-08T00:08:37.450Z,1749341317.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 0.505114 s,
      deltaX: -0.500000 m,
      approachRate: -0.989876 m/s,
      rangeRepo size: 4

2025-06-08T00:08:37.461Z,1749341317.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.634434 m,
      bearing: 301.246721 deg,
      lat: 36.905950 deg,
      lon: -122.115909 deg,
      deltaT: 0.505114 s,
      deltaX: -0.496082 m,
      approachRate: -0.982120 m/s,
      posRepo size: 4

2025-06-08T00:08:37.461Z,1749341317.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m.
2025-06-08T00:08:37.469Z,1749341317.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.634434 m,
      nav range: 33.485664 m,
      bearing: 302.443432 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.075629 deg/s,
      cmd heading: 293.458531 deg,
      new cmd heading: 293.539246 deg.

2025-06-08T00:08:37.470Z,1749341317.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123226 target range: 33.634434 and range: 33.90 m.
2025-06-08T00:08:37.669Z,1749341317.669 [DAT](INFO): DAT read: Rx Time:00:08:37.0120 

2025-06-08T00:08:37.669Z,1749341317.669 [DAT](INFO): Rx dataTimestamp_ set to:1749341317.668921
2025-06-08T00:08:37.670Z,1749341317.670 [DAT](INFO): DAT read: Bearing   4.8,   6.6 (Local)

2025-06-08T00:08:37.671Z,1749341317.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,   6.6 (Local)

2025-06-08T00:08:37.674Z,1749341317.674 [DAT](INFO): DAT read: Range 10 to 50 :    33.8 m (trip time 22.5 ms) speed 0.5

2025-06-08T00:08:37.678Z,1749341317.678 [DAT](INFO): DAT read: 00:08:37.0120 LVL= 20528, 25761, 21106, 32755, AGC= 66, IDX= 505, 0.11,-1.687,-3.120,-1.841,-2.126, PHS= 0.527,-0.947, 0.282, RAW= 141.1,   2.0, CAL= 145.2,  -6.6, ROT=   4.8,   6.6

2025-06-08T00:08:37.683Z,1749341317.683 [DAT](INFO): got valid direction response:
 00:08:37.0120 LVL= 20528, 25761, 21106, 32755, AGC= 66, IDX= 505, 0.11,-1.687,-3.120,-1.841,-2.126, PHS= 0.527,-0.947, 0.282, RAW= 141.1,   2.0, CAL= 145.2,  -6.6, ROT=   4.8,   6.6

2025-06-08T00:08:37.685Z,1749341317.685 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-06-08T00:08:37.689Z,1749341317.689 [DAT](INFO): direction in FSK: [0.989889,0.083123,-0.114937]
2025-06-08T00:08:37.689Z,1749341317.689 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:37.693Z,1749341317.693 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=14.138628
2025-06-08T00:08:37.920Z,1749341317.920 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=14.365676
2025-06-08T00:08:37.931Z,1749341317.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.799999 m,
      deltaT: 0.502813 s,
      deltaX: -0.100002 m,
      approachRate: -0.198886 m/s,
      rangeRepo size: 4

2025-06-08T00:08:37.934Z,1749341317.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.535191 m,
      bearing: 300.427317 deg,
      lat: 36.905950 deg,
      lon: -122.115909 deg,
      deltaT: 0.502813 s,
      deltaX: -0.099243 m,
      approachRate: -0.197376 m/s,
      posRepo size: 4

2025-06-08T00:08:37.940Z,1749341317.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.54 m.
2025-06-08T00:08:37.950Z,1749341317.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.535191 m,
      nav range: 33.175926 m,
      bearing: 302.502773 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.075629 deg/s,
      cmd heading: 293.539237 deg,
      new cmd heading: 293.647395 deg.

2025-06-08T00:08:37.956Z,1749341317.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.125114 target range: 33.535191 and range: 33.80 m.
2025-06-08T00:08:38.173Z,1749341318.173 [DAT](INFO): DAT read: Rx Time:00:08:37.5116 

2025-06-08T00:08:38.173Z,1749341318.173 [DAT](INFO): Rx dataTimestamp_ set to:1749341318.173160
2025-06-08T00:08:38.175Z,1749341318.175 [DAT](INFO): DAT read: Bearing   5.3,   3.2 (Local)

2025-06-08T00:08:38.175Z,1749341318.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.3,   3.2 (Local)

2025-06-08T00:08:38.177Z,1749341318.177 [DAT](INFO): DAT read: Range 10 to 50 :    33.2 m (trip time 22.1 ms) speed 0.6

2025-06-08T00:08:38.182Z,1749341318.182 [DAT](INFO): DAT read: 00:08:37.5116 LVL= 22512, 26817, 21026, 32755, AGC= 65, IDX= 502,-0.12, 1.901, 0.479, 1.749, 1.530, PHS= 0.459,-1.003, 0.216, RAW= 141.1,   4.9, CAL= 144.7,  -3.2, ROT=   5.3,   3.2

2025-06-08T00:08:38.183Z,1749341318.183 [DAT](INFO): got valid direction response:
 00:08:37.5116 LVL= 22512, 26817, 21026, 32755, AGC= 65, IDX= 502,-0.12, 1.901, 0.479, 1.749, 1.530, PHS= 0.459,-1.003, 0.216, RAW= 141.1,   4.9, CAL= 144.7,  -3.2, ROT=   5.3,   3.2

2025-06-08T00:08:38.184Z,1749341318.184 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-06-08T00:08:38.185Z,1749341318.185 [DAT](INFO): direction in FSK: [0.994172,0.092227,-0.055822]
2025-06-08T00:08:38.185Z,1749341318.185 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:38.189Z,1749341318.189 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=14.633891
2025-06-08T00:08:38.325Z,1749341318.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.200001 m,
      deltaT: 0.504239 s,
      deltaX: -0.599998 m,
      approachRate: -1.189909 m/s,
      rangeRepo size: 4

2025-06-08T00:08:38.331Z,1749341318.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.939892 m,
      bearing: 300.659518 deg,
      lat: 36.905944 deg,
      lon: -122.115912 deg,
      deltaT: 0.504239 s,
      deltaX: -0.595299 m,
      approachRate: -1.180588 m/s,
      posRepo size: 4

2025-06-08T00:08:38.332Z,1749341318.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.94 m.
2025-06-08T00:08:38.335Z,1749341318.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.939892 m,
      nav range: 32.839695 m,
      bearing: 301.336165 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.075629 deg/s,
      cmd heading: 293.647400 deg,
      new cmd heading: 293.737732 deg.

2025-06-08T00:08:38.340Z,1749341318.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126690 target range: 32.939892 and range: 33.20 m.
2025-06-08T00:08:38.425Z,1749341318.425 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=14.869829
2025-06-08T00:08:38.677Z,1749341318.677 [DAT](INFO): DAT read: Rx Time:00:08:38.0115 

2025-06-08T00:08:38.677Z,1749341318.677 [DAT](INFO): Rx dataTimestamp_ set to:1749341318.676897
2025-06-08T00:08:38.678Z,1749341318.678 [DAT](INFO): DAT read: Bearing   5.0,   4.5 (Local)

2025-06-08T00:08:38.679Z,1749341318.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,   4.5 (Local)

2025-06-08T00:08:38.681Z,1749341318.681 [DAT](INFO): DAT read: Range 10 to 50 :    33.0 m (trip time 22.0 ms) speed 0.5

2025-06-08T00:08:38.686Z,1749341318.686 [DAT](INFO): DAT read: 00:08:38.0115 LVL= 20720, 27089, 21874, 32755, AGC= 62, IDX= 501,-0.44,-2.545, 2.345,-2.689,-2.931, PHS= 0.474,-0.961, 0.238, RAW= 141.2,   3.8, CAL= 145.0,  -4.5, ROT=   5.0,   4.5

2025-06-08T00:08:38.688Z,1749341318.688 [DAT](INFO): got valid direction response:
 00:08:38.0115 LVL= 20720, 27089, 21874, 32755, AGC= 62, IDX= 501,-0.44,-2.545, 2.345,-2.689,-2.931, PHS= 0.474,-0.961, 0.238, RAW= 141.2,   3.8, CAL= 145.0,  -4.5, ROT=   5.0,   4.5

2025-06-08T00:08:38.688Z,1749341318.688 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-06-08T00:08:38.689Z,1749341318.689 [DAT](INFO): direction in FSK: [0.993124,0.086887,-0.078459]
2025-06-08T00:08:38.689Z,1749341318.689 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:38.693Z,1749341318.693 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=15.138386
2025-06-08T00:08:38.820Z,1749341318.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 0.503737 s,
      deltaX: -0.200001 m,
      approachRate: -0.397034 m/s,
      rangeRepo size: 4

2025-06-08T00:08:38.822Z,1749341318.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.741421 m,
      bearing: 300.454572 deg,
      lat: 36.905941 deg,
      lon: -122.115914 deg,
      deltaT: 0.503737 s,
      deltaX: -0.198471 m,
      approachRate: -0.393997 m/s,
      posRepo size: 4

2025-06-08T00:08:38.826Z,1749341318.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.74 m.
2025-06-08T00:08:38.841Z,1749341318.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.741421 m,
      nav range: 32.508308 m,
      bearing: 300.697332 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.075629 deg/s,
      cmd heading: 293.737722 deg,
      new cmd heading: 293.848154 deg.

2025-06-08T00:08:38.842Z,1749341318.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128618 target range: 32.741421 and range: 33.00 m.
2025-06-08T00:08:38.933Z,1749341318.933 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=15.378503
2025-06-08T00:08:39.179Z,1749341319.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:39.181Z,1749341319.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.74 m.
2025-06-08T00:08:39.185Z,1749341319.185 [DAT](INFO): DAT read: Rx Time:00:08:38.5112 

2025-06-08T00:08:39.185Z,1749341319.185 [DAT](INFO): Rx dataTimestamp_ set to:1749341319.185057
2025-06-08T00:08:39.187Z,1749341319.187 [DAT](INFO): DAT read: Bearing   3.5,   5.5 (Local)

2025-06-08T00:08:39.187Z,1749341319.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,   5.5 (Local)

2025-06-08T00:08:39.189Z,1749341319.189 [DAT](INFO): DAT read: Range 10 to 50 :    32.6 m (trip time 21.7 ms) speed 0.7

2025-06-08T00:08:39.194Z,1749341319.194 [DAT](INFO): DAT read: 00:08:38.5112 LVL= 23136, 27313, 25298, 31603, AGC= 63, IDX= 497, 0.08,-2.347, 2.485,-2.454,-2.753, PHS= 0.494,-0.999, 0.295, RAW= 143.0,   3.0, CAL= 146.5,  -5.5, ROT=   3.5,   5.5

2025-06-08T00:08:39.195Z,1749341319.195 [DAT](INFO): got valid direction response:
 00:08:38.5112 LVL= 23136, 27313, 25298, 31603, AGC= 63, IDX= 497, 0.08,-2.347, 2.485,-2.454,-2.753, PHS= 0.494,-0.999, 0.295, RAW= 143.0,   3.0, CAL= 146.5,  -5.5, ROT=   3.5,   5.5

2025-06-08T00:08:39.195Z,1749341319.195 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-06-08T00:08:39.196Z,1749341319.196 [DAT](INFO): direction in FSK: [0.993540,0.060767,-0.095846]
2025-06-08T00:08:39.197Z,1749341319.197 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:39.208Z,1749341319.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.741421 m,
      nav range: 32.194798 m,
      bearing: 300.761189 deg,
      approach rate: -0.846926 m/s,
      LOS rate: 0.174184 deg/s,
      cmd heading: 293.848153 deg,
      new cmd heading: 294.041588 deg.

2025-06-08T00:08:39.209Z,1749341319.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.131994 target range: 32.741421 and range: 33.00 m.
2025-06-08T00:08:39.211Z,1749341319.211 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=15.652422
2025-06-08T00:08:39.437Z,1749341319.437 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=15.882756
2025-06-08T00:08:39.622Z,1749341319.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 0.508160 s,
      deltaX: -0.400002 m,
      approachRate: -0.787157 m/s,
      rangeRepo size: 4

2025-06-08T00:08:39.628Z,1749341319.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.344551 m,
      bearing: 299.096331 deg,
      lat: 36.905941 deg,
      lon: -122.115914 deg,
      deltaT: 0.508160 s,
      deltaX: -0.396870 m,
      approachRate: -0.780994 m/s,
      posRepo size: 4

2025-06-08T00:08:39.629Z,1749341319.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.34 m.
2025-06-08T00:08:39.636Z,1749341319.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.344551 m,
      nav range: 31.949232 m,
      bearing: 300.668798 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.174184 deg/s,
      cmd heading: 294.041584 deg,
      new cmd heading: 294.271354 deg.

2025-06-08T00:08:39.637Z,1749341319.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.136004 target range: 32.344551 and range: 32.60 m.
2025-06-08T00:08:39.689Z,1749341319.689 [DAT](INFO): DAT read: Rx Time:00:08:39.0110 

2025-06-08T00:08:39.689Z,1749341319.689 [DAT](INFO): Rx dataTimestamp_ set to:1749341319.689020
2025-06-08T00:08:39.691Z,1749341319.691 [DAT](INFO): DAT read: Bearing   4.3,   4.1 (Local)

2025-06-08T00:08:39.691Z,1749341319.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,   4.1 (Local)

2025-06-08T00:08:39.693Z,1749341319.693 [DAT](INFO): DAT read: Range 10 to 50 :    32.3 m (trip time 21.5 ms) speed 0.7

2025-06-08T00:08:39.698Z,1749341319.698 [DAT](INFO): DAT read: 00:08:39.0110 LVL= 21408, 23873, 23730, 30259, AGC= 63, IDX= 496,-0.24,-3.074, 1.783, 3.087, 2.833, PHS= 0.464,-1.003, 0.250, RAW= 142.3,   4.3, CAL= 145.7,  -4.1, ROT=   4.3,   4.1

2025-06-08T00:08:39.699Z,1749341319.699 [DAT](INFO): got valid direction response:
 00:08:39.0110 LVL= 21408, 23873, 23730, 30259, AGC= 63, IDX= 496,-0.24,-3.074, 1.783, 3.087, 2.833, PHS= 0.464,-1.003, 0.250, RAW= 142.3,   4.3, CAL= 145.7,  -4.1, ROT=   4.3,   4.1

2025-06-08T00:08:39.700Z,1749341319.700 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-06-08T00:08:39.701Z,1749341319.701 [DAT](INFO): direction in FSK: [0.994633,0.074787,-0.071497]
2025-06-08T00:08:39.701Z,1749341319.701 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:39.704Z,1749341319.704 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=16.149719
2025-06-08T00:08:39.941Z,1749341319.941 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=16.385866
2025-06-08T00:08:40.127Z,1749341320.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.299999 m,
      deltaT: 0.503963 s,
      deltaX: -0.299999 m,
      approachRate: -0.595280 m/s,
      rangeRepo size: 4

2025-06-08T00:08:40.129Z,1749341320.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.046902 m,
      bearing: 299.861047 deg,
      lat: 36.905940 deg,
      lon: -122.115915 deg,
      deltaT: 0.503963 s,
      deltaX: -0.297649 m,
      approachRate: -0.590618 m/s,
      posRepo size: 4

2025-06-08T00:08:40.130Z,1749341320.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.05 m.
2025-06-08T00:08:40.137Z,1749341320.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.046902 m,
      nav range: 31.616940 m,
      bearing: 300.572283 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.174184 deg/s,
      cmd heading: 294.271351 deg,
      new cmd heading: 294.535414 deg.

2025-06-08T00:08:40.138Z,1749341320.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140613 target range: 32.046902 and range: 32.30 m.
2025-06-08T00:08:40.194Z,1749341320.194 [DAT](INFO): DAT read: Rx Time:00:08:39.5107 

2025-06-08T00:08:40.194Z,1749341320.194 [DAT](INFO): Rx dataTimestamp_ set to:1749341320.194122
2025-06-08T00:08:40.196Z,1749341320.196 [DAT](INFO): DAT read: Bearing   3.4,   5.6 (Local)

2025-06-08T00:08:40.197Z,1749341320.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,   5.6 (Local)

2025-06-08T00:08:40.199Z,1749341320.199 [DAT](INFO): DAT read: Range 10 to 50 :    31.8 m (trip time 21.2 ms) 5

2025-06-08T00:08:40.207Z,1749341320.207 [DAT](INFO): DAT read: 00:08:39.5107 LVL= 21840, 25905, 19954, 31827, AGC= 64, IDX= 508, 0.21,-1.993, 2.862,-2.095,-2.391, PHS= 0.486,-0.983, 0.293, RAW= 143.1,   3.0, CAL= 146.6,  -5.6, ROT=   3.4,   5.6

2025-06-08T00:08:40.208Z,1749341320.208 [DAT](INFO): got valid direction response:
 00:08:39.5107 LVL= 21840, 25905, 19954, 31827, AGC= 64, IDX= 508, 0.21,-1.993, 2.862,-2.095,-2.391, PHS= 0.486,-0.983, 0.293, RAW= 143.1,   3.0, CAL= 146.6,  -5.6, ROT=   3.4,   5.6

2025-06-08T00:08:40.208Z,1749341320.208 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-06-08T00:08:40.209Z,1749341320.209 [DAT](INFO): direction in FSK: [0.993476,0.059023,-0.097583]
2025-06-08T00:08:40.209Z,1749341320.209 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:40.213Z,1749341320.213 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=16.658611
2025-06-08T00:08:40.448Z,1749341320.448 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=16.893480
2025-06-08T00:08:40.467Z,1749341320.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 0.505102 s,
      deltaX: -0.500000 m,
      approachRate: -0.989899 m/s,
      rangeRepo size: 4

2025-06-08T00:08:40.470Z,1749341320.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.550819 m,
      bearing: 298.994452 deg,
      lat: 36.905938 deg,
      lon: -122.115919 deg,
      deltaT: 0.505102 s,
      deltaX: -0.496082 m,
      approachRate: -0.982143 m/s,
      posRepo size: 4

2025-06-08T00:08:40.470Z,1749341320.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.55 m.
2025-06-08T00:08:40.477Z,1749341320.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.550819 m,
      nav range: 31.527809 m,
      bearing: 299.963260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.174184 deg/s,
      cmd heading: 294.535406 deg,
      new cmd heading: 294.711087 deg.

2025-06-08T00:08:40.478Z,1749341320.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143679 target range: 31.550819 and range: 31.80 m.
2025-06-08T00:08:40.704Z,1749341320.704 [DAT](INFO): DAT read: Rx Time:00:08:40.0105 

2025-06-08T00:08:40.704Z,1749341320.704 [DAT](INFO): Rx dataTimestamp_ set to:1749341320.704126
2025-06-08T00:08:40.706Z,1749341320.706 [DAT](INFO): DAT read: Bearing   4.4,   3.6 (Local)

2025-06-08T00:08:40.706Z,1749341320.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,   3.6 (Local)

2025-06-08T00:08:40.708Z,1749341320.708 [DAT](INFO): DAT read: Range 10 to 50 :    31.5 m (trip time 21.0 ms) speed 0.5

2025-06-08T00:08:40.714Z,1749341320.714 [DAT](INFO): DAT read: 00:08:40.0105 LVL= 25008, 27121, 20722, 32755, AGC= 64, IDX= 506,-0.09, 2.637, 1.244, 2.519, 2.281, PHS= 0.444,-0.990, 0.235, RAW= 142.2,   4.7, CAL= 145.6,  -3.6, ROT=   4.4,   3.6

2025-06-08T00:08:40.719Z,1749341320.719 [DAT](INFO): got valid direction response:
 00:08:40.0105 LVL= 25008, 27121, 20722, 32755, AGC= 64, IDX= 506,-0.09, 2.637, 1.244, 2.519, 2.281, PHS= 0.444,-0.990, 0.235, RAW= 142.2,   4.7, CAL= 145.6,  -3.6, ROT=   4.4,   3.6

2025-06-08T00:08:40.720Z,1749341320.720 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-06-08T00:08:40.721Z,1749341320.721 [DAT](INFO): direction in FSK: [0.995085,0.076568,-0.062791]
2025-06-08T00:08:40.721Z,1749341320.721 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:40.725Z,1749341320.725 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=17.170168
2025-06-08T00:08:40.953Z,1749341320.953 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=17.398365
2025-06-08T00:08:40.983Z,1749341320.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.510004 s,
      deltaX: -0.299999 m,
      approachRate: -0.588229 m/s,
      rangeRepo size: 4

2025-06-08T00:08:40.985Z,1749341320.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.253065 m,
      bearing: 299.869350 deg,
      lat: 36.905937 deg,
      lon: -122.115919 deg,
      deltaT: 0.510004 s,
      deltaX: -0.297754 m,
      approachRate: -0.583827 m/s,
      posRepo size: 4

2025-06-08T00:08:40.986Z,1749341320.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.25 m.
2025-06-08T00:08:40.993Z,1749341320.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.253065 m,
      nav range: 31.132690 m,
      bearing: 299.807604 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.174184 deg/s,
      cmd heading: 294.711079 deg,
      new cmd heading: 294.980706 deg.

2025-06-08T00:08:40.994Z,1749341320.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.148385 target range: 31.253065 and range: 31.50 m.
2025-06-08T00:08:41.205Z,1749341321.205 [DAT](INFO): DAT read: Rx Time:00:08:40.5102 

2025-06-08T00:08:41.206Z,1749341321.206 [DAT](INFO): Rx dataTimestamp_ set to:1749341321.205395
2025-06-08T00:08:41.207Z,1749341321.207 [DAT](INFO): DAT read: Bearing   4.6,   3.3 (Local)

2025-06-08T00:08:41.207Z,1749341321.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,   3.3 (Local)

2025-06-08T00:08:41.210Z,1749341321.210 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed 0.6

2025-06-08T00:08:41.218Z,1749341321.218 [DAT](INFO): DAT read: 00:08:40.5102 LVL= 22656, 26465, 20754, 32755, AGC= 65, IDX= 503,-0.49, 1.446, 0.044, 1.321, 1.091, PHS= 0.443,-1.000, 0.228, RAW= 142.0,   4.9, CAL= 145.4,  -3.3, ROT=   4.6,   3.3

2025-06-08T00:08:41.219Z,1749341321.219 [DAT](INFO): got valid direction response:
 00:08:40.5102 LVL= 22656, 26465, 20754, 32755, AGC= 65, IDX= 503,-0.49, 1.446, 0.044, 1.321, 1.091, PHS= 0.443,-1.000, 0.228, RAW= 142.0,   4.9, CAL= 145.4,  -3.3, ROT=   4.6,   3.3

2025-06-08T00:08:41.257Z,1749341321.257 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-06-08T00:08:41.258Z,1749341321.258 [DAT](INFO): direction in FSK: [0.995126,0.080066,-0.057564]
2025-06-08T00:08:41.259Z,1749341321.259 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:41.262Z,1749341321.262 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=17.707628
2025-06-08T00:08:41.356Z,1749341321.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.501269 s,
      deltaX: -0.299999 m,
      approachRate: -0.598480 m/s,
      rangeRepo size: 4

2025-06-08T00:08:41.358Z,1749341321.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.955418 m,
      bearing: 300.190222 deg,
      lat: 36.905937 deg,
      lon: -122.115919 deg,
      deltaT: 0.501269 s,
      deltaX: -0.297647 m,
      approachRate: -0.593788 m/s,
      posRepo size: 4

2025-06-08T00:08:41.359Z,1749341321.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.96 m.
2025-06-08T00:08:41.370Z,1749341321.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.955418 m,
      nav range: 30.869286 m,
      bearing: 299.840550 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.174184 deg/s,
      cmd heading: 294.980707 deg,
      new cmd heading: 295.175431 deg.

2025-06-08T00:08:41.371Z,1749341321.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151783 target range: 30.955418 and range: 31.20 m.
2025-06-08T00:08:41.456Z,1749341321.456 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=17.901613
2025-06-08T00:08:41.709Z,1749341321.709 [DAT](INFO): DAT read: Rx Time:00:08:41.0101 

2025-06-08T00:08:41.709Z,1749341321.709 [DAT](INFO): Rx dataTimestamp_ set to:1749341321.708816
2025-06-08T00:08:41.710Z,1749341321.710 [DAT](INFO): DAT read: Bearing   4.1,   4.9 (Local)

2025-06-08T00:08:41.711Z,1749341321.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.1,   4.9 (Local)

2025-06-08T00:08:41.713Z,1749341321.713 [DAT](INFO): DAT read: Range 10 to 50 :    31.1 m (trip time 20.7 ms) speed 0.6

2025-06-08T00:08:41.718Z,1749341321.718 [DAT](INFO): DAT read: 00:08:41.0101 LVL= 20432, 29457, 21538, 32403, AGC= 66, IDX= 501, 0.18,-2.490, 2.374,-2.611,-2.880, PHS= 0.478,-0.982, 0.266, RAW= 142.3,   3.5, CAL= 145.9,  -4.9, ROT=   4.1,   4.9

2025-06-08T00:08:41.719Z,1749341321.719 [DAT](INFO): got valid direction response:
 00:08:41.0101 LVL= 20432, 29457, 21538, 32403, AGC= 66, IDX= 501, 0.18,-2.490, 2.374,-2.611,-2.880, PHS= 0.478,-0.982, 0.266, RAW= 142.3,   3.5, CAL= 145.9,  -4.9, ROT=   4.1,   4.9

2025-06-08T00:08:41.719Z,1749341321.719 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-06-08T00:08:41.720Z,1749341321.720 [DAT](INFO): direction in FSK: [0.993795,0.071236,-0.085417]
2025-06-08T00:08:41.720Z,1749341321.720 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:41.724Z,1749341321.724 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=18.168987
2025-06-08T00:08:41.865Z,1749341321.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.100000 m,
      deltaT: 0.503421 s,
      deltaX: -0.100000 m,
      approachRate: -0.198642 m/s,
      rangeRepo size: 4

2025-06-08T00:08:41.876Z,1749341321.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.856083 m,
      bearing: 299.948864 deg,
      lat: 36.905937 deg,
      lon: -122.115919 deg,
      deltaT: 0.503421 s,
      deltaX: -0.099335 m,
      approachRate: -0.197319 m/s,
      posRepo size: 4

2025-06-08T00:08:41.876Z,1749341321.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.86 m.
2025-06-08T00:08:41.879Z,1749341321.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.856083 m,
      nav range: 30.594137 m,
      bearing: 299.948975 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.174184 deg/s,
      cmd heading: 295.175422 deg,
      new cmd heading: 295.443698 deg.

2025-06-08T00:08:41.884Z,1749341321.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156465 target range: 30.856083 and range: 31.10 m.
2025-06-08T00:08:41.963Z,1749341321.963 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=18.407349
2025-06-08T00:08:42.193Z,1749341322.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:42.204Z,1749341322.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.86 m.
2025-06-08T00:08:42.207Z,1749341322.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.856083 m,
      nav range: 30.309486 m,
      bearing: 299.975248 deg,
      approach rate: -0.860859 m/s,
      LOS rate: 0.080202 deg/s,
      cmd heading: 295.443685 deg,
      new cmd heading: 295.523243 deg.

2025-06-08T00:08:42.213Z,1749341322.213 [DAT](INFO): DAT read: Rx Time:00:08:41.5097 

2025-06-08T00:08:42.213Z,1749341322.213 [DAT](INFO): Rx dataTimestamp_ set to:1749341322.213018
2025-06-08T00:08:42.215Z,1749341322.215 [DAT](INFO): DAT read: Bearing   4.5,   3.8 (Local)

2025-06-08T00:08:42.215Z,1749341322.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,   3.8 (Local)

2025-06-08T00:08:42.217Z,1749341322.217 [DAT](INFO): DAT read: Range 10 to 50 :    30.5 m (trip time 20.3 ms) speed 0.9

2025-06-08T00:08:42.222Z,1749341322.222 [DAT](INFO): DAT read: 00:08:41.5097 LVL= 22928, 28113, 21538, 32243, AGC= 67, IDX= 498, 0.04, 0.976,-0.445, 0.850, 0.605, PHS= 0.459,-1.003, 0.242, RAW= 142.1,   4.5, CAL= 145.5,  -3.8, ROT=   4.5,   3.8

2025-06-08T00:08:42.224Z,1749341322.224 [DAT](INFO): got valid direction response:
 00:08:41.5097 LVL= 22928, 28113, 21538, 32243, AGC= 67, IDX= 498, 0.04, 0.976,-0.445, 0.850, 0.605, PHS= 0.459,-1.003, 0.242, RAW= 142.1,   4.5, CAL= 145.5,  -3.8, ROT=   4.5,   3.8

2025-06-08T00:08:42.224Z,1749341322.224 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-08T00:08:42.225Z,1749341322.225 [DAT](INFO): direction in FSK: [0.994726,0.078287,-0.066274]
2025-06-08T00:08:42.225Z,1749341322.225 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:42.228Z,1749341322.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157854 target range: 30.856083 and range: 31.10 m.
2025-06-08T00:08:42.233Z,1749341322.233 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=18.678312
2025-06-08T00:08:42.464Z,1749341322.464 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=18.909536
2025-06-08T00:08:42.642Z,1749341322.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.504202 s,
      deltaX: -0.600000 m,
      approachRate: -1.190000 m/s,
      rangeRepo size: 4

2025-06-08T00:08:42.656Z,1749341322.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.260738 m,
      bearing: 300.438308 deg,
      lat: 36.905937 deg,
      lon: -122.115918 deg,
      deltaT: 0.504202 s,
      deltaX: -0.595345 m,
      approachRate: -1.180766 m/s,
      posRepo size: 4

2025-06-08T00:08:42.656Z,1749341322.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.26 m.
2025-06-08T00:08:42.675Z,1749341322.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.260738 m,
      nav range: 29.982113 m,
      bearing: 300.055571 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.080202 deg/s,
      cmd heading: 295.523243 deg,
      new cmd heading: 295.630465 deg.

2025-06-08T00:08:42.676Z,1749341322.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159725 target range: 30.260738 and range: 30.50 m.
2025-06-08T00:08:42.717Z,1749341322.717 [DAT](INFO): DAT read: Rx Time:00:08:42.0096 

2025-06-08T00:08:42.717Z,1749341322.717 [DAT](INFO): Rx dataTimestamp_ set to:1749341322.717144
2025-06-08T00:08:42.719Z,1749341322.719 [DAT](INFO): DAT read: Bearing   5.0,   3.9 (Local)

2025-06-08T00:08:42.719Z,1749341322.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,   3.9 (Local)

2025-06-08T00:08:42.721Z,1749341322.721 [DAT](INFO): DAT read: Range 10 to 50 :    30.3 m (trip time 20.2 ms) speed 0.5

2025-06-08T00:08:42.726Z,1749341322.726 [DAT](INFO): DAT read: 00:08:42.0096 LVL= 29904, 32753, 26178, 32755, AGC= 68, IDX= 497,-0.01,-0.089,-1.469,-0.227,-0.457, PHS= 0.455,-0.965, 0.227, RAW= 141.4,   4.3, CAL= 145.0,  -3.9, ROT=   5.0,   3.9

2025-06-08T00:08:42.727Z,1749341322.727 [DAT](INFO): got valid direction response:
 00:08:42.0096 LVL= 29904, 32753, 26178, 32755, AGC= 68, IDX= 497,-0.01,-0.089,-1.469,-0.227,-0.457, PHS= 0.455,-0.965, 0.227, RAW= 141.4,   4.3, CAL= 145.0,  -3.9, ROT=   5.0,   3.9

2025-06-08T00:08:42.728Z,1749341322.728 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-08T00:08:42.729Z,1749341322.729 [DAT](INFO): direction in FSK: [0.993888,0.086954,-0.068015]
2025-06-08T00:08:42.729Z,1749341322.729 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:42.741Z,1749341322.741 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=19.186602
2025-06-08T00:08:42.968Z,1749341322.968 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=19.413639
2025-06-08T00:08:43.107Z,1749341323.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.504126 s,
      deltaX: -0.200001 m,
      approachRate: -0.396728 m/s,
      rangeRepo size: 4

2025-06-08T00:08:43.109Z,1749341323.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.062307 m,
      bearing: 301.004255 deg,
      lat: 36.905938 deg,
      lon: -122.115918 deg,
      deltaT: 0.504126 s,
      deltaX: -0.198431 m,
      approachRate: -0.393614 m/s,
      posRepo size: 4

2025-06-08T00:08:43.110Z,1749341323.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.06 m.
2025-06-08T00:08:43.117Z,1749341323.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.062307 m,
      nav range: 29.725317 m,
      bearing: 300.235370 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.080202 deg/s,
      cmd heading: 295.630477 deg,
      new cmd heading: 295.741479 deg.

2025-06-08T00:08:43.118Z,1749341323.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161663 target range: 30.062307 and range: 30.30 m.
2025-06-08T00:08:43.221Z,1749341323.221 [DAT](INFO): DAT read: Rx Time:00:08:42.5093 

2025-06-08T00:08:43.222Z,1749341323.222 [DAT](INFO): Rx dataTimestamp_ set to:1749341323.221293
2025-06-08T00:08:43.223Z,1749341323.223 [DAT](INFO): DAT read: Bearing   6.2,   1.0 (Local)

2025-06-08T00:08:43.223Z,1749341323.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.2,   1.0 (Local)

2025-06-08T00:08:43.225Z,1749341323.225 [DAT](INFO): DAT read: Range 10 to 50 :    29.9 m (trip time 19.9 ms) speed 0.7

2025-06-08T00:08:43.230Z,1749341323.230 [DAT](INFO): DAT read: 00:08:42.5093 LVL= 27056, 32753, 23714, 32755, AGC= 67, IDX= 510,-0.07,-2.239, 2.689,-2.401,-2.559, PHS= 0.408,-0.988, 0.156, RAW= 140.2,   6.6, CAL= 143.8,  -1.0, ROT=   6.2,   1.0

2025-06-08T00:08:43.231Z,1749341323.231 [DAT](INFO): got valid direction response:
 00:08:42.5093 LVL= 27056, 32753, 23714, 32755, AGC= 67, IDX= 510,-0.07,-2.239, 2.689,-2.401,-2.559, PHS= 0.408,-0.988, 0.156, RAW= 140.2,   6.6, CAL= 143.8,  -1.0, ROT=   6.2,   1.0

2025-06-08T00:08:43.232Z,1749341323.232 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-08T00:08:43.233Z,1749341323.233 [DAT](INFO): direction in FSK: [0.994000,0.107983,-0.017452]
2025-06-08T00:08:43.233Z,1749341323.233 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:43.237Z,1749341323.237 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=19.682007
2025-06-08T00:08:43.465Z,1749341323.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.504149 s,
      deltaX: -0.400000 m,
      approachRate: -0.793415 m/s,
      rangeRepo size: 4

2025-06-08T00:08:43.472Z,1749341323.472 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=19.917482
2025-06-08T00:08:43.473Z,1749341323.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.665445 m,
      bearing: 302.161235 deg,
      lat: 36.905939 deg,
      lon: -122.115917 deg,
      deltaT: 0.504149 s,
      deltaX: -0.396862 m,
      approachRate: -0.787192 m/s,
      posRepo size: 4

2025-06-08T00:08:43.474Z,1749341323.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.67 m.
2025-06-08T00:08:43.481Z,1749341323.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.665445 m,
      nav range: 29.497375 m,
      bearing: 300.534252 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.080202 deg/s,
      cmd heading: 295.741481 deg,
      new cmd heading: 295.828583 deg.

2025-06-08T00:08:43.482Z,1749341323.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163183 target range: 29.665445 and range: 29.90 m.
2025-06-08T00:08:43.725Z,1749341323.725 [DAT](INFO): DAT read: Rx Time:00:08:43.0092 

2025-06-08T00:08:43.726Z,1749341323.726 [DAT](INFO): Rx dataTimestamp_ set to:1749341323.725316
2025-06-08T00:08:43.727Z,1749341323.727 [DAT](INFO): DAT read: Bearing   5.6,   1.7 (Local)

2025-06-08T00:08:43.727Z,1749341323.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.6,   1.7 (Local)

2025-06-08T00:08:43.729Z,1749341323.729 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.5

2025-06-08T00:08:43.734Z,1749341323.734 [DAT](INFO): DAT read: 00:08:43.0092 LVL= 23488, 32753, 21298, 32755, AGC= 65, IDX= 509,-0.16,-1.446,-2.800,-1.590,-1.769, PHS= 0.412,-0.983, 0.176, RAW= 140.9,   6.2, CAL= 144.4,  -1.7, ROT=   5.6,   1.7

2025-06-08T00:08:43.735Z,1749341323.735 [DAT](INFO): got valid direction response:
 00:08:43.0092 LVL= 23488, 32753, 21298, 32755, AGC= 65, IDX= 509,-0.16,-1.446,-2.800,-1.590,-1.769, PHS= 0.412,-0.983, 0.176, RAW= 140.9,   6.2, CAL= 144.4,  -1.7, ROT=   5.6,   1.7

2025-06-08T00:08:43.736Z,1749341323.736 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-08T00:08:43.737Z,1749341323.737 [DAT](INFO): direction in FSK: [0.994789,0.097540,-0.029666]
2025-06-08T00:08:43.737Z,1749341323.737 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:43.755Z,1749341323.755 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=20.196270
2025-06-08T00:08:43.954Z,1749341323.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.504023 s,
      deltaX: -0.199999 m,
      approachRate: -0.396805 m/s,
      rangeRepo size: 4

2025-06-08T00:08:43.958Z,1749341323.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.467005 m,
      bearing: 301.615287 deg,
      lat: 36.905942 deg,
      lon: -122.115917 deg,
      deltaT: 0.504023 s,
      deltaX: -0.198441 m,
      approachRate: -0.393713 m/s,
      posRepo size: 4

2025-06-08T00:08:43.959Z,1749341323.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-06-08T00:08:43.977Z,1749341323.977 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=20.422058
2025-06-08T00:08:43.978Z,1749341323.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.467005 m,
      nav range: 29.308441 m,
      bearing: 301.027227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.080202 deg/s,
      cmd heading: 295.828580 deg,
      new cmd heading: 295.946143 deg.

2025-06-08T00:08:43.984Z,1749341323.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165235 target range: 29.467005 and range: 29.70 m.
2025-06-08T00:08:44.230Z,1749341324.230 [DAT](INFO): DAT read: Rx Time:00:08:43.5089 

2025-06-08T00:08:44.230Z,1749341324.230 [DAT](INFO): Rx dataTimestamp_ set to:1749341324.229907
2025-06-08T00:08:44.232Z,1749341324.232 [DAT](INFO): DAT read: Bearing   4.9,   2.8 (Local)

2025-06-08T00:08:44.233Z,1749341324.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,   2.8 (Local)

2025-06-08T00:08:44.235Z,1749341324.235 [DAT](INFO): DAT read: Range 10 to 50 :    29.3 m (trip time 19.5 ms) speed 0.4

2025-06-08T00:08:44.251Z,1749341324.251 [DAT](INFO): DAT read: 00:08:43.5089 LVL= 22768, 32049, 19922, 32755, AGC= 64, IDX= 506,-0.32,-1.241,-2.608,-1.369,-1.580, PHS= 0.427,-0.981, 0.208, RAW= 141.7,   5.3, CAL= 145.1,  -2.8, ROT=   4.9,   2.8

2025-06-08T00:08:44.253Z,1749341324.253 [DAT](INFO): got valid direction response:
 00:08:43.5089 LVL= 22768, 32049, 19922, 32755, AGC= 64, IDX= 506,-0.32,-1.241,-2.608,-1.369,-1.580, PHS= 0.427,-0.981, 0.208, RAW= 141.7,   5.3, CAL= 145.1,  -2.8, ROT=   4.9,   2.8

2025-06-08T00:08:44.253Z,1749341324.253 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-08T00:08:44.254Z,1749341324.254 [DAT](INFO): direction in FSK: [0.995156,0.085315,-0.048850]
2025-06-08T00:08:44.254Z,1749341324.254 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:44.282Z,1749341324.282 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=20.727123
2025-06-08T00:08:44.393Z,1749341324.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.504591 s,
      deltaX: -0.400002 m,
      approachRate: -0.792724 m/s,
      rangeRepo size: 4

2025-06-08T00:08:44.411Z,1749341324.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.070141 m,
      bearing: 301.418962 deg,
      lat: 36.905943 deg,
      lon: -122.115916 deg,
      deltaT: 0.504591 s,
      deltaX: -0.396864 m,
      approachRate: -0.786506 m/s,
      posRepo size: 4

2025-06-08T00:08:44.418Z,1749341324.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.07 m.
2025-06-08T00:08:44.425Z,1749341324.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.070141 m,
      nav range: 29.018633 m,
      bearing: 301.321266 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.080202 deg/s,
      cmd heading: 295.946141 deg,
      new cmd heading: 296.051922 deg.

2025-06-08T00:08:44.426Z,1749341324.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167081 target range: 29.070141 and range: 29.30 m.
2025-06-08T00:08:44.481Z,1749341324.481 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=20.926229
2025-06-08T00:08:44.708Z,1749341324.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:44.710Z,1749341324.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.07 m.
2025-06-08T00:08:44.717Z,1749341324.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.070141 m,
      nav range: 28.795063 m,
      bearing: 301.323655 deg,
      approach rate: -0.703486 m/s,
      LOS rate: 0.007576 deg/s,
      cmd heading: 296.051927 deg,
      new cmd heading: 296.059150 deg.

2025-06-08T00:08:44.718Z,1749341324.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167207 target range: 29.070141 and range: 29.30 m.
2025-06-08T00:08:44.733Z,1749341324.733 [DAT](INFO): DAT read: Rx Time:00:08:44.0087 

2025-06-08T00:08:44.733Z,1749341324.733 [DAT](INFO): Rx dataTimestamp_ set to:1749341324.733128
2025-06-08T00:08:44.735Z,1749341324.735 [DAT](INFO): DAT read: Bearing   3.4,   2.5 (Local)

2025-06-08T00:08:44.735Z,1749341324.735 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,   2.5 (Local)

2025-06-08T00:08:44.737Z,1749341324.737 [DAT](INFO): DAT read: Range 10 to 50 :    29.0 m (trip time 19.3 ms) speed 0.7

2025-06-08T00:08:44.742Z,1749341324.742 [DAT](INFO): DAT read: 00:08:44.0087 LVL= 24304, 32753, 23186, 32755, AGC= 65, IDX= 504,-0.49,-0.482,-1.868,-0.561,-0.798, PHS= 0.403,-1.023, 0.234, RAW= 143.8,   5.8, CAL= 146.6,  -2.5, ROT=   3.4,   2.5

2025-06-08T00:08:44.743Z,1749341324.743 [DAT](INFO): got valid direction response:
 00:08:44.0087 LVL= 24304, 32753, 23186, 32755, AGC= 65, IDX= 504,-0.49,-0.482,-1.868,-0.561,-0.798, PHS= 0.403,-1.023, 0.234, RAW= 143.8,   5.8, CAL= 146.6,  -2.5, ROT=   3.4,   2.5

2025-06-08T00:08:44.744Z,1749341324.744 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-08T00:08:44.745Z,1749341324.745 [DAT](INFO): direction in FSK: [0.997290,0.059250,-0.043619]
2025-06-08T00:08:44.745Z,1749341324.745 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:44.749Z,1749341324.749 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=21.193996
2025-06-08T00:08:44.984Z,1749341324.984 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=21.429613
2025-06-08T00:08:45.190Z,1749341325.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.503221 s,
      deltaX: -0.299999 m,
      approachRate: -0.596158 m/s,
      rangeRepo size: 4

2025-06-08T00:08:45.196Z,1749341325.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.772444 m,
      bearing: 300.103331 deg,
      lat: 36.905943 deg,
      lon: -122.115916 deg,
      deltaT: 0.503221 s,
      deltaX: -0.297697 m,
      approachRate: -0.591583 m/s,
      posRepo size: 4

2025-06-08T00:08:45.197Z,1749341325.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.77 m.
2025-06-08T00:08:45.201Z,1749341325.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.772444 m,
      nav range: 28.496727 m,
      bearing: 301.302360 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007576 deg/s,
      cmd heading: 296.059139 deg,
      new cmd heading: 296.070031 deg.

2025-06-08T00:08:45.202Z,1749341325.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167397 target range: 28.772444 and range: 29.00 m.
2025-06-08T00:08:45.237Z,1749341325.237 [DAT](INFO): DAT read: Rx Time:00:08:44.5084 

2025-06-08T00:08:45.238Z,1749341325.238 [DAT](INFO): Rx dataTimestamp_ set to:1749341325.237260
2025-06-08T00:08:45.239Z,1749341325.239 [DAT](INFO): DAT read: Bearing   1.9,   4.0 (Local)

2025-06-08T00:08:45.239Z,1749341325.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,   4.0 (Local)

2025-06-08T00:08:45.241Z,1749341325.241 [DAT](INFO): DAT read: Range 10 to 50 :    28.5 m (trip time 19.0 ms) speed 0.5

2025-06-08T00:08:45.247Z,1749341325.247 [DAT](INFO): DAT read: 00:08:44.5084 LVL= 22608, 28481, 21090, 32755, AGC= 64, IDX= 500, 0.38,-0.026,-1.431,-0.065,-0.359, PHS= 0.421,-1.026, 0.291, RAW= 145.3,   4.6, CAL= 148.1,  -4.0, ROT=   1.9,   4.0

2025-06-08T00:08:45.248Z,1749341325.248 [DAT](INFO): got valid direction response:
 00:08:44.5084 LVL= 22608, 28481, 21090, 32755, AGC= 64, IDX= 500, 0.38,-0.026,-1.431,-0.065,-0.359, PHS= 0.421,-1.026, 0.291, RAW= 145.3,   4.6, CAL= 148.1,  -4.0, ROT=   1.9,   4.0

2025-06-08T00:08:45.248Z,1749341325.248 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-08T00:08:45.249Z,1749341325.249 [DAT](INFO): direction in FSK: [0.997016,0.033074,-0.069756]
2025-06-08T00:08:45.249Z,1749341325.249 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:45.261Z,1749341325.261 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=21.706516
2025-06-08T00:08:45.488Z,1749341325.488 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=21.933594
2025-06-08T00:08:45.599Z,1749341325.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.504132 s,
      deltaX: -0.500000 m,
      approachRate: -0.991804 m/s,
      rangeRepo size: 4

2025-06-08T00:08:45.605Z,1749341325.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.276281 m,
      bearing: 298.717065 deg,
      lat: 36.905943 deg,
      lon: -122.115916 deg,
      deltaT: 0.504132 s,
      deltaX: -0.496162 m,
      approachRate: -0.984191 m/s,
      posRepo size: 4

2025-06-08T00:08:45.606Z,1749341325.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m.
2025-06-08T00:08:45.613Z,1749341325.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.276281 m,
      nav range: 28.259277 m,
      bearing: 301.285089 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007576 deg/s,
      cmd heading: 296.070040 deg,
      new cmd heading: 296.079327 deg.

2025-06-08T00:08:45.614Z,1749341325.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167559 target range: 28.276281 and range: 28.50 m.
2025-06-08T00:08:45.741Z,1749341325.741 [DAT](INFO): DAT read: Rx Time:00:08:45.0083 

2025-06-08T00:08:45.741Z,1749341325.741 [DAT](INFO): Rx dataTimestamp_ set to:1749341325.741016
2025-06-08T00:08:45.743Z,1749341325.743 [DAT](INFO): DAT read: Bearing 359.7,   4.7 (Local)

2025-06-08T00:08:45.743Z,1749341325.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   4.7 (Local)

2025-06-08T00:08:45.745Z,1749341325.745 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.4

2025-06-08T00:08:45.750Z,1749341325.750 [DAT](INFO): DAT read: 00:08:45.0083 LVL= 21104, 27537, 21426, 31475, AGC= 63, IDX= 499, 0.39, 1.180,-0.229, 1.213, 0.860, PHS= 0.408,-1.042, 0.350, RAW= 148.0,   4.1, CAL= 150.3,  -4.7, ROT= 359.7,   4.7

2025-06-08T00:08:45.751Z,1749341325.751 [DAT](INFO): got valid direction response:
 00:08:45.0083 LVL= 21104, 27537, 21426, 31475, AGC= 63, IDX= 499, 0.39, 1.180,-0.229, 1.213, 0.860, PHS= 0.408,-1.042, 0.350, RAW= 148.0,   4.1, CAL= 150.3,  -4.7, ROT= 359.7,   4.7

2025-06-08T00:08:45.752Z,1749341325.752 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-08T00:08:45.753Z,1749341325.753 [DAT](INFO): direction in FSK: [0.996624,-0.005218,-0.081939]
2025-06-08T00:08:45.753Z,1749341325.753 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:45.765Z,1749341325.765 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=22.210400
2025-06-08T00:08:45.993Z,1749341325.993 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=22.437881
2025-06-08T00:08:46.007Z,1749341326.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.503756 s,
      deltaX: -0.100000 m,
      approachRate: -0.198510 m/s,
      rangeRepo size: 4

2025-06-08T00:08:46.009Z,1749341326.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.177067 m,
      bearing: 297.164856 deg,
      lat: 36.905939 deg,
      lon: -122.115921 deg,
      deltaT: 0.503756 s,
      deltaX: -0.099215 m,
      approachRate: -0.196950 m/s,
      posRepo size: 4

2025-06-08T00:08:46.010Z,1749341326.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.18 m.
2025-06-08T00:08:46.013Z,1749341326.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.177067 m,
      nav range: 28.114645 m,
      bearing: 300.022618 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007576 deg/s,
      cmd heading: 296.079330 deg,
      new cmd heading: 296.088599 deg.

2025-06-08T00:08:46.014Z,1749341326.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167721 target range: 28.177067 and range: 28.40 m.
2025-06-08T00:08:46.245Z,1749341326.245 [DAT](INFO): DAT read: Rx Time:00:08:45.5081 

2025-06-08T00:08:46.245Z,1749341326.245 [DAT](INFO): Rx dataTimestamp_ set to:1749341326.245121
2025-06-08T00:08:46.248Z,1749341326.248 [DAT](INFO): DAT read: Bearing 358.7,   4.7 (Local)

2025-06-08T00:08:46.248Z,1749341326.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,   4.7 (Local)

2025-06-08T00:08:46.256Z,1749341326.256 [DAT](INFO): DAT read: Range 10 to 50 :    27.9 m (trip time 18.6 ms) speed 0.5

2025-06-08T00:08:46.261Z,1749341326.261 [DAT](INFO): DAT read: 00:08:45.5081 LVL= 23792, 25745, 22194, 31299, AGC= 63, IDX= 496, 0.40,-0.204,-1.622,-0.134,-0.509, PHS= 0.393,-1.066, 0.373, RAW= 149.3,   4.2, CAL= 151.3,  -4.7, ROT= 358.7,   4.7

2025-06-08T00:08:46.262Z,1749341326.262 [DAT](INFO): got valid direction response:
 00:08:45.5081 LVL= 23792, 25745, 22194, 31299, AGC= 63, IDX= 496, 0.40,-0.204,-1.622,-0.134,-0.509, PHS= 0.393,-1.066, 0.373, RAW= 149.3,   4.2, CAL= 151.3,  -4.7, ROT= 358.7,   4.7

2025-06-08T00:08:46.262Z,1749341326.262 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-08T00:08:46.274Z,1749341326.274 [DAT](INFO): direction in FSK: [0.996381,-0.022611,-0.081939]
2025-06-08T00:08:46.292Z,1749341326.292 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:46.316Z,1749341326.316 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=22.761456
2025-06-08T00:08:46.396Z,1749341326.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.504105 s,
      deltaX: -0.500000 m,
      approachRate: -0.991857 m/s,
      rangeRepo size: 4

2025-06-08T00:08:46.398Z,1749341326.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.680990 m,
      bearing: 296.299808 deg,
      lat: 36.905932 deg,
      lon: -122.115921 deg,
      deltaT: 0.504105 s,
      deltaX: -0.496077 m,
      approachRate: -0.984074 m/s,
      posRepo size: 4

2025-06-08T00:08:46.403Z,1749341326.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m.
2025-06-08T00:08:46.406Z,1749341326.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.680990 m,
      nav range: 27.542137 m,
      bearing: 298.592299 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007576 deg/s,
      cmd heading: 296.088591 deg,
      new cmd heading: 296.097259 deg.

2025-06-08T00:08:46.407Z,1749341326.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167872 target range: 27.680990 and range: 27.90 m.
2025-06-08T00:08:46.497Z,1749341326.497 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=22.942572
2025-06-08T00:08:46.504Z,1749341326.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:08:46.749Z,1749341326.749 [DAT](INFO): DAT read: Rx Time:00:08:46.0080 

2025-06-08T00:08:46.749Z,1749341326.749 [DAT](INFO): Rx dataTimestamp_ set to:1749341326.749157
2025-06-08T00:08:46.751Z,1749341326.751 [DAT](INFO): DAT read: Bearing 357.7,   5.3 (Local)

2025-06-08T00:08:46.751Z,1749341326.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,   5.3 (Local)

2025-06-08T00:08:46.753Z,1749341326.753 [DAT](INFO): DAT read: Range 10 to 50 :    27.8 m (trip time 18.5 ms) speed 0.5

2025-06-08T00:08:46.758Z,1749341326.758 [DAT](INFO): DAT read: 00:08:46.0080 LVL= 22576, 27697, 20658, 31603, AGC= 62, IDX= 511, 0.36, 1.264,-0.174, 1.361, 0.949, PHS= 0.402,-1.077, 0.409, RAW= 150.2,   3.6, CAL= 152.3,  -5.3, ROT= 357.7,   5.3

2025-06-08T00:08:46.759Z,1749341326.759 [DAT](INFO): got valid direction response:
 00:08:46.0080 LVL= 22576, 27697, 20658, 31603, AGC= 62, IDX= 511, 0.36, 1.264,-0.174, 1.361, 0.949, PHS= 0.402,-1.077, 0.409, RAW= 150.2,   3.6, CAL= 152.3,  -5.3, ROT= 357.7,   5.3

2025-06-08T00:08:46.759Z,1749341326.759 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-08T00:08:46.760Z,1749341326.760 [DAT](INFO): direction in FSK: [0.994923,-0.039960,-0.092371]
2025-06-08T00:08:46.761Z,1749341326.761 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:46.772Z,1749341326.772 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=23.217615
2025-06-08T00:08:46.790Z,1749341326.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.504036 s,
      deltaX: -0.100000 m,
      approachRate: -0.198399 m/s,
      rangeRepo size: 4

2025-06-08T00:08:46.796Z,1749341326.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.581896 m,
      bearing: 295.457226 deg,
      lat: 36.905927 deg,
      lon: -122.115925 deg,
      deltaT: 0.504036 s,
      deltaX: -0.099094 m,
      approachRate: -0.196602 m/s,
      posRepo size: 4

2025-06-08T00:08:46.797Z,1749341326.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.58 m.
2025-06-08T00:08:46.804Z,1749341326.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.581896 m,
      nav range: 27.383638 m,
      bearing: 297.086609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007576 deg/s,
      cmd heading: 296.097252 deg,
      new cmd heading: 296.106382 deg.

2025-06-08T00:08:46.805Z,1749341326.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168031 target range: 27.581896 and range: 27.80 m.
2025-06-08T00:08:47.000Z,1749341327.000 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=23.445675
2025-06-08T00:08:47.212Z,1749341327.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.58 m.
2025-06-08T00:08:47.215Z,1749341327.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.581896 m,
      nav range: 27.083941 m,
      bearing: 296.985862 deg,
      approach rate: -0.708229 m/s,
      LOS rate: -0.240714 deg/s,
      cmd heading: 296.106377 deg,
      new cmd heading: 295.800795 deg.

2025-06-08T00:08:47.216Z,1749341327.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162698 target range: 27.581896 and range: 27.80 m.
2025-06-08T00:08:47.254Z,1749341327.254 [DAT](INFO): DAT read: Rx Time:00:08:46.5077 

2025-06-08T00:08:47.254Z,1749341327.254 [DAT](INFO): Rx dataTimestamp_ set to:1749341327.254128
2025-06-08T00:08:47.256Z,1749341327.256 [DAT](INFO): DAT read: Bearing 357.0,   4.8 (Local)

2025-06-08T00:08:47.257Z,1749341327.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,   4.8 (Local)

2025-06-08T00:08:47.260Z,1749341327.260 [DAT](INFO): DAT read: Range 10 to 50 :    27.3 m (trip time 18.2 ms) speed 0.6

2025-06-08T00:08:47.267Z,1749341327.267 [DAT](INFO): DAT read: 00:08:46.5077 LVL= 27408, 28881, 25394, 32755, AGC= 62, IDX= 508, 0.27, 0.123,-1.296, 0.246,-0.166, PHS= 0.376,-1.084, 0.409, RAW= 151.1,   4.1, CAL= 153.0,  -4.8, ROT= 357.0,   4.8

2025-06-08T00:08:47.269Z,1749341327.269 [DAT](INFO): got valid direction response:
 00:08:46.5077 LVL= 27408, 28881, 25394, 32755, AGC= 62, IDX= 508, 0.27, 0.123,-1.296, 0.246,-0.166, PHS= 0.376,-1.084, 0.409, RAW= 151.1,   4.1, CAL= 153.0,  -4.8, ROT= 357.0,   4.8

2025-06-08T00:08:47.270Z,1749341327.270 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-08T00:08:47.279Z,1749341327.279 [DAT](INFO): direction in FSK: [0.995127,-0.052152,-0.083678]
2025-06-08T00:08:47.279Z,1749341327.279 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:47.283Z,1749341327.283 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=23.728115
2025-06-08T00:08:47.504Z,1749341327.504 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=23.949482
2025-06-08T00:08:47.511Z,1749341327.511 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:08:47.624Z,1749341327.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.504971 s,
      deltaX: -0.500000 m,
      approachRate: -0.990156 m/s,
      rangeRepo size: 4

2025-06-08T00:08:47.626Z,1749341327.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.085958 m,
      bearing: 295.018175 deg,
      lat: 36.905922 deg,
      lon: -122.115928 deg,
      deltaT: 0.504971 s,
      deltaX: -0.495937 m,
      approachRate: -0.982111 m/s,
      posRepo size: 4

2025-06-08T00:08:47.631Z,1749341327.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.09 m.
2025-06-08T00:08:47.634Z,1749341327.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.085958 m,
      nav range: 26.788282 m,
      bearing: 295.575544 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240714 deg/s,
      cmd heading: 295.800794 deg,
      new cmd heading: 295.506773 deg.

2025-06-08T00:08:47.635Z,1749341327.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157566 target range: 27.085958 and range: 27.30 m.
2025-06-08T00:08:47.757Z,1749341327.757 [DAT](INFO): DAT read: Rx Time:00:08:47.0076 

2025-06-08T00:08:47.757Z,1749341327.757 [DAT](INFO): Rx dataTimestamp_ set to:1749341327.757114
2025-06-08T00:08:47.759Z,1749341327.759 [DAT](INFO): DAT read: Bearing 355.9,   4.7 (Local)

2025-06-08T00:08:47.759Z,1749341327.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,   4.7 (Local)

2025-06-08T00:08:47.761Z,1749341327.761 [DAT](INFO): DAT read: Range 10 to 50 :    27.2 m (trip time 18.1 ms) speed 0.5

2025-06-08T00:08:47.766Z,1749341327.766 [DAT](INFO): DAT read: 00:08:47.0076 LVL= 23104, 26865, 23154, 32755, AGC= 63, IDX= 507, 0.14, 1.540, 0.127, 1.705, 1.272, PHS= 0.356,-1.098, 0.430, RAW= 152.5,   4.2, CAL= 154.1,  -4.7, ROT= 355.9,   4.7

2025-06-08T00:08:47.767Z,1749341327.767 [DAT](INFO): got valid direction response:
 00:08:47.0076 LVL= 23104, 26865, 23154, 32755, AGC= 63, IDX= 507, 0.14, 1.540, 0.127, 1.705, 1.272, PHS= 0.356,-1.098, 0.430, RAW= 152.5,   4.2, CAL= 154.1,  -4.7, ROT= 355.9,   4.7

2025-06-08T00:08:47.768Z,1749341327.768 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-08T00:08:47.769Z,1749341327.769 [DAT](INFO): direction in FSK: [0.994087,-0.071257,-0.081939]
2025-06-08T00:08:47.769Z,1749341327.769 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:47.781Z,1749341327.781 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=24.225992
2025-06-08T00:08:48.008Z,1749341328.008 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=24.453569
2025-06-08T00:08:48.068Z,1749341328.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.502986 s,
      deltaX: -0.099998 m,
      approachRate: -0.198810 m/s,
      rangeRepo size: 4

2025-06-08T00:08:48.087Z,1749341328.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.986744 m,
      bearing: 293.906122 deg,
      lat: 36.905920 deg,
      lon: -122.115930 deg,
      deltaT: 0.502986 s,
      deltaX: -0.099215 m,
      approachRate: -0.197251 m/s,
      posRepo size: 4

2025-06-08T00:08:48.092Z,1749341328.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.99 m.
2025-06-08T00:08:48.094Z,1749341328.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.986744 m,
      nav range: 26.557404 m,
      bearing: 295.006628 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240714 deg/s,
      cmd heading: 295.506768 deg,
      new cmd heading: 295.198333 deg.

2025-06-08T00:08:48.099Z,1749341328.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152183 target range: 26.986744 and range: 27.20 m.
2025-06-08T00:08:48.261Z,1749341328.261 [DAT](INFO): DAT read: Rx Time:00:08:47.5072 

2025-06-08T00:08:48.262Z,1749341328.262 [DAT](INFO): Rx dataTimestamp_ set to:1749341328.261241
2025-06-08T00:08:48.263Z,1749341328.263 [DAT](INFO): DAT read: Bearing 355.5,   4.8 (Local)

2025-06-08T00:08:48.264Z,1749341328.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.5,   4.8 (Local)

2025-06-08T00:08:48.266Z,1749341328.266 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed 0.5

2025-06-08T00:08:48.271Z,1749341328.271 [DAT](INFO): DAT read: 00:08:47.5072 LVL= 22080, 26273, 20834, 29347, AGC= 61, IDX= 504, 0.01, 0.183,-1.196, 0.359,-0.074, PHS= 0.345,-1.075, 0.431, RAW= 152.9,   4.1, CAL= 154.5,  -4.8, ROT= 355.5,   4.8

2025-06-08T00:08:48.272Z,1749341328.272 [DAT](INFO): got valid direction response:
 00:08:47.5072 LVL= 22080, 26273, 20834, 29347, AGC= 61, IDX= 504, 0.01, 0.183,-1.196, 0.359,-0.074, PHS= 0.345,-1.075, 0.431, RAW= 152.9,   4.1, CAL= 154.5,  -4.8, ROT= 355.5,   4.8

2025-06-08T00:08:48.272Z,1749341328.272 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-08T00:08:48.273Z,1749341328.273 [DAT](INFO): direction in FSK: [0.993421,-0.078184,-0.083678]
2025-06-08T00:08:48.274Z,1749341328.274 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:48.292Z,1749341328.292 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=24.737186
2025-06-08T00:08:48.390Z,1749341328.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504127 s,
      deltaX: -0.600000 m,
      approachRate: -1.190177 m/s,
      rangeRepo size: 4

2025-06-08T00:08:48.401Z,1749341328.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.391447 m,
      bearing: 293.788503 deg,
      lat: 36.905920 deg,
      lon: -122.115930 deg,
      deltaT: 0.504127 s,
      deltaX: -0.595297 m,
      approachRate: -1.180847 m/s,
      posRepo size: 4

2025-06-08T00:08:48.402Z,1749341328.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.39 m.
2025-06-08T00:08:48.405Z,1749341328.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.391447 m,
      nav range: 26.325010 m,
      bearing: 294.823226 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.240714 deg/s,
      cmd heading: 295.198344 deg,
      new cmd heading: 294.950531 deg.

2025-06-08T00:08:48.406Z,1749341328.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147858 target range: 26.391447 and range: 26.60 m.
2025-06-08T00:08:48.514Z,1749341328.514 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=24.959068
2025-06-08T00:08:48.761Z,1749341328.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:48.765Z,1749341328.765 [DAT](INFO): DAT read: Rx Time:00:08:48.0071 

2025-06-08T00:08:48.765Z,1749341328.765 [DAT](INFO): Rx dataTimestamp_ set to:1749341328.765033
2025-06-08T00:08:48.767Z,1749341328.767 [DAT](INFO): DAT read: Bearing 354.5,   4.3 (Local)

2025-06-08T00:08:48.767Z,1749341328.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,   4.3 (Local)

2025-06-08T00:08:48.769Z,1749341328.769 [DAT](INFO): DAT read: Range 10 to 50 :    26.4 m (trip time 17.6 ms) speed 0.7

2025-06-08T00:08:48.774Z,1749341328.774 [DAT](INFO): DAT read: 00:08:48.0071 LVL= 22512, 26209, 20082, 31923, AGC= 62, IDX= 502,-0.11,-0.833,-2.194,-0.619,-1.056, PHS= 0.311,-1.091, 0.434, RAW= 154.2,   4.8, CAL= 155.5,  -4.3, ROT= 354.5,   4.3

2025-06-08T00:08:48.775Z,1749341328.775 [DAT](INFO): got valid direction response:
 00:08:48.0071 LVL= 22512, 26209, 20082, 31923, AGC= 62, IDX= 502,-0.11,-0.833,-2.194,-0.619,-1.056, PHS= 0.311,-1.091, 0.434, RAW= 154.2,   4.8, CAL= 155.5,  -4.3, ROT= 354.5,   4.3

2025-06-08T00:08:48.775Z,1749341328.775 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-06-08T00:08:48.776Z,1749341328.776 [DAT](INFO): direction in FSK: [0.992594,-0.095576,-0.074979]
2025-06-08T00:08:48.777Z,1749341328.777 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:48.779Z,1749341328.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.39 m.
2025-06-08T00:08:48.782Z,1749341328.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.391447 m,
      nav range: 26.057976 m,
      bearing: 294.709997 deg,
      approach rate: -0.715050 m/s,
      LOS rate: -0.306305 deg/s,
      cmd heading: 294.950518 deg,
      new cmd heading: 294.607354 deg.

2025-06-08T00:08:48.785Z,1749341328.785 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=25.230200
2025-06-08T00:08:48.785Z,1749341328.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141868 target range: 26.391447 and range: 26.60 m.
2025-06-08T00:08:49.016Z,1749341329.016 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=25.461637
2025-06-08T00:08:49.208Z,1749341329.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.503792 s,
      deltaX: -0.200001 m,
      approachRate: -0.396991 m/s,
      rangeRepo size: 4

2025-06-08T00:08:49.210Z,1749341329.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.192892 m,
      bearing: 292.736656 deg,
      lat: 36.905916 deg,
      lon: -122.115931 deg,
      deltaT: 0.503792 s,
      deltaX: -0.198555 m,
      approachRate: -0.394121 m/s,
      posRepo size: 4

2025-06-08T00:08:49.210Z,1749341329.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.19 m.
2025-06-08T00:08:49.217Z,1749341329.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.192892 m,
      nav range: 25.744774 m,
      bearing: 293.775042 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.306305 deg/s,
      cmd heading: 294.607342 deg,
      new cmd heading: 294.203478 deg.

2025-06-08T00:08:49.218Z,1749341329.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134820 target range: 26.192892 and range: 26.40 m.
2025-06-08T00:08:49.270Z,1749341329.270 [DAT](INFO): DAT read: Rx Time:00:08:48.5068 

2025-06-08T00:08:49.270Z,1749341329.270 [DAT](INFO): Rx dataTimestamp_ set to:1749341329.270172
2025-06-08T00:08:49.272Z,1749341329.272 [DAT](INFO): DAT read: Bearing 353.9,   4.4 (Local)

2025-06-08T00:08:49.273Z,1749341329.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,   4.4 (Local)

2025-06-08T00:08:49.277Z,1749341329.277 [DAT](INFO): DAT read: Range 10 to 50 :    26.0 m (trip time 17.3 ms) speed 0.5

2025-06-08T00:08:49.292Z,1749341329.292 [DAT](INFO): DAT read: 00:08:48.5068 LVL= 23024, 23441, 22578, 29795, AGC= 63, IDX= 499,-0.29,-2.034, 2.885,-1.798,-2.252, PHS= 0.306,-1.100, 0.450, RAW= 154.8,   4.7, CAL= 156.1,  -4.4, ROT= 353.9,   4.4

2025-06-08T00:08:49.293Z,1749341329.293 [DAT](INFO): got valid direction response:
 00:08:48.5068 LVL= 23024, 23441, 22578, 29795, AGC= 63, IDX= 499,-0.29,-2.034, 2.885,-1.798,-2.252, PHS= 0.306,-1.100, 0.450, RAW= 154.8,   4.7, CAL= 156.1,  -4.4, ROT= 353.9,   4.4

2025-06-08T00:08:49.294Z,1749341329.294 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-06-08T00:08:49.295Z,1749341329.295 [DAT](INFO): direction in FSK: [0.991407,-0.105951,-0.076719]
2025-06-08T00:08:49.308Z,1749341329.308 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:49.318Z,1749341329.318 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=25.762522
2025-06-08T00:08:49.520Z,1749341329.520 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=25.965509
2025-06-08T00:08:49.686Z,1749341329.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.505139 s,
      deltaX: -0.400000 m,
      approachRate: -0.791861 m/s,
      rangeRepo size: 4

2025-06-08T00:08:49.688Z,1749341329.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.795834 m,
      bearing: 292.142236 deg,
      lat: 36.905915 deg,
      lon: -122.115933 deg,
      deltaT: 0.505139 s,
      deltaX: -0.397058 m,
      approachRate: -0.786038 m/s,
      posRepo size: 4

2025-06-08T00:08:49.689Z,1749341329.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-06-08T00:08:49.692Z,1749341329.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.795834 m,
      nav range: 25.560743 m,
      bearing: 293.074365 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.306305 deg/s,
      cmd heading: 294.203486 deg,
      new cmd heading: 293.759745 deg.

2025-06-08T00:08:49.693Z,1749341329.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127075 target range: 25.795834 and range: 26.00 m.
2025-06-08T00:08:49.774Z,1749341329.774 [DAT](INFO): DAT read: Rx Time:00:08:49.0067 

2025-06-08T00:08:49.774Z,1749341329.774 [DAT](INFO): Rx dataTimestamp_ set to:1749341329.774070
2025-06-08T00:08:49.776Z,1749341329.776 [DAT](INFO): DAT read: Bearing 353.5,   4.9 (Local)

2025-06-08T00:08:49.776Z,1749341329.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.5,   4.9 (Local)

2025-06-08T00:08:49.778Z,1749341329.778 [DAT](INFO): DAT read: Range 10 to 50 :    25.8 m (trip time 17.2 ms) speed 0.6

2025-06-08T00:08:49.788Z,1749341329.788 [DAT](INFO): DAT read: 00:08:49.0067 LVL= 22976, 26225, 21938, 31059, AGC= 63, IDX= 497, 0.37, 1.682, 0.299, 1.929, 1.450, PHS= 0.321,-1.104, 0.477, RAW= 155.1,   4.1, CAL= 156.5,  -4.9, ROT= 353.5,   4.9

2025-06-08T00:08:49.789Z,1749341329.789 [DAT](INFO): got valid direction response:
 00:08:49.0067 LVL= 22976, 26225, 21938, 31059, AGC= 63, IDX= 497, 0.37, 1.682, 0.299, 1.929, 1.450, PHS= 0.321,-1.104, 0.477, RAW= 155.1,   4.1, CAL= 156.5,  -4.9, ROT= 353.5,   4.9

2025-06-08T00:08:49.789Z,1749341329.789 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-06-08T00:08:49.790Z,1749341329.790 [DAT](INFO): direction in FSK: [0.989941,-0.112790,-0.085417]
2025-06-08T00:08:49.791Z,1749341329.791 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:49.819Z,1749341329.819 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=26.263834
2025-06-08T00:08:50.025Z,1749341330.025 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=26.469889
2025-06-08T00:08:50.164Z,1749341330.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503898 s,
      deltaX: -0.200001 m,
      approachRate: -0.396907 m/s,
      rangeRepo size: 4

2025-06-08T00:08:50.166Z,1749341330.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.597404 m,
      bearing: 291.806283 deg,
      lat: 36.905913 deg,
      lon: -122.115935 deg,
      deltaT: 0.503898 s,
      deltaX: -0.198429 m,
      approachRate: -0.393788 m/s,
      posRepo size: 4

2025-06-08T00:08:50.171Z,1749341330.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-06-08T00:08:50.174Z,1749341330.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.597404 m,
      nav range: 25.309334 m,
      bearing: 292.441665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.306305 deg/s,
      cmd heading: 293.759743 deg,
      new cmd heading: 293.324367 deg.

2025-06-08T00:08:50.175Z,1749341330.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119476 target range: 25.597404 and range: 25.80 m.
2025-06-08T00:08:50.278Z,1749341330.278 [DAT](INFO): DAT read: Rx Time:00:08:49.5064 

2025-06-08T00:08:50.278Z,1749341330.278 [DAT](INFO): Rx dataTimestamp_ set to:1749341330.277786
2025-06-08T00:08:50.280Z,1749341330.280 [DAT](INFO): DAT read: Bearing 353.5,   4.8 (Local)

2025-06-08T00:08:50.281Z,1749341330.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.5,   4.8 (Local)

2025-06-08T00:08:50.283Z,1749341330.283 [DAT](INFO): DAT read: Range 10 to 50 :    25.4 m (trip time 16.9 ms) speed 0.7

2025-06-08T00:08:50.288Z,1749341330.288 [DAT](INFO): DAT read: 00:08:49.5064 LVL= 21792, 28289, 21218, 32755, AGC= 63, , 0.10, 0.617,-0.765, 0.862, 0.386, PHS= 0.319,-1.104, 0.473, RAW= 155.1,   4.2, CAL= 156.5,  -4.8, ROT= 353.5,   4.8

2025-06-08T00:08:50.288Z,1749341330.288 [DAT](INFO): unknown deviceResponse_: 00:08:49.5064 LVL= 21792, 28289, 21218, 32755, AGC= 63, , 0.10, 0.617,-0.765, 0.862, 0.386, PHS= 0.319,-1.104, 0.473, RAW= 155.1,   4.2, CAL= 156.5,  -4.8, ROT= 353.5,   4.8

2025-06-08T00:08:50.289Z,1749341330.289 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-08T00:08:50.290Z,1749341330.290 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=26.735060
2025-06-08T00:08:50.521Z,1749341330.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 0.503716 s,
      deltaX: -0.400000 m,
      approachRate: -0.794097 m/s,
      rangeRepo size: 4

2025-06-08T00:08:50.522Z,1749341330.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-06-08T00:08:50.534Z,1749341330.534 [DAT](INFO): DAT read: Rx Time:00:08:50.0063 

2025-06-08T00:08:50.535Z,1749341330.535 [DAT](INFO): Rx dataTimestamp_ set to:1749341330.534415
2025-06-08T00:08:50.538Z,1749341330.538 [DAT](INFO): DAT read: Bearing 352.6,   4.7 (Local)

2025-06-08T00:08:50.540Z,1749341330.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,   4.7 (Local)

2025-06-08T00:08:50.543Z,1749341330.543 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=26.987514
2025-06-08T00:08:50.562Z,1749341330.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.597404 m,
      nav range: 25.072660 m,
      bearing: 292.334960 deg,
      approach rate: -0.654830 m/s,
      LOS rate: -0.298019 deg/s,
      cmd heading: 293.324359 deg,
      new cmd heading: 293.001226 deg.

2025-06-08T00:08:50.588Z,1749341330.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113836 target range: 25.597404 and range: 25.40 m.
2025-06-08T00:08:50.782Z,1749341330.782 [DAT](INFO): DAT read: Range 10 to 50 :    25.2 m (trip time 16.8 ms) speed 0.5

2025-06-08T00:08:50.786Z,1749341330.786 [DAT](INFO): DAT read: 00:08:50.0063 LVL= 22560, 27633, 21154, 32755, AGC= 64, IDX= 510,-0.07, 1.570, 0.223, 1.849, 1.366, PHS= 0.292,-1.096, 0.480, RAW= 156.2,   4.4, CAL= 157.4,  -4.7, ROT= 352.6,   4.7

2025-06-08T00:08:50.788Z,1749341330.788 [DAT](INFO): got valid direction response:
 00:08:50.0063 LVL= 22560, 27633, 21154, 32755, AGC= 64, IDX= 510,-0.07, 1.570, 0.223, 1.849, 1.366, PHS= 0.292,-1.096, 0.480, RAW= 156.2,   4.4, CAL= 157.4,  -4.7, ROT= 352.6,   4.7

2025-06-08T00:08:50.788Z,1749341330.788 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-06-08T00:08:50.789Z,1749341330.789 [DAT](INFO): direction in FSK: [0.988337,-0.128362,-0.081939]
2025-06-08T00:08:50.789Z,1749341330.789 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:50.793Z,1749341330.793 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=27.238186
2025-06-08T00:08:50.908Z,1749341330.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.501814 s,
      deltaX: -0.199999 m,
      approachRate: -0.398552 m/s,
      rangeRepo size: 4

2025-06-08T00:08:50.910Z,1749341330.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.002026 m,
      bearing: 290.592817 deg,
      lat: 36.905911 deg,
      lon: -122.115935 deg,
      deltaT: 1.005530 s,
      deltaX: -0.595379 m,
      approachRate: -0.592105 m/s,
      posRepo size: 4

2025-06-08T00:08:50.910Z,1749341330.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-06-08T00:08:50.932Z,1749341330.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.002026 m,
      nav range: 24.757875 m,
      bearing: 291.776414 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.298019 deg/s,
      cmd heading: 293.001236 deg,
      new cmd heading: 292.659707 deg.

2025-06-08T00:08:50.947Z,1749341330.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107875 target range: 25.002026 and range: 25.20 m.
2025-06-08T00:08:51.038Z,1749341331.038 [DAT](INFO): DAT read: Rx Time:00:08:50.5060 

2025-06-08T00:08:51.040Z,1749341331.040 [DAT](INFO): Rx dataTimestamp_ set to:1749341331.038085
2025-06-08T00:08:51.044Z,1749341331.044 [DAT](INFO): DAT read: Bearing 353.6,   4.2 (Local)

2025-06-08T00:08:51.046Z,1749341331.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,   4.2 (Local)

2025-06-08T00:08:51.048Z,1749341331.048 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=27.492304
2025-06-08T00:08:51.290Z,1749341331.290 [DAT](INFO): DAT read: Range 10 to 50 :    24.9 m (trip time 16.6 ms) speed 0.4

2025-06-08T00:08:51.294Z,1749341331.294 [DAT](INFO): DAT read: 00:08:50.5060 LVL= 23776, 26897, 17906, 30339, AGC= 66, IDX= 507,-0.21,-1.108,-2.433,-0.862,-1.307, PHS= 0.287,-1.079, 0.442, RAW= 155.3,   4.9, CAL= 156.4,  -4.2, ROT= 353.6,   4.2

2025-06-08T00:08:51.296Z,1749341331.296 [DAT](INFO): got valid direction response:
 00:08:50.5060 LVL= 23776, 26897, 17906, 30339, AGC= 66, IDX= 507,-0.21,-1.108,-2.433,-0.862,-1.307, PHS= 0.287,-1.079, 0.442, RAW= 155.3,   4.9, CAL= 156.4,  -4.2, ROT= 353.6,   4.2

2025-06-08T00:08:51.296Z,1749341331.296 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-08T00:08:51.297Z,1749341331.297 [DAT](INFO): direction in FSK: [0.991099,-0.111169,-0.073238]
2025-06-08T00:08:51.297Z,1749341331.297 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:51.301Z,1749341331.301 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=27.746132
2025-06-08T00:08:51.361Z,1749341331.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.508055 s,
      deltaX: -0.300001 m,
      approachRate: -0.590490 m/s,
      rangeRepo size: 4

2025-06-08T00:08:51.367Z,1749341331.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.704382 m,
      bearing: 291.573342 deg,
      lat: 36.905911 deg,
      lon: -122.115935 deg,
      deltaT: 0.508055 s,
      deltaX: -0.297644 m,
      approachRate: -0.585849 m/s,
      posRepo size: 4

2025-06-08T00:08:51.368Z,1749341331.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.70 m.
2025-06-08T00:08:51.371Z,1749341331.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.704382 m,
      nav range: 24.468363 m,
      bearing: 291.573430 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.298019 deg/s,
      cmd heading: 292.659700 deg,
      new cmd heading: 292.250595 deg.

2025-06-08T00:08:51.385Z,1749341331.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100735 target range: 24.704382 and range: 24.90 m.
2025-06-08T00:08:51.544Z,1749341331.544 [DAT](INFO): DAT read: Rx Time:00:08:51.0058 

2025-06-08T00:08:51.546Z,1749341331.546 [DAT](INFO): Rx dataTimestamp_ set to:1749341331.544790
2025-06-08T00:08:51.550Z,1749341331.550 [DAT](INFO): DAT read: Bearing 353.4,   4.6 (Local)

2025-06-08T00:08:51.553Z,1749341331.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,   4.6 (Local)

2025-06-08T00:08:51.558Z,1749341331.558 [DAT](INFO): DAT read: Range 10 to 50 :    24.6 m (trip time 16.4 ms) speed 0.5

2025-06-08T00:08:51.562Z,1749341331.562 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-06-08T00:08:51.566Z,1749341331.566 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=28.010954
2025-06-08T00:08:51.711Z,1749341331.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:51.714Z,1749341331.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.257135 s,
      deltaX: -0.299999 m,
      approachRate: -1.166699 m/s,
      rangeRepo size: 4

2025-06-08T00:08:51.715Z,1749341331.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.70 m.
2025-06-08T00:08:51.722Z,1749341331.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.704382 m,
      nav range: 24.227610 m,
      bearing: 291.471252 deg,
      approach rate: -0.681447 m/s,
      LOS rate: -0.292085 deg/s,
      cmd heading: 292.250599 deg,
      new cmd heading: 291.941023 deg.

2025-06-08T00:08:51.723Z,1749341331.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.095332 target range: 24.704382 and range: 24.60 m.
2025-06-08T00:08:51.798Z,1749341331.798 [DAT](INFO): DAT read: 00:08:51.0058 LVL= 23104, 29425, 19106, 32755, AGC= 67, IDX= 505,-0.40,-1.987, 2.968,-1.740,-2.196, PHS= 0.297,-1.073, 0.452, RAW= 155.3,   4.5, CAL= 156.6,  -4.6, ROT= 353.4,   4.6

2025-06-08T00:08:51.801Z,1749341331.801 [DAT](INFO): got valid direction response:
 00:08:51.0058 LVL= 23104, 29425, 19106, 32755, AGC= 67, IDX= 505,-0.40,-1.987, 2.968,-1.740,-2.196, PHS= 0.297,-1.073, 0.452, RAW= 155.3,   4.5, CAL= 156.6,  -4.6, ROT= 353.4,   4.6

2025-06-08T00:08:51.801Z,1749341331.801 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-06-08T00:08:51.802Z,1749341331.802 [DAT](INFO): direction in FSK: [0.990173,-0.114567,-0.080199]
2025-06-08T00:08:51.805Z,1749341331.805 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=28.250799
2025-06-08T00:08:52.049Z,1749341332.049 [DAT](INFO): DAT read: Rx Time:00:08:51.5055 

2025-06-08T00:08:52.051Z,1749341332.051 [DAT](INFO): Rx dataTimestamp_ set to:1749341332.049792
2025-06-08T00:08:52.055Z,1749341332.055 [DAT](INFO): DAT read: Bearing 353.0,   4.8 (Local)

2025-06-08T00:08:52.064Z,1749341332.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,   4.8 (Local)

2025-06-08T00:08:52.071Z,1749341332.071 [DAT](INFO): DAT read: Range 10 to 50 :    24.2 m (trip time 16.1 ms) speed 0.5

2025-06-08T00:08:52.077Z,1749341332.077 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-06-08T00:08:52.086Z,1749341332.086 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=28.530176
2025-06-08T00:08:52.187Z,1749341332.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.505002 s,
      deltaX: -0.400000 m,
      approachRate: -0.792075 m/s,
      rangeRepo size: 4

2025-06-08T00:08:52.189Z,1749341332.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.009809 m,
      bearing: 290.997756 deg,
      lat: 36.905911 deg,
      lon: -122.115935 deg,
      deltaT: 0.762137 s,
      deltaX: -0.694572 m,
      approachRate: -0.911349 m/s,
      posRepo size: 4

2025-06-08T00:08:52.190Z,1749341332.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.01 m.
2025-06-08T00:08:52.193Z,1749341332.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.009809 m,
      nav range: 23.909771 m,
      bearing: 291.303931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.292085 deg/s,
      cmd heading: 291.941027 deg,
      new cmd heading: 291.527065 deg.

2025-06-08T00:08:52.194Z,1749341332.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088107 target range: 24.009809 and range: 24.20 m.
2025-06-08T00:08:52.302Z,1749341332.302 [DAT](INFO): DAT read: 00:08:51.5055 LVL= 21376, 31393, 17794, 32291, AGC= 67, IDX= 501, 0.37,-2.452, 2.476,-2.191,-2.669, PHS= 0.305,-1.091, 0.474, RAW= 155.7,   4.2, CAL= 157.0,  -4.8, ROT= 353.0,   4.8

2025-06-08T00:08:52.304Z,1749341332.304 [DAT](INFO): got valid direction response:
 00:08:51.5055 LVL= 21376, 31393, 17794, 32291, AGC= 67, IDX= 501, 0.37,-2.452, 2.476,-2.191,-2.669, PHS= 0.305,-1.091, 0.474, RAW= 155.7,   4.2, CAL= 157.0,  -4.8, ROT= 353.0,   4.8

2025-06-08T00:08:52.304Z,1749341332.304 [DAT](INFO): #Rx 106: Read direction message, but no range.
2025-06-08T00:08:52.306Z,1749341332.306 [DAT](INFO): direction in FSK: [0.989065,-0.121442,-0.083678]
2025-06-08T00:08:52.310Z,1749341332.310 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=28.755533
2025-06-08T00:08:52.500Z,1749341332.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.01 m.
2025-06-08T00:08:52.502Z,1749341332.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.009809 m,
      nav range: 23.705463 m,
      bearing: 291.227957 deg,
      approach rate: -0.652198 m/s,
      LOS rate: -0.244616 deg/s,
      cmd heading: 291.527063 deg,
      new cmd heading: 291.297179 deg.

2025-06-08T00:08:52.503Z,1749341332.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084095 target range: 24.009809 and range: 24.20 m.
2025-06-08T00:08:52.552Z,1749341332.552 [DAT](INFO): DAT read: Rx Time:00:08:52.0054 

2025-06-08T00:08:52.554Z,1749341332.554 [DAT](INFO): Rx dataTimestamp_ set to:1749341332.552843
2025-06-08T00:08:52.558Z,1749341332.558 [DAT](INFO): DAT read: Bearing 352.8,   5.0 (Local)

2025-06-08T00:08:52.559Z,1749341332.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,   5.0 (Local)

2025-06-08T00:08:52.570Z,1749341332.570 [DAT](INFO): DAT read: Range 10 to 50 :    24.0 m (trip time 16.0 ms) speed 0.5

2025-06-08T00:08:52.580Z,1749341332.580 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-06-08T00:08:52.595Z,1749341332.595 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=29.040804
2025-06-08T00:08:52.804Z,1749341332.804 [DAT](INFO): DAT read: 00:08:52.0054 LVL= 21200, 28945, 18786, 31539, AGC= 67, IDX= 500, 0.23,-2.160, 2.774,-1.894,-2.378, PHS= 0.306,-1.085, 0.481, RAW= 155.9,   4.1, CAL= 157.2,  -5.0, ROT= 352.8,   5.0

2025-06-08T00:08:52.805Z,1749341332.805 [DAT](INFO): got valid direction response:
 00:08:52.0054 LVL= 21200, 28945, 18786, 31539, AGC= 67, IDX= 500, 0.23,-2.160, 2.774,-1.894,-2.378, PHS= 0.306,-1.085, 0.481, RAW= 155.9,   4.1, CAL= 157.2,  -5.0, ROT= 352.8,   5.0

2025-06-08T00:08:52.805Z,1749341332.805 [DAT](INFO): #Rx 108: Read direction message, but no range.
2025-06-08T00:08:52.806Z,1749341332.806 [DAT](INFO): direction in FSK: [0.988339,-0.124857,-0.087156]
2025-06-08T00:08:52.810Z,1749341332.810 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=29.255001
2025-06-08T00:08:52.910Z,1749341332.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.503051 s,
      deltaX: -0.200001 m,
      approachRate: -0.397576 m/s,
      rangeRepo size: 4

2025-06-08T00:08:52.913Z,1749341332.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.811354 m,
      bearing: 289.882953 deg,
      lat: 36.905909 deg,
      lon: -122.115936 deg,
      deltaT: 0.503051 s,
      deltaX: -0.198456 m,
      approachRate: -0.394504 m/s,
      posRepo size: 4

2025-06-08T00:08:52.913Z,1749341332.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.81 m.
2025-06-08T00:08:52.934Z,1749341332.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.811354 m,
      nav range: 23.459017 m,
      bearing: 290.662499 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.244616 deg/s,
      cmd heading: 291.297186 deg,
      new cmd heading: 290.996123 deg.

2025-06-08T00:08:52.939Z,1749341332.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078840 target range: 23.811354 and range: 24.00 m.
2025-06-08T00:08:53.057Z,1749341333.057 [DAT](INFO): DAT read: Rx Time:00:08:52.5050 

2025-06-08T00:08:53.058Z,1749341333.058 [DAT](INFO): Rx dataTimestamp_ set to:1749341333.057198
2025-06-08T00:08:53.062Z,1749341333.062 [DAT](INFO): DAT read: Bearing 354.1,   4.2 (Local)

2025-06-08T00:08:53.064Z,1749341333.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1,   4.2 (Local)

2025-06-08T00:08:53.070Z,1749341333.070 [DAT](INFO): DAT read: Range 10 to 50 :    23.4 m (trip time 15.6 ms) speed 0.4

2025-06-08T00:08:53.073Z,1749341333.073 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-06-08T00:08:53.088Z,1749341333.088 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=29.520414
2025-06-08T00:08:53.308Z,1749341333.308 [DAT](INFO): DAT read: 00:08:52.5050 LVL= 23024, 28817, 20626, 32755, AGC= 67, IDX= 497, 0.12, 2.332, 0.969, 2.562, 2.117, PHS= 0.303,-1.101, 0.442, RAW= 154.7,   4.9, CAL= 155.9,  -4.2, ROT= 354.1,   4.2

2025-06-08T00:08:53.309Z,1749341333.309 [DAT](INFO): got valid direction response:
 00:08:52.5050 LVL= 23024, 28817, 20626, 32755, AGC= 67, IDX= 497, 0.12, 2.332, 0.969, 2.562, 2.117, PHS= 0.303,-1.101, 0.442, RAW= 154.7,   4.9, CAL= 155.9,  -4.2, ROT= 354.1,   4.2

2025-06-08T00:08:53.309Z,1749341333.309 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-06-08T00:08:53.310Z,1749341333.310 [DAT](INFO): direction in FSK: [0.992032,-0.102516,-0.073238]
2025-06-08T00:08:53.314Z,1749341333.314 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=29.759262
2025-06-08T00:08:53.392Z,1749341333.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.504355 s,
      deltaX: -0.600000 m,
      approachRate: -1.189639 m/s,
      rangeRepo size: 4

2025-06-08T00:08:53.394Z,1749341333.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.216070 m,
      bearing: 290.904832 deg,
      lat: 36.905909 deg,
      lon: -122.115935 deg,
      deltaT: 0.504355 s,
      deltaX: -0.595284 m,
      approachRate: -1.180287 m/s,
      posRepo size: 4

2025-06-08T00:08:53.399Z,1749341333.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.22 m.
2025-06-08T00:08:53.402Z,1749341333.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.216070 m,
      nav range: 23.089544 m,
      bearing: 290.629705 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.244616 deg/s,
      cmd heading: 290.996111 deg,
      new cmd heading: 290.645548 deg.

2025-06-08T00:08:53.408Z,1749341333.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.072722 target range: 23.216070 and range: 23.40 m.
2025-06-08T00:08:53.557Z,1749341333.557 [DAT](INFO): DAT read: Rx Time:00:08:53.0049 

2025-06-08T00:08:53.557Z,1749341333.557 [DAT](INFO): Rx dataTimestamp_ set to:1749341333.556779
2025-06-08T00:08:53.558Z,1749341333.558 [DAT](INFO): DAT read: Range 10 to 50 :    23.3 m (trip time 15.5 ms) speed 0.4

2025-06-08T00:08:53.559Z,1749341333.559 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-06-08T00:08:53.560Z,1749341333.560 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=30.005280
2025-06-08T00:08:53.708Z,1749341333.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.499581 s,
      deltaX: -0.100000 m,
      approachRate: -0.200169 m/s,
      rangeRepo size: 4

2025-06-08T00:08:53.709Z,1749341333.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.22 m.
2025-06-08T00:08:53.712Z,1749341333.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.216070 m,
      nav range: 22.877827 m,
      bearing: 290.554585 deg,
      approach rate: -0.661279 m/s,
      LOS rate: -0.236799 deg/s,
      cmd heading: 290.645559 deg,
      new cmd heading: 290.418117 deg.

2025-06-08T00:08:53.713Z,1749341333.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.068752 target range: 23.216070 and range: 23.30 m.
2025-06-08T00:08:53.809Z,1749341333.809 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=30.254366
2025-06-08T00:08:54.065Z,1749341334.065 [DAT](INFO): DAT read: Rx Time:00:08:53.5046 

2025-06-08T00:08:54.067Z,1749341334.067 [DAT](INFO): Rx dataTimestamp_ set to:1749341334.065772
2025-06-08T00:08:54.071Z,1749341334.071 [DAT](INFO): DAT read: Bearing 355.8,   3.5 (Local)

2025-06-08T00:08:54.072Z,1749341334.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,   3.5 (Local)

2025-06-08T00:08:54.085Z,1749341334.085 [DAT](INFO): DAT read: Range 10 to 50 :    22.8 m (trip time 15.2 ms) speed 0.6

2025-06-08T00:08:54.117Z,1749341334.117 [DAT](INFO): DAT read: 00:08:53.5046 LVL= 23536, 26081, 19506, 32755, AGC= 67, IDX= 509, 0.02, 0.227,-1.120, 0.406, 0.013, PHS= 0.303,-1.086, 0.390, RAW= 153.0,   5.5, CAL= 154.2,  -3.5, ROT= 355.8,   3.5

2025-06-08T00:08:54.119Z,1749341334.119 [DAT](INFO): got valid direction response:
 00:08:53.5046 LVL= 23536, 26081, 19506, 32755, AGC= 67, IDX= 509, 0.02, 0.227,-1.120, 0.406, 0.013, PHS= 0.303,-1.086, 0.390, RAW= 153.0,   5.5, CAL= 154.2,  -3.5, ROT= 355.8,   3.5

2025-06-08T00:08:54.132Z,1749341334.132 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-08T00:08:54.133Z,1749341334.133 [DAT](INFO): direction in FSK: [0.995454,-0.073102,-0.061049]
2025-06-08T00:08:54.133Z,1749341334.133 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:54.138Z,1749341334.138 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=30.582991
2025-06-08T00:08:54.242Z,1749341334.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.508993 s,
      deltaX: -0.500000 m,
      approachRate: -0.982332 m/s,
      rangeRepo size: 4

2025-06-08T00:08:54.248Z,1749341334.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.620754 m,
      bearing: 292.206056 deg,
      lat: 36.905910 deg,
      lon: -122.115934 deg,
      deltaT: 1.008574 s,
      deltaX: -0.595316 m,
      approachRate: -0.590255 m/s,
      posRepo size: 4

2025-06-08T00:08:54.249Z,1749341334.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.62 m.
2025-06-08T00:08:54.256Z,1749341334.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.620754 m,
      nav range: 22.480207 m,
      bearing: 290.697243 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.236799 deg/s,
      cmd heading: 290.418114 deg,
      new cmd heading: 290.038967 deg.

2025-06-08T00:08:54.257Z,1749341334.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062135 target range: 22.620754 and range: 22.80 m.
2025-06-08T00:08:54.314Z,1749341334.314 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=30.759041
2025-06-08T00:08:54.569Z,1749341334.569 [DAT](INFO): DAT read: Rx Time:00:08:54.0045 

2025-06-08T00:08:54.571Z,1749341334.571 [DAT](INFO): Rx dataTimestamp_ set to:1749341334.569575
2025-06-08T00:08:54.575Z,1749341334.575 [DAT](INFO): DAT read: Bearing 357.4,   3.2 (Local)

2025-06-08T00:08:54.576Z,1749341334.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,   3.2 (Local)

2025-06-08T00:08:54.587Z,1749341334.587 [DAT](INFO): DAT read: Range 10 to 50 :    22.7 m (trip time 15.1 ms) speed 0.4

2025-06-08T00:08:54.604Z,1749341334.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:54.606Z,1749341334.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.62 m.
2025-06-08T00:08:54.609Z,1749341334.609 [DAT](INFO): DAT read: 00:08:54.0045 LVL= 23488, 28097, 18578, 30787, AGC= 67, IDX= 508, 0.01, 0.610,-0.755, 0.738, 0.377, PHS= 0.321,-1.085, 0.358, RAW= 151.3,   5.8, CAL= 152.6,  -3.2, ROT= 357.4,   3.2

2025-06-08T00:08:54.610Z,1749341334.610 [DAT](INFO): got valid direction response:
 00:08:54.0045 LVL= 23488, 28097, 18578, 30787, AGC= 67, IDX= 508, 0.01, 0.610,-0.755, 0.738, 0.377, PHS= 0.321,-1.085, 0.358, RAW= 151.3,   5.8, CAL= 152.6,  -3.2, ROT= 357.4,   3.2

2025-06-08T00:08:54.610Z,1749341334.610 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-08T00:08:54.617Z,1749341334.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.620754 m,
      nav range: 22.259012 m,
      bearing: 290.628001 deg,
      approach rate: -0.606674 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 290.038956 deg,
      new cmd heading: 289.829168 deg.

2025-06-08T00:08:54.618Z,1749341334.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058473 target range: 22.620754 and range: 22.80 m.
2025-06-08T00:08:54.620Z,1749341334.620 [DAT](INFO): direction in FSK: [0.997413,-0.045292,-0.055822]
2025-06-08T00:08:54.620Z,1749341334.620 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:54.632Z,1749341334.632 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=31.076855
2025-06-08T00:08:54.816Z,1749341334.816 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=31.261562
2025-06-08T00:08:54.949Z,1749341334.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.503803 s,
      deltaX: -0.099998 m,
      approachRate: -0.198487 m/s,
      rangeRepo size: 4

2025-06-08T00:08:54.952Z,1749341334.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.521530 m,
      bearing: 293.137657 deg,
      lat: 36.905910 deg,
      lon: -122.115934 deg,
      deltaT: 0.503803 s,
      deltaX: -0.099224 m,
      approachRate: -0.196950 m/s,
      posRepo size: 4

2025-06-08T00:08:54.953Z,1749341334.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.52 m.
2025-06-08T00:08:54.978Z,1749341334.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.521530 m,
      nav range: 21.994867 m,
      bearing: 290.587239 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 289.829160 deg,
      new cmd heading: 289.632891 deg.

2025-06-08T00:08:54.986Z,1749341334.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055048 target range: 22.521530 and range: 22.70 m.
2025-06-08T00:08:55.073Z,1749341335.073 [DAT](INFO): DAT read: Rx Time:00:08:54.5042 

2025-06-08T00:08:55.075Z,1749341335.075 [DAT](INFO): Rx dataTimestamp_ set to:1749341335.074005
2025-06-08T00:08:55.078Z,1749341335.078 [DAT](INFO): DAT read: Bearing 359.8,   2.0 (Local)

2025-06-08T00:08:55.078Z,1749341335.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,   2.0 (Local)

2025-06-08T00:08:55.081Z,1749341335.081 [DAT](INFO): DAT read: Range 10 to 50 :    22.2 m (trip time 14.8 ms) speed 0.4

2025-06-08T00:08:55.085Z,1749341335.085 [DAT](INFO): DAT read: 00:08:54.5042 LVL= 23520, 28289, 17954, 32755, AGC= 64, IDX= 505, 0.02,-1.147,-2.498,-1.088,-1.379, PHS= 0.320,-1.073, 0.288, RAW= 148.8,   6.8, CAL= 150.2,  -2.0, ROT= 359.8,   2.0

2025-06-08T00:08:55.086Z,1749341335.086 [DAT](INFO): got valid direction response:
 00:08:54.5042 LVL= 23520, 28289, 17954, 32755, AGC= 64, IDX= 505, 0.02,-1.147,-2.498,-1.088,-1.379, PHS= 0.320,-1.073, 0.288, RAW= 148.8,   6.8, CAL= 150.2,  -2.0, ROT= 359.8,   2.0

2025-06-08T00:08:55.087Z,1749341335.087 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-08T00:08:55.088Z,1749341335.088 [DAT](INFO): direction in FSK: [0.999385,-0.003489,-0.034899]
2025-06-08T00:08:55.088Z,1749341335.088 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:55.099Z,1749341335.099 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=31.542439
2025-06-08T00:08:55.320Z,1749341335.320 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=31.765669
2025-06-08T00:08:55.436Z,1749341335.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.504430 s,
      deltaX: -0.500000 m,
      approachRate: -0.991218 m/s,
      rangeRepo size: 4

2025-06-08T00:08:55.441Z,1749341335.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.025461 m,
      bearing: 295.514337 deg,
      lat: 36.905915 deg,
      lon: -122.115933 deg,
      deltaT: 0.504430 s,
      deltaX: -0.496069 m,
      approachRate: -0.983425 m/s,
      posRepo size: 4

2025-06-08T00:08:55.442Z,1749341335.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.03 m.
2025-06-08T00:08:55.449Z,1749341335.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.025461 m,
      nav range: 21.845961 m,
      bearing: 291.838607 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 289.632888 deg,
      new cmd heading: 289.352472 deg.

2025-06-08T00:08:55.451Z,1749341335.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050153 target range: 22.025461 and range: 22.20 m.
2025-06-08T00:08:55.577Z,1749341335.577 [DAT](INFO): DAT read: Rx Time:00:08:55.0041 

2025-06-08T00:08:55.578Z,1749341335.578 [DAT](INFO): Rx dataTimestamp_ set to:1749341335.577620
2025-06-08T00:08:55.579Z,1749341335.579 [DAT](INFO): DAT read: Bearing   0.1,   1.4 (Local)

2025-06-08T00:08:55.580Z,1749341335.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.1,   1.4 (Local)

2025-06-08T00:08:55.582Z,1749341335.582 [DAT](INFO): DAT read: Range 10 to 50 :    21.9 m (trip time 14.6 ms) speed 0.8

2025-06-08T00:08:55.587Z,1749341335.587 [DAT](INFO): DAT read: 00:08:55.0041 LVL= 25792, 30689, 19442, 32755, AGC= 66, IDX= 503,-0.01,-1.457,-2.815,-1.404,-1.680, PHS= 0.311,-1.089, 0.272, RAW= 148.6,   7.4, CAL= 149.9,  -1.4, ROT=   0.1,   1.4

2025-06-08T00:08:55.588Z,1749341335.588 [DAT](INFO): got valid direction response:
 00:08:55.0041 LVL= 25792, 30689, 19442, 32755, AGC= 66, IDX= 503,-0.01,-1.457,-2.815,-1.404,-1.680, PHS= 0.311,-1.089, 0.272, RAW= 148.6,   7.4, CAL= 149.9,  -1.4, ROT=   0.1,   1.4

2025-06-08T00:08:55.588Z,1749341335.588 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-08T00:08:55.589Z,1749341335.589 [DAT](INFO): direction in FSK: [0.999700,0.001745,-0.024432]
2025-06-08T00:08:55.589Z,1749341335.589 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:55.593Z,1749341335.593 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=32.038280
2025-06-08T00:08:55.824Z,1749341335.824 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=32.269733
2025-06-08T00:08:55.826Z,1749341335.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.503615 s,
      deltaX: -0.300001 m,
      approachRate: -0.595695 m/s,
      rangeRepo size: 4

2025-06-08T00:08:55.832Z,1749341335.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.727798 m,
      bearing: 295.221653 deg,
      lat: 36.905919 deg,
      lon: -122.115931 deg,
      deltaT: 0.503615 s,
      deltaX: -0.297663 m,
      approachRate: -0.591052 m/s,
      posRepo size: 4

2025-06-08T00:08:55.833Z,1749341335.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.73 m.
2025-06-08T00:08:55.840Z,1749341335.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.727798 m,
      nav range: 21.630434 m,
      bearing: 293.239181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 289.352467 deg,
      new cmd heading: 289.130899 deg.

2025-06-08T00:08:55.841Z,1749341335.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046286 target range: 21.727798 and range: 21.90 m.
2025-06-08T00:08:56.079Z,1749341336.079 [DAT](INFO): DAT read: Rx Time:00:08:55.5038 

2025-06-08T00:08:56.079Z,1749341336.079 [DAT](INFO): Rx dataTimestamp_ set to:1749341336.079107
2025-06-08T00:08:56.081Z,1749341336.081 [DAT](INFO): DAT read: Bearing   1.5,   1.5 (Local)

2025-06-08T00:08:56.081Z,1749341336.081 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,   1.5 (Local)

2025-06-08T00:08:56.083Z,1749341336.083 [DAT](INFO): DAT read: Range 10 to 50 :    21.5 m (trip time 14.3 ms) speed 0.5

2025-06-08T00:08:56.088Z,1749341336.088 [DAT](INFO): DAT read: 00:08:55.5038 LVL= 26864, 32753, 21266, 32755, AGC= 66, IDX= 500, 0.00,-2.835, 2.074,-2.835,-3.089, PHS= 0.342,-1.073, 0.251, RAW= 146.7,   7.1, CAL= 148.5,  -1.5, ROT=   1.5,   1.5

2025-06-08T00:08:56.089Z,1749341336.089 [DAT](INFO): got valid direction response:
 00:08:55.5038 LVL= 26864, 32753, 21266, 32755, AGC= 66, IDX= 500, 0.00,-2.835, 2.074,-2.835,-3.089, PHS= 0.342,-1.073, 0.251, RAW= 146.7,   7.1, CAL= 148.5,  -1.5, ROT=   1.5,   1.5

2025-06-08T00:08:56.089Z,1749341336.089 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-08T00:08:56.090Z,1749341336.090 [DAT](INFO): direction in FSK: [0.999315,0.026168,-0.026177]
2025-06-08T00:08:56.091Z,1749341336.091 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:56.098Z,1749341336.098 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=32.543510
2025-06-08T00:08:56.264Z,1749341336.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.501487 s,
      deltaX: -0.400000 m,
      approachRate: -0.797627 m/s,
      rangeRepo size: 4

2025-06-08T00:08:56.266Z,1749341336.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.330944 m,
      bearing: 296.392379 deg,
      lat: 36.905926 deg,
      lon: -122.115928 deg,
      deltaT: 0.501487 s,
      deltaX: -0.396854 m,
      approachRate: -0.791355 m/s,
      posRepo size: 4

2025-06-08T00:08:56.267Z,1749341336.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-08T00:08:56.274Z,1749341336.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.330944 m,
      nav range: 21.362228 m,
      bearing: 295.208821 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 289.130896 deg,
      new cmd heading: 288.877753 deg.

2025-06-08T00:08:56.275Z,1749341336.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041868 target range: 21.330944 and range: 21.50 m.
2025-06-08T00:08:56.328Z,1749341336.328 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=32.773640
2025-06-08T00:08:56.582Z,1749341336.582 [DAT](INFO): DAT read: Rx Time:00:08:56.0038 

2025-06-08T00:08:56.583Z,1749341336.583 [DAT](INFO): Rx dataTimestamp_ set to:1749341336.582600
2025-06-08T00:08:56.585Z,1749341336.585 [DAT](INFO): DAT read: Bearing   2.8,  -0.3 (Local)

2025-06-08T00:08:56.586Z,1749341336.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,  -0.3 (Local)

2025-06-08T00:08:56.592Z,1749341336.592 [DAT](INFO): DAT read: Range 10 to 50 :    21.5 m (trip time 14.3 ms) speed 0.4

2025-06-08T00:08:56.621Z,1749341336.621 [DAT](INFO): DAT read: 00:08:56.0038 LVL= 28144, 32753, 19938, 32755, AGC= 66, IDX= 499,-0.03,-2.060, 2.846,-2.096,-2.296, PHS= 0.324,-1.094, 0.197, RAW= 145.4,   8.5, CAL= 147.2,   0.3, ROT=   2.8,  -0.3

2025-06-08T00:08:56.622Z,1749341336.622 [DAT](INFO): got valid direction response:
 00:08:56.0038 LVL= 28144, 32753, 19938, 32755, AGC= 66, IDX= 499,-0.03,-2.060, 2.846,-2.096,-2.296, PHS= 0.324,-1.094, 0.197, RAW= 145.4,   8.5, CAL= 147.2,   0.3, ROT=   2.8,  -0.3

2025-06-08T00:08:56.622Z,1749341336.622 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-08T00:08:56.632Z,1749341336.632 [DAT](INFO): direction in FSK: [0.998792,0.048849,0.005236]
2025-06-08T00:08:56.632Z,1749341336.632 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:56.644Z,1749341336.644 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=33.088810
2025-06-08T00:08:56.714Z,1749341336.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.503493 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:08:56.728Z,1749341336.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.330933 m,
      bearing: 297.640709 deg,
      lat: 36.905927 deg,
      lon: -122.115928 deg,
      deltaT: 0.503493 s,
      deltaX: -0.000011 m,
      approachRate: -0.000023 m/s,
      posRepo size: 4

2025-06-08T00:08:56.729Z,1749341336.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.33 m.
2025-06-08T00:08:56.736Z,1749341336.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.330933 m,
      nav range: 21.118847 m,
      bearing: 295.484235 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 288.877742 deg,
      new cmd heading: 288.616699 deg.

2025-06-08T00:08:56.737Z,1749341336.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.037312 target range: 21.330933 and range: 21.50 m.
2025-06-08T00:08:56.833Z,1749341336.833 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=33.278332
2025-06-08T00:08:57.085Z,1749341337.085 [DAT](INFO): DAT read: Rx Time:00:08:56.5035 

2025-06-08T00:08:57.085Z,1749341337.085 [DAT](INFO): Rx dataTimestamp_ set to:1749341337.084985
2025-06-08T00:08:57.087Z,1749341337.087 [DAT](INFO): DAT read: Bearing   3.0,  -0.4 (Local)

2025-06-08T00:08:57.087Z,1749341337.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,  -0.4 (Local)

2025-06-08T00:08:57.089Z,1749341337.089 [DAT](INFO): DAT read: Range 10 to 50 :    21.0 m (trip time 14.0 ms) speed 0.6

2025-06-08T00:08:57.094Z,1749341337.094 [DAT](INFO): DAT read: 00:08:56.5035 LVL= 22256, 32049, 18882, 32755, AGC= 65, IDX= 496,-0.13,-2.335, 2.573,-2.379,-2.574, PHS= 0.327,-1.090, 0.191, RAW= 145.0,   8.5, CAL= 147.0,   0.4, ROT=   3.0,  -0.4

2025-06-08T00:08:57.095Z,1749341337.095 [DAT](INFO): got valid direction response:
 00:08:56.5035 LVL= 22256, 32049, 18882, 32755, AGC= 65, IDX= 496,-0.13,-2.335, 2.573,-2.379,-2.574, PHS= 0.327,-1.090, 0.191, RAW= 145.0,   8.5, CAL= 147.0,   0.4, ROT=   3.0,  -0.4

2025-06-08T00:08:57.095Z,1749341337.095 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-06-08T00:08:57.096Z,1749341337.096 [DAT](INFO): direction in FSK: [0.998605,0.052335,0.006981]
2025-06-08T00:08:57.096Z,1749341337.096 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:57.109Z,1749341337.109 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=33.554043
2025-06-08T00:08:57.117Z,1749341337.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.502385 s,
      deltaX: -0.500000 m,
      approachRate: -0.995253 m/s,
      rangeRepo size: 4

2025-06-08T00:08:57.123Z,1749341337.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.834864 m,
      bearing: 296.652787 deg,
      lat: 36.905929 deg,
      lon: -122.115926 deg,
      deltaT: 0.502385 s,
      deltaX: -0.496069 m,
      approachRate: -0.987428 m/s,
      posRepo size: 4

2025-06-08T00:08:57.124Z,1749341337.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.83 m.
2025-06-08T00:08:57.127Z,1749341337.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.834864 m,
      nav range: 20.827417 m,
      bearing: 296.301925 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 288.616692 deg,
      new cmd heading: 288.384498 deg.

2025-06-08T00:08:57.132Z,1749341337.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.033259 target range: 20.834864 and range: 21.00 m.
2025-06-08T00:08:57.337Z,1749341337.337 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=33.782562
2025-06-08T00:08:57.589Z,1749341337.589 [DAT](INFO): DAT read: Rx Time:00:08:57.0034 

2025-06-08T00:08:57.589Z,1749341337.589 [DAT](INFO): Rx dataTimestamp_ set to:1749341337.589021
2025-06-08T00:08:57.591Z,1749341337.591 [DAT](INFO): DAT read: Bearing   4.6,  -1.4 (Local)

2025-06-08T00:08:57.591Z,1749341337.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,  -1.4 (Local)

2025-06-08T00:08:57.593Z,1749341337.593 [DAT](INFO): DAT read: Range 10 to 50 :    20.9 m (trip time 13.9 ms) speed 0.8

2025-06-08T00:08:57.598Z,1749341337.598 [DAT](INFO): DAT read: 00:08:57.0034 LVL= 24272, 30369, 19330, 32755, AGC= 65, IDX= 511,-0.49, 1.163,-0.272, 1.054, 0.900, PHS= 0.351,-1.124, 0.151, RAW= 142.8,   9.0, CAL= 145.4,   1.4, ROT=   4.6,  -1.4

2025-06-08T00:08:57.599Z,1749341337.599 [DAT](INFO): got valid direction response:
 00:08:57.0034 LVL= 24272, 30369, 19330, 32755, AGC= 65, IDX= 511,-0.49, 1.163,-0.272, 1.054, 0.900, PHS= 0.351,-1.124, 0.151, RAW= 142.8,   9.0, CAL= 145.4,   1.4, ROT=   4.6,  -1.4

2025-06-08T00:08:57.599Z,1749341337.599 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-06-08T00:08:57.600Z,1749341337.600 [DAT](INFO): direction in FSK: [0.996481,0.080175,0.024432]
2025-06-08T00:08:57.601Z,1749341337.601 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:57.612Z,1749341337.612 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=34.057537
2025-06-08T00:08:57.684Z,1749341337.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.504036 s,
      deltaX: -0.100000 m,
      approachRate: -0.198399 m/s,
      rangeRepo size: 4

2025-06-08T00:08:57.686Z,1749341337.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.735643 m,
      bearing: 297.941077 deg,
      lat: 36.905930 deg,
      lon: -122.115926 deg,
      deltaT: 0.504036 s,
      deltaX: -0.099220 m,
      approachRate: -0.196852 m/s,
      posRepo size: 4

2025-06-08T00:08:57.692Z,1749341337.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.74 m.
2025-06-08T00:08:57.710Z,1749341337.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.735643 m,
      nav range: 20.451176 m,
      bearing: 296.585374 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 288.384493 deg,
      new cmd heading: 288.060834 deg.

2025-06-08T00:08:57.720Z,1749341337.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027610 target range: 20.735643 and range: 20.90 m.
2025-06-08T00:08:57.840Z,1749341337.840 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=34.285622
2025-06-08T00:08:58.093Z,1749341338.093 [DAT](INFO): DAT read: Rx Time:00:08:57.5030 

2025-06-08T00:08:58.094Z,1749341338.094 [DAT](INFO): Rx dataTimestamp_ set to:1749341338.093247
2025-06-08T00:08:58.095Z,1749341338.095 [DAT](INFO): DAT read: Bearing   3.9,  -1.2 (Local)

2025-06-08T00:08:58.095Z,1749341338.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.9,  -1.2 (Local)

2025-06-08T00:08:58.097Z,1749341338.097 [DAT](INFO): DAT read: Range 10 to 50 :    20.3 m (trip time 13.5 ms) speed 0.5

2025-06-08T00:08:58.102Z,1749341338.102 [DAT](INFO): DAT read: 00:08:57.5030 LVL= 32752, 32753, 24370, 32755, AGC= 61, IDX= 507, 0.13,-3.085, 1.775, 3.115, 2.946, PHS= 0.340,-1.124, 0.166, RAW= 143.7,   9.0, CAL= 146.1,   1.2, ROT=   3.9,  -1.2

2025-06-08T00:08:58.103Z,1749341338.103 [DAT](INFO): got valid direction response:
 00:08:57.5030 LVL= 32752, 32753, 24370, 32755, AGC= 61, IDX= 507, 0.13,-3.085, 1.775, 3.115, 2.946, PHS= 0.340,-1.124, 0.166, RAW= 143.7,   9.0, CAL= 146.1,   1.2, ROT=   3.9,  -1.2

2025-06-08T00:08:58.104Z,1749341338.104 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-06-08T00:08:58.105Z,1749341338.105 [DAT](INFO): direction in FSK: [0.997465,0.068000,0.020942]
2025-06-08T00:08:58.105Z,1749341338.105 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:58.112Z,1749341338.112 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:08:58.112Z,1749341338.112 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:08:58.113Z,1749341338.113 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:08:58.183Z,1749341338.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.504226 s,
      deltaX: -0.600000 m,
      approachRate: -1.189943 m/s,
      rangeRepo size: 4

2025-06-08T00:08:58.186Z,1749341338.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.140362 m,
      bearing: 297.246431 deg,
      lat: 36.905932 deg,
      lon: -122.115925 deg,
      deltaT: 0.504226 s,
      deltaX: -0.595282 m,
      approachRate: -1.180585 m/s,
      posRepo size: 4

2025-06-08T00:08:58.186Z,1749341338.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.14 m.
2025-06-08T00:08:58.201Z,1749341338.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.140362 m,
      nav range: 20.140409 m,
      bearing: 297.218556 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 288.060824 deg,
      new cmd heading: 287.773387 deg.

2025-06-08T00:08:58.202Z,1749341338.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022593 target range: 20.140362 and range: 20.30 m.
2025-06-08T00:08:58.344Z,1749341338.344 [DAT](INFO): Reached modem response timeout
2025-06-08T00:08:58.344Z,1749341338.344 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:08:58.345Z,1749341338.345 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:08:58.597Z,1749341338.597 [DAT](INFO): DAT read: Rx Time:00:08:58.0029 

2025-06-08T00:08:58.597Z,1749341338.597 [DAT](INFO): Rx dataTimestamp_ set to:1749341338.597009
2025-06-08T00:08:58.599Z,1749341338.599 [DAT](INFO): DAT read: Bearing   4.8,  -1.8 (Local)

2025-06-08T00:08:58.599Z,1749341338.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,  -1.8 (Local)

2025-06-08T00:08:58.601Z,1749341338.601 [DAT](INFO): DAT read: Range 10 to 50 :    20.1 m (trip time 13.4 ms) speed 0.6

2025-06-08T00:08:58.606Z,1749341338.606 [DAT](INFO): DAT read: 00:08:58.0029 LVL= 26272, 31857, 25586, 32755, AGC= 58, IDX= 506, 0.08,-3.015, 1.808,-3.138, 3.001, PHS= 0.355,-1.145, 0.142, RAW= 142.4,   9.3, CAL= 145.2,   1.8, ROT=   4.8,  -1.8

2025-06-08T00:08:58.615Z,1749341338.615 [DAT](INFO): got valid direction response:
 00:08:58.0029 LVL= 26272, 31857, 25586, 32755, AGC= 58, IDX= 506, 0.08,-3.015, 1.808,-3.138, 3.001, PHS= 0.355,-1.145, 0.142, RAW= 142.4,   9.3, CAL= 145.2,   1.8, ROT=   4.8,  -1.8

2025-06-08T00:08:58.616Z,1749341338.616 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:08:58.616Z,1749341338.616 [DAT](INFO): direction in FSK: [0.996001,0.083637,0.031411]
2025-06-08T00:08:58.617Z,1749341338.617 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:58.620Z,1749341338.620 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:08:58.620Z,1749341338.620 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:08:58.702Z,1749341338.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 0.503762 s,
      deltaX: -0.199999 m,
      approachRate: -0.397011 m/s,
      rangeRepo size: 4

2025-06-08T00:08:58.712Z,1749341338.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.941883 m,
      bearing: 297.008732 deg,
      lat: 36.905932 deg,
      lon: -122.115926 deg,
      deltaT: 0.503762 s,
      deltaX: -0.198479 m,
      approachRate: -0.393993 m/s,
      posRepo size: 4

2025-06-08T00:08:58.713Z,1749341338.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.94 m.
2025-06-08T00:08:58.720Z,1749341338.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.941883 m,
      nav range: 19.887415 m,
      bearing: 297.143610 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 287.773382 deg,
      new cmd heading: 287.472827 deg.

2025-06-08T00:08:58.721Z,1749341338.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.017347 target range: 19.941883 and range: 20.10 m.
2025-06-08T00:08:58.848Z,1749341338.848 [DAT](INFO): Reached modem response timeout
2025-06-08T00:08:58.849Z,1749341338.849 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:08:58.849Z,1749341338.849 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:08:59.104Z,1749341339.104 [DAT](INFO): DAT read: Rx Time:00:08:58.5026 

2025-06-08T00:08:59.104Z,1749341339.104 [DAT](INFO): Rx dataTimestamp_ set to:1749341339.103719
2025-06-08T00:08:59.105Z,1749341339.105 [DAT](INFO): DAT read: Bearing   5.4,  -2.5 (Local)

2025-06-08T00:08:59.106Z,1749341339.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,  -2.5 (Local)

2025-06-08T00:08:59.108Z,1749341339.108 [DAT](INFO): DAT read: Range 10 to 50 :    19.7 m (trip time 13.1 ms) speed 0.5

2025-06-08T00:08:59.113Z,1749341339.113 [DAT](INFO): DAT read: 00:08:58.5026 LVL= 32304, 32753, 24290, 32755, AGC= 60, IDX= 503, 0.04, 0.946,-0.524, 0.802, 0.681, PHS= 0.353,-1.157, 0.118, RAW= 141.7,   9.8, CAL= 144.6,   2.5, ROT=   5.4,  -2.5

2025-06-08T00:08:59.114Z,1749341339.114 [DAT](INFO): got valid direction response:
 00:08:58.5026 LVL= 32304, 32753, 24290, 32755, AGC= 60, IDX= 503, 0.04, 0.946,-0.524, 0.802, 0.681, PHS= 0.353,-1.157, 0.118, RAW= 141.7,   9.8, CAL= 144.6,   2.5, ROT=   5.4,  -2.5

2025-06-08T00:08:59.114Z,1749341339.114 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:08:59.115Z,1749341339.115 [DAT](INFO): direction in FSK: [0.994614,0.094019,0.043619]
2025-06-08T00:08:59.116Z,1749341339.116 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:59.119Z,1749341339.119 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:08:59.120Z,1749341339.120 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:08:59.146Z,1749341339.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.506710 s,
      deltaX: -0.400000 m,
      approachRate: -0.789405 m/s,
      rangeRepo size: 4

2025-06-08T00:08:59.153Z,1749341339.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.545031 m,
      bearing: 297.587929 deg,
      lat: 36.905932 deg,
      lon: -122.115925 deg,
      deltaT: 0.506710 s,
      deltaX: -0.396852 m,
      approachRate: -0.783195 m/s,
      posRepo size: 4

2025-06-08T00:08:59.154Z,1749341339.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.55 m.
2025-06-08T00:08:59.161Z,1749341339.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.545031 m,
      nav range: 19.523821 m,
      bearing: 297.280897 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191797 deg/s,
      cmd heading: 287.472827 deg,
      new cmd heading: 287.217061 deg.

2025-06-08T00:08:59.162Z,1749341339.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012883 target range: 19.545031 and range: 19.70 m.
2025-06-08T00:08:59.353Z,1749341339.353 [DAT](INFO): Reached modem response timeout
2025-06-08T00:08:59.353Z,1749341339.353 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:08:59.353Z,1749341339.353 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:08:59.479Z,1749341339.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:08:59.481Z,1749341339.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.55 m.
2025-06-08T00:08:59.484Z,1749341339.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.545031 m,
      nav range: 19.267714 m,
      bearing: 297.312438 deg,
      approach rate: -0.762880 m/s,
      LOS rate: 0.095204 deg/s,
      cmd heading: 287.217050 deg,
      new cmd heading: 287.312933 deg.

2025-06-08T00:08:59.485Z,1749341339.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.014557 target range: 19.545031 and range: 19.70 m.
2025-06-08T00:08:59.606Z,1749341339.606 [DAT](INFO): DAT read: Rx Time:00:08:59.0024 

2025-06-08T00:08:59.607Z,1749341339.607 [DAT](INFO): Rx dataTimestamp_ set to:1749341339.606289
2025-06-08T00:08:59.609Z,1749341339.609 [DAT](INFO): DAT read: Bearing   7.9,  -3.8 (Local)

2025-06-08T00:08:59.609Z,1749341339.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,  -3.8 (Local)

2025-06-08T00:08:59.620Z,1749341339.620 [DAT](INFO): DAT read: Range 10 to 50 :    19.4 m (trip time 12.9 ms) speed 0.5

2025-06-08T00:08:59.625Z,1749341339.625 [DAT](INFO): DAT read: 00:08:59.0024 LVL= 29024, 32753, 25682, 32755, AGC= 58, IDX= 501,-0.10,-0.448,-1.900,-0.673,-0.725, PHS= 0.365,-1.128, 0.049, RAW= 138.4,  10.5, CAL= 142.1,   3.8, ROT=   7.9,  -3.8

2025-06-08T00:08:59.626Z,1749341339.626 [DAT](INFO): got valid direction response:
 00:08:59.0024 LVL= 29024, 32753, 25682, 32755, AGC= 58, IDX= 501,-0.10,-0.448,-1.900,-0.673,-0.725, PHS= 0.365,-1.128, 0.049, RAW= 138.4,  10.5, CAL= 142.1,   3.8, ROT=   7.9,  -3.8

2025-06-08T00:08:59.626Z,1749341339.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:08:59.651Z,1749341339.651 [DAT](INFO): direction in FSK: [0.988332,0.137142,0.066274]
2025-06-08T00:08:59.652Z,1749341339.652 [DAT](INFO): publishing direction and range info
2025-06-08T00:08:59.658Z,1749341339.658 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:08:59.659Z,1749341339.659 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:08:59.844Z,1749341339.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.502570 s,
      deltaX: -0.300001 m,
      approachRate: -0.596934 m/s,
      rangeRepo size: 4

2025-06-08T00:08:59.846Z,1749341339.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.247337 m,
      bearing: 299.172295 deg,
      lat: 36.905932 deg,
      lon: -122.115924 deg,
      deltaT: 0.502570 s,
      deltaX: -0.297693 m,
      approachRate: -0.592342 m/s,
      posRepo size: 4

2025-06-08T00:08:59.847Z,1749341339.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.25 m.
2025-06-08T00:08:59.850Z,1749341339.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.247337 m,
      nav range: 19.050797 m,
      bearing: 297.645687 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.095204 deg/s,
      cmd heading: 287.312946 deg,
      new cmd heading: 287.416348 deg.

2025-06-08T00:08:59.852Z,1749341339.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016362 target range: 19.247337 and range: 19.40 m.
2025-06-08T00:08:59.856Z,1749341339.856 [DAT](INFO): Reached modem response timeout
2025-06-08T00:08:59.856Z,1749341339.856 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:08:59.857Z,1749341339.857 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:00.114Z,1749341340.114 [DAT](INFO): DAT read: Rx Time:00:08:59.5021 

2025-06-08T00:09:00.115Z,1749341340.115 [DAT](INFO): Rx dataTimestamp_ set to:1749341340.114247
2025-06-08T00:09:00.116Z,1749341340.116 [DAT](INFO): DAT read: Bearing   9.2,  -5.1 (Local)

2025-06-08T00:09:00.116Z,1749341340.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  -5.1 (Local)

2025-06-08T00:09:00.123Z,1749341340.123 [DAT](INFO): DAT read: Range 10 to 50 :    18.9 m (trip time 12.6 ms) speed 0.5

2025-06-08T00:09:00.130Z,1749341340.130 [DAT](INFO): DAT read: 00:08:59.5021 LVL= 29664, 32753, 23682, 32755, AGC= 61, IDX= 498,-0.22,-2.817, 2.017,-3.083,-3.088, PHS= 0.359,-1.131, 0.002, RAW= 136.8,  11.4, CAL= 140.8,   5.1, ROT=   9.2,  -5.1

2025-06-08T00:09:00.131Z,1749341340.131 [DAT](INFO): got valid direction response:
 00:08:59.5021 LVL= 29664, 32753, 23682, 32755, AGC= 61, IDX= 498,-0.22,-2.817, 2.017,-3.083,-3.088, PHS= 0.359,-1.131, 0.002, RAW= 136.8,  11.4, CAL= 140.8,   5.1, ROT=   9.2,  -5.1

2025-06-08T00:09:00.131Z,1749341340.131 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:00.132Z,1749341340.132 [DAT](INFO): direction in FSK: [0.983228,0.159248,0.088894]
2025-06-08T00:09:00.133Z,1749341340.133 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:00.140Z,1749341340.140 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:00.140Z,1749341340.140 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:00.325Z,1749341340.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.507958 s,
      deltaX: -0.500000 m,
      approachRate: -0.984333 m/s,
      rangeRepo size: 4

2025-06-08T00:09:00.335Z,1749341340.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.751272 m,
      bearing: 300.074286 deg,
      lat: 36.905932 deg,
      lon: -122.115924 deg,
      deltaT: 0.507958 s,
      deltaX: -0.496065 m,
      approachRate: -0.976587 m/s,
      posRepo size: 4

2025-06-08T00:09:00.340Z,1749341340.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.75 m.
2025-06-08T00:09:00.342Z,1749341340.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.751272 m,
      nav range: 18.729708 m,
      bearing: 297.716827 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.095204 deg/s,
      cmd heading: 287.416355 deg,
      new cmd heading: 287.553833 deg.

2025-06-08T00:09:00.348Z,1749341340.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.018761 target range: 18.751272 and range: 18.90 m.
2025-06-08T00:09:00.360Z,1749341340.360 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:00.360Z,1749341340.360 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:00.360Z,1749341340.360 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:00.613Z,1749341340.613 [DAT](INFO): DAT read: Rx Time:00:09:00.0019 

2025-06-08T00:09:00.613Z,1749341340.613 [DAT](INFO): Rx dataTimestamp_ set to:1749341340.613091
2025-06-08T00:09:00.615Z,1749341340.615 [DAT](INFO): DAT read: Bearing   9.0,  -3.1 (Local)

2025-06-08T00:09:00.620Z,1749341340.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.0,  -3.1 (Local)

2025-06-08T00:09:00.622Z,1749341340.622 [DAT](INFO): DAT read: Range 10 to 50 :    18.8 m (trip time 12.5 ms) speed 0.6

2025-06-08T00:09:00.627Z,1749341340.627 [DAT](INFO): DAT read: 00:09:00.0019 LVL= 26288, 32225, 19954, 32755, AGC= 64, IDX= 496, 0.45,-0.515,-2.012,-0.791,-0.839, PHS= 0.411,-1.126, 0.045, RAW= 136.8,   9.7, CAL= 141.0,   3.1, ROT=   9.0,  -3.1

2025-06-08T00:09:00.628Z,1749341340.628 [DAT](INFO): got valid direction response:
 00:09:00.0019 LVL= 26288, 32225, 19954, 32755, AGC= 64, IDX= 496, 0.45,-0.515,-2.012,-0.791,-0.839, PHS= 0.411,-1.126, 0.045, RAW= 136.8,   9.7, CAL= 141.0,   3.1, ROT=   9.0,  -3.1

2025-06-08T00:09:00.629Z,1749341340.629 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:00.629Z,1749341340.629 [DAT](INFO): direction in FSK: [0.986243,0.156206,0.054079]
2025-06-08T00:09:00.630Z,1749341340.630 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:00.633Z,1749341340.633 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:00.634Z,1749341340.634 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:00.697Z,1749341340.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.498844 s,
      deltaX: -0.100000 m,
      approachRate: -0.200464 m/s,
      rangeRepo size: 4

2025-06-08T00:09:00.704Z,1749341340.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.652023 m,
      bearing: 299.609359 deg,
      lat: 36.905937 deg,
      lon: -122.115924 deg,
      deltaT: 0.498844 s,
      deltaX: -0.099249 m,
      approachRate: -0.198958 m/s,
      posRepo size: 4

2025-06-08T00:09:00.704Z,1749341340.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.65 m.
2025-06-08T00:09:00.711Z,1749341340.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.652023 m,
      nav range: 18.675886 m,
      bearing: 299.325467 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.095204 deg/s,
      cmd heading: 287.553833 deg,
      new cmd heading: 287.660121 deg.

2025-06-08T00:09:00.712Z,1749341340.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020616 target range: 18.652023 and range: 18.80 m.
2025-06-08T00:09:00.864Z,1749341340.864 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:00.864Z,1749341340.864 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:00.864Z,1749341340.864 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:01.121Z,1749341341.121 [DAT](INFO): DAT read: Rx Time:00:09:00.5016 

2025-06-08T00:09:01.122Z,1749341341.122 [DAT](INFO): Rx dataTimestamp_ set to:1749341341.121483
2025-06-08T00:09:01.126Z,1749341341.126 [DAT](INFO): DAT read: Bearing   9.1,  -3.4 (Local)

2025-06-08T00:09:01.128Z,1749341341.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.1,  -3.4 (Local)

2025-06-08T00:09:01.133Z,1749341341.133 [DAT](INFO): DAT read: Range 10 to 50 :    18.3 m (trip time 12.2 ms) speed 0.7

2025-06-08T00:09:01.137Z,1749341341.137 [DAT](INFO): DAT read: 00:09:00.5016 LVL= 30752, 32753, 22258, 32755, AGC= 63, IDX= 509, 0.12,-0.989,-2.498,-1.269,-1.310, PHS= 0.409,-1.140, 0.038, RAW= 136.8,   9.9, CAL= 140.9,   3.4, ROT=   9.1,  -3.4

2025-06-08T00:09:01.138Z,1749341341.138 [DAT](INFO): got valid direction response:
 00:09:00.5016 LVL= 30752, 32753, 22258, 32755, AGC= 63, IDX= 509, 0.12,-0.989,-2.498,-1.269,-1.310, PHS= 0.409,-1.140, 0.038, RAW= 136.8,   9.9, CAL= 140.9,   3.4, ROT=   9.1,  -3.4

2025-06-08T00:09:01.139Z,1749341341.139 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:01.140Z,1749341341.140 [DAT](INFO): direction in FSK: [0.985676,0.157880,0.059306]
2025-06-08T00:09:01.140Z,1749341341.140 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:01.144Z,1749341341.144 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:01.144Z,1749341341.144 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:01.263Z,1749341341.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.508392 s,
      deltaX: -0.500000 m,
      approachRate: -0.983493 m/s,
      rangeRepo size: 4

2025-06-08T00:09:01.269Z,1749341341.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.155958 m,
      bearing: 299.366778 deg,
      lat: 36.905937 deg,
      lon: -122.115923 deg,
      deltaT: 0.508392 s,
      deltaX: -0.496065 m,
      approachRate: -0.975753 m/s,
      posRepo size: 4

2025-06-08T00:09:01.270Z,1749341341.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.16 m.
2025-06-08T00:09:01.277Z,1749341341.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.155958 m,
      nav range: 18.257729 m,
      bearing: 299.512133 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.095204 deg/s,
      cmd heading: 287.660110 deg,
      new cmd heading: 287.821539 deg.

2025-06-08T00:09:01.278Z,1749341341.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023434 target range: 18.155958 and range: 18.30 m.
2025-06-08T00:09:01.369Z,1749341341.369 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:01.370Z,1749341341.370 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:01.370Z,1749341341.370 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:01.491Z,1749341341.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:01.501Z,1749341341.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.16 m.
2025-06-08T00:09:01.508Z,1749341341.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.155958 m,
      nav range: 18.082300 m,
      bearing: 299.557706 deg,
      approach rate: -0.732882 m/s,
      LOS rate: 0.192235 deg/s,
      cmd heading: 287.821549 deg,
      new cmd heading: 287.959593 deg.

2025-06-08T00:09:01.509Z,1749341341.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025843 target range: 18.155958 and range: 18.30 m.
2025-06-08T00:09:01.622Z,1749341341.622 [DAT](INFO): DAT read: Rx Time:00:09:01.0015 

2025-06-08T00:09:01.623Z,1749341341.623 [DAT](INFO): Rx dataTimestamp_ set to:1749341341.622270
2025-06-08T00:09:01.625Z,1749341341.625 [DAT](INFO): DAT read: Bearing  10.2,  -4.5 (Local)

2025-06-08T00:09:01.625Z,1749341341.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.2,  -4.5 (Local)

2025-06-08T00:09:01.628Z,1749341341.628 [DAT](INFO): DAT read: Range 10 to 50 :    18.2 m (trip time 12.1 ms) speed 0.8

2025-06-08T00:09:01.635Z,1749341341.635 [DAT](INFO): DAT read: 00:09:01.0015 LVL= 31472, 32753, 22002, 32755, AGC= 64, IDX= 508,-0.15,-1.010,-2.522,-1.329,-1.329, PHS= 0.407,-1.146,-0.002, RAW= 135.3,  10.6, CAL= 139.8,   4.5, ROT=  10.2,  -4.5

2025-06-08T00:09:01.637Z,1749341341.637 [DAT](INFO): got valid direction response:
 00:09:01.0015 LVL= 31472, 32753, 22002, 32755, AGC= 64, IDX= 508,-0.15,-1.010,-2.522,-1.329,-1.329, PHS= 0.407,-1.146,-0.002, RAW= 135.3,  10.6, CAL= 139.8,   4.5, ROT=  10.2,  -4.5

2025-06-08T00:09:01.637Z,1749341341.637 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:01.639Z,1749341341.639 [DAT](INFO): direction in FSK: [0.981162,0.176539,0.078459]
2025-06-08T00:09:01.640Z,1749341341.640 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:01.644Z,1749341341.644 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:01.644Z,1749341341.644 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:01.872Z,1749341341.872 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:01.872Z,1749341341.872 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:01.873Z,1749341341.873 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:01.901Z,1749341341.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.500787 s,
      deltaX: -0.099998 m,
      approachRate: -0.199683 m/s,
      rangeRepo size: 4

2025-06-08T00:09:01.907Z,1749341341.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.056734 m,
      bearing: 300.076222 deg,
      lat: 36.905938 deg,
      lon: -122.115923 deg,
      deltaT: 0.500787 s,
      deltaX: -0.099224 m,
      approachRate: -0.198136 m/s,
      posRepo size: 4

2025-06-08T00:09:01.908Z,1749341341.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.06 m.
2025-06-08T00:09:01.911Z,1749341341.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.056734 m,
      nav range: 17.865694 m,
      bearing: 299.817069 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192235 deg/s,
      cmd heading: 287.959601 deg,
      new cmd heading: 288.189816 deg.

2025-06-08T00:09:01.916Z,1749341341.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029861 target range: 18.056734 and range: 18.20 m.
2025-06-08T00:09:02.130Z,1749341342.130 [DAT](INFO): DAT read: Rx Time:00:09:01.5011 

2025-06-08T00:09:02.132Z,1749341342.132 [DAT](INFO): Rx dataTimestamp_ set to:1749341342.130233
2025-06-08T00:09:02.134Z,1749341342.134 [DAT](INFO): DAT read: Bearing   8.8,  -3.3 (Local)

2025-06-08T00:09:02.134Z,1749341342.134 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  -3.3 (Local)

2025-06-08T00:09:02.136Z,1749341342.136 [DAT](INFO): DAT read: Range 10 to 50 :    17.6 m (trip time 11.7 ms) speed 0.5

2025-06-08T00:09:02.141Z,1749341342.141 [DAT](INFO): DAT read: 00:09:01.5011 LVL= 30464, 32753, 22578, 32755, AGC= 62, IDX= 504, 0.49,-0.547,-2.081,-0.824,-0.873, PHS= 0.414,-1.161, 0.045, RAW= 137.1,   9.9, CAL= 141.2,   3.3, ROT=   8.8,  -3.3

2025-06-08T00:09:02.143Z,1749341342.143 [DAT](INFO): got valid direction response:
 00:09:01.5011 LVL= 30464, 32753, 22578, 32755, AGC= 62, IDX= 504, 0.49,-0.547,-2.081,-0.824,-0.873, PHS= 0.414,-1.161, 0.045, RAW= 137.1,   9.9, CAL= 141.2,   3.3, ROT=   8.8,  -3.3

2025-06-08T00:09:02.143Z,1749341342.143 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:02.152Z,1749341342.152 [DAT](INFO): direction in FSK: [0.986590,0.152732,0.057564]
2025-06-08T00:09:02.152Z,1749341342.152 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:02.164Z,1749341342.164 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:02.164Z,1749341342.164 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:02.344Z,1749341342.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.507963 s,
      deltaX: -0.600000 m,
      approachRate: -1.181189 m/s,
      rangeRepo size: 4

2025-06-08T00:09:02.346Z,1749341342.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.461458 m,
      bearing: 298.572327 deg,
      lat: 36.905938 deg,
      lon: -122.115923 deg,
      deltaT: 0.507963 s,
      deltaX: -0.595276 m,
      approachRate: -1.171888 m/s,
      posRepo size: 4

2025-06-08T00:09:02.347Z,1749341342.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.46 m.
2025-06-08T00:09:02.355Z,1749341342.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.461458 m,
      nav range: 17.574589 m,
      bearing: 299.901267 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192235 deg/s,
      cmd heading: 288.189805 deg,
      new cmd heading: 288.442813 deg.

2025-06-08T00:09:02.360Z,1749341342.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.034277 target range: 17.461458 and range: 17.60 m.
2025-06-08T00:09:02.376Z,1749341342.376 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:02.376Z,1749341342.376 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:02.377Z,1749341342.377 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:02.629Z,1749341342.629 [DAT](INFO): DAT read: Rx Time:00:09:02.0010 

2025-06-08T00:09:02.629Z,1749341342.629 [DAT](INFO): Rx dataTimestamp_ set to:1749341342.629205
2025-06-08T00:09:02.631Z,1749341342.631 [DAT](INFO): DAT read: Bearing   8.3,  -4.9 (Local)

2025-06-08T00:09:02.635Z,1749341342.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  -4.9 (Local)

2025-06-08T00:09:02.637Z,1749341342.637 [DAT](INFO): DAT read: Range 10 to 50 :    17.4 m (trip time 11.6 ms) speed 0.5

2025-06-08T00:09:02.642Z,1749341342.642 [DAT](INFO): DAT read: 00:09:02.0010 LVL= 32752, 32753, 25426, 32755, AGC= 64, IDX= 503, 0.21, 0.744,-0.800, 0.488, 0.461, PHS= 0.371,-1.214, 0.024, RAW= 138.0,  11.3, CAL= 141.7,   4.9, ROT=   8.3,  -4.9

2025-06-08T00:09:02.643Z,1749341342.643 [DAT](INFO): got valid direction response:
 00:09:02.0010 LVL= 32752, 32753, 25426, 32755, AGC= 64, IDX= 503, 0.21, 0.744,-0.800, 0.488, 0.461, PHS= 0.371,-1.214, 0.024, RAW= 138.0,  11.3, CAL= 141.7,   4.9, ROT=   8.3,  -4.9

2025-06-08T00:09:02.644Z,1749341342.644 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:02.645Z,1749341342.645 [DAT](INFO): direction in FSK: [0.985909,0.143829,0.085417]
2025-06-08T00:09:02.645Z,1749341342.645 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:02.655Z,1749341342.655 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:02.664Z,1749341342.664 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:02.722Z,1749341342.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.498972 s,
      deltaX: -0.200001 m,
      approachRate: -0.400826 m/s,
      rangeRepo size: 4

2025-06-08T00:09:02.729Z,1749341342.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.263025 m,
      bearing: 297.811331 deg,
      lat: 36.905936 deg,
      lon: -122.115924 deg,
      deltaT: 0.498972 s,
      deltaX: -0.198433 m,
      approachRate: -0.397683 m/s,
      posRepo size: 4

2025-06-08T00:09:02.729Z,1749341342.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.26 m.
2025-06-08T00:09:02.741Z,1749341342.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.263025 m,
      nav range: 17.318035 m,
      bearing: 299.362785 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192235 deg/s,
      cmd heading: 288.442823 deg,
      new cmd heading: 288.663346 deg.

2025-06-08T00:09:02.742Z,1749341342.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038126 target range: 17.263025 and range: 17.40 m.
2025-06-08T00:09:02.882Z,1749341342.882 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:02.884Z,1749341342.884 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:02.886Z,1749341342.886 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:03.138Z,1749341343.138 [DAT](INFO): DAT read: Rx Time:00:09:02.5007 

2025-06-08T00:09:03.140Z,1749341343.140 [DAT](INFO): Rx dataTimestamp_ set to:1749341343.139217
2025-06-08T00:09:03.144Z,1749341343.144 [DAT](INFO): DAT read: Bearing   8.8,  -2.7 (Local)

2025-06-08T00:09:03.145Z,1749341343.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  -2.7 (Local)

2025-06-08T00:09:03.152Z,1749341343.152 [DAT](INFO): DAT read: Range 10 to 50 :    17.0 m (trip time 11.3 ms) speed 0.4

2025-06-08T00:09:03.182Z,1749341343.182 [DAT](INFO): DAT read: 00:09:02.5007 LVL= 28448, 32753, 20658, 32755, AGC= 65, IDX= 500, 0.08,-1.288,-2.841,-1.570,-1.631, PHS= 0.431,-1.164, 0.057, RAW= 137.1,   9.4, CAL= 141.2,   2.7, ROT=   8.8,  -2.7

2025-06-08T00:09:03.183Z,1749341343.183 [DAT](INFO): got valid direction response:
 00:09:02.5007 LVL= 28448, 32753, 20658, 32755, AGC= 65, IDX= 500, 0.08,-1.288,-2.841,-1.570,-1.631, PHS= 0.431,-1.164, 0.057, RAW= 137.1,   9.4, CAL= 141.2,   2.7, ROT=   8.8,  -2.7

2025-06-08T00:09:03.191Z,1749341343.191 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:03.192Z,1749341343.192 [DAT](INFO): direction in FSK: [0.987131,0.152816,0.047106]
2025-06-08T00:09:03.192Z,1749341343.192 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:03.208Z,1749341343.208 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:03.209Z,1749341343.209 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:03.388Z,1749341343.388 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:03.388Z,1749341343.388 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:03.388Z,1749341343.388 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:03.421Z,1749341343.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.510012 s,
      deltaX: -0.400000 m,
      approachRate: -0.784295 m/s,
      rangeRepo size: 4

2025-06-08T00:09:03.428Z,1749341343.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.866175 m,
      bearing: 298.266636 deg,
      lat: 36.905934 deg,
      lon: -122.115924 deg,
      deltaT: 0.510012 s,
      deltaX: -0.396851 m,
      approachRate: -0.778120 m/s,
      posRepo size: 4

2025-06-08T00:09:03.428Z,1749341343.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.87 m.
2025-06-08T00:09:03.435Z,1749341343.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.866175 m,
      nav range: 16.777691 m,
      bearing: 298.655664 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192235 deg/s,
      cmd heading: 288.663356 deg,
      new cmd heading: 289.066536 deg.

2025-06-08T00:09:03.436Z,1749341343.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045163 target range: 16.866175 and range: 17.00 m.
2025-06-08T00:09:03.641Z,1749341343.641 [DAT](INFO): DAT read: Rx Time:00:09:03.0006 

2025-06-08T00:09:03.641Z,1749341343.641 [DAT](INFO): Rx dataTimestamp_ set to:1749341343.641108
2025-06-08T00:09:03.643Z,1749341343.643 [DAT](INFO): DAT read: Bearing   8.5,  -3.3 (Local)

2025-06-08T00:09:03.643Z,1749341343.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,  -3.3 (Local)

2025-06-08T00:09:03.645Z,1749341343.645 [DAT](INFO): DAT read: Range 10 to 50 :    16.8 m (trip time 11.2 ms) speed 0.4

2025-06-08T00:09:03.650Z,1749341343.650 [DAT](INFO): DAT read: 00:09:03.0006 LVL= 26656, 32753, 20514, 32755, AGC= 62, IDX= 498,-0.06,-2.592, 2.143,-2.862,-2.916, PHS= 0.412,-1.177, 0.051, RAW= 137.5,   9.9, CAL= 141.5,   3.3, ROT=   8.5,  -3.3

2025-06-08T00:09:03.655Z,1749341343.655 [DAT](INFO): got valid direction response:
 00:09:03.0006 LVL= 26656, 32753, 20514, 32755, AGC= 62, IDX= 498,-0.06,-2.592, 2.143,-2.862,-2.916, PHS= 0.412,-1.177, 0.051, RAW= 137.5,   9.9, CAL= 141.5,   3.3, ROT=   8.5,  -3.3

2025-06-08T00:09:03.656Z,1749341343.656 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:03.656Z,1749341343.656 [DAT](INFO): direction in FSK: [0.987376,0.147564,0.057564]
2025-06-08T00:09:03.657Z,1749341343.657 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:03.665Z,1749341343.665 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:03.667Z,1749341343.667 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:03.834Z,1749341343.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.501891 s,
      deltaX: -0.200001 m,
      approachRate: -0.398494 m/s,
      rangeRepo size: 4

2025-06-08T00:09:03.836Z,1749341343.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.667698 m,
      bearing: 297.912526 deg,
      lat: 36.905934 deg,
      lon: -122.115926 deg,
      deltaT: 0.501891 s,
      deltaX: -0.198477 m,
      approachRate: -0.395458 m/s,
      posRepo size: 4

2025-06-08T00:09:03.837Z,1749341343.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.67 m.
2025-06-08T00:09:03.844Z,1749341343.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.667698 m,
      nav range: 16.599234 m,
      bearing: 298.295840 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192235 deg/s,
      cmd heading: 289.066528 deg,
      new cmd heading: 289.304556 deg.

2025-06-08T00:09:03.845Z,1749341343.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.049317 target range: 16.667698 and range: 16.80 m.
2025-06-08T00:09:03.893Z,1749341343.893 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:03.893Z,1749341343.893 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:03.893Z,1749341343.893 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:04.149Z,1749341344.149 [DAT](INFO): DAT read: Rx Time:00:09:03.5003 

2025-06-08T00:09:04.150Z,1749341344.150 [DAT](INFO): Rx dataTimestamp_ set to:1749341344.149396
2025-06-08T00:09:04.154Z,1749341344.154 [DAT](INFO): DAT read: Bearing   7.2,  -3.7 (Local)

2025-06-08T00:09:04.155Z,1749341344.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,  -3.7 (Local)

2025-06-08T00:09:04.160Z,1749341344.160 [DAT](INFO): DAT read: Range 10 to 50 :    16.4 m (trip time 10.9 ms) speed 0.5

2025-06-08T00:09:04.166Z,1749341344.166 [DAT](INFO): DAT read: 00:09:03.5003 LVL= 32752, 32753, 22514, 32755, AGC= 61, IDX= 495,-0.22, 2.750, 1.206, 2.528, 2.459, PHS= 0.379,-1.206, 0.066, RAW= 139.2,  10.5, CAL= 142.8,   3.7, ROT=   7.2,  -3.7

2025-06-08T00:09:04.168Z,1749341344.168 [DAT](INFO): got valid direction response:
 00:09:03.5003 LVL= 32752, 32753, 22514, 32755, AGC= 61, IDX= 495,-0.22, 2.750, 1.206, 2.528, 2.459, PHS= 0.379,-1.206, 0.066, RAW= 139.2,  10.5, CAL= 142.8,   3.7, ROT=   7.2,  -3.7

2025-06-08T00:09:04.168Z,1749341344.168 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:04.169Z,1749341344.169 [DAT](INFO): direction in FSK: [0.990047,0.125072,0.064532]
2025-06-08T00:09:04.169Z,1749341344.169 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:04.173Z,1749341344.173 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:04.173Z,1749341344.173 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:04.292Z,1749341344.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.508288 s,
      deltaX: -0.400000 m,
      approachRate: -0.786955 m/s,
      rangeRepo size: 4

2025-06-08T00:09:04.295Z,1749341344.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.270849 m,
      bearing: 296.619220 deg,
      lat: 36.905933 deg,
      lon: -122.115926 deg,
      deltaT: 0.508288 s,
      deltaX: -0.396849 m,
      approachRate: -0.780756 m/s,
      posRepo size: 4

2025-06-08T00:09:04.300Z,1749341344.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.27 m.
2025-06-08T00:09:04.302Z,1749341344.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.270849 m,
      nav range: 16.286999 m,
      bearing: 298.100008 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192235 deg/s,
      cmd heading: 289.304547 deg,
      new cmd heading: 289.568934 deg.

2025-06-08T00:09:04.315Z,1749341344.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053931 target range: 16.270849 and range: 16.40 m.
2025-06-08T00:09:04.397Z,1749341344.397 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:04.397Z,1749341344.397 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:04.398Z,1749341344.398 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:04.649Z,1749341344.649 [DAT](INFO): DAT read: Rx Time:00:09:04.0001 

2025-06-08T00:09:04.649Z,1749341344.649 [DAT](INFO): Rx dataTimestamp_ set to:1749341344.648934
2025-06-08T00:09:04.651Z,1749341344.651 [DAT](INFO): DAT read: Bearing   7.1,  -5.3 (Local)

2025-06-08T00:09:04.651Z,1749341344.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,  -5.3 (Local)

2025-06-08T00:09:04.653Z,1749341344.653 [DAT](INFO): DAT read: Range 10 to 50 :    16.1 m (trip time 10.7 ms) speed 0.4

2025-06-08T00:09:04.662Z,1749341344.662 [DAT](INFO): DAT read: 00:09:04.0001 LVL= 32752, 32753, 26226, 32755, AGC= 59, IDX= 510,-0.34,-2.380, 2.366,-2.593,-2.632, PHS= 0.341,-1.238, 0.037, RAW= 139.5,  11.8, CAL= 142.9,   5.3, ROT=   7.1,  -5.3

2025-06-08T00:09:04.663Z,1749341344.663 [DAT](INFO): got valid direction response:
 00:09:04.0001 LVL= 32752, 32753, 26226, 32755, AGC= 59, IDX= 510,-0.34,-2.380, 2.366,-2.593,-2.632, PHS= 0.341,-1.238, 0.037, RAW= 139.5,  11.8, CAL= 142.9,   5.3, ROT=   7.1,  -5.3

2025-06-08T00:09:04.663Z,1749341344.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:04.664Z,1749341344.664 [DAT](INFO): direction in FSK: [0.988089,0.123073,0.092371]
2025-06-08T00:09:04.665Z,1749341344.665 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:04.668Z,1749341344.668 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:04.668Z,1749341344.668 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:04.752Z,1749341344.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.499538 s,
      deltaX: -0.299999 m,
      approachRate: -0.600553 m/s,
      rangeRepo size: 4

2025-06-08T00:09:04.754Z,1749341344.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.973196 m,
      bearing: 296.380595 deg,
      lat: 36.905933 deg,
      lon: -122.115927 deg,
      deltaT: 0.499538 s,
      deltaX: -0.297653 m,
      approachRate: -0.595857 m/s,
      posRepo size: 4

2025-06-08T00:09:04.759Z,1749341344.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.97 m.
2025-06-08T00:09:04.762Z,1749341344.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.973196 m,
      nav range: 16.057713 m,
      bearing: 297.765450 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192235 deg/s,
      cmd heading: 289.568930 deg,
      new cmd heading: 289.834178 deg.

2025-06-08T00:09:04.767Z,1749341344.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058561 target range: 15.973196 and range: 16.10 m.
2025-06-08T00:09:04.900Z,1749341344.900 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:04.900Z,1749341344.900 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:04.901Z,1749341344.901 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:05.133Z,1749341345.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:05.150Z,1749341345.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.97 m.
2025-06-08T00:09:05.156Z,1749341345.156 [DAT](INFO): DAT read: Rx Time:00:09:04.4999 

2025-06-08T00:09:05.158Z,1749341345.158 [DAT](INFO): Rx dataTimestamp_ set to:1749341345.157060
2025-06-08T00:09:05.164Z,1749341345.164 [DAT](INFO): DAT read: Bearing   6.3,  -3.7 (Local)

2025-06-08T00:09:05.165Z,1749341345.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  -3.7 (Local)

2025-06-08T00:09:05.179Z,1749341345.179 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.4

2025-06-08T00:09:05.196Z,1749341345.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.973196 m,
      nav range: 15.810820 m,
      bearing: 297.788282 deg,
      approach rate: -0.622326 m/s,
      LOS rate: 0.058450 deg/s,
      cmd heading: 289.834187 deg,
      new cmd heading: 289.903753 deg.

2025-06-08T00:09:05.197Z,1749341345.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059775 target range: 15.973196 and range: 16.10 m.
2025-06-08T00:09:05.212Z,1749341345.212 [DAT](INFO): DAT read: 00:09:04.4999 LVL= 31776, 32753, 26546, 32755, AGC= 57, IDX= 507,-0.48,-3.070, 1.647, 3.019, 2.933, PHS= 0.368,-1.240, 0.083, RAW= 140.4,  10.6, CAL= 143.7,   3.7, ROT=   6.3,  -3.7

2025-06-08T00:09:05.213Z,1749341345.213 [DAT](INFO): got valid direction response:
 00:09:04.4999 LVL= 31776, 32753, 26546, 32755, AGC= 57, IDX= 507,-0.48,-3.070, 1.647, 3.019, 2.933, PHS= 0.368,-1.240, 0.083, RAW= 140.4,  10.6, CAL= 143.7,   3.7, ROT=   6.3,  -3.7

2025-06-08T00:09:05.214Z,1749341345.214 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:05.215Z,1749341345.215 [DAT](INFO): direction in FSK: [0.991889,0.109506,0.064532]
2025-06-08T00:09:05.227Z,1749341345.227 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:05.234Z,1749341345.234 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:05.235Z,1749341345.235 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:05.406Z,1749341345.406 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:05.407Z,1749341345.407 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:05.407Z,1749341345.407 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:05.563Z,1749341345.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.508126 s,
      deltaX: -0.500000 m,
      approachRate: -0.984008 m/s,
      rangeRepo size: 4

2025-06-08T00:09:05.582Z,1749341345.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.477134 m,
      bearing: 295.766267 deg,
      lat: 36.905930 deg,
      lon: -122.115928 deg,
      deltaT: 0.508126 s,
      deltaX: -0.496062 m,
      approachRate: -0.976258 m/s,
      posRepo size: 4

2025-06-08T00:09:05.588Z,1749341345.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.48 m.
2025-06-08T00:09:05.595Z,1749341345.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.477134 m,
      nav range: 15.491251 m,
      bearing: 296.635823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058450 deg/s,
      cmd heading: 289.903746 deg,
      new cmd heading: 289.972040 deg.

2025-06-08T00:09:05.598Z,1749341345.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060967 target range: 15.477134 and range: 15.60 m.
2025-06-08T00:09:05.658Z,1749341345.658 [DAT](INFO): DAT read: Rx Time:00:09:04.9998 

2025-06-08T00:09:05.659Z,1749341345.659 [DAT](INFO): Rx dataTimestamp_ set to:1749341345.658216
2025-06-08T00:09:05.669Z,1749341345.669 [DAT](INFO): DAT read: Bearing   4.5,  -3.4 (Local)

2025-06-08T00:09:05.670Z,1749341345.670 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  -3.4 (Local)

2025-06-08T00:09:05.673Z,1749341345.673 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.3

2025-06-08T00:09:05.681Z,1749341345.681 [DAT](INFO): DAT read: 00:09:04.9998 LVL= 32752, 32753, 27890, 32755, AGC= 57, IDX= 505, 0.38,-0.102,-1.646,-0.222,-0.348, PHS= 0.334,-1.251, 0.123, RAW= 142.9,  10.7, CAL= 145.5,   3.4, ROT=   4.5,  -3.4

2025-06-08T00:09:05.682Z,1749341345.682 [DAT](INFO): got valid direction response:
 00:09:04.9998 LVL= 32752, 32753, 27890, 32755, AGC= 57, IDX= 505, 0.38,-0.102,-1.646,-0.222,-0.348, PHS= 0.334,-1.251, 0.123, RAW= 142.9,  10.7, CAL= 145.5,   3.4, ROT=   4.5,  -3.4

2025-06-08T00:09:05.682Z,1749341345.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:05.683Z,1749341345.683 [DAT](INFO): direction in FSK: [0.995163,0.078321,0.059306]
2025-06-08T00:09:05.683Z,1749341345.683 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:05.687Z,1749341345.687 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:05.695Z,1749341345.695 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:05.908Z,1749341345.908 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:05.908Z,1749341345.908 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:05.909Z,1749341345.909 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:05.948Z,1749341345.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.501156 s,
      deltaX: -0.100000 m,
      approachRate: -0.199539 m/s,
      rangeRepo size: 4

2025-06-08T00:09:05.956Z,1749341345.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.377896 m,
      bearing: 294.167613 deg,
      lat: 36.905929 deg,
      lon: -122.115928 deg,
      deltaT: 0.501156 s,
      deltaX: -0.099237 m,
      approachRate: -0.198017 m/s,
      posRepo size: 4

2025-06-08T00:09:05.957Z,1749341345.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.38 m.
2025-06-08T00:09:05.965Z,1749341345.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.377896 m,
      nav range: 15.221618 m,
      bearing: 296.382152 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058450 deg/s,
      cmd heading: 289.972048 deg,
      new cmd heading: 290.042992 deg.

2025-06-08T00:09:05.967Z,1749341345.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062205 target range: 15.377896 and range: 15.50 m.
2025-06-08T00:09:06.165Z,1749341346.165 [DAT](INFO): DAT read: Rx Time:00:09:05.4995 

2025-06-08T00:09:06.166Z,1749341346.166 [DAT](INFO): Rx dataTimestamp_ set to:1749341346.165356
2025-06-08T00:09:06.171Z,1749341346.171 [DAT](INFO): DAT read: Bearing   3.8,  -3.7 (Local)

2025-06-08T00:09:06.172Z,1749341346.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,  -3.7 (Local)

2025-06-08T00:09:06.192Z,1749341346.192 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.4

2025-06-08T00:09:06.198Z,1749341346.198 [DAT](INFO): DAT read: 00:09:05.4995 LVL= 32752, 32753, 31586, 32755, AGC= 59, IDX= 502, 0.40,-1.000,-2.535,-1.094,-1.225, PHS= 0.313,-1.263, 0.128, RAW= 143.8,  11.0, CAL= 146.2,   3.7, ROT=   3.8,  -3.7

2025-06-08T00:09:06.211Z,1749341346.211 [DAT](INFO): got valid direction response:
 00:09:05.4995 LVL= 32752, 32753, 31586, 32755, AGC= 59, IDX= 502, 0.40,-1.000,-2.535,-1.094,-1.225, PHS= 0.313,-1.263, 0.128, RAW= 143.8,  11.0, CAL= 146.2,   3.7, ROT=   3.8,  -3.7

2025-06-08T00:09:06.216Z,1749341346.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:06.217Z,1749341346.217 [DAT](INFO): direction in FSK: [0.995722,0.066136,0.064532]
2025-06-08T00:09:06.218Z,1749341346.218 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:06.230Z,1749341346.230 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:06.230Z,1749341346.230 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:06.400Z,1749341346.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.507140 s,
      deltaX: -0.500000 m,
      approachRate: -0.985921 m/s,
      rangeRepo size: 4

2025-06-08T00:09:06.402Z,1749341346.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.881835 m,
      bearing: 293.450096 deg,
      lat: 36.905928 deg,
      lon: -122.115929 deg,
      deltaT: 0.507140 s,
      deltaX: -0.496061 m,
      approachRate: -0.978155 m/s,
      posRepo size: 4

2025-06-08T00:09:06.408Z,1749341346.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-08T00:09:06.411Z,1749341346.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.881835 m,
      nav range: 14.951616 m,
      bearing: 295.746194 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058450 deg/s,
      cmd heading: 290.043000 deg,
      new cmd heading: 290.123185 deg.

2025-06-08T00:09:06.412Z,1749341346.412 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:06.412Z,1749341346.412 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:06.412Z,1749341346.412 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:06.420Z,1749341346.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063605 target range: 14.881835 and range: 15.00 m.
2025-06-08T00:09:06.665Z,1749341346.665 [DAT](INFO): DAT read: Rx Time:00:09:05.9995 

2025-06-08T00:09:06.665Z,1749341346.665 [DAT](INFO): Rx dataTimestamp_ set to:1749341346.665064
2025-06-08T00:09:06.667Z,1749341346.667 [DAT](INFO): DAT read: Bearing   3.6,  -3.7 (Local)

2025-06-08T00:09:06.671Z,1749341346.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6,  -3.7 (Local)

2025-06-08T00:09:06.673Z,1749341346.673 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.2

2025-06-08T00:09:06.678Z,1749341346.678 [DAT](INFO): DAT read: 00:09:05.9995 LVL= 32752, 32753, 27810, 32755, AGC= 60, IDX= 501, 0.48, 0.216,-1.313, 0.131,-0.003, PHS= 0.307,-1.263, 0.131, RAW= 144.1,  11.1, CAL= 146.4,   3.7, ROT=   3.6,  -3.7

2025-06-08T00:09:06.679Z,1749341346.679 [DAT](INFO): got valid direction response:
 00:09:05.9995 LVL= 32752, 32753, 27810, 32755, AGC= 60, IDX= 501, 0.48, 0.216,-1.313, 0.131,-0.003, PHS= 0.307,-1.263, 0.131, RAW= 144.1,  11.1, CAL= 146.4,   3.7, ROT=   3.6,  -3.7

2025-06-08T00:09:06.680Z,1749341346.680 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:06.681Z,1749341346.681 [DAT](INFO): direction in FSK: [0.995946,0.062660,0.064532]
2025-06-08T00:09:06.681Z,1749341346.681 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:06.688Z,1749341346.688 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:06.689Z,1749341346.689 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:06.789Z,1749341346.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.499708 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:06.796Z,1749341346.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.881811 m,
      bearing: 293.250968 deg,
      lat: 36.905925 deg,
      lon: -122.115931 deg,
      deltaT: 0.499708 s,
      deltaX: -0.000024 m,
      approachRate: -0.000048 m/s,
      posRepo size: 4

2025-06-08T00:09:06.797Z,1749341346.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-08T00:09:06.800Z,1749341346.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.881811 m,
      nav range: 14.737350 m,
      bearing: 294.296538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058450 deg/s,
      cmd heading: 290.123186 deg,
      new cmd heading: 290.191358 deg.

2025-06-08T00:09:06.801Z,1749341346.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064795 target range: 14.881811 and range: 15.00 m.
2025-06-08T00:09:06.916Z,1749341346.916 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:06.916Z,1749341346.916 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:06.917Z,1749341346.917 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:07.142Z,1749341347.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:07.149Z,1749341347.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.88 m.
2025-06-08T00:09:07.157Z,1749341347.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.881811 m,
      nav range: 14.505306 m,
      bearing: 294.258487 deg,
      approach rate: -0.644333 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 290.191351 deg,
      new cmd heading: 290.075374 deg.

2025-06-08T00:09:07.165Z,1749341347.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062770 target range: 14.881811 and range: 15.00 m.
2025-06-08T00:09:07.173Z,1749341347.173 [DAT](INFO): DAT read: Rx Time:00:09:06.4992 

2025-06-08T00:09:07.175Z,1749341347.175 [DAT](INFO): Rx dataTimestamp_ set to:1749341347.173624
2025-06-08T00:09:07.178Z,1749341347.178 [DAT](INFO): DAT read: Bearing   1.8,  -2.8 (Local)

2025-06-08T00:09:07.180Z,1749341347.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  -2.8 (Local)

2025-06-08T00:09:07.194Z,1749341347.194 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed 0.4

2025-06-08T00:09:07.233Z,1749341347.233 [DAT](INFO): DAT read: 00:09:06.4992 LVL= 32752, 32753, 27634, 32755, AGC= 61, IDX= 499,-0.41,-2.150, 2.611,-2.160,-2.348, PHS= 0.287,-1.277, 0.186, RAW= 146.7,  10.6, CAL= 148.2,   2.8, ROT=   1.8,  -2.8

2025-06-08T00:09:07.234Z,1749341347.234 [DAT](INFO): got valid direction response:
 00:09:06.4992 LVL= 32752, 32753, 27634, 32755, AGC= 61, IDX= 499,-0.41,-2.150, 2.611,-2.160,-2.348, PHS= 0.287,-1.277, 0.186, RAW= 146.7,  10.6, CAL= 148.2,   2.8, ROT=   1.8,  -2.8

2025-06-08T00:09:07.235Z,1749341347.235 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:07.248Z,1749341347.248 [DAT](INFO): direction in FSK: [0.998313,0.031373,0.048850]
2025-06-08T00:09:07.248Z,1749341347.248 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:07.261Z,1749341347.261 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:07.262Z,1749341347.262 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:07.420Z,1749341347.420 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:07.420Z,1749341347.420 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:07.421Z,1749341347.421 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:07.608Z,1749341347.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.508560 s,
      deltaX: -0.400000 m,
      approachRate: -0.786534 m/s,
      rangeRepo size: 4

2025-06-08T00:09:07.610Z,1749341347.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.484963 m,
      bearing: 292.059446 deg,
      lat: 36.905923 deg,
      lon: -122.115932 deg,
      deltaT: 0.508560 s,
      deltaX: -0.396848 m,
      approachRate: -0.780336 m/s,
      posRepo size: 4

2025-06-08T00:09:07.611Z,1749341347.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.48 m.
2025-06-08T00:09:07.628Z,1749341347.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.484963 m,
      nav range: 14.260888 m,
      bearing: 293.315765 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 290.075375 deg,
      new cmd heading: 289.929081 deg.

2025-06-08T00:09:07.629Z,1749341347.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060217 target range: 14.484963 and range: 14.60 m.
2025-06-08T00:09:07.674Z,1749341347.674 [DAT](INFO): DAT read: Rx Time:00:09:06.9990 

2025-06-08T00:09:07.675Z,1749341347.675 [DAT](INFO): Rx dataTimestamp_ set to:1749341347.674206
2025-06-08T00:09:07.677Z,1749341347.677 [DAT](INFO): DAT read: Bearing   1.2,  -3.6 (Local)

2025-06-08T00:09:07.677Z,1749341347.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  -3.6 (Local)

2025-06-08T00:09:07.681Z,1749341347.681 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-06-08T00:09:07.693Z,1749341347.693 [DAT](INFO): DAT read: 00:09:06.9990 LVL= 32752, 32753, 27890, 32755, AGC= 60, IDX= 497,-0.29,-2.574, 2.213,-2.563,-2.742, PHS= 0.256,-1.281, 0.175, RAW= 147.3,  11.3, CAL= 148.8,   3.6, ROT=   1.2,  -3.6

2025-06-08T00:09:07.695Z,1749341347.695 [DAT](INFO): got valid direction response:
 00:09:06.9990 LVL= 32752, 32753, 27890, 32755, AGC= 60, IDX= 497,-0.29,-2.574, 2.213,-2.563,-2.742, PHS= 0.256,-1.281, 0.175, RAW= 147.3,  11.3, CAL= 148.8,   3.6, ROT=   1.2,  -3.6

2025-06-08T00:09:07.696Z,1749341347.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:07.697Z,1749341347.697 [DAT](INFO): direction in FSK: [0.997808,0.020901,0.062791]
2025-06-08T00:09:07.698Z,1749341347.698 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:07.701Z,1749341347.701 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:07.702Z,1749341347.702 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:07.924Z,1749341347.924 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:07.924Z,1749341347.924 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:07.924Z,1749341347.924 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:07.959Z,1749341347.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.500582 s,
      deltaX: -0.300000 m,
      approachRate: -0.599303 m/s,
      rangeRepo size: 4

2025-06-08T00:09:07.966Z,1749341347.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.187354 m,
      bearing: 291.564423 deg,
      lat: 36.905923 deg,
      lon: -122.115934 deg,
      deltaT: 0.500582 s,
      deltaX: -0.297609 m,
      approachRate: -0.594527 m/s,
      posRepo size: 4

2025-06-08T00:09:07.971Z,1749341347.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.19 m.
2025-06-08T00:09:07.974Z,1749341347.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.187354 m,
      nav range: 14.125154 m,
      bearing: 292.857702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 289.929072 deg,
      new cmd heading: 289.814909 deg.

2025-06-08T00:09:07.979Z,1749341347.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058224 target range: 14.187354 and range: 14.30 m.
2025-06-08T00:09:08.181Z,1749341348.181 [DAT](INFO): DAT read: Rx Time:00:09:07.4987 

2025-06-08T00:09:08.182Z,1749341348.182 [DAT](INFO): Rx dataTimestamp_ set to:1749341348.181255
2025-06-08T00:09:08.186Z,1749341348.186 [DAT](INFO): DAT read: Bearing   0.7,  -4.0 (Local)

2025-06-08T00:09:08.188Z,1749341348.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  -4.0 (Local)

2025-06-08T00:09:08.194Z,1749341348.194 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.4

2025-06-08T00:09:08.224Z,1749341348.224 [DAT](INFO): DAT read: 00:09:07.4987 LVL= 32752, 32753, 29522, 32755, AGC= 60, IDX= 510,-0.23, 2.597, 1.115, 2.628, 2.451, PHS= 0.235,-1.289, 0.174, RAW= 148.0,  11.8, CAL= 149.3,   4.0, ROT=   0.7,  -4.0

2025-06-08T00:09:08.225Z,1749341348.225 [DAT](INFO): got valid direction response:
 00:09:07.4987 LVL= 32752, 32753, 29522, 32755, AGC= 60, IDX= 510,-0.23, 2.597, 1.115, 2.628, 2.451, PHS= 0.235,-1.289, 0.174, RAW= 148.0,  11.8, CAL= 149.3,   4.0, ROT=   0.7,  -4.0

2025-06-08T00:09:08.225Z,1749341348.225 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:08.226Z,1749341348.226 [DAT](INFO): direction in FSK: [0.997490,0.012187,0.069756]
2025-06-08T00:09:08.226Z,1749341348.226 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:08.235Z,1749341348.235 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:08.241Z,1749341348.241 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:08.410Z,1749341348.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.507049 s,
      deltaX: -0.500000 m,
      approachRate: -0.986098 m/s,
      rangeRepo size: 4

2025-06-08T00:09:08.417Z,1749341348.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.691293 m,
      bearing: 291.036868 deg,
      lat: 36.905921 deg,
      lon: -122.115934 deg,
      deltaT: 0.507049 s,
      deltaX: -0.496061 m,
      approachRate: -0.978330 m/s,
      posRepo size: 4

2025-06-08T00:09:08.418Z,1749341348.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.69 m.
2025-06-08T00:09:08.425Z,1749341348.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.691293 m,
      nav range: 13.802672 m,
      bearing: 292.212642 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 289.814899 deg,
      new cmd heading: 289.671498 deg.

2025-06-08T00:09:08.426Z,1749341348.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055721 target range: 13.691293 and range: 13.80 m.
2025-06-08T00:09:08.428Z,1749341348.428 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:08.428Z,1749341348.428 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:08.429Z,1749341348.429 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:08.681Z,1749341348.681 [DAT](INFO): DAT read: Rx Time:00:09:07.9986 

2025-06-08T00:09:08.682Z,1749341348.682 [DAT](INFO): Rx dataTimestamp_ set to:1749341348.681247
2025-06-08T00:09:08.683Z,1749341348.683 [DAT](INFO): DAT read: Bearing 359.3,  -4.3 (Local)

2025-06-08T00:09:08.683Z,1749341348.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  -4.3 (Local)

2025-06-08T00:09:08.685Z,1749341348.685 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed 0.5

2025-06-08T00:09:08.690Z,1749341348.690 [DAT](INFO): DAT read: 00:09:07.9986 LVL= 32752, 32753, 26802, 32755, AGC= 62, IDX= 509,-0.19,-2.615, 2.197,-2.531,-2.727, PHS= 0.200,-1.312, 0.193, RAW= 149.8,  12.2, CAL= 150.7,   4.3, ROT= 359.3,  -4.3

2025-06-08T00:09:08.707Z,1749341348.707 [DAT](INFO): got valid direction response:
 00:09:07.9986 LVL= 32752, 32753, 26802, 32755, AGC= 62, IDX= 509,-0.19,-2.615, 2.197,-2.531,-2.727, PHS= 0.200,-1.312, 0.193, RAW= 149.8,  12.2, CAL= 150.7,   4.3, ROT= 359.3,  -4.3

2025-06-08T00:09:08.708Z,1749341348.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:08.709Z,1749341348.709 [DAT](INFO): direction in FSK: [0.997111,-0.012183,0.074979]
2025-06-08T00:09:08.709Z,1749341348.709 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:08.717Z,1749341348.717 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:08.717Z,1749341348.717 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:08.781Z,1749341348.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.499992 s,
      deltaX: -0.100000 m,
      approachRate: -0.200004 m/s,
      rangeRepo size: 4

2025-06-08T00:09:08.792Z,1749341348.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.592116 m,
      bearing: 289.931214 deg,
      lat: 36.905920 deg,
      lon: -122.115936 deg,
      deltaT: 0.499992 s,
      deltaX: -0.099176 m,
      approachRate: -0.198356 m/s,
      posRepo size: 4

2025-06-08T00:09:08.792Z,1749341348.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.59 m.
2025-06-08T00:09:08.807Z,1749341348.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.592116 m,
      nav range: 13.673656 m,
      bearing: 291.396002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 289.671492 deg,
      new cmd heading: 289.549795 deg.

2025-06-08T00:09:08.809Z,1749341348.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053597 target range: 13.592116 and range: 13.70 m.
2025-06-08T00:09:08.933Z,1749341348.933 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:08.933Z,1749341348.933 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:08.934Z,1749341348.934 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:09.189Z,1749341349.189 [DAT](INFO): DAT read: Rx Time:00:09:08.4983 

2025-06-08T00:09:09.190Z,1749341349.190 [DAT](INFO): Rx dataTimestamp_ set to:1749341349.189279
2025-06-08T00:09:09.194Z,1749341349.194 [DAT](INFO): DAT read: Bearing 357.8,  -3.5 (Local)

2025-06-08T00:09:09.206Z,1749341349.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  -3.5 (Local)

2025-06-08T00:09:09.258Z,1749341349.258 [DAT](INFO): DAT read: Range 10 to 50 :    13.2 m (trip time 8.8 ms) speed 0.7

2025-06-08T00:09:09.288Z,1749341349.288 [DAT](INFO): DAT read: 00:09:08.4983 LVL= 32752, 32753, 28466, 32755, AGC= 59, IDX= 506,-0.17, 2.781, 1.309, 2.920, 2.680, PHS= 0.189,-1.324, 0.237, RAW= 151.5,  11.7, CAL= 152.2,   3.5, ROT= 357.8,  -3.5

2025-06-08T00:09:09.289Z,1749341349.289 [DAT](INFO): got valid direction response:
 00:09:08.4983 LVL= 32752, 32753, 28466, 32755, AGC= 59, IDX= 506,-0.17, 2.781, 1.309, 2.920, 2.680, PHS= 0.189,-1.324, 0.237, RAW= 151.5,  11.7, CAL= 152.2,   3.5, ROT= 357.8,  -3.5

2025-06-08T00:09:09.289Z,1749341349.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:09.290Z,1749341349.290 [DAT](INFO): direction in FSK: [0.997399,-0.038317,0.061049]
2025-06-08T00:09:09.290Z,1749341349.290 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:09.306Z,1749341349.306 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:09.306Z,1749341349.306 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:09.416Z,1749341349.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.508032 s,
      deltaX: -0.500000 m,
      approachRate: -0.984190 m/s,
      rangeRepo size: 4

2025-06-08T00:09:09.418Z,1749341349.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.096054 m,
      bearing: 288.497508 deg,
      lat: 36.905919 deg,
      lon: -122.115936 deg,
      deltaT: 0.508032 s,
      deltaX: -0.496062 m,
      approachRate: -0.976439 m/s,
      posRepo size: 4

2025-06-08T00:09:09.423Z,1749341349.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-06-08T00:09:09.426Z,1749341349.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.096054 m,
      nav range: 13.228176 m,
      bearing: 290.532567 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 289.549805 deg,
      new cmd heading: 289.345405 deg.

2025-06-08T00:09:09.431Z,1749341349.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050030 target range: 13.096054 and range: 13.20 m.
2025-06-08T00:09:09.436Z,1749341349.436 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:09.436Z,1749341349.436 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:09.437Z,1749341349.437 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:09.690Z,1749341349.690 [DAT](INFO): DAT read: Rx Time:00:09:08.9982 

2025-06-08T00:09:09.691Z,1749341349.691 [DAT](INFO): Rx dataTimestamp_ set to:1749341349.690243
2025-06-08T00:09:09.693Z,1749341349.693 [DAT](INFO): DAT read: Bearing 355.8,  -4.1 (Local)

2025-06-08T00:09:09.694Z,1749341349.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  -4.1 (Local)

2025-06-08T00:09:09.706Z,1749341349.706 [DAT](INFO): DAT read: Range 10 to 50 :    13.1 m (trip time 8.7 ms) speed 0.4

2025-06-08T00:09:09.713Z,1749341349.713 [DAT](INFO): DAT read: 00:09:08.9982 LVL= 32752, 32753, 29810, 32755, AGC= 63, IDX= 505,-0.15,-2.207, 2.620,-1.998,-2.258, PHS= 0.139,-1.358, 0.257, RAW= 153.8,  12.3, CAL= 154.2,   4.1, ROT= 355.8,  -4.1

2025-06-08T00:09:09.714Z,1749341349.714 [DAT](INFO): got valid direction response:
 00:09:08.9982 LVL= 32752, 32753, 29810, 32755, AGC= 63, IDX= 505,-0.15,-2.207, 2.620,-1.998,-2.258, PHS= 0.139,-1.358, 0.257, RAW= 153.8,  12.3, CAL= 154.2,   4.1, ROT= 355.8,  -4.1

2025-06-08T00:09:09.714Z,1749341349.714 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:09.716Z,1749341349.716 [DAT](INFO): direction in FSK: [0.994762,-0.073051,0.071497]
2025-06-08T00:09:09.716Z,1749341349.716 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:09.722Z,1749341349.722 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:09.722Z,1749341349.722 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:09.928Z,1749341349.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.500964 s,
      deltaX: -0.099999 m,
      approachRate: -0.199614 m/s,
      rangeRepo size: 4

2025-06-08T00:09:09.931Z,1749341349.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.996816 m,
      bearing: 286.464129 deg,
      lat: 36.905917 deg,
      lon: -122.115936 deg,
      deltaT: 0.500964 s,
      deltaX: -0.099238 m,
      approachRate: -0.198095 m/s,
      posRepo size: 4

2025-06-08T00:09:09.932Z,1749341349.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.00 m.
2025-06-08T00:09:09.937Z,1749341349.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.996816 m,
      nav range: 12.843323 m,
      bearing: 289.654627 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 289.345419 deg,
      new cmd heading: 289.180656 deg.

2025-06-08T00:09:09.939Z,1749341349.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.047154 target range: 12.996816 and range: 13.10 m.
2025-06-08T00:09:09.941Z,1749341349.941 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:09.941Z,1749341349.941 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:09.941Z,1749341349.941 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:10.197Z,1749341350.197 [DAT](INFO): DAT read: Rx Time:00:09:09.4979 

2025-06-08T00:09:10.198Z,1749341350.198 [DAT](INFO): Rx dataTimestamp_ set to:1749341350.197171
2025-06-08T00:09:10.205Z,1749341350.205 [DAT](INFO): DAT read: Bearing 355.4,  -2.9 (Local)

2025-06-08T00:09:10.206Z,1749341350.206 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,  -2.9 (Local)

2025-06-08T00:09:10.217Z,1749341350.217 [DAT](INFO): DAT read: Range 10 to 50 :    12.6 m (trip time 8.4 ms) speed 0.6

2025-06-08T00:09:10.242Z,1749341350.242 [DAT](INFO): DAT read: 00:09:09.4979 LVL= 29136, 32545, 25330, 32755, AGC= 62, IDX= 502,-0.10, 2.015, 0.559, 2.246, 1.950, PHS= 0.153,-1.344, 0.293, RAW= 154.4,  11.4, CAL= 154.6,   2.9, ROT= 355.4,  -2.9

2025-06-08T00:09:10.250Z,1749341350.250 [DAT](INFO): got valid direction response:
 00:09:09.4979 LVL= 29136, 32545, 25330, 32755, AGC= 62, IDX= 502,-0.10, 2.015, 0.559, 2.246, 1.950, PHS= 0.153,-1.344, 0.293, RAW= 154.4,  11.4, CAL= 154.6,   2.9, ROT= 355.4,  -2.9

2025-06-08T00:09:10.255Z,1749341350.255 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:10.256Z,1749341350.256 [DAT](INFO): direction in FSK: [0.995502,-0.080096,0.050593]
2025-06-08T00:09:10.257Z,1749341350.257 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:10.264Z,1749341350.264 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:10.264Z,1749341350.264 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:10.444Z,1749341350.444 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:10.444Z,1749341350.444 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:10.445Z,1749341350.445 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:10.461Z,1749341350.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.506928 s,
      deltaX: -0.500000 m,
      approachRate: -0.986333 m/s,
      rangeRepo size: 4

2025-06-08T00:09:10.468Z,1749341350.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.500753 m,
      bearing: 286.571775 deg,
      lat: 36.905914 deg,
      lon: -122.115936 deg,
      deltaT: 0.506928 s,
      deltaX: -0.496062 m,
      approachRate: -0.978566 m/s,
      posRepo size: 4

2025-06-08T00:09:10.468Z,1749341350.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-06-08T00:09:10.475Z,1749341350.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.500753 m,
      nav range: 12.425063 m,
      bearing: 288.160920 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 289.180647 deg,
      new cmd heading: 289.008740 deg.

2025-06-08T00:09:10.476Z,1749341350.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044154 target range: 12.500753 and range: 12.60 m.
2025-06-08T00:09:10.697Z,1749341350.697 [DAT](INFO): DAT read: Rx Time:00:09:09.9978 

2025-06-08T00:09:10.698Z,1749341350.698 [DAT](INFO): Rx dataTimestamp_ set to:1749341350.697290
2025-06-08T00:09:10.708Z,1749341350.708 [DAT](INFO): DAT read: Bearing 353.9,  -3.5 (Local)

2025-06-08T00:09:10.709Z,1749341350.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,  -3.5 (Local)

2025-06-08T00:09:10.711Z,1749341350.711 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed 0.7

2025-06-08T00:09:10.721Z,1749341350.721 [DAT](INFO): DAT read: 00:09:09.9979 LVL= 32752, 32753, 29298, 32755, AGC= 64, IDX= 501,-0.15,-3.139, 1.709,-2.854, 3.122, PHS= 0.110,-1.366, 0.304, RAW= 156.1,  12.0, CAL= 156.1,   3.5, ROT= 353.9,  -3.5

2025-06-08T00:09:10.722Z,1749341350.722 [DAT](INFO): got valid direction response:
 00:09:09.9979 LVL= 32752, 32753, 29298, 32755, AGC= 64, IDX= 501,-0.15,-3.139, 1.709,-2.854, 3.122, PHS= 0.110,-1.366, 0.304, RAW= 156.1,  12.0, CAL= 156.1,   3.5, ROT= 353.9,  -3.5

2025-06-08T00:09:10.723Z,1749341350.723 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:10.724Z,1749341350.724 [DAT](INFO): direction in FSK: [0.992483,-0.106066,0.061049]
2025-06-08T00:09:10.724Z,1749341350.724 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:10.756Z,1749341350.756 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:10.756Z,1749341350.756 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:10.845Z,1749341350.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.500119 s,
      deltaX: -0.100000 m,
      approachRate: -0.199953 m/s,
      rangeRepo size: 4

2025-06-08T00:09:10.847Z,1749341350.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.401443 m,
      bearing: 285.073084 deg,
      lat: 36.905911 deg,
      lon: -122.115938 deg,
      deltaT: 0.500119 s,
      deltaX: -0.099310 m,
      approachRate: -0.198573 m/s,
      posRepo size: 4

2025-06-08T00:09:10.864Z,1749341350.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.40 m.
2025-06-08T00:09:10.866Z,1749341350.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.401443 m,
      nav range: 12.248925 m,
      bearing: 286.403160 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107347 deg/s,
      cmd heading: 289.008745 deg,
      new cmd heading: 288.885306 deg.

2025-06-08T00:09:10.872Z,1749341350.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.042000 target range: 12.401443 and range: 12.50 m.
2025-06-08T00:09:10.949Z,1749341350.949 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:10.949Z,1749341350.949 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:10.950Z,1749341350.950 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:11.191Z,1749341351.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:11.193Z,1749341351.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.40 m.
2025-06-08T00:09:11.201Z,1749341351.201 [DAT](INFO): DAT read: Rx Time:00:09:10.4976 

2025-06-08T00:09:11.202Z,1749341351.202 [DAT](INFO): Rx dataTimestamp_ set to:1749341351.201499
2025-06-08T00:09:11.204Z,1749341351.204 [DAT](INFO): DAT read: Bearing 353.0,  -2.2 (Local)

2025-06-08T00:09:11.204Z,1749341351.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,  -2.2 (Local)

2025-06-08T00:09:11.206Z,1749341351.206 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed 0.8

2025-06-08T00:09:11.211Z,1749341351.211 [DAT](INFO): DAT read: 00:09:10.4976 LVL= 28400, 31681, 22258, 32755, AGC= 62, IDX= 498,-0.34, 2.611, 1.185, 2.935, 2.585, PHS= 0.114,-1.354, 0.347, RAW= 157.3,  11.2, CAL= 157.0,   2.2, ROT= 353.0,  -2.2

2025-06-08T00:09:11.230Z,1749341351.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.401443 m,
      nav range: 12.008234 m,
      bearing: 286.234554 deg,
      approach rate: -0.689610 m/s,
      LOS rate: -0.492761 deg/s,
      cmd heading: 288.885310 deg,
      new cmd heading: 288.369366 deg.

2025-06-08T00:09:11.232Z,1749341351.232 [DAT](INFO): got valid direction response:
 00:09:10.4976 LVL= 28400, 31681, 22258, 32755, AGC= 62, IDX= 498,-0.34, 2.611, 1.185, 2.935, 2.585, PHS= 0.114,-1.354, 0.347, RAW= 157.3,  11.2, CAL= 157.0,   2.2, ROT= 353.0,  -2.2

2025-06-08T00:09:11.233Z,1749341351.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:11.241Z,1749341351.241 [DAT](INFO): direction in FSK: [0.991815,-0.121780,0.038388]
2025-06-08T00:09:11.242Z,1749341351.242 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:11.248Z,1749341351.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032995 target range: 12.401443 and range: 12.50 m.
2025-06-08T00:09:11.285Z,1749341351.285 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:11.285Z,1749341351.285 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:11.452Z,1749341351.452 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:11.452Z,1749341351.452 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:11.452Z,1749341351.452 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:11.636Z,1749341351.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504209 s,
      deltaX: -0.200000 m,
      approachRate: -0.396661 m/s,
      rangeRepo size: 4

2025-06-08T00:09:11.638Z,1749341351.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.203021 m,
      bearing: 284.193430 deg,
      lat: 36.905911 deg,
      lon: -122.115940 deg,
      deltaT: 0.504209 s,
      deltaX: -0.198422 m,
      approachRate: -0.393532 m/s,
      posRepo size: 4

2025-06-08T00:09:11.639Z,1749341351.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-06-08T00:09:11.641Z,1749341351.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.203021 m,
      nav range: 11.881749 m,
      bearing: 285.695576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.492761 deg/s,
      cmd heading: 288.369357 deg,
      new cmd heading: 287.716346 deg.

2025-06-08T00:09:11.642Z,1749341351.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.021597 target range: 12.203021 and range: 12.30 m.
2025-06-08T00:09:11.705Z,1749341351.705 [DAT](INFO): DAT read: Rx Time:00:09:10.9974 

2025-06-08T00:09:11.705Z,1749341351.705 [DAT](INFO): Rx dataTimestamp_ set to:1749341351.705013
2025-06-08T00:09:11.707Z,1749341351.707 [DAT](INFO): DAT read: Bearing 351.2,  -1.1 (Local)

2025-06-08T00:09:11.708Z,1749341351.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.2,  -1.1 (Local)

2025-06-08T00:09:11.711Z,1749341351.711 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed 0.6

2025-06-08T00:09:11.718Z,1749341351.718 [DAT](INFO): DAT read: 00:09:10.9973 LVL= 29664, 32753, 21234, 32755, AGC= 61, IDX= 495, 0.33,-1.687,-3.066,-1.291,-1.690, PHS= 0.091,-1.329, 0.395, RAW= 159.5,  10.6, CAL= 158.8,   1.1, ROT= 351.2,  -1.1

2025-06-08T00:09:11.720Z,1749341351.720 [DAT](INFO): got valid direction response:
 00:09:10.9973 LVL= 29664, 32753, 21234, 32755, AGC= 61, IDX= 495, 0.33,-1.687,-3.066,-1.291,-1.690, PHS= 0.091,-1.329, 0.395, RAW= 159.5,  10.6, CAL= 158.8,   1.1, ROT= 351.2,  -1.1

2025-06-08T00:09:11.720Z,1749341351.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:11.722Z,1749341351.722 [DAT](INFO): direction in FSK: [0.988046,-0.152957,0.019197]
2025-06-08T00:09:11.722Z,1749341351.722 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:11.734Z,1749341351.734 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:11.735Z,1749341351.735 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:11.956Z,1749341351.956 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:11.957Z,1749341351.957 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:11.957Z,1749341351.957 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:12.083Z,1749341352.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503514 s,
      deltaX: -0.300000 m,
      approachRate: -0.595813 m/s,
      rangeRepo size: 4

2025-06-08T00:09:12.090Z,1749341352.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.905284 m,
      bearing: 282.487898 deg,
      lat: 36.905909 deg,
      lon: -122.115941 deg,
      deltaT: 0.503514 s,
      deltaX: -0.297737 m,
      approachRate: -0.591318 m/s,
      posRepo size: 4

2025-06-08T00:09:12.090Z,1749341352.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.91 m.
2025-06-08T00:09:12.097Z,1749341352.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.905284 m,
      nav range: 11.620608 m,
      bearing: 284.445860 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.492761 deg/s,
      cmd heading: 287.716337 deg,
      new cmd heading: 287.055186 deg.

2025-06-08T00:09:12.098Z,1749341352.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010058 target range: 11.905284 and range: 12.00 m.
2025-06-08T00:09:12.210Z,1749341352.210 [DAT](INFO): DAT read: Rx Time:00:09:11.4970 

2025-06-08T00:09:12.210Z,1749341352.210 [DAT](INFO): Rx dataTimestamp_ set to:1749341352.210199
2025-06-08T00:09:12.213Z,1749341352.213 [DAT](INFO): DAT read: Bearing 350.2,  -1.2 (Local)

2025-06-08T00:09:12.214Z,1749341352.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.2,  -1.2 (Local)

2025-06-08T00:09:12.221Z,1749341352.221 [DAT](INFO): DAT read: Range 10 to 50 :    11.4 m (trip time 7.6 ms) speed 0.7

2025-06-08T00:09:12.276Z,1749341352.276 [DAT](INFO): DAT read: 00:09:11.4970 LVL= 28640, 32753, 22802, 32755, AGC= 62, IDX= 508, 0.14, 2.929, 1.554,-2.915, 2.952, PHS= 0.065,-1.351, 0.413, RAW= 160.7,  10.8, CAL= 159.8,   1.2, ROT= 350.2,  -1.2

2025-06-08T00:09:12.279Z,1749341352.279 [DAT](INFO): got valid direction response:
 00:09:11.4970 LVL= 28640, 32753, 22802, 32755, AGC= 62, IDX= 508, 0.14, 2.929, 1.554,-2.915, 2.952, PHS= 0.065,-1.351, 0.413, RAW= 160.7,  10.8, CAL= 159.8,   1.2, ROT= 350.2,  -1.2

2025-06-08T00:09:12.284Z,1749341352.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:12.285Z,1749341352.285 [DAT](INFO): direction in FSK: [0.985192,-0.170172,0.020942]
2025-06-08T00:09:12.285Z,1749341352.285 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:12.300Z,1749341352.300 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:12.301Z,1749341352.301 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:12.461Z,1749341352.461 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:12.461Z,1749341352.461 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:12.461Z,1749341352.461 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:12.573Z,1749341352.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.505186 s,
      deltaX: -0.600000 m,
      approachRate: -1.187682 m/s,
      rangeRepo size: 4

2025-06-08T00:09:12.584Z,1749341352.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.310019 m,
      bearing: 281.482782 deg,
      lat: 36.905909 deg,
      lon: -122.115942 deg,
      deltaT: 0.505186 s,
      deltaX: -0.595264 m,
      approachRate: -1.178307 m/s,
      posRepo size: 4

2025-06-08T00:09:12.585Z,1749341352.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.31 m.
2025-06-08T00:09:12.591Z,1749341352.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.310019 m,
      nav range: 11.408154 m,
      bearing: 283.969381 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.492761 deg/s,
      cmd heading: 287.055174 deg,
      new cmd heading: 286.329874 deg.

2025-06-08T00:09:12.592Z,1749341352.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997399 target range: 11.310019 and range: 11.40 m.
2025-06-08T00:09:12.713Z,1749341352.713 [DAT](INFO): DAT read: Rx Time:00:09:11.9969 

2025-06-08T00:09:12.714Z,1749341352.714 [DAT](INFO): Rx dataTimestamp_ set to:1749341352.713486
2025-06-08T00:09:12.716Z,1749341352.716 [DAT](INFO): DAT read: Bearing 349.5,  -2.2 (Local)

2025-06-08T00:09:12.717Z,1749341352.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5,  -2.2 (Local)

2025-06-08T00:09:12.720Z,1749341352.720 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed 0.5

2025-06-08T00:09:12.726Z,1749341352.726 [DAT](INFO): DAT read: 00:09:11.9969 LVL= 29360, 32753, 18642, 32755, AGC= 60, IDX= 507,-0.09, 3.075, 1.716,-2.750, 3.128, PHS= 0.035,-1.365, 0.402, RAW= 161.4,  11.5, CAL= 160.5,   2.2, ROT= 349.5,  -2.2

2025-06-08T00:09:12.727Z,1749341352.727 [DAT](INFO): got valid direction response:
 00:09:11.9969 LVL= 29360, 32753, 18642, 32755, AGC= 60, IDX= 507,-0.09, 3.075, 1.716,-2.750, 3.128, PHS= 0.035,-1.365, 0.402, RAW= 161.4,  11.5, CAL= 160.5,   2.2, ROT= 349.5,  -2.2

2025-06-08T00:09:12.731Z,1749341352.731 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:12.732Z,1749341352.732 [DAT](INFO): direction in FSK: [0.982530,-0.182101,0.038388]
2025-06-08T00:09:12.732Z,1749341352.732 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:12.736Z,1749341352.736 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:12.736Z,1749341352.736 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:12.829Z,1749341352.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.503287 s,
      deltaX: -0.099999 m,
      approachRate: -0.198693 m/s,
      rangeRepo size: 4

2025-06-08T00:09:12.839Z,1749341352.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.210741 m,
      bearing: 280.504751 deg,
      lat: 36.905906 deg,
      lon: -122.115944 deg,
      deltaT: 0.503287 s,
      deltaX: -0.099278 m,
      approachRate: -0.197260 m/s,
      posRepo size: 4

2025-06-08T00:09:12.840Z,1749341352.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.21 m.
2025-06-08T00:09:12.843Z,1749341352.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.210741 m,
      nav range: 11.267272 m,
      bearing: 282.070645 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.492761 deg/s,
      cmd heading: 286.329863 deg,
      new cmd heading: 285.952072 deg.

2025-06-08T00:09:12.848Z,1749341352.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.990805 target range: 11.210741 and range: 11.30 m.
2025-06-08T00:09:12.964Z,1749341352.964 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:12.965Z,1749341352.965 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:12.965Z,1749341352.965 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:13.217Z,1749341353.217 [DAT](INFO): DAT read: Rx Time:00:09:12.4966 

2025-06-08T00:09:13.217Z,1749341353.217 [DAT](INFO): Rx dataTimestamp_ set to:1749341353.217050
2025-06-08T00:09:13.219Z,1749341353.219 [DAT](INFO): DAT read: Bearing 348.1,  -2.1 (Local)

2025-06-08T00:09:13.219Z,1749341353.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.1,  -2.1 (Local)

2025-06-08T00:09:13.221Z,1749341353.221 [DAT](INFO): DAT read: Range 10 to 50 :    10.8 m (trip time 7.2 ms) speed 0.6

2025-06-08T00:09:13.229Z,1749341353.229 [DAT](INFO): DAT read: 00:09:12.4966 LVL= 31584, 32753, 23090, 32755, AGC= 60, IDX= 504,-0.33, 1.526, 0.155, 2.042, 1.603, PHS= 0.011,-1.401, 0.436, RAW= 162.8,  11.4, CAL= 161.9,   2.1, ROT= 348.1,  -2.1

2025-06-08T00:09:13.231Z,1749341353.231 [DAT](INFO): got valid direction response:
 00:09:12.4966 LVL= 31584, 32753, 23090, 32755, AGC= 60, IDX= 504,-0.33, 1.526, 0.155, 2.042, 1.603, PHS= 0.011,-1.401, 0.436, RAW= 162.8,  11.4, CAL= 161.9,   2.1, ROT= 348.1,  -2.1

2025-06-08T00:09:13.260Z,1749341353.260 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:13.271Z,1749341353.271 [DAT](INFO): direction in FSK: [0.977852,-0.206065,0.036644]
2025-06-08T00:09:13.272Z,1749341353.272 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:13.321Z,1749341353.321 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:13.322Z,1749341353.322 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:13.358Z,1749341353.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.503564 s,
      deltaX: -0.500000 m,
      approachRate: -0.992922 m/s,
      rangeRepo size: 4

2025-06-08T00:09:13.368Z,1749341353.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.714691 m,
      bearing: 279.111982 deg,
      lat: 36.905905 deg,
      lon: -122.115944 deg,
      deltaT: 0.503564 s,
      deltaX: -0.496050 m,
      approachRate: -0.985078 m/s,
      posRepo size: 4

2025-06-08T00:09:13.369Z,1749341353.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.71 m.
2025-06-08T00:09:13.384Z,1749341353.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.714691 m,
      nav range: 10.954598 m,
      bearing: 280.796632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.492761 deg/s,
      cmd heading: 285.952071 deg,
      new cmd heading: 285.170322 deg.

2025-06-08T00:09:13.385Z,1749341353.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977161 target range: 10.714691 and range: 10.80 m.
2025-06-08T00:09:13.473Z,1749341353.473 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:13.473Z,1749341353.473 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:13.474Z,1749341353.474 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:13.725Z,1749341353.725 [DAT](INFO): DAT read: Rx Time:00:09:12.9965 

2025-06-08T00:09:13.725Z,1749341353.725 [DAT](INFO): Rx dataTimestamp_ set to:1749341353.725007
2025-06-08T00:09:13.727Z,1749341353.727 [DAT](INFO): DAT read: Bearing 345.1,  -2.7 (Local)

2025-06-08T00:09:13.727Z,1749341353.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,  -2.7 (Local)

2025-06-08T00:09:13.729Z,1749341353.729 [DAT](INFO): DAT read: Range 10 to 50 :    10.7 m (trip time 7.1 ms) speed 0.6

2025-06-08T00:09:13.738Z,1749341353.738 [DAT](INFO): DAT read: 00:09:12.9966 LVL= 32752, 32753, 21394, 32755, AGC= 60, IDX= 502, 0.31,-1.803,-3.065,-1.208,-1.663, PHS=-0.052,-1.355, 0.452, RAW= 165.7,  11.8, CAL= 164.9,   2.7, ROT= 345.1,  -2.7

2025-06-08T00:09:13.739Z,1749341353.739 [DAT](INFO): got valid direction response:
 00:09:12.9966 LVL= 32752, 32753, 21394, 32755, AGC= 60, IDX= 502, 0.31,-1.803,-3.065,-1.208,-1.663, PHS=-0.052,-1.355, 0.452, RAW= 165.7,  11.8, CAL= 164.9,   2.7, ROT= 345.1,  -2.7

2025-06-08T00:09:13.743Z,1749341353.743 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:13.744Z,1749341353.744 [DAT](INFO): direction in FSK: [0.965303,-0.256847,0.047106]
2025-06-08T00:09:13.744Z,1749341353.744 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:13.760Z,1749341353.760 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:13.761Z,1749341353.761 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:13.767Z,1749341353.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.507957 s,
      deltaX: -0.100000 m,
      approachRate: -0.196868 m/s,
      rangeRepo size: 4

2025-06-08T00:09:13.773Z,1749341353.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.615467 m,
      bearing: 276.088045 deg,
      lat: 36.905904 deg,
      lon: -122.115944 deg,
      deltaT: 0.507957 s,
      deltaX: -0.099224 m,
      approachRate: -0.195340 m/s,
      posRepo size: 4

2025-06-08T00:09:13.774Z,1749341353.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.62 m.
2025-06-08T00:09:13.785Z,1749341353.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.615467 m,
      nav range: 10.620016 m,
      bearing: 279.758214 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.492761 deg/s,
      cmd heading: 285.170315 deg,
      new cmd heading: 284.575786 deg.

2025-06-08T00:09:13.786Z,1749341353.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.966784 target range: 10.615467 and range: 10.70 m.
2025-06-08T00:09:13.977Z,1749341353.977 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:13.978Z,1749341353.978 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:13.978Z,1749341353.978 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:14.149Z,1749341354.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:14.159Z,1749341354.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.62 m.
2025-06-08T00:09:14.162Z,1749341354.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.615467 m,
      nav range: 10.348119 m,
      bearing: 279.393449 deg,
      approach rate: -0.694601 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 284.575788 deg,
      new cmd heading: 283.452891 deg.

2025-06-08T00:09:14.167Z,1749341354.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.947186 target range: 10.615467 and range: 10.70 m.
2025-06-08T00:09:14.231Z,1749341354.231 [DAT](INFO): DAT read: Rx Time:00:09:13.4962 

2025-06-08T00:09:14.232Z,1749341354.232 [DAT](INFO): Rx dataTimestamp_ set to:1749341354.230742
2025-06-08T00:09:14.234Z,1749341354.234 [DAT](INFO): DAT read: Bearing 344.4,  -2.6 (Local)

2025-06-08T00:09:14.234Z,1749341354.234 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.4,  -2.6 (Local)

2025-06-08T00:09:14.236Z,1749341354.236 [DAT](INFO): DAT read: Range 10 to 50 :    10.2 m (trip time 6.8 ms) speed 0.6

2025-06-08T00:09:14.241Z,1749341354.241 [DAT](INFO): DAT read: 00:09:13.4962 LVL= 32752, 32753, 27378, 32755, AGC= 59, IDX= 499, 0.13, 1.768, 0.475, 2.406, 1.922, PHS=-0.066,-1.400, 0.481, RAW= 166.4,  11.7, CAL= 165.6,   2.6, ROT= 344.4,  -2.6

2025-06-08T00:09:14.244Z,1749341354.244 [DAT](INFO): got valid direction response:
 00:09:13.4962 LVL= 32752, 32753, 27378, 32755, AGC= 59, IDX= 499, 0.13, 1.768, 0.475, 2.406, 1.922, PHS=-0.066,-1.400, 0.481, RAW= 166.4,  11.7, CAL= 165.6,   2.6, ROT= 344.4,  -2.6

2025-06-08T00:09:14.244Z,1749341354.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:14.249Z,1749341354.249 [DAT](INFO): direction in FSK: [0.962171,-0.268643,0.045363]
2025-06-08T00:09:14.249Z,1749341354.249 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:14.274Z,1749341354.274 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:14.280Z,1749341354.280 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:14.480Z,1749341354.480 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:14.480Z,1749341354.480 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:14.480Z,1749341354.480 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:14.637Z,1749341354.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.505735 s,
      deltaX: -0.500000 m,
      approachRate: -0.988660 m/s,
      rangeRepo size: 4

2025-06-08T00:09:14.639Z,1749341354.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.119417 m,
      bearing: 274.726385 deg,
      lat: 36.905901 deg,
      lon: -122.115944 deg,
      deltaT: 0.505735 s,
      deltaX: -0.496050 m,
      approachRate: -0.980849 m/s,
      posRepo size: 4

2025-06-08T00:09:14.644Z,1749341354.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.12 m.
2025-06-08T00:09:14.646Z,1749341354.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.119417 m,
      nav range: 10.031075 m,
      bearing: 277.661634 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 283.452878 deg,
      new cmd heading: 282.061053 deg.

2025-06-08T00:09:14.652Z,1749341354.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922894 target range: 10.119417 and range: 10.20 m.
2025-06-08T00:09:14.734Z,1749341354.734 [DAT](INFO): DAT read: Rx Time:00:09:13.9961 

2025-06-08T00:09:14.742Z,1749341354.742 [DAT](INFO): Rx dataTimestamp_ set to:1749341354.734850
2025-06-08T00:09:14.744Z,1749341354.744 [DAT](INFO): DAT read: Bearing 342.8,  -3.0 (Local)

2025-06-08T00:09:14.745Z,1749341354.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.8,  -3.0 (Local)

2025-06-08T00:09:14.748Z,1749341354.748 [DAT](INFO): DAT read: Range 10 to 50 :    10.1 m (trip time 6.7 ms) speed 0.5

2025-06-08T00:09:14.754Z,1749341354.754 [DAT](INFO): DAT read: 00:09:13.9961 LVL= 31584, 32753, 25986, 32755, AGC= 59, IDX= 498,-0.01, 1.526, 0.265, 2.216, 1.716, PHS=-0.103,-1.405, 0.497, RAW= 168.0,  12.0, CAL= 167.2,   3.0, ROT= 342.8,  -3.0

2025-06-08T00:09:14.755Z,1749341354.755 [DAT](INFO): got valid direction response:
 00:09:13.9961 LVL= 31584, 32753, 25986, 32755, AGC= 59, IDX= 498,-0.01, 1.526, 0.265, 2.216, 1.716, PHS=-0.103,-1.405, 0.497, RAW= 168.0,  12.0, CAL= 167.2,   3.0, ROT= 342.8,  -3.0

2025-06-08T00:09:14.761Z,1749341354.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:14.762Z,1749341354.762 [DAT](INFO): direction in FSK: [0.953969,-0.295303,0.052336]
2025-06-08T00:09:14.762Z,1749341354.762 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:14.766Z,1749341354.766 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:14.766Z,1749341354.766 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:14.984Z,1749341354.984 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:14.984Z,1749341354.984 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:14.985Z,1749341354.985 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:15.006Z,1749341355.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.504108 s,
      deltaX: -0.099999 m,
      approachRate: -0.198369 m/s,
      rangeRepo size: 4

2025-06-08T00:09:15.014Z,1749341355.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.020235 m,
      bearing: 272.813993 deg,
      lat: 36.905897 deg,
      lon: -122.115945 deg,
      deltaT: 0.504108 s,
      deltaX: -0.099182 m,
      approachRate: -0.196748 m/s,
      posRepo size: 4

2025-06-08T00:09:15.021Z,1749341355.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.02 m.
2025-06-08T00:09:15.044Z,1749341355.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.020235 m,
      nav range: 9.839160 m,
      bearing: 274.669413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 282.061049 deg,
      new cmd heading: 281.002402 deg.

2025-06-08T00:09:15.052Z,1749341355.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904417 target range: 10.020235 and range: 10.10 m.
2025-06-08T00:09:15.238Z,1749341355.238 [DAT](INFO): DAT read: Rx Time:00:09:14.4958 

2025-06-08T00:09:15.238Z,1749341355.238 [DAT](INFO): Rx dataTimestamp_ set to:1749341355.238132
2025-06-08T00:09:15.240Z,1749341355.240 [DAT](INFO): DAT read: Bearing 340.7,  -4.6 (Local)

2025-06-08T00:09:15.240Z,1749341355.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.7,  -4.6 (Local)

2025-06-08T00:09:15.242Z,1749341355.242 [DAT](INFO): DAT read: Range 10 to 50 :     9.6 m (trip time 6.4 ms) speed 0.5

2025-06-08T00:09:15.248Z,1749341355.248 [DAT](INFO): DAT read: 00:09:14.4958 LVL= 32752, 32753, 22514, 32755, AGC= 58, IDX= 495,-0.10,-1.099,-2.293,-0.354,-0.845, PHS=-0.166,-1.401, 0.488, RAW= 169.9,  12.9, CAL= 169.3,   4.6, ROT= 340.7,  -4.6

2025-06-08T00:09:15.250Z,1749341355.250 [DAT](INFO): got valid direction response:
 00:09:14.4958 LVL= 32752, 32753, 22514, 32755, AGC= 58, IDX= 495,-0.10,-1.099,-2.293,-0.354,-0.845, PHS=-0.166,-1.401, 0.488, RAW= 169.9,  12.9, CAL= 169.3,   4.6, ROT= 340.7,  -4.6

2025-06-08T00:09:15.250Z,1749341355.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:15.253Z,1749341355.253 [DAT](INFO): direction in FSK: [0.940761,-0.329450,0.080199]
2025-06-08T00:09:15.254Z,1749341355.254 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:15.281Z,1749341355.281 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:15.282Z,1749341355.282 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:15.478Z,1749341355.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.503282 s,
      deltaX: -0.500000 m,
      approachRate: -0.993479 m/s,
      rangeRepo size: 4

2025-06-08T00:09:15.488Z,1749341355.488 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:15.488Z,1749341355.488 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:15.489Z,1749341355.489 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:15.496Z,1749341355.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.524184 m,
      bearing: 270.343730 deg,
      lat: 36.905897 deg,
      lon: -122.115945 deg,
      deltaT: 0.503282 s,
      deltaX: -0.496051 m,
      approachRate: -0.985632 m/s,
      posRepo size: 4

2025-06-08T00:09:15.497Z,1749341355.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.52 m.
2025-06-08T00:09:15.497Z,1749341355.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-06-08T00:09:15.497Z,1749341355.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-08T00:09:15.505Z,1749341355.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 9.542194 m,
      bearing: 273.662720 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 281.002397 deg,
      new cmd heading: 279.649224 deg.

2025-06-08T00:09:15.506Z,1749341355.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880800 target range: 9.524184 and range: 9.60 m.
2025-06-08T00:09:15.742Z,1749341355.742 [DAT](INFO): DAT read: Rx Time:00:57 

2025-06-08T00:09:15.743Z,1749341355.743 [DAT](INFO): Rx dataTimestamp_ set to:1749341355.741908
2025-06-08T00:09:15.745Z,1749341355.745 [DAT](INFO): DAT read: Bearing 338.1,  -4.1 (Local)

2025-06-08T00:09:15.746Z,1749341355.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.1,  -4.1 (Local)

2025-06-08T00:09:15.749Z,1749341355.749 [DAT](INFO): DAT read: Range 10 to 50 :     9.3 m (trip time 6.2 ms) speed 0.0

2025-06-08T00:09:15.758Z,1749341355.758 [DAT](INFO): DAT read: 00:09:14.9957 LVL= 32752, 32753, 21202, 32755, AGC= 58, IDX= 509,-0.17,-1.825,-2.975,-0.979,-1.527, PHS=-0.210,-1.401, 0.545, RAW= 172.6,  12.5, CAL= 171.9,   4.1, ROT= 338.1,  -4.1

2025-06-08T00:09:15.759Z,1749341355.759 [DAT](INFO): got valid direction response:
 00:09:14.9957 LVL= 32752, 32753, 21202, 32755, AGC= 58, IDX= 509,-0.17,-1.825,-2.975,-0.979,-1.527, PHS=-0.210,-1.401, 0.545, RAW= 172.6,  12.5, CAL= 171.9,   4.1, ROT= 338.1,  -4.1

2025-06-08T00:09:15.759Z,1749341355.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:15.760Z,1749341355.760 [DAT](INFO): direction in FSK: [0.925462,-0.372033,0.071497]
2025-06-08T00:09:15.761Z,1749341355.761 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:15.769Z,1749341355.769 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:15.777Z,1749341355.777 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:15.942Z,1749341355.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.503776 s,
      deltaX: -0.300000 m,
      approachRate: -0.595503 m/s,
      rangeRepo size: 4

2025-06-08T00:09:15.953Z,1749341355.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.226612 m,
      bearing: 267.481126 deg,
      lat: 36.905895 deg,
      lon: -122.115945 deg,
      deltaT: 0.503776 s,
      deltaX: -0.297572 m,
      approachRate: -0.590683 m/s,
      posRepo size: 4

2025-06-08T00:09:15.954Z,1749341355.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.23 m. 9.52 m.
2025-06-08T00:09:15.967Z,1749341355.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 9.276759 m,
      bearing: 273.093515 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 279.649227 deg,
      new cmd heading: 278.319707 deg.

2025-06-08T00:09:15.973Z,1749341355.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857595 target range: 9.524184 and range: 9.30 m.
2025-06-08T00:09:15.992Z,1749341355.992 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:15.992Z,1749341355.992 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:15.993Z,1749341355.993 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:16.245Z,1749341356.245 [DAT](INFO): DAT read: Rx Time:00:09:15.4954 

2025-06-08T00:09:16.245Z,1749341356.245 [DAT](INFO): Rx dataTimestamp_ set to:1749341356.244805
2025-06-08T00:09:16.246Z,1749341356.246 [DAT](INFO): DAT read: Bearing 335.3,  -2.5 (Local)

2025-06-08T00:09:16.247Z,1749341356.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.3,  -2.5 (Local)

2025-06-08T00:09:16.249Z,1749341356.249 [DAT](INFO): DAT read: Range 10 to 50 :     8.9 m (trip time 5.9 ms) speed 0.4

2025-06-08T00:09:16.254Z,1749341356.254 [DAT](INFO): DAT read: 00:09:15.4954 LVL= 32624, 32753, 26002, 32755, AGC= 56, IDX= 506,-0.19,-3.045, 2.133,-2.085,-2.715, PHS=-0.242,-1.388, 0.627, RAW= 175.5,  11.4, CAL= 174.7,   2.5, ROT= 335.3,  -2.5

2025-06-08T00:09:16.257Z,1749341356.257 [DAT](INFO): got valid direction response:
 00:09:15.4954 LVL= 32624, 32753, 26002, 32755, AGC= 56, IDX= 506,-0.19,-3.045, 2.133,-2.085,-2.715, PHS=-0.242,-1.388, 0.627, RAW= 175.5,  11.4, CAL= 174.7,   2.5, ROT= 335.3,  -2.5

2025-06-08T00:09:16.258Z,1749341356.258 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:16.260Z,1749341356.260 [DAT](INFO): direction in FSK: [0.907643,-0.417469,0.043619]
2025-06-08T00:09:16.260Z,1749341356.260 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:16.264Z,1749341356.264 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:16.264Z,1749341356.264 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:16.354Z,1749341356.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.502897 s,
      deltaX: -0.400001 m,
      approachRate: -0.795393 m/s,
      rangeRepo size: 4

2025-06-08T00:09:16.360Z,1749341356.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.829768 m,
      bearing: 264.338610 deg,
      lat: 36.905892 deg,
      lon: -122.115945 deg,
      deltaT: 1.006673 s,
      deltaX: -0.694416 m,
      approachRate: -0.689813 m/s,
      posRepo size: 4

2025-06-08T00:09:16.361Z,1749341356.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 9.52 m.
2025-06-08T00:09:16.368Z,1749341356.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 9.022584 m,
      bearing: 272.527104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 278.319718 deg,
      new cmd heading: 277.135624 deg.

2025-06-08T00:09:16.369Z,1749341356.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836929 target range: 9.524184 and range: 8.90 m.
2025-06-08T00:09:16.496Z,1749341356.496 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:16.496Z,1749341356.496 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:16.497Z,1749341356.497 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:16.749Z,1749341356.749 [DAT](INFO): DAT read: Rx Time:00:09:15.9954 

2025-06-08T00:09:16.749Z,1749341356.749 [DAT](INFO): Rx dataTimestamp_ set to:1749341356.748992
2025-06-08T00:09:16.751Z,1749341356.751 [DAT](INFO): DAT read: Bearing 332.5,  -2.1 (Local)

2025-06-08T00:09:16.751Z,1749341356.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.5,  -2.1 (Local)

2025-06-08T00:09:16.753Z,1749341356.753 [DAT](INFO): DAT read: Range 10 to 50 :     8.9 m (trip time 5.9 ms) speed 0.3

2025-06-08T00:09:16.758Z,1749341356.758 [DAT](INFO): DAT read: 00:09:15.9954 LVL= 30608, 32753, 25778, 32755, AGC= 56, IDX= 505,-0.12,-3.103, 2.131,-2.033,-2.720, PHS=-0.295,-1.386, 0.684, RAW= 178.2,  11.1, CAL= 177.5,   2.1, ROT= 332.5,  -2.1

2025-06-08T00:09:16.759Z,1749341356.759 [DAT](INFO): got valid direction response:
 00:09:15.9954 LVL= 30608, 32753, 25778, 32755, AGC= 56, IDX= 505,-0.12,-3.103, 2.131,-2.033,-2.720, PHS=-0.295,-1.386, 0.684, RAW= 178.2,  11.1, CAL= 177.5,   2.1, ROT= 332.5,  -2.1

2025-06-08T00:09:16.759Z,1749341356.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:16.760Z,1749341356.760 [DAT](INFO): direction in FSK: [0.886415,-0.461438,0.036644]
2025-06-08T00:09:16.761Z,1749341356.761 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:16.768Z,1749341356.768 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:16.768Z,1749341356.768 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:16.790Z,1749341356.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504187 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:16.801Z,1749341356.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.829854 m,
      bearing: 261.543845 deg,
      lat: 36.905889 deg,
      lon: -122.115945 deg,
      deltaT: 1.510860 s,
      deltaX: -0.694330 m,
      approachRate: -0.459560 m/s,
      posRepo size: 4

2025-06-08T00:09:16.802Z,1749341356.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.83 m. 9.52 m.
2025-06-08T00:09:16.809Z,1749341356.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 8.760201 m,
      bearing: 271.904977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 277.135636 deg,
      new cmd heading: 275.883367 deg.

2025-06-08T00:09:16.809Z,1749341356.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815073 target range: 9.524184 and range: 8.90 m.
2025-06-08T00:09:17.000Z,1749341357.000 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:17.000Z,1749341357.000 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:17.001Z,1749341357.001 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:17.253Z,1749341357.253 [DAT](INFO): DAT read: Rx Time:00:09:16.4951 

2025-06-08T00:09:17.253Z,1749341357.253 [DAT](INFO): Rx dataTimestamp_ set to:1749341357.253076
2025-06-08T00:09:17.255Z,1749341357.255 [DAT](INFO): DAT read: Bearing 327.8,   0.9 (Local)

2025-06-08T00:09:17.255Z,1749341357.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.8,   0.9 (Local)

2025-06-08T00:09:17.257Z,1749341357.257 [DAT](INFO): DAT read: Range 10 to 50 :     8.4 m (trip time 5.6 ms) speed 0.1

2025-06-08T00:09:17.262Z,1749341357.262 [DAT](INFO): DAT read: 00:09:16.4951 LVL= 30288, 32465, 26034, 32755, AGC= 55, IDX= 502, 0.01, 2.525, 1.562,-2.492, 2.941, PHS=-0.328,-1.332, 0.847, RAW= 182.6,   8.6, CAL= 182.2,  -0.9, ROT= 327.8,   0.9

2025-06-08T00:09:17.263Z,1749341357.263 [DAT](INFO): got valid direction response:
 00:09:16.4951 LVL= 30288, 32465, 26034, 32755, AGC= 55, IDX= 502, 0.01, 2.525, 1.562,-2.492, 2.941, PHS=-0.328,-1.332, 0.847, RAW= 182.6,   8.6, CAL= 182.2,  -0.9, ROT= 327.8,   0.9

2025-06-08T00:09:17.263Z,1749341357.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:17.264Z,1749341357.264 [DAT](INFO): direction in FSK: [0.846089,-0.532811,-0.015707]
2025-06-08T00:09:17.265Z,1749341357.265 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:17.273Z,1749341357.273 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:17.273Z,1749341357.273 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:17.314Z,1749341357.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.504084 s,
      deltaX: -0.500000 m,
      approachRate: -0.991898 m/s,
      rangeRepo size: 4

2025-06-08T00:09:17.350Z,1749341357.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.333795 m,
      bearing: 255.764458 deg,
      lat: 36.905886 deg,
      lon: -122.115944 deg,
      deltaT: 2.014944 s,
      deltaX: -1.190390 m,
      approachRate: -0.590780 m/s,
      posRepo size: 4

2025-06-08T00:09:17.371Z,1749341357.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.33 m. 9.52 m.
2025-06-08T00:09:17.378Z,1749341357.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 8.468029 m,
      bearing: 271.206509 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 275.883362 deg,
      new cmd heading: 274.422076 deg.

2025-06-08T00:09:17.379Z,1749341357.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789569 target range: 9.524184 and range: 8.40 m.
2025-06-08T00:09:17.504Z,1749341357.504 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:17.504Z,1749341357.504 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:17.505Z,1749341357.505 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:17.632Z,1749341357.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:09:17.757Z,1749341357.757 [DAT](INFO): DAT read: RxTime:00:09:16.9950 

2025-06-08T00:09:17.757Z,1749341357.757 [DAT](INFO): unknown deviceResponse_: RxTime:00:09:16.9950 

2025-06-08T00:09:17.758Z,1749341357.758 [DAT](INFO): DAT read: Bearing 324.3,   1.6 (Local)

2025-06-08T00:09:17.759Z,1749341357.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.3,   1.6 (Local)

2025-06-08T00:09:17.761Z,1749341357.761 [DAT](INFO): DAT read: Range 10 to 50 :     8.3 m (trip time 5.5 ms) speed 0.4

2025-06-08T00:09:17.766Z,1749341357.766 [DAT](INFO): DAT read: 00:09:16.9950 LVL= 28016, 29937, 25298, 32755, AGC= 54, IDX= 501, 0.15,-2.123,-2.999,-0.724,-1.659, PHS=-0.376,-1.293, 0.932, RAW= 185.8,   7.7, CAL= 185.7,  -1.6, ROT= 324.3,   1.6

2025-06-08T00:09:17.767Z,1749341357.767 [DAT](INFO): got valid direction response:
 00:09:16.9950 LVL= 28016, 29937, 25298, 32755, AGC= 54, IDX= 501, 0.15,-2.123,-2.999,-0.724,-1.659, PHS=-0.376,-1.293, 0.932, RAW= 185.8,   7.7, CAL= 185.7,  -1.6, ROT= 324.3,   1.6

2025-06-08T00:09:17.768Z,1749341357.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:17.769Z,1749341357.769 [DAT](INFO): direction in FSK: [0.811767,-0.583314,-0.027922]
2025-06-08T00:09:17.769Z,1749341357.769 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:17.772Z,1749341357.772 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:17.773Z,1749341357.773 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:17.817Z,1749341357.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.502610 s,
      deltaX: -0.099999 m,
      approachRate: -0.198960 m/s,
      rangeRepo size: 4

2025-06-08T00:09:17.824Z,1749341357.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.234632 m,
      bearing: 251.062722 deg,
      lat: 36.905883 deg,
      lon: -122.115942 deg,
      deltaT: 2.517554 s,
      deltaX: -1.289552 m,
      approachRate: -0.512224 m/s,
      posRepo size: 4

2025-06-08T00:09:17.825Z,1749341357.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.23 m. 9.52 m.
2025-06-08T00:09:17.840Z,1749341357.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 8.162397 m,
      bearing: 270.444558 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 274.422084 deg,
      new cmd heading: 272.937202 deg.

2025-06-08T00:09:17.841Z,1749341357.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763653 target range: 9.524184 and range: 8.30 m.
2025-06-08T00:09:18.010Z,1749341358.010 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:18.011Z,1749341358.011 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:18.012Z,1749341358.012 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:18.142Z,1749341358.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:18.149Z,1749341358.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:18.160Z,1749341358.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 7.939457 m,
      bearing: 269.871975 deg,
      approach rate: -0.671722 m/s,
      LOS rate: -1.773612 deg/s,
      cmd heading: 272.937201 deg,
      new cmd heading: 271.171806 deg.

2025-06-08T00:09:18.161Z,1749341358.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732841 target range: 9.524184 and range: 8.30 m.
2025-06-08T00:09:18.262Z,1749341358.262 [DAT](INFO): DAT read: Rx Time:00:09:17.4945 

2025-06-08T00:09:18.262Z,1749341358.262 [DAT](INFO): Rx dataTimestamp_ set to:1749341358.262149
2025-06-08T00:09:18.264Z,1749341358.264 [DAT](INFO): DAT read: Barig 20.0,   1.8 (Local)

2025-06-08T00:09:18.264Z,1749341358.264 [DAT](INFO): Local bearing/azimuth received:
 Barig 20.0,   1.8 (Local)

2025-06-08T00:09:18.266Z,1749341358.266 [DAT](INFO): DAT read: Range 10 to 50 :     7.5 m (trip time 5.0 ms) speed 0.4

2025-06-08T00:09:18.272Z,1749341358.272 [DAT](INFO): DAT read: 00:09:17.4945 LVL= 26256, 25009, 25378, 32755, AGC= 53, IDX= 498, 0.42, 2.588, 1.842,-2.139, 3.134, PHS=-0.458,-1.244, 1.008, RAW= 189.9,   7.1, CAL= 190.0,  -1.8, ROT= 320.0,   1.8

2025-06-08T00:09:18.276Z,1749341358.276 [DAT](INFO): got valid direction response:
 00:09:17.4945 LVL= 26256, 25009, 25378, 32755, AGC= 53, IDX= 498, 0.42, 2.588, 1.842,-2.139, 3.134, PHS=-0.458,-1.244, 1.008, RAW= 189.9,   7.1, CAL= 190.0,  -1.8, ROT= 320.0,   1.8

2025-06-08T00:09:18.277Z,1749341358.277 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:18.285Z,1749341358.285 [DAT](INFO): direction in FSK: [0.765666,-0.642471,-0.031411]
2025-06-08T00:09:18.286Z,1749341358.286 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:18.294Z,1749341358.294 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:18.294Z,1749341358.294 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:18.518Z,1749341358.518 [DAT](INFO): DAT read: Rx Time:00:09:17.9943 

2025-06-08T00:09:18.520Z,1749341358.520 [DAT](INFO): Rx dataTimestamp_ set to:1749341358.518501
2025-06-08T00:09:18.522Z,1749341358.522 [DAT](INFO): DAT read: Bearing 310.7,   1.9 (Local)

2025-06-08T00:09:18.524Z,1749341358.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,   1.9 (Local)

2025-06-08T00:09:18.525Z,1749341358.525 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:18.526Z,1749341358.526 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:18.528Z,1749341358.528 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:18.621Z,1749341358.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.506463 s,
      deltaX: -0.800000 m,
      approachRate: -1.579583 m/s,
      rangeRepo size: 4

2025-06-08T00:09:18.627Z,1749341358.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.440933 m,
      bearing: 245.212618 deg,
      lat: 36.905877 deg,
      lon: -122.115940 deg,
      deltaT: 3.024017 s,
      deltaX: -2.083251 m,
      approachRate: -0.688902 m/s,
      posRepo size: 4

2025-06-08T00:09:18.628Z,1749341358.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.44 m. 9.52 m.
2025-06-08T00:09:18.636Z,1749341358.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:09:18.643Z,1749341358.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 7.665540 m,
      bearing: 269.157421 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 271.171815 deg,
      new cmd heading: 269.818593 deg.

2025-06-08T00:09:18.644Z,1749341358.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709223 target range: 9.524184 and range: 7.50 m.
2025-06-08T00:09:18.766Z,1749341358.766 [DAT](INFO): DAT read: Range 10 to 50 :     7.2 m (trip time 4.8 ms spe .

2025-06-08T00:09:18.772Z,1749341358.772 [DAT](INFO): DAT read: 009:17.9943 LVL= 26432, 24369, 25314, 32755, AGC= 53, IDX= 497,-0.24, 0.292,-0.114, 2.079, 1.000, PHS=-0.621,-1.067, 1.075, RAW= 198.6,   6.3, CAL= 199.3,  -1.9, ROT= 310.7,   1.9

2025-06-08T00:09:18.773Z,1749341358.773 [DAT](INFO): unknown deviceResponse_: 009:17.9943 LVL= 26432, 24369, 25314, 32755, AGC= 53, IDX= 497,-0.24, 0.292,-0.114, 2.079, 1.000, PHS=-0.621,-1.067, 1.075, RAW= 198.6,   6.3, CAL= 199.3,  -1.9, ROT= 310.7,   1.9

2025-06-08T00:09:18.773Z,1749341358.773 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:18.774Z,1749341358.774 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:18.775Z,1749341358.775 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:18.918Z,1749341358.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.501550 s,
      deltaX: -0.300000 m,
      approachRate: -0.598146 m/s,
      rangeRepo size: 4

2025-06-08T00:09:18.919Z,1749341358.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:18.926Z,1749341358.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 7.481816 m,
      bearing: 268.671999 deg,
      approach rate: -0.619068 m/s,
      LOS rate: -1.675802 deg/s,
      cmd heading: 269.818591 deg,
      new cmd heading: 268.326919 deg.

2025-06-08T00:09:18.932Z,1749341358.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683188 target range: 9.524184 and range: 7.20 m.
2025-06-08T00:09:19.021Z,1749341359.021 [DAT](INFO): DAT read: Rx Time:00:09:18.4940 

2025-06-08T00:09:19.022Z,1749341359.022 [DAT](INFO): Rx dataTimestamp_ set to:1749341359.021334
2025-06-08T00:09:19.026Z,1749341359.026 [DAT](INFO): DAT read: Bearing 308.7,   0.8 (Local)

2025-06-08T00:09:19.028Z,1749341359.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,   0.8 (Local)

2025-06-08T00:09:19.029Z,1749341359.029 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:19.030Z,1749341359.030 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:19.032Z,1749341359.032 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:19.270Z,1749341359.270 [DAT](INFO): DAT read: Range 10 to 50 :     6.8 m (trip time 4.5 ms) speed 0.4

2025-06-08T00:09:19.274Z,1749341359.274 [DAT](INFO): DAT read: 00:0:8490 VL 176, 17553, 22034, 30195, AGC= 54, IDX= 510,-0.08, 0.972, 0.622, 2.840, 1.766, PHS=-0.706,-1.098, 1.071, RAW= 200.2,   7.4, CAL= 201.3,  -0.8, ROT= 308.7,   0.8

2025-06-08T00:09:19.275Z,1749341359.275 [DAT](INFO): unknown deviceResponse_: 00:0:8490 VL 176, 17553, 22034, 30195, AGC= 54, IDX= 510,-0.08, 0.972, 0.622, 2.840, 1.766, PHS=-0.706,-1.098, 1.071, RAW= 200.2,   7.4, CAL= 201.3,  -0.8, ROT= 308.7,   0.8

2025-06-08T00:09:19.276Z,1749341359.276 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:19.276Z,1749341359.276 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:19.277Z,1749341359.277 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:19.322Z,1749341359.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.504217 s,
      deltaX: -0.400000 m,
      approachRate: -0.793308 m/s,
      rangeRepo size: 4

2025-06-08T00:09:19.333Z,1749341359.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:19.377Z,1749341359.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 7.240579 m,
      bearing: 268.024421 deg,
      approach rate: -0.596568 m/s,
      LOS rate: -1.654749 deg/s,
      cmd heading: 268.326932 deg,
      new cmd heading: 266.320335 deg.

2025-06-08T00:09:19.397Z,1749341359.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648167 target range: 9.524184 and range: 6.80 m.
2025-06-08T00:09:19.524Z,1749341359.524 [DAT](INFO): DAT read: Rx Time:00:09:18.9940 

2025-06-08T00:09:19.526Z,1749341359.526 [DAT](INFO): Rx dataTimestamp_ set to:1749341359.524782
2025-06-08T00:09:19.529Z,1749341359.529 [DAT](INFO): DAT read: Bearing 327.6,   2.0 (Local)

2025-06-08T00:09:19.531Z,1749341359.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.6,   2.0 (Local)

2025-06-08T00:09:19.532Z,1749341359.532 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:19.533Z,1749341359.533 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:19.535Z,1749341359.535 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:19.774Z,1749341359.774 [DAT](INFO): DAT read: Range 10 to 50 :     6.8 m (trip time 4.5 ms) speed 0.4

2025-06-08T00:09:19.778Z,1749341359.778 [DAT](INFO): DAT read: 00:09:18.9940 LVL= 13696, 110, 196 2403, AGC= 52, IDX= 509,-0.05,-0.845,-1.728, 0.330,-0.494, PHS=-0.263,-1.187, 0.820, RAW= 182.6,   7.3, CAL= 182.4,  -2.0, ROT= 327.6,   2.0

2025-06-08T00:09:19.779Z,1749341359.779 [DAT](INFO): unknown deviceResponse_: 00:09:18.9940 LVL= 13696, 110, 196 2403, AGC= 52, IDX= 509,-0.05,-0.845,-1.728, 0.330,-0.494, PHS=-0.263,-1.187, 0.820, RAW= 182.6,   7.3, CAL= 182.4,  -2.0, ROT= 327.6,   2.0

2025-06-08T00:09:19.780Z,1749341359.780 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:19.780Z,1749341359.780 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:19.781Z,1749341359.781 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:19.813Z,1749341359.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.503786 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:19.814Z,1749341359.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:19.817Z,1749341359.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 6.953048 m,
      bearing: 267.204556 deg,
      approach rate: -0.585482 m/s,
      LOS rate: -1.738424 deg/s,
      cmd heading: 266.320332 deg,
      new cmd heading: 263.760815 deg.

2025-06-08T00:09:19.818Z,1749341359.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603495 target range: 9.524184 and range: 6.80 m.
2025-06-08T00:09:20.029Z,1749341360.029 [DAT](INFO): DAT read: Rx Time:00:09:19.4938 

2025-06-08T00:09:20.031Z,1749341360.031 [DAT](INFO): Rx dataTimestamp_ set to:1749341360.029407
2025-06-08T00:09:20.034Z,1749341360.034 [DAT](INFO): DAT read: Bearing 356.1,   2.7 (Local)

2025-06-08T00:09:20.035Z,1749341360.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,   2.7 (Local)

2025-06-08T00:09:20.042Z,1749341360.042 [DAT](INFO): DAT read: Range 10 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-06-08T00:09:20.045Z,1749341360.045 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:20.085Z,1749341360.085 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:20.090Z,1749341360.090 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:20.154Z,1749341360.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:20.161Z,1749341360.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.257705 s,
      deltaX: -0.300000 m,
      approachRate: -1.164122 m/s,
      rangeRepo size: 4

2025-06-08T00:09:20.162Z,1749341360.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:20.168Z,1749341360.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 6.726736 m,
      bearing: 266.545534 deg,
      approach rate: -0.651783 m/s,
      LOS rate: -1.961808 deg/s,
      cmd heading: 263.760814 deg,
      new cmd heading: 261.718143 deg.

2025-06-08T00:09:20.169Z,1749341360.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567843 target range: 9.524184 and range: 6.50 m.
2025-06-08T00:09:20.283Z,1749341360.283 [DAT](INFO): DAT read: 00:09:19.4938 LVL= 11424, 14289, 18274, 16931, AGC= 50, IDX= 506, 0.02, 2.304, 0.789, 2.492, 2.075, PHS= 0.317,-1.239, 0.414, RAW= 153.0,   6.4, CAL= 153.9,  -2.7, ROT= 356.1,   2.7

2025-06-08T00:09:20.285Z,1749341360.285 [DAT](INFO): got valid direction response:
 00:09:19.4938 LVL= 11424, 14289, 18274, 16931, AGC= 50, IDX= 506, 0.02, 2.304, 0.789, 2.492, 2.075, PHS= 0.317,-1.239, 0.414, RAW= 153.0,   6.4, CAL= 153.9,  -2.7, ROT= 356.1,   2.7

2025-06-08T00:09:20.285Z,1749341360.285 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:09:20.287Z,1749341360.287 [DAT](INFO): direction in FSK: [0.996577,-0.067940,-0.047106]
2025-06-08T00:09:20.290Z,1749341360.290 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:20.290Z,1749341360.290 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:20.290Z,1749341360.290 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:20.532Z,1749341360.532 [DAT](INFO): DAT read: Rx Time:00:09:19.9937 

2025-06-08T00:09:20.534Z,1749341360.534 [DAT](INFO): Rx dataTimestamp_ set to:1749341360.532727
2025-06-08T00:09:20.538Z,1749341360.538 [DAT](INFO): DAT read: Bearing   4.9,  -2.9 (Local)

2025-06-08T00:09:20.540Z,1749341360.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,  -2.9 (Local)

2025-06-08T00:09:20.549Z,1749341360.549 [DAT](INFO): DAT read: Range 10 to 50 :     6.3 m (trip time 4.2 ms) speed 0.4

2025-06-08T00:09:20.565Z,1749341360.565 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:20.576Z,1749341360.576 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:20.576Z,1749341360.576 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:20.656Z,1749341360.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503320 s,
      deltaX: -0.200000 m,
      approachRate: -0.397361 m/s,
      rangeRepo size: 4

2025-06-08T00:09:20.658Z,1749341360.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.250495 m,
      bearing: 276.702154 deg,
      lat: 36.905877 deg,
      lon: -122.115940 deg,
      deltaT: 5.294595 s,
      deltaX: -3.273689 m,
      approachRate: -0.618308 m/s,
      posRepo size: 4

2025-06-08T00:09:20.667Z,1749341360.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.25 m. 9.52 m.
2025-06-08T00:09:20.670Z,1749341360.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 6.449665 m,
      bearing: 265.702070 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 261.718150 deg,
      new cmd heading: 260.297378 deg.

2025-06-08T00:09:20.671Z,1749341360.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543046 target range: 9.524184 and range: 6.30 m.
2025-06-08T00:09:20.785Z,1749341360.785 [DAT](INFO): DAT read: 00:09:19.9937 LVL= 13920, 16065, 17986, 17747, AGC= 50, IDX= 505, 0.22,-1.635, 3.125,-1.768,-1.895, PHS= 0.348,-1.216, 0.124, RAW= 142.4,  10.2, CAL= 145.1,   2.9, ROT=   4.9,  -2.9

2025-06-08T00:09:20.786Z,1749341360.786 [DAT](INFO): got valid direction response:
 00:09:19.9937 LVL= 13920, 16065, 17986, 17747, AGC= 50, IDX= 505, 0.22,-1.635, 3.125,-1.768,-1.895, PHS= 0.348,-1.216, 0.124, RAW= 142.4,  10.2, CAL= 145.1,   2.9, ROT=   4.9,  -2.9

2025-06-08T00:09:20.786Z,1749341360.786 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:09:20.788Z,1749341360.788 [DAT](INFO): direction in FSK: [0.995069,0.085308,0.050593]
2025-06-08T00:09:20.791Z,1749341360.791 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:20.791Z,1749341360.791 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:20.791Z,1749341360.791 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:20.998Z,1749341360.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:21.004Z,1749341361.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 6.228270 m,
      bearing: 265.011481 deg,
      approach rate: -0.647324 m/s,
      LOS rate: -2.090903 deg/s,
      cmd heading: 260.297389 deg,
      new cmd heading: 258.153030 deg.

2025-06-08T00:09:21.009Z,1749341361.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505620 target range: 9.524184 and range: 6.30 m.
2025-06-08T00:09:21.036Z,1749341361.036 [DAT](INFO): DAT read: Rx Time:00:09:20.4936 

2025-06-08T00:09:21.038Z,1749341361.038 [DAT](INFO): Rx dataTimestamp_ set to:1749341361.036638
2025-06-08T00:09:21.042Z,1749341361.042 [DAT](INFO): DAT read: Bearing  11.4,  -9.0 (Local)

2025-06-08T00:09:21.043Z,1749341361.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.4,  -9.0 (Local)

2025-06-08T00:09:21.048Z,1749341361.048 [DAT](INFO): DAT read: Range 10 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-06-08T00:09:21.048Z,1749341361.048 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:21.049Z,1749341361.049 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:21.049Z,1749341361.049 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:21.287Z,1749341361.287 [DAT](INFO): DAT read: 00:09:20.4936 LVL= 16368, 17073, 15602, 23123, AGC= 50, IDX= 503,-0.30, 0.24-.01 PS 030-.477,-0.131, RAW= 134.3,  14.5, CAL= 138.6,   9.0, ROT=  11.4,  -9.0

2025-06-08T00:09:21.288Z,1749341361.288 [DAT](INFO): unknown deviceResponse_: 00:09:20.4936 LVL= 16368, 17073, 15602, 23123, AGC= 50, IDX= 503,-0.30, 0.24-.01 PS 030-.477,-0.131, RAW= 134.3,  14.5, CAL= 138.6,   9.0, ROT=  11.4,  -9.0

2025-06-08T00:09:21.289Z,1749341361.289 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:21.289Z,1749341361.289 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:21.290Z,1749341361.290 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:21.452Z,1749341361.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.503911 s,
      deltaX: -0.100000 m,
      approachRate: -0.198448 m/s,
      rangeRepo size: 4

2025-06-08T00:09:21.453Z,1749341361.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:21.467Z,1749341361.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 5.973549 m,
      bearing: 264.149498 deg,
      approach rate: -0.567406 m/s,
      LOS rate: -2.001922 deg/s,
      cmd heading: 258.153038 deg,
      new cmd heading: 255.458910 deg.

2025-06-08T00:09:21.468Z,1749341361.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458599 target range: 9.524184 and range: 6.20 m.
2025-06-08T00:09:21.541Z,1749341361.541 [DAT](INFO): DAT read: Rx Time:00:09:20.9935 

2025-06-08T00:09:21.543Z,1749341361.543 [DAT](INFO): Rx dataTimestamp_ set to:1749341361.541648
2025-06-08T00:09:21.547Z,1749341361.547 [DAT](INFO): DAT read: Bearing  19.2, -19.5 (Local)

2025-06-08T00:09:21.548Z,1749341361.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.2, -19.5 (Local)

2025-06-08T00:09:21.555Z,1749341361.555 [DAT](INFO): DAT read: Range 10 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-06-08T00:09:21.558Z,1749341361.558 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:21.561Z,1749341361.561 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:21.563Z,1749341361.563 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:21.793Z,1749341361.793 [DAT](INFO): DAT read: 00:09:20.9935 LVL= 15456, 16513, 13730, 23475, AGC= 48, IDX= 502, 0.11, 0.286,-1.381,-0.292, 0.190, PHS= 0.184,-1.524,-0.485, RAW= 127.1,  23.4, CAL= 130.8,  1.5,RT 19.2, -19.5

2025-06-08T00:09:21.794Z,1749341361.794 [DAT](INFO): unknown deviceResponse_: 00:09:20.9935 LVL= 15456, 16513, 13730, 23475, AGC= 48, IDX= 502, 0.11, 0.286,-1.381,-0.292, 0.190, PHS= 0.184,-1.524,-0.485, RAW= 127.1,  23.4, CAL= 130.8,  1.5,RT 19.2, -19.5

2025-06-08T00:09:21.794Z,1749341361.794 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:21.795Z,1749341361.795 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:21.803Z,1749341361.803 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:21.910Z,1749341361.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.505010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:21.916Z,1749341361.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:21.918Z,1749341361.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 5.674671 m,
      bearing: 263.208636 deg,
      approach rate: -0.644936 m/s,
      LOS rate: -2.137074 deg/s,
      cmd heading: 255.458910 deg,
      new cmd heading: 252.490454 deg.

2025-06-08T00:09:21.923Z,1749341361.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406790 target range: 9.524184 and range: 6.20 m.
2025-06-08T00:09:22.045Z,1749341362.045 [DAT](INFO): DAT read: Rx Time:00:09:21.4932 

2025-06-08T00:09:22.047Z,1749341362.047 [DAT](INFO): Rx dataTimestamp_ set to:1749341362.045444
2025-06-08T00:09:22.051Z,1749341362.051 [DAT](INFO): DAT read: Bearing  50.7, -53.2 (Local)

2025-06-08T00:09:22.054Z,1749341362.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7, -53.2 (Local)

2025-06-08T00:09:22.065Z,1749341362.065 [DAT](INFO): DAT read: Range 10 to 50 :     5.7 m (trip time 3.8 ms) speed 0.5

2025-06-08T00:09:22.071Z,1749341362.071 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:22.072Z,1749341362.072 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:22.073Z,1749341362.073 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:22.254Z,1749341362.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:22.257Z,1749341362.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.503796 s,
      deltaX: -0.500000 m,
      approachRate: -0.992465 m/s,
      rangeRepo size: 4

2025-06-08T00:09:22.258Z,1749341362.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:22.262Z,1749341362.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 5.458045 m,
      bearing: 262.503155 deg,
      approach rate: -0.625519 m/s,
      LOS rate: -2.117919 deg/s,
      cmd heading: 252.490456 deg,
      new cmd heading: 250.291148 deg.

2025-06-08T00:09:22.263Z,1749341362.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368404 target range: 9.524184 and range: 5.70 m.
2025-06-08T00:09:22.296Z,1749341362.296 [DAT](INFO): DAT read: 00:09:21.4932 LVL= 14400, 16145, 14018, 22979, AGC= 47, IDX= 500,-0.22,-0.957,-1.826,-1.636,-0.607, PHS=-0.262,-1.171,-1.032, RAW=  98.2,  45.8, CAL=  99.3,  53.2, ROT=  50.7, -53.2

2025-06-08T00:09:22.297Z,1749341362.297 [DAT](INFO): got valid direction response:
 00:09:21.4932 LVL= 14400, 16145, 14018, 22979, AGC= 47, IDX= 500,-0.22,-0.957,-1.826,-1.636,-0.607, PHS=-0.262,-1.171,-1.032, RAW=  98.2,  45.8, CAL=  99.3,  53.2, ROT=  50.7, -53.2

2025-06-08T00:09:22.297Z,1749341362.297 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:09:22.298Z,1749341362.298 [DAT](INFO): direction in FSK: [0.379410,0.463549,0.800731]
2025-06-08T00:09:22.306Z,1749341362.306 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:22.306Z,1749341362.306 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:22.307Z,1749341362.307 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:22.549Z,1749341362.549 [DAT](INFO): DAT read: Rx Time:00:09:21.9931 

2025-06-08T00:09:22.551Z,1749341362.551 [DAT](INFO): Rx dataTimestamp_ set to:1749341362.549877
2025-06-08T00:09:22.555Z,1749341362.555 [DAT](INFO): DAT read: Bearing 139.8, -50.3 (Local)

2025-06-08T00:09:22.557Z,1749341362.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.8, -50.3 (Local)

2025-06-08T00:09:22.566Z,1749341362.566 [DAT](INFO): DAT read: Range 10 to 50 :     5.6 m (trip time 3.7 ms) speed 0.5

2025-06-08T00:09:22.584Z,1749341362.584 [DAT](INFO): DAT read: 00:09:21.9931 LVL= 14048, 16353, 15250, 21363, AGC= 46, IDX= 498, 0.21, 2.913,-3.065, 2.251,-2.513, PHS=-0.768,-0.504,-1.522, RAW=  15.5,  47.2, CAL=  10.2,  50.3, ROT= 139.8, -50.3

2025-06-08T00:09:22.585Z,1749341362.585 [DAT](INFO): got valid direction response:
 00:09:21.9931 LVL= 14048, 16353, 15250, 21363, AGC= 46, IDX= 498, 0.21, 2.913,-3.065, 2.251,-2.513, PHS=-0.768,-0.504,-1.522, RAW=  15.5,  47.2, CAL=  10.2,  50.3, ROT= 139.8, -50.3

2025-06-08T00:09:22.585Z,1749341362.585 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:22.586Z,1749341362.586 [DAT](INFO): direction in FSK: [-0.487888,0.412298,0.769400]
2025-06-08T00:09:22.586Z,1749341362.586 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:22.594Z,1749341362.594 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:22.594Z,1749341362.594 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:22.736Z,1749341362.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.504433 s,
      deltaX: -0.100000 m,
      approachRate: -0.198242 m/s,
      rangeRepo size: 4

2025-06-08T00:09:22.738Z,1749341362.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.556109 m,
      bearing: 53.879313 deg,
      lat: 36.905877 deg,
      lon: -122.115940 deg,
      deltaT: 7.311745 s,
      deltaX: -3.968075 m,
      approachRate: -0.542699 m/s,
      posRepo size: 4

2025-06-08T00:09:22.739Z,1749341362.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.56 m. 9.52 m.
2025-06-08T00:09:22.746Z,1749341362.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 5.182436 m,
      bearing: 261.532688 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 250.291135 deg,
      new cmd heading: 248.940522 deg.

2025-06-08T00:09:22.746Z,1749341362.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344832 target range: 9.524184 and range: 5.60 m.
2025-06-08T00:09:22.796Z,1749341362.796 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:22.796Z,1749341362.796 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:22.797Z,1749341362.797 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:23.052Z,1749341363.052 [DAT](INFO): DAT read: Rx Time:00:09:22.4928 

2025-06-08T00:09:23.054Z,1749341363.054 [DAT](INFO): Rx dataTimestamp_ set to:1749341363.053052
2025-06-08T00:09:23.058Z,1749341363.058 [DAT](INFO): DAT read: Bearing 174.4, -41.6 (Local)

2025-06-08T00:09:23.059Z,1749341363.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.4, -41.6 (Local)

2025-06-08T00:09:23.066Z,1749341363.066 [DAT](INFO): DAT read: Range 10 to 50 :     5.1 m (trip time 3.4 ms) speed 0.4

2025-06-08T00:09:23.070Z,1749341363.070 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:23.070Z,1749341363.070 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:23.071Z,1749341363.071 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:23.148Z,1749341363.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.503175 s,
      deltaX: -0.500000 m,
      approachRate: -0.993690 m/s,
      rangeRepo size: 4

2025-06-08T00:09:23.149Z,1749341363.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:23.155Z,1749341363.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 4.932485 m,
      bearing: 260.622542 deg,
      approach rate: -0.601004 m/s,
      LOS rate: -2.299236 deg/s,
      cmd heading: 248.940533 deg,
      new cmd heading: 246.074246 deg.

2025-06-08T00:09:23.156Z,1749341363.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294806 target range: 9.524184 and range: 5.10 m.
2025-06-08T00:09:23.304Z,1749341363.304 [DAT](INFO): DAT read: 00:09:22.4928 LVL= 19184, 26481, 18002, 21235, AGC= 46, IDX= 496,-0.22, 1.860, 3.133, 1.792,-2.868, PHS=-1.468,-0.236,-1.627, RAW= 336.0,  41.8, CAL= 335.6,  41.6, ROT= 174.4, -41.6

2025-06-08T00:09:23.305Z,1749341363.305 [DAT](INFO): got valid direction response:
 00:09:22.4928 LVL= 19184, 26481, 18002, 21235, AGC= 46, IDX= 496,-0.22, 1.860, 3.133, 1.792,-2.868, PHS=-1.468,-0.236,-1.627, RAW= 336.0,  41.8, CAL= 335.6,  41.6, ROT= 174.4, -41.6

2025-06-08T00:09:23.305Z,1749341363.305 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:09:23.306Z,1749341363.306 [DAT](INFO): direction in FSK: [-0.744229,0.072972,0.663926]
2025-06-08T00:09:23.309Z,1749341363.309 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:23.309Z,1749341363.309 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:23.310Z,1749341363.310 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:23.557Z,1749341363.557 [DAT](INFO): DAT read: Rx Time:00:09:22.9927 

2025-06-08T00:09:23.559Z,1749341363.559 [DAT](INFO): Rx dataTimestamp_ set to:1749341363.557370
2025-06-08T00:09:23.563Z,1749341363.563 [DAT](INFO): DAT read: Bearing 183.9, -35.8 (Local)

2025-06-08T00:09:23.564Z,1749341363.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.9, -35.8 (Local)

2025-06-08T00:09:23.570Z,1749341363.570 [DAT](INFO): DAT read: Range 10 to 50 :     5.0 m (trip time 3.3 ms) speed 0.4

2025-06-08T00:09:23.575Z,1749341363.575 [DAT](INFO): DAT read: 00:09:22.9927 LVL= 21408, 32753, 17282, 23955, AGC= 48, IDX= 511, 0.04, 2.538,-2.054, 2.848,-2.013, PHS=-1.645, 0.006,-1.425, RAW= 323.0,  34.9, CAL= 326.1,  35.8, ROT= 183.9, -35.8

2025-06-08T00:09:23.580Z,1749341363.580 [DAT](INFO): got valid direction response:
 00:09:22.9927 LVL= 21408, 32753, 17282, 23955, AGC= 48, IDX= 511, 0.04, 2.538,-2.054, 2.848,-2.013, PHS=-1.645, 0.006,-1.425, RAW= 323.0,  34.9, CAL= 326.1,  35.8, ROT= 183.9, -35.8

2025-06-08T00:09:23.580Z,1749341363.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:23.581Z,1749341363.581 [DAT](INFO): direction in FSK: [-0.809186,-0.055165,0.584958]
2025-06-08T00:09:23.582Z,1749341363.582 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:23.585Z,1749341363.585 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:23.585Z,1749341363.585 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:23.609Z,1749341363.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.504318 s,
      deltaX: -0.100000 m,
      approachRate: -0.198287 m/s,
      rangeRepo size: 4

2025-06-08T00:09:23.616Z,1749341363.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.960755 m,
      bearing: 96.381154 deg,
      lat: 36.905901 deg,
      lon: -122.115934 deg,
      deltaT: 8.319238 s,
      deltaX: -4.563429 m,
      approachRate: -0.548539 m/s,
      posRepo size: 4

2025-06-08T00:09:23.619Z,1749341363.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.96 m. 9.52 m.
2025-06-08T00:09:23.645Z,1749341363.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 4.688839 m,
      bearing: 259.659514 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 246.074258 deg,
      new cmd heading: 244.737675 deg.

2025-06-08T00:09:23.646Z,1749341363.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271478 target range: 9.524184 and range: 5.00 m.
2025-06-08T00:09:23.805Z,1749341363.805 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:23.805Z,1749341363.805 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:23.806Z,1749341363.806 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:23.982Z,1749341363.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:23.989Z,1749341363.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 4.432515 m,
      bearing: 258.525008 deg,
      approach rate: -0.686643 m/s,
      LOS rate: -3.214663 deg/s,
      cmd heading: 244.737672 deg,
      new cmd heading: 241.142297 deg.

2025-06-08T00:09:23.990Z,1749341363.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208727 target range: 9.524184 and range: 5.00 m.
2025-06-08T00:09:24.057Z,1749341364.057 [DAT](INFO): DAT read: Rx Time:00:09:23.4925 

2025-06-08T00:09:24.058Z,1749341364.058 [DAT](INFO): Rx dataTimestamp_ set to:1749341364.057523
2025-06-08T00:09:24.060Z,1749341364.060 [DAT](INFO): DAT read: Range 10 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-06-08T00:09:24.061Z,1749341364.061 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:24.062Z,1749341364.062 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:24.062Z,1749341364.062 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:24.308Z,1749341364.308 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:24.308Z,1749341364.308 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:24.308Z,1749341364.308 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:24.357Z,1749341364.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:24.360Z,1749341364.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.500153 s,
      deltaX: -0.300000 m,
      approachRate: -0.599817 m/s,
      rangeRepo size: 4

2025-06-08T00:09:24.361Z,1749341364.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:24.383Z,1749341364.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 4.201698 m,
      bearing: 257.516302 deg,
      approach rate: -0.610917 m/s,
      LOS rate: -2.816316 deg/s,
      cmd heading: 241.142288 deg,
      new cmd heading: 237.953395 deg.

2025-06-08T00:09:24.384Z,1749341364.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153070 target range: 9.524184 and range: 4.70 m.
2025-06-08T00:09:24.565Z,1749341364.565 [DAT](INFO): DAT read: Rx Time:00:09:23.9924 

2025-06-08T00:09:24.568Z,1749341364.568 [DAT](INFO): Rx dataTimestamp_ set to:1749341364.565981
2025-06-08T00:09:24.570Z,1749341364.570 [DAT](INFO): DAT read: Bearing 172.5, -32.7 (Local)

2025-06-08T00:09:24.571Z,1749341364.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.5, -32.7 (Local)

2025-06-08T00:09:24.573Z,1749341364.573 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed 0.4

2025-06-08T00:09:24.579Z,1749341364.579 [DAT](INFO): DAT read: 00:09:23.9924 LVL= 15920,  9937,  9186, 13939, AGC= 41, IDX= 508, 0.03, 2.962,-2.052, 2.858,-2.146, PHS=-1.087, 0.141,-1.282, RAW= 337.3,  30.5, CAL= 337.5,  32.7, ROT= 172.5, -32.7

2025-06-08T00:09:24.580Z,1749341364.580 [DAT](INFO): got valid direction response:
 00:09:23.9924 LVL= 15920,  9937,  9186, 13939, AGC= 41, IDX= 508, 0.03, 2.962,-2.052, 2.858,-2.146, PHS=-1.087, 0.141,-1.282, RAW= 337.3,  30.5, CAL= 337.5,  32.7, ROT= 172.5, -32.7

2025-06-08T00:09:24.580Z,1749341364.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:24.581Z,1749341364.581 [DAT](INFO): direction in FSK: [-0.834312,0.109839,0.540240]
2025-06-08T00:09:24.582Z,1749341364.582 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:24.585Z,1749341364.585 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:24.585Z,1749341364.585 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:24.798Z,1749341364.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.508458 s,
      deltaX: -0.200000 m,
      approachRate: -0.393346 m/s,
      rangeRepo size: 4

2025-06-08T00:09:24.800Z,1749341364.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.464584 m,
      bearing: 81.010942 deg,
      lat: 36.905908 deg,
      lon: -122.115860 deg,
      deltaT: 9.327849 s,
      deltaX: -5.059600 m,
      approachRate: -0.542419 m/s,
      posRepo size: 4

2025-06-08T00:09:24.801Z,1749341364.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.46 m. 9.52 m.
2025-06-08T00:09:24.812Z,1749341364.812 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:24.812Z,1749341364.812 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:24.812Z,1749341364.812 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:24.828Z,1749341364.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 3.950591 m,
      bearing: 256.376105 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 237.953381 deg,
      new cmd heading: 236.697789 deg.

2025-06-08T00:09:24.829Z,1749341364.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131156 target range: 9.524184 and range: 4.50 m.
2025-06-08T00:09:25.082Z,1749341365.082 [DAT](INFO): DAT read: Rx Time:00:09:24.4921 

2025-06-08T00:09:25.102Z,1749341365.102 [DAT](INFO): Rx dataTimestamp_ set to:1749341365.101840
2025-06-08T00:09:25.104Z,1749341365.104 [DAT](INFO): DAT read: Bearing 165.5, -37.1 (Local)

2025-06-08T00:09:25.104Z,1749341365.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.5, -37.1 (Local)

2025-06-08T00:09:25.106Z,1749341365.106 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-06-08T00:09:25.135Z,1749341365.135 [DAT](INFO): DAT read: 00:09:24.4921 LVL= 14288, 22865,  8114, 19315, AGC= 43, IDX= 505,-0.11, 0.630, 1.789, 0.241, 1.895, PHS=-1.177,-0.058,-1.657, RAW= 347.0,  35.7, CAL= 344.5,  37.1, ROT= 165.5, -37.1

2025-06-08T00:09:25.148Z,1749341365.148 [DAT](INFO): got valid direction response:
 00:09:24.4921 LVL= 14288, 22865,  8114, 19315, AGC= 43, IDX= 505,-0.11, 0.630, 1.789, 0.241, 1.895, PHS=-1.177,-0.058,-1.657, RAW= 347.0,  35.7, CAL= 344.5,  37.1, ROT= 165.5, -37.1

2025-06-08T00:09:25.148Z,1749341365.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:25.149Z,1749341365.149 [DAT](INFO): direction in FSK: [-0.772179,0.199699,0.603208]
2025-06-08T00:09:25.150Z,1749341365.150 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:25.161Z,1749341365.161 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:25.162Z,1749341365.162 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:25.220Z,1749341365.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.535859 s,
      deltaX: -0.400000 m,
      approachRate: -0.746465 m/s,
      rangeRepo size: 4

2025-06-08T00:09:25.222Z,1749341365.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.067728 m,
      bearing: 72.740186 deg,
      lat: 36.905911 deg,
      lon: -122.115860 deg,
      deltaT: 9.863708 s,
      deltaX: -5.456457 m,
      approachRate: -0.553185 m/s,
      posRepo size: 4

2025-06-08T00:09:25.223Z,1749341365.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.07 m. 9.52 m.
2025-06-08T00:09:25.229Z,1749341365.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 3.719179 m,
      bearing: 255.262804 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 236.697801 deg,
      new cmd heading: 235.500861 deg.

2025-06-08T00:09:25.230Z,1749341365.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110265 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:25.317Z,1749341365.317 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:25.318Z,1749341365.318 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:25.318Z,1749341365.318 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:25.571Z,1749341365.571 [DAT](INFO): DAT read: Rx Time:00:09:24.9921 

2025-06-08T00:09:25.571Z,1749341365.571 [DAT](INFO): Rx dataTimestamp_ set to:1749341365.571091
2025-06-08T00:09:25.573Z,1749341365.573 [DAT](INFO): DAT read: Bearing 167.7, -37.7 (Local)

2025-06-08T00:09:25.573Z,1749341365.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.7, -37.7 (Local)

2025-06-08T00:09:25.584Z,1749341365.584 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-06-08T00:09:25.589Z,1749341365.589 [DAT](INFO): DAT read: 00:09:24.9921 LVL= 10480, 14961,  7186, 12563, AGC= 43, IDX= 505,-0.25,-1.750,-0.427,-2.101,-0.294, PHS=-1.369,-0.086,-1.810, RAW= 344.3,  36.6, CAL= 342.3,  37.7, ROT= 167.7, -37.7

2025-06-08T00:09:25.590Z,1749341365.590 [DAT](INFO): got valid direction response:
 00:09:24.9921 LVL= 10480, 14961,  7186, 12563, AGC= 43, IDX= 505,-0.25,-1.750,-0.427,-2.101,-0.294, PHS=-1.369,-0.086,-1.810, RAW= 344.3,  36.6, CAL= 342.3,  37.7, ROT= 167.7, -37.7

2025-06-08T00:09:25.590Z,1749341365.590 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:09:25.616Z,1749341365.616 [DAT](INFO): direction in FSK: [-0.773061,0.168555,0.611527]
2025-06-08T00:09:25.617Z,1749341365.617 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:25.624Z,1749341365.624 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:25.625Z,1749341365.625 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:25.748Z,1749341365.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.469251 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:25.750Z,1749341365.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.067728 m,
      bearing: 73.882376 deg,
      lat: 36.905913 deg,
      lon: -122.115860 deg,
      deltaT: 10.332959 s,
      deltaX: -5.456457 m,
      approachRate: -0.528063 m/s,
      posRepo size: 4

2025-06-08T00:09:25.751Z,1749341365.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.07 m. 9.52 m.
2025-06-08T00:09:25.757Z,1749341365.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 3.417285 m,
      bearing: 253.764165 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.956323 deg/s,
      cmd heading: 235.500852 deg,
      new cmd heading: 233.986710 deg.

2025-06-08T00:09:25.758Z,1749341365.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083838 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:25.820Z,1749341365.820 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:25.820Z,1749341365.820 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:25.821Z,1749341365.821 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:26.050Z,1749341366.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:26.060Z,1749341366.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 3.229398 m,
      bearing: 252.764379 deg,
      approach rate: -0.611686 m/s,
      LOS rate: -3.444110 deg/s,
      cmd heading: 233.986708 deg,
      new cmd heading: 230.816248 deg.

2025-06-08T00:09:26.061Z,1749341366.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.028503 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:26.072Z,1749341366.072 [DAT](INFO): DAT read: user:2110>

2025-06-08T00:09:26.073Z,1749341366.073 [DAT](INFO): DAT read: Command 'l' not found

2025-06-08T00:09:26.073Z,1749341366.073 [DAT](INFO): unknown deviceResponse_: Command 'l' not found

2025-06-08T00:09:26.074Z,1749341366.074 [DAT](INFO): DAT read: Error

2025-06-08T00:09:26.074Z,1749341366.074 [DAT](INFO): unknown deviceResponse_: Error

2025-06-08T00:09:26.074Z,1749341366.074 [DAT](INFO): DAT read: user:2111>

2025-06-08T00:09:26.075Z,1749341366.075 [DAT](INFO): Reached modem response timeout
2025-06-08T00:09:26.075Z,1749341366.075 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:09:26.076Z,1749341366.076 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-08T00:09:26.324Z,1749341366.324 [DAT](INFO): DAT read: Tx time:00:09:25.9336

2025-06-08T00:09:26.325Z,1749341366.325 [DAT](INFO): Ping request sent.
2025-06-08T00:09:26.325Z,1749341366.325 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:09:26.325Z,1749341366.325 [DAT](INFO): DAT read: TxSync time:00:09:25.9329

2025-06-08T00:09:26.326Z,1749341366.326 [DAT](INFO): publishing transmit ping time
2025-06-08T00:09:26.326Z,1749341366.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001576
2025-06-08T00:09:26.508Z,1749341366.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:26.510Z,1749341366.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:26.513Z,1749341366.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 2.966269 m,
      bearing: 251.264182 deg,
      approach rate: -0.571722 m/s,
      LOS rate: -3.548342 deg/s,
      cmd heading: 230.816244 deg,
      new cmd heading: 225.928866 deg.

2025-06-08T00:09:26.514Z,1749341366.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.943202 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:26.581Z,1749341366.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256093
2025-06-08T00:09:26.832Z,1749341366.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507344
2025-06-08T00:09:26.896Z,1749341366.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:26.899Z,1749341366.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 2.762485 m,
      bearing: 250.034573 deg,
      approach rate: -0.528061 m/s,
      LOS rate: -3.421048 deg/s,
      cmd heading: 225.928861 deg,
      new cmd heading: 221.974511 deg.

2025-06-08T00:09:26.908Z,1749341366.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.874186 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:27.084Z,1749341367.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759264
2025-06-08T00:09:27.265Z,1749341367.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:27.268Z,1749341367.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 2.568009 m,
      bearing: 248.777577 deg,
      approach rate: -0.527872 m/s,
      LOS rate: -3.669985 deg/s,
      cmd heading: 221.974509 deg,
      new cmd heading: 217.925022 deg.

2025-06-08T00:09:27.268Z,1749341367.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803509 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:27.336Z,1749341367.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011387
2025-06-08T00:09:27.588Z,1749341367.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263518
2025-06-08T00:09:27.707Z,1749341367.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:27.717Z,1749341367.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 2.347285 m,
      bearing: 247.414063 deg,
      approach rate: -0.499315 m/s,
      LOS rate: -3.374231 deg/s,
      cmd heading: 217.925027 deg,
      new cmd heading: 213.459325 deg.

2025-06-08T00:09:27.718Z,1749341367.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725568 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:27.841Z,1749341367.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516193
2025-06-08T00:09:28.068Z,1749341368.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:28.070Z,1749341368.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 2.147075 m,
      bearing: 246.032881 deg,
      approach rate: -0.554772 m/s,
      LOS rate: -4.183660 deg/s,
      cmd heading: 213.459326 deg,
      new cmd heading: 208.939241 deg.

2025-06-08T00:09:28.088Z,1749341368.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.646678 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:28.092Z,1749341368.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767342
2025-06-08T00:09:28.344Z,1749341368.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019243
2025-06-08T00:09:28.541Z,1749341368.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:28.544Z,1749341368.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.52 m. 9.52 m.
2025-06-08T00:09:28.547Z,1749341368.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.524184 m,
      nav range: 1.907267 m,
      bearing: 244.129083 deg,
      approach rate: -0.503212 m/s,
      LOS rate: -4.496386 deg/s,
      cmd heading: 208.939243 deg,
      new cmd heading: 202.537689 deg.

2025-06-08T00:09:28.548Z,1749341368.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534950 target range: 9.524184 and range: 4.10 m.
2025-06-08T00:09:28.599Z,1749341368.599 [DAT](INFO): DAT read: Rx Time:00:09:28.0665 

2025-06-08T00:09:28.601Z,1749341368.601 [DAT](INFO): Rx dataTimestamp_ set to:1749341368.599903
2025-06-08T00:09:28.602Z,1749341368.602 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:28.602Z,1749341368.602 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:09:28.604Z,1749341368.604 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.278675
2025-06-08T00:09:28.848Z,1749341368.848 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.523224
2025-06-08T00:09:28.990Z,1749341368.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.028812 s,
      deltaX: -1.400000 m,
      approachRate: -0.462227 m/s,
      rangeRepo size: 4

2025-06-08T00:09:28.991Z,1749341368.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-06-08T00:09:28.991Z,1749341368.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-08T00:09:29.100Z,1749341369.100 [DAT](INFO): DAT read: Rx Time:00:09:28.5663 

2025-06-08T00:09:29.101Z,1749341369.101 [DAT](INFO): Rx dataTimestamp_ set to:1749341369.100650
2025-06-08T00:09:29.102Z,1749341369.102 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:09:29.103Z,1749341369.103 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-08T00:09:29.104Z,1749341369.104 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.778838
2025-06-08T00:09:29.352Z,1749341369.352 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.027439
2025-06-08T00:09:29.364Z,1749341369.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.500747 s,
      deltaX: -0.300000 m,
      approachRate: -0.599105 m/s,
      rangeRepo size: 4

2025-06-08T00:09:29.605Z,1749341369.605 [DAT](INFO): DAT read: Rx Time:00:09:29.0665 

2025-06-08T00:09:29.605Z,1749341369.605 [DAT](INFO): Rx dataTimestamp_ set to:1749341369.604791
2025-06-08T00:09:29.606Z,1749341369.606 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:29.607Z,1749341369.607 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-06-08T00:09:29.608Z,1749341369.608 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.282979
2025-06-08T00:09:29.793Z,1749341369.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504141 s,
      deltaX: 0.300000 m,
      approachRate: 0.595071 m/s,
      rangeRepo size: 4

2025-06-08T00:09:29.856Z,1749341369.856 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.531459
2025-06-08T00:09:30.108Z,1749341370.108 [DAT](INFO): DAT read: Rx Time:00:09:29.5664 

2025-06-08T00:09:30.109Z,1749341370.109 [DAT](INFO): Rx dataTimestamp_ set to:1749341370.108643
2025-06-08T00:09:30.110Z,1749341370.110 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:30.111Z,1749341370.111 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-06-08T00:09:30.112Z,1749341370.112 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.786846
2025-06-08T00:09:30.194Z,1749341370.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503852 s,
      deltaX: -0.100000 m,
      approachRate: -0.198471 m/s,
      rangeRepo size: 4

2025-06-08T00:09:30.200Z,1749341370.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-06-08T00:09:30.360Z,1749341370.360 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.035209
2025-06-08T00:09:30.612Z,1749341370.612 [DAT](INFO): DAT read: Rx Time:00:09:30.0664 

2025-06-08T00:09:30.613Z,1749341370.613 [DAT](INFO): Rx dataTimestamp_ set to:1749341370.612596
2025-06-08T00:09:30.614Z,1749341370.614 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:30.615Z,1749341370.615 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-06-08T00:09:30.616Z,1749341370.616 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.290933
2025-06-08T00:09:30.728Z,1749341370.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:30.735Z,1749341370.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503953 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:30.736Z,1749341370.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m.
2025-06-08T00:09:30.865Z,1749341370.865 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.540090
2025-06-08T00:09:31.116Z,1749341371.116 [DAT](INFO): DAT read: Rx Time:00:09:30.5664 

2025-06-08T00:09:31.117Z,1749341371.117 [DAT](INFO): Rx dataTimestamp_ set to:1749341371.116585
2025-06-08T00:09:31.118Z,1749341371.118 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.1

2025-06-08T00:09:31.119Z,1749341371.119 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-06-08T00:09:31.120Z,1749341371.120 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.794786
2025-06-08T00:09:31.122Z,1749341371.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503989 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:31.122Z,1749341371.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-06-08T00:09:31.368Z,1749341371.368 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.043478
2025-06-08T00:09:31.621Z,1749341371.621 [DAT](INFO): DAT read: Rx Time:00:09:31.0665 

2025-06-08T00:09:31.622Z,1749341371.622 [DAT](INFO): Rx dataTimestamp_ set to:1749341371.621638
2025-06-08T00:09:31.624Z,1749341371.624 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:31.625Z,1749341371.625 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-06-08T00:09:31.626Z,1749341371.626 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.301399
2025-06-08T00:09:31.872Z,1749341371.872 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.547313
2025-06-08T00:09:31.916Z,1749341371.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.505053 s,
      deltaX: 0.100000 m,
      approachRate: 0.197999 m/s,
      rangeRepo size: 4

2025-06-08T00:09:32.124Z,1749341372.124 [DAT](INFO): DAT read: Rx Time:00:09:31.5664 

2025-06-08T00:09:32.125Z,1749341372.125 [DAT](INFO): Rx dataTimestamp_ set to:1749341372.124648
2025-06-08T00:09:32.126Z,1749341372.126 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:32.127Z,1749341372.127 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-06-08T00:09:32.128Z,1749341372.128 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.802849
2025-06-08T00:09:32.265Z,1749341372.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503010 s,
      deltaX: -0.100000 m,
      approachRate: -0.198803 m/s,
      rangeRepo size: 4

2025-06-08T00:09:32.376Z,1749341372.376 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.051369
2025-06-08T00:09:32.628Z,1749341372.628 [DAT](INFO): DAT read: Rx Time:00:09:32.0665 

2025-06-08T00:09:32.629Z,1749341372.629 [DAT](INFO): Rx dataTimestamp_ set to:1749341372.628427
2025-06-08T00:09:32.630Z,1749341372.630 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:32.631Z,1749341372.631 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-06-08T00:09:32.631Z,1749341372.631 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.306610
2025-06-08T00:09:32.737Z,1749341372.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:32.740Z,1749341372.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503779 s,
      deltaX: 0.100000 m,
      approachRate: 0.198500 m/s,
      rangeRepo size: 4

2025-06-08T00:09:32.883Z,1749341372.883 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.558439
2025-06-08T00:09:33.137Z,1749341373.137 [DAT](INFO): DAT read: Rx Time:00:09:32.5664 

2025-06-08T00:09:33.139Z,1749341373.139 [DAT](INFO): Rx dataTimestamp_ set to:1749341373.137647
2025-06-08T00:09:33.143Z,1749341373.143 [DAT](INFO): DAT read: Bearing 108.4,  -1.7 (Local)

2025-06-08T00:09:33.145Z,1749341373.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.4,  -1.7 (Local)

2025-06-08T00:09:33.151Z,1749341373.151 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed -0.1

2025-06-08T00:09:33.161Z,1749341373.161 [DAT](INFO): DAT read: 00:09:32.5664 LVL= 14080, 23793, 17090, 20675, AGC= 52, IDX= 512,-0.06,-1.951,-2.275, 2.831,-2.463, PHS= 0.600, 0.236,-0.992, RAW=  42.6,   2.2, CAL=  41.6,   1.7, ROT= 108.4,  -1.7

2025-06-08T00:09:33.162Z,1749341373.162 [DAT](INFO): got valid direction response:
 00:09:32.5664 LVL= 14080, 23793, 17090, 20675, AGC= 52, IDX= 512,-0.06,-1.951,-2.275, 2.831,-2.463, PHS= 0.600, 0.236,-0.992, RAW=  42.6,   2.2, CAL=  41.6,   1.7, ROT= 108.4,  -1.7

2025-06-08T00:09:33.163Z,1749341373.163 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-08T00:09:33.169Z,1749341373.169 [DAT](INFO): direction in FSK: [-0.315510,0.948458,0.029666]
2025-06-08T00:09:33.170Z,1749341373.170 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:33.174Z,1749341373.174 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.849554
2025-06-08T00:09:33.384Z,1749341373.384 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.059220
2025-06-08T00:09:33.497Z,1749341373.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.509220 s,
      deltaX: -0.100000 m,
      approachRate: -0.196379 m/s,
      rangeRepo size: 4

2025-06-08T00:09:33.499Z,1749341373.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579518 m,
      bearing: 9.224397 deg,
      lat: 36.905913 deg,
      lon: -122.115870 deg,
      deltaT: 17.899515 s,
      deltaX: -6.944666 m,
      approachRate: -0.387981 m/s,
      posRepo size: 4

2025-06-08T00:09:33.636Z,1749341373.636 [DAT](INFO): DAT read: Rx Time:00:09:33.0665 

2025-06-08T00:09:33.637Z,1749341373.637 [DAT](INFO): Rx dataTimestamp_ set to:1749341373.636550
2025-06-08T00:09:33.638Z,1749341373.638 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:33.639Z,1749341373.639 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-06-08T00:09:33.640Z,1749341373.640 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.314956
2025-06-08T00:09:33.888Z,1749341373.888 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.563400
2025-06-08T00:09:33.931Z,1749341373.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.498903 s,
      deltaX: 0.100000 m,
      approachRate: 0.200440 m/s,
      rangeRepo size: 4

2025-06-08T00:09:34.141Z,1749341374.141 [DAT](INFO): DAT read: Rx Time:00:09:33.5664 

2025-06-08T00:09:34.142Z,1749341374.142 [DAT](INFO): Rx dataTimestamp_ set to:1749341374.141247
2025-06-08T00:09:34.143Z,1749341374.143 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:34.143Z,1749341374.143 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-06-08T00:09:34.144Z,1749341374.144 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.819473
2025-06-08T00:09:34.297Z,1749341374.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504697 s,
      deltaX: -0.100000 m,
      approachRate: -0.198139 m/s,
      rangeRepo size: 4

2025-06-08T00:09:34.393Z,1749341374.393 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.067718
2025-06-08T00:09:34.644Z,1749341374.644 [DAT](INFO): DAT read: Rx Time:00:09:34.0664 

2025-06-08T00:09:34.645Z,1749341374.645 [DAT](INFO): Rx dataTimestamp_ set to:1749341374.644534
2025-06-08T00:09:34.646Z,1749341374.646 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:34.647Z,1749341374.647 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-06-08T00:09:34.648Z,1749341374.648 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.322741
2025-06-08T00:09:34.740Z,1749341374.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503287 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:34.898Z,1749341374.898 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.572490
2025-06-08T00:09:35.138Z,1749341375.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:35.148Z,1749341375.148 [DAT](INFO): DAT read: Rx Time:00:09:34.5663 

2025-06-08T00:09:35.149Z,1749341375.149 [DAT](INFO): Rx dataTimestamp_ set to:1749341375.148622
2025-06-08T00:09:35.150Z,1749341375.150 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:09:35.151Z,1749341375.151 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-08T00:09:35.152Z,1749341375.152 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.826825
2025-06-08T00:09:35.400Z,1749341375.400 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.075418
2025-06-08T00:09:35.506Z,1749341375.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504088 s,
      deltaX: -0.200000 m,
      approachRate: -0.396756 m/s,
      rangeRepo size: 4

2025-06-08T00:09:35.652Z,1749341375.652 [DAT](INFO): DAT read: Rx Time:00:09:35.0664 

2025-06-08T00:09:35.653Z,1749341375.653 [DAT](INFO): Rx dataTimestamp_ set to:1749341375.652578
2025-06-08T00:09:35.654Z,1749341375.654 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:35.655Z,1749341375.655 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-06-08T00:09:35.656Z,1749341375.656 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.330920
2025-06-08T00:09:35.904Z,1749341375.904 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.579341
2025-06-08T00:09:35.974Z,1749341375.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503956 s,
      deltaX: 0.200000 m,
      approachRate: 0.396860 m/s,
      rangeRepo size: 4

2025-06-08T00:09:36.158Z,1749341376.158 [DAT](INFO): DAT read: Rx Time:00:09:35.5664 

2025-06-08T00:09:36.158Z,1749341376.158 [DAT](INFO): Rx dataTimestamp_ set to:1749341376.158038
2025-06-08T00:09:36.160Z,1749341376.160 [DAT](INFO): DAT read: Bearing 203.2, -60.2 (Local)

2025-06-08T00:09:36.160Z,1749341376.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.2, -60.2 (Local)

2025-06-08T00:09:36.162Z,1749341376.162 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:36.167Z,1749341376.167 [DAT](INFO): DAT read: 00:09:35.5664 LVL=  8016, 11937, 13010, 13939, AGC= 48, IDX= 511, 0.20,-1.919,-1.070,-1.436,-0.297, PHS=-1.534,-0.726,-1.142, RAW= 301.0,  59.8, CAL= 306.8,  60.2, ROT= 203.2, -60.2

2025-06-08T00:09:36.178Z,1749341376.178 [DAT](INFO): got valid direction response:
 00:09:35.5664 LVL=  8016, 11937, 13010, 13939, AGC= 48, IDX= 511, 0.20,-1.919,-1.070,-1.436,-0.297, PHS=-1.534,-0.726,-1.142, RAW= 301.0,  59.8, CAL= 306.8,  60.2, ROT= 203.2, -60.2

2025-06-08T00:09:36.179Z,1749341376.179 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-08T00:09:36.181Z,1749341376.181 [DAT](INFO): direction in FSK: [-0.456786,-0.195779,0.867765]
2025-06-08T00:09:36.182Z,1749341376.182 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:36.193Z,1749341376.193 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.867332
2025-06-08T00:09:36.408Z,1749341376.408 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.083354
2025-06-08T00:09:36.417Z,1749341376.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.505460 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:36.419Z,1749341376.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579499 m,
      bearing: 113.093464 deg,
      lat: 36.905913 deg,
      lon: -122.115874 deg,
      deltaT: 3.020391 s,
      deltaX: -0.000019 m,
      approachRate: -0.000006 m/s,
      posRepo size: 4

2025-06-08T00:09:36.661Z,1749341376.661 [DAT](INFO): DAT read: Rx Time:00:09:36.0666 

2025-06-08T00:09:36.662Z,1749341376.662 [DAT](INFO): Rx dataTimestamp_ set to:1749341376.661586
2025-06-08T00:09:36.664Z,1749341376.664 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-06-08T00:09:36.664Z,1749341376.664 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-08T00:09:36.665Z,1749341376.665 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.340165
2025-06-08T00:09:36.847Z,1749341376.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.503548 s,
      deltaX: 0.300000 m,
      approachRate: 0.595773 m/s,
      rangeRepo size: 4

2025-06-08T00:09:36.912Z,1749341376.912 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.587525
2025-06-08T00:09:37.169Z,1749341377.169 [DAT](INFO): DAT read: Rx Time:00:09:36.5665 

2025-06-08T00:09:37.169Z,1749341377.169 [DAT](INFO): Rx dataTimestamp_ set to:1749341377.168997
2025-06-08T00:09:37.172Z,1749341377.172 [DAT](INFO): DAT read: Bearing 183.8, -62.5 (Local)

2025-06-08T00:09:37.173Z,1749341377.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.8, -62.5 (Local)

2025-06-08T00:09:37.176Z,1749341377.176 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:37.192Z,1749341377.192 [DAT](INFO): DAT read: 00:09:36.5665 LVL= 10592, 14321, 14194, 18611, AGC= 49, IDX= 511, 0.34,-1.208,-0.534,-1.051, 0.221, PHS=-1.341,-0.708,-1.275, RAW= 324.6,  62.8, CAL= 326.2,  62.5, ROT= 183.8, -62.5

2025-06-08T00:09:37.194Z,1749341377.194 [DAT](INFO): got valid direction response:
 00:09:36.5665 LVL= 10592, 14321, 14194, 18611, AGC= 49, IDX= 511, 0.34,-1.208,-0.534,-1.051, 0.221, PHS=-1.341,-0.708,-1.275, RAW= 324.6,  62.8, CAL= 326.2,  62.5, ROT= 183.8, -62.5

2025-06-08T00:09:37.194Z,1749341377.194 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-08T00:09:37.231Z,1749341377.231 [DAT](INFO): direction in FSK: [-0.460733,-0.030602,0.887011]
2025-06-08T00:09:37.231Z,1749341377.231 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:37.235Z,1749341377.235 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.909969
2025-06-08T00:09:37.312Z,1749341377.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.507411 s,
      deltaX: -0.200000 m,
      approachRate: -0.394158 m/s,
      rangeRepo size: 4

2025-06-08T00:09:37.314Z,1749341377.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678690 m,
      bearing: 99.403561 deg,
      lat: 36.905913 deg,
      lon: -122.115926 deg,
      deltaT: 1.010959 s,
      deltaX: 0.099191 m,
      approachRate: 0.098115 m/s,
      posRepo size: 4

2025-06-08T00:09:37.417Z,1749341377.417 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.091762
2025-06-08T00:09:37.672Z,1749341377.672 [DAT](INFO): DAT read: Rx Time:00:09:37.0666 

2025-06-08T00:09:37.673Z,1749341377.673 [DAT](INFO): Rx dataTimestamp_ set to:1749341377.672293
2025-06-08T00:09:37.674Z,1749341377.674 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed -0.1

2025-06-08T00:09:37.675Z,1749341377.675 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-06-08T00:09:37.677Z,1749341377.677 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.351829
2025-06-08T00:09:37.775Z,1749341377.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:37.778Z,1749341377.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.503296 s,
      deltaX: 0.200000 m,
      approachRate: 0.397381 m/s,
      rangeRepo size: 4

2025-06-08T00:09:37.920Z,1749341377.920 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.595233
2025-06-08T00:09:38.189Z,1749341378.189 [DAT](INFO): DAT read: Rx Time:00:09:37.5665 

2025-06-08T00:09:38.189Z,1749341378.189 [DAT](INFO): Rx dataTimestamp_ set to:1749341378.188963
2025-06-08T00:09:38.191Z,1749341378.191 [DAT](INFO): DAT read: Bearing 177.8, -21.1 (Local)

2025-06-08T00:09:38.191Z,1749341378.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.8, -21.1 (Local)

2025-06-08T00:09:38.193Z,1749341378.193 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:38.198Z,1749341378.198 [DAT](INFO): DAT read: 00:09:37.5665 LVL= 11408, 15777, 16882, 18163, AGC= 50, IDX= 512,-0.46, 2.048,-2.007, 2.175,-2.852, PHS=-1.295, 0.892,-1.260, RAW= 329.2,  15.2, CAL= 332.2,  21.1, ROT= 177.8, -21.1

2025-06-08T00:09:38.199Z,1749341378.199 [DAT](INFO): got valid direction response:
 00:09:37.5665 LVL= 11408, 15777, 16882, 18163, AGC= 50, IDX= 512,-0.46, 2.048,-2.007, 2.175,-2.852, PHS=-1.295, 0.892,-1.260, RAW= 329.2,  15.2, CAL= 332.2,  21.1, ROT= 177.8, -21.1

2025-06-08T00:09:38.199Z,1749341378.199 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-08T00:09:38.200Z,1749341378.200 [DAT](INFO): direction in FSK: [-0.932266,0.035814,0.359997]
2025-06-08T00:09:38.200Z,1749341378.200 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:38.212Z,1749341378.212 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.887227
2025-06-08T00:09:38.440Z,1749341378.440 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.115417
2025-06-08T00:09:38.534Z,1749341378.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.516670 s,
      deltaX: -0.200000 m,
      approachRate: -0.387094 m/s,
      rangeRepo size: 4

2025-06-08T00:09:38.536Z,1749341378.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678694 m,
      bearing: 76.811816 deg,
      lat: 36.905910 deg,
      lon: -122.115926 deg,
      deltaT: 1.019966 s,
      deltaX: 0.000004 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-06-08T00:09:38.692Z,1749341378.692 [DAT](INFO): DAT read: Rx Time:00:09:38.0665 

2025-06-08T00:09:38.693Z,1749341378.693 [DAT](INFO): Rx dataTimestamp_ set to:1749341378.692548
2025-06-08T00:09:38.694Z,1749341378.694 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:38.695Z,1749341378.695 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-06-08T00:09:38.696Z,1749341378.696 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.370774
2025-06-08T00:09:38.945Z,1749341378.945 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.620247
2025-06-08T00:09:38.984Z,1749341378.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503585 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:39.199Z,1749341379.199 [DAT](INFO): DAT read: Rx Time:00:09:38.5664 

2025-06-08T00:09:39.200Z,1749341379.200 [DAT](INFO): Rx dataTimestamp_ set to:1749341379.199653
2025-06-08T00:09:39.202Z,1749341379.202 [DAT](INFO): DAT read: Bearing 185.3, -53.3 (Local)

2025-06-08T00:09:39.202Z,1749341379.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.3, -53.3 (Local)

2025-06-08T00:09:39.206Z,1749341379.206 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:39.213Z,1749341379.213 [DAT](INFO): DAT read: 00:09:38.5664 LVL=  9520, 13601, 14946, 15795, AGC= 49, IDX= 511,-0.34, 2.073, 2.956, 2.290,-2.790, PHS=-1.332,-0.490,-1.206, RAW= 322.0,  53.7, CAL= 324.7,  53.3, ROT= 185.3, -53.3

2025-06-08T00:09:39.214Z,1749341379.214 [DAT](INFO): got valid direction response:
 00:09:38.5664 LVL=  9520, 13601, 14946, 15795, AGC= 49, IDX= 511,-0.34, 2.073, 2.956, 2.290,-2.790, PHS=-1.332,-0.490,-1.206, RAW= 322.0,  53.7, CAL= 324.7,  53.3, ROT= 185.3, -53.3

2025-06-08T00:09:39.214Z,1749341379.214 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-08T00:09:39.240Z,1749341379.240 [DAT](INFO): direction in FSK: [-0.595070,-0.055203,0.801776]
2025-06-08T00:09:39.240Z,1749341379.240 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:39.256Z,1749341379.256 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.930926
2025-06-08T00:09:39.350Z,1749341379.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.507105 s,
      deltaX: -0.100000 m,
      approachRate: -0.197198 m/s,
      rangeRepo size: 4

2025-06-08T00:09:39.353Z,1749341379.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579475 m,
      bearing: 90.518345 deg,
      lat: 36.905905 deg,
      lon: -122.115926 deg,
      deltaT: 1.010690 s,
      deltaX: -0.099219 m,
      approachRate: -0.098170 m/s,
      posRepo size: 4

2025-06-08T00:09:39.448Z,1749341379.448 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.123395
2025-06-08T00:09:39.702Z,1749341379.702 [DAT](INFO): DAT read: Rx Time:00:09:39.0665 

2025-06-08T00:09:39.703Z,1749341379.703 [DAT](INFO): Rx dataTimestamp_ set to:1749341379.702464
2025-06-08T00:09:39.704Z,1749341379.704 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:39.705Z,1749341379.705 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-06-08T00:09:39.706Z,1749341379.706 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.380677
2025-06-08T00:09:39.792Z,1749341379.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:39.795Z,1749341379.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.502811 s,
      deltaX: 0.100000 m,
      approachRate: 0.198882 m/s,
      rangeRepo size: 4

2025-06-08T00:09:39.953Z,1749341379.953 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.627742
2025-06-08T00:09:40.206Z,1749341380.206 [DAT](INFO): DAT read: Rx Time:00:09:39.56ring 185.2,Local)

2025-06-08T00:09:40.206Z,1749341380.206 [DAT](INFO): Rx dataTimestamp_ set to:1749341380.205919
2025-06-08T00:09:40.208Z,1749341380.208 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:40.213Z,1749341380.213 [DAT](INFO): DAT read: 00:09:39.5664 LVL= 11152, 13761, 14914, 18867, AGC= 49, IDX= 511,-0.20, 1.755, 2.582, 1.962,-3.132, PHS=-1.308,-0.522,-1.193, RAW= 322.2,  55.5, CAL= 324.8,  55.1, ROT= 185.2, -55.1

2025-06-08T00:09:40.214Z,1749341380.214 [DAT](INFO): got valid direction response:
 00:09:39.5664 LVL= 11152, 13761, 14914, 18867, AGC= 49, IDX= 511,-0.20, 1.755, 2.582, 1.962,-3.132, PHS=-1.308,-0.522,-1.193, RAW= 322.2,  55.5, CAL= 324.8,  55.1, ROT= 185.2, -55.1

2025-06-08T00:09:40.215Z,1749341380.215 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-08T00:09:40.216Z,1749341380.216 [DAT](INFO): direction in FSK: [-0.569791,-0.051855,0.820152]
2025-06-08T00:09:40.216Z,1749341380.216 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:40.227Z,1749341380.227 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.902534
2025-06-08T00:09:40.456Z,1749341380.456 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.131198
2025-06-08T00:09:40.603Z,1749341380.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503455 s,
      deltaX: -0.100000 m,
      approachRate: -0.198628 m/s,
      rangeRepo size: 4

2025-06-08T00:09:40.605Z,1749341380.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579467 m,
      bearing: 82.775876 deg,
      lat: 36.905905 deg,
      lon: -122.115919 deg,
      deltaT: 1.006266 s,
      deltaX: -0.000008 m,
      approachRate: -0.000008 m/s,
      posRepo size: 4

2025-06-08T00:09:40.710Z,1749341380.710 [DAT](INFO): DAT read: Rx Time:00:09:40.0665 

2025-06-08T00:09:40.710Z,1749341380.710 [DAT](INFO): Rx dataTimestamp_ set to:1749341380.709845
2025-06-08T00:09:40.712Z,1749341380.712 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:40.713Z,1749341380.713 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-06-08T00:09:40.714Z,1749341380.714 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.389442
2025-06-08T00:09:40.961Z,1749341380.961 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.635873
2025-06-08T00:09:41.013Z,1749341381.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503926 s,
      deltaX: 0.100000 m,
      approachRate: 0.198442 m/s,
      rangeRepo size: 4

2025-06-08T00:09:41.213Z,1749341381.213 [DAT](INFO): DAT read: Rx Time:00:09:40.5664 

2025-06-08T00:09:41.214Z,1749341381.214 [DAT](INFO): Rx dataTimestamp_ set to:1749341381.213520
2025-06-08T00:09:41.215Z,1749341381.215 [DAT](INFO): DAT read: Bearing 193.0, -63.0 (Local)

2025-06-08T00:09:41.216Z,1749341381.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.0, -63.0 (Local)

2025-06-08T00:09:41.219Z,1749341381.219 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:41.242Z,1749341381.242 [DAT](INFO): DAT read: 00:09:40.5664 LVL= 10352, 13777, 13362, 17715, AGC= 49, IDX= 511,-0.13, 1.916, 2.594, 2.194,-2.949, PHS=-1.330,-0.694,-1.143, RAW= 313.4,  63.2, CAL= 317.0,  63.0, ROT= 193.0, -63.0

2025-06-08T00:09:41.243Z,1749341381.243 [DAT](INFO): got valid direction response:
 00:09:40.5664 LVL= 10352, 13777, 13362, 17715, AGC= 49, IDX= 511,-0.13, 1.916, 2.594, 2.194,-2.949, PHS=-1.330,-0.694,-1.143, RAW= 313.4,  63.2, CAL= 317.0,  63.0, ROT= 193.0, -63.0

2025-06-08T00:09:41.256Z,1749341381.256 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-08T00:09:41.257Z,1749341381.257 [DAT](INFO): direction in FSK: [-0.442355,-0.102126,0.891007]
2025-06-08T00:09:41.258Z,1749341381.258 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:41.284Z,1749341381.284 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.958856
2025-06-08T00:09:41.388Z,1749341381.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503675 s,
      deltaX: -0.100000 m,
      approachRate: -0.198541 m/s,
      rangeRepo size: 4

2025-06-08T00:09:41.390Z,1749341381.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579468 m,
      bearing: 88.748126 deg,
      lat: 36.905905 deg,
      lon: -122.115919 deg,
      deltaT: 1.007601 s,
      deltaX: 0.000002 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-06-08T00:09:41.464Z,1749341381.464 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.139560
2025-06-08T00:09:41.719Z,1749341381.719 [DAT](INFO): DAT read: Rx Time:00:09:41.0664 

2025-06-08T00:09:41.721Z,1749341381.721 [DAT](INFO): Rx dataTimestamp_ set to:1749341381.719917
2025-06-08T00:09:41.725Z,1749341381.725 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:41.727Z,1749341381.727 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-06-08T00:09:41.730Z,1749341381.730 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.404543
2025-06-08T00:09:41.859Z,1749341381.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:41.862Z,1749341381.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.506397 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:41.969Z,1749341381.969 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.643771
2025-06-08T00:09:42.221Z,1749341382.221 [DAT](INFO): DAT read: Rx Time:00:09:41.5663 

2025-06-08T00:09:42.221Z,1749341382.221 [DAT](INFO): Rx dataTimestamp_ set to:1749341382.220820
2025-06-08T00:09:42.222Z,1749341382.222 [DAT](INFO): DAT read: Bearing 187.4, -54.5 (Local)

2025-06-08T00:09:42.223Z,1749341382.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.4, -54.5 (Local)

2025-06-08T00:09:42.225Z,1749341382.225 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:09:42.229Z,1749341382.229 [DAT](INFO): DAT read: 00:09:41.5663 LVL= 10528, 12897, 12370, 15779, AGC= 48, IDX= 510,-0.04, 0.312, 1.141, 0.559, 1.684, PHS=-1.284,-0.496,-1.129, RAW= 319.3,  54.9, CAL= 322.6,  54.5, ROT= 187.4, -54.5

2025-06-08T00:09:42.230Z,1749341382.230 [DAT](INFO): got valid direction response:
 00:09:41.5663 LVL= 10528, 12897, 12370, 15779, AGC= 48, IDX= 510,-0.04, 0.312, 1.141, 0.559, 1.684, PHS=-1.284,-0.496,-1.129, RAW= 319.3,  54.9, CAL= 322.6,  54.5, ROT= 187.4, -54.5

2025-06-08T00:09:42.231Z,1749341382.231 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-08T00:09:42.232Z,1749341382.232 [DAT](INFO): direction in FSK: [-0.575866,-0.074792,0.814116]
2025-06-08T00:09:42.232Z,1749341382.232 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:42.236Z,1749341382.236 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.910825
2025-06-08T00:09:42.329Z,1749341382.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.500903 s,
      deltaX: -0.200000 m,
      approachRate: -0.399279 m/s,
      rangeRepo size: 4

2025-06-08T00:09:42.335Z,1749341382.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.381062 m,
      bearing: 79.464795 deg,
      lat: 36.905906 deg,
      lon: -122.115918 deg,
      deltaT: 1.007300 s,
      deltaX: -0.198407 m,
      approachRate: -0.196969 m/s,
      posRepo size: 4

2025-06-08T00:09:42.472Z,1749341382.472 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.147257
2025-06-08T00:09:42.729Z,1749341382.729 [DAT](INFO): DAT read: Rx Time:00:09:42.0664 

2025-06-08T00:09:42.730Z,1749341382.730 [DAT](INFO): Rx dataTimestamp_ set to:1749341382.729086
2025-06-08T00:09:42.737Z,1749341382.737 [DAT](INFO): DAT read: Bearing 183.5, -51.0 (Local)

2025-06-08T00:09:42.737Z,1749341382.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.5, -51.0 (Local)

2025-06-08T00:09:42.739Z,1749341382.739 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:42.756Z,1749341382.756 [DAT](INFO): DAT read: 00:09:42.0664 LVL= 10480, 11249, 12498, 15347, AGC= 48, IDX= 511, 0.02, 2.152, 3.055, 2.337,-2.757, PHS=-1.286,-0.424,-1.192, RAW= 324.3,  51.4, CAL= 326.5,  51.0, ROT= 183.5, -51.0

2025-06-08T00:09:42.757Z,1749341382.757 [DAT](INFO): got valid direction response:
 00:09:42.0664 LVL= 10480, 11249, 12498, 15347, AGC= 48, IDX= 511, 0.02, 2.152, 3.055, 2.337,-2.757, PHS=-1.286,-0.424,-1.192, RAW= 324.3,  51.4, CAL= 326.5,  51.0, ROT= 183.5, -51.0

2025-06-08T00:09:42.758Z,1749341382.758 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-08T00:09:42.759Z,1749341382.759 [DAT](INFO): direction in FSK: [-0.628147,-0.038419,0.777146]
2025-06-08T00:09:42.779Z,1749341382.779 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:42.792Z,1749341382.792 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.467056
2025-06-08T00:09:42.925Z,1749341382.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.508266 s,
      deltaX: 0.200000 m,
      approachRate: 0.393494 m/s,
      rangeRepo size: 4

2025-06-08T00:09:42.927Z,1749341382.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579498 m,
      bearing: 73.567716 deg,
      lat: 36.905906 deg,
      lon: -122.115918 deg,
      deltaT: 0.508266 s,
      deltaX: 0.198436 m,
      approachRate: 0.390417 m/s,
      posRepo size: 4

2025-06-08T00:09:42.978Z,1749341382.978 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.653435
2025-06-08T00:09:43.229Z,1749341383.229 [DAT](INFO): DAT read: Rx Time:00:09:42.5663 

2025-06-08T00:09:43.229Z,1749341383.229 [DAT](INFO): Rx dataTimestamp_ set to:1749341383.229027
2025-06-08T00:09:43.231Z,1749341383.231 [DAT](INFO): DAT read: Bearing 181.1, -46.4 (Local)

2025-06-08T00:09:43.231Z,1749341383.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.1, -46.4 (Local)

2025-06-08T00:09:43.233Z,1749341383.233 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:09:43.238Z,1749341383.238 [DAT](INFO): DAT read: 00:09:42.5663 LVL= 11440, 11153, 13122, 16755, AGC= 48, IDX= 510, 0.10, 0.972, 1.974, 1.113, 2.342, PHS=-1.282,-0.321,-1.232, RAW= 327.3,  46.9, CAL= 328.9,  46.4, ROT= 181.1, -46.4

2025-06-08T00:09:43.239Z,1749341383.239 [DAT](INFO): got valid direction response:
 00:09:42.5663 LVL= 11440, 11153, 13122, 16755, AGC= 48, IDX= 510, 0.10, 0.972, 1.974, 1.113, 2.342, PHS=-1.282,-0.321,-1.232, RAW= 327.3,  46.9, CAL= 328.9,  46.4, ROT= 181.1, -46.4

2025-06-08T00:09:43.239Z,1749341383.239 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-08T00:09:43.240Z,1749341383.240 [DAT](INFO): direction in FSK: [-0.689492,-0.013239,0.724172]
2025-06-08T00:09:43.241Z,1749341383.241 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:43.245Z,1749341383.245 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.920172
2025-06-08T00:09:43.262Z,1749341383.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.499941 s,
      deltaX: -0.200000 m,
      approachRate: -0.400047 m/s,
      rangeRepo size: 4

2025-06-08T00:09:43.285Z,1749341383.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.381075 m,
      bearing: 69.411374 deg,
      lat: 36.905906 deg,
      lon: -122.115918 deg,
      deltaT: 0.499941 s,
      deltaX: -0.198423 m,
      approachRate: -0.396892 m/s,
      posRepo size: 4

2025-06-08T00:09:43.480Z,1749341383.480 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.155197
2025-06-08T00:09:43.737Z,1749341383.737 [DAT](INFO): DAT read: Rx Time:00:09:43.0665 

2025-06-08T00:09:43.739Z,1749341383.739 [DAT](INFO): Rx dataTimestamp_ set to:1749341383.737791
2025-06-08T00:09:43.747Z,1749341383.747 [DAT](INFO): DAT read: Bearing 176.1, -51.5 (Local)

2025-06-08T00:09:43.749Z,1749341383.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.1, -51.5 (Local)

2025-06-08T00:09:43.765Z,1749341383.765 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:43.780Z,1749341383.780 [DAT](INFO): DAT read: 00:09:43.0665 LVL= 11760, 11889, 14930, 16355, AGC= 48, IDX= 511, 0.10, 2.934,-2.550, 2.964,-2.085, PHS=-1.176,-0.418,-1.237, RAW= 333.8,  51.7, CAL= 333.9,  51.5, ROT= 176.1, -51.5

2025-06-08T00:09:43.781Z,1749341383.781 [DAT](INFO): got valid direction response:
 00:09:43.0665 LVL= 11760, 11889, 14930, 16355, AGC= 48, IDX= 511, 0.10, 2.934,-2.550, 2.964,-2.085, PHS=-1.176,-0.418,-1.237, RAW= 333.8,  51.7, CAL= 333.9,  51.5, ROT= 176.1, -51.5

2025-06-08T00:09:43.782Z,1749341383.782 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-08T00:09:43.783Z,1749341383.783 [DAT](INFO): direction in FSK: [-0.621073,0.042340,0.782608]
2025-06-08T00:09:43.783Z,1749341383.783 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:43.790Z,1749341383.790 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.465549
2025-06-08T00:09:43.984Z,1749341383.984 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.659191
2025-06-08T00:09:44.171Z,1749341384.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.508764 s,
      deltaX: 0.300000 m,
      approachRate: 0.589664 m/s,
      rangeRepo size: 4

2025-06-08T00:09:44.173Z,1749341384.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678712 m,
      bearing: 65.276550 deg,
      lat: 36.905908 deg,
      lon: -122.115916 deg,
      deltaT: 0.508764 s,
      deltaX: 0.297637 m,
      approachRate: 0.585020 m/s,
      posRepo size: 4

2025-06-08T00:09:44.238Z,1749341384.238 [DAT](INFO): DAT read: Rx Time:00:09:43.5664 

2025-06-08T00:09:44.239Z,1749341384.239 [DAT](INFO): Rx dataTimestamp_ set to:1749341384.238364
2025-06-08T00:09:44.241Z,1749341384.241 [DAT](INFO): DAT read: Bearing 178.3, -53.3 (Local)

2025-06-08T00:09:44.241Z,1749341384.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.3, -53.3 (Local)

2025-06-08T00:09:44.245Z,1749341384.245 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:44.250Z,1749341384.250 [DAT](INFO): DAT read: 00:09:43.5664 LVL= 10416, 11105, 13778, 16083, AGC= 48, IDX= 510, 0.13, 1.577, 2.354, 1.650, 2.860, PHS=-1.196,-0.459,-1.213, RAW= 331.2,  53.7, CAL= 331.7,  53.3, ROT= 178.3, -53.3

2025-06-08T00:09:44.252Z,1749341384.252 [DAT](INFO): got valid direction response:
 00:09:43.5664 LVL= 10416, 11105, 13778, 16083, AGC= 48, IDX= 510, 0.13, 1.577, 2.354, 1.650, 2.860, PHS=-1.196,-0.459,-1.213, RAW= 331.2,  53.7, CAL= 331.7,  53.3, ROT= 178.3, -53.3

2025-06-08T00:09:44.253Z,1749341384.253 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-06-08T00:09:44.254Z,1749341384.254 [DAT](INFO): direction in FSK: [-0.597362,0.017729,0.801776]
2025-06-08T00:09:44.254Z,1749341384.254 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:44.266Z,1749341384.266 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.940828
2025-06-08T00:09:44.488Z,1749341384.488 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.163439
2025-06-08T00:09:44.494Z,1749341384.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.500573 s,
      deltaX: -0.100000 m,
      approachRate: -0.199771 m/s,
      rangeRepo size: 4

2025-06-08T00:09:44.501Z,1749341384.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579500 m,
      bearing: 67.511367 deg,
      lat: 36.905908 deg,
      lon: -122.115916 deg,
      deltaT: 0.500573 s,
      deltaX: -0.099212 m,
      approachRate: -0.198196 m/s,
      posRepo size: 4

2025-06-08T00:09:44.747Z,1749341384.747 [DAT](INFO): DAT read: Rx Time:00:09:44.0665 

2025-06-08T00:09:44.749Z,1749341384.749 [DAT](INFO): Rx dataTimestamp_ set to:1749341384.748334
2025-06-08T00:09:44.753Z,1749341384.753 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:44.760Z,1749341384.760 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-06-08T00:09:44.762Z,1749341384.762 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.437399
2025-06-08T00:09:44.985Z,1749341384.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:44.988Z,1749341384.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.509970 s,
      deltaX: 0.100000 m,
      approachRate: 0.196090 m/s,
      rangeRepo size: 4

2025-06-08T00:09:44.993Z,1749341384.993 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.667629
2025-06-08T00:09:45.249Z,1749341385.249 [DAT](INFO): DAT read: Rx Time:00:09:44.5664 

2025-06-08T00:09:45.249Z,1749341385.249 [DAT](INFO): Rx dataTimestamp_ set to:1749341385.248718
2025-06-08T00:09:45.250Z,1749341385.250 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:45.251Z,1749341385.251 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-06-08T00:09:45.252Z,1749341385.252 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.926952
2025-06-08T00:09:45.374Z,1749341385.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.500384 s,
      deltaX: -0.100000 m,
      approachRate: -0.199847 m/s,
      rangeRepo size: 4

2025-06-08T00:09:45.496Z,1749341385.496 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.171211
2025-06-08T00:09:45.751Z,1749341385.751 [DAT](INFO): DAT read: Rx Time:00:09:45.0665 

2025-06-08T00:09:45.752Z,1749341385.752 [DAT](INFO): Rx dataTimestamp_ set to:1749341385.751691
2025-06-08T00:09:45.757Z,1749341385.757 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:45.762Z,1749341385.762 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-06-08T00:09:45.765Z,1749341385.765 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.440065
2025-06-08T00:09:45.896Z,1749341385.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.502973 s,
      deltaX: 0.100000 m,
      approachRate: 0.198818 m/s,
      rangeRepo size: 4

2025-06-08T00:09:46.001Z,1749341386.001 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.676252
2025-06-08T00:09:46.265Z,1749341386.265 [DAT](INFO): DAT read: Rx Time:00:09:45.5664 

2025-06-08T00:09:46.266Z,1749341386.266 [DAT](INFO): Rx dataTimestamp_ set to:1749341386.265732
2025-06-08T00:09:46.269Z,1749341386.269 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:46.270Z,1749341386.270 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-06-08T00:09:46.272Z,1749341386.272 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.946465
2025-06-08T00:09:46.516Z,1749341386.516 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.191416
2025-06-08T00:09:46.638Z,1749341386.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.514041 s,
      deltaX: -0.100000 m,
      approachRate: -0.194537 m/s,
      rangeRepo size: 4

2025-06-08T00:09:46.772Z,1749341386.772 [DAT](INFO): DAT read: Rx Time:00:09:46.0665 

2025-06-08T00:09:46.773Z,1749341386.773 [DAT](INFO): Rx dataTimestamp_ set to:1749341386.771949
2025-06-08T00:09:46.777Z,1749341386.777 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:46.779Z,1749341386.779 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-06-08T00:09:46.785Z,1749341386.785 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.459560
2025-06-08T00:09:47.020Z,1749341387.020 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.695333
2025-06-08T00:09:47.055Z,1749341387.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:47.058Z,1749341387.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.506217 s,
      deltaX: 0.100000 m,
      approachRate: 0.197544 m/s,
      rangeRepo size: 4

2025-06-08T00:09:47.272Z,1749341387.272 [DAT](INFO): DAT read: Rx Time:00:09:46.5664 

2025-06-08T00:09:47.273Z,1749341387.273 [DAT](INFO): Rx dataTimestamp_ set to:1749341387.272598
2025-06-08T00:09:47.274Z,1749341387.274 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:47.275Z,1749341387.275 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-06-08T00:09:47.276Z,1749341387.276 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.950939
2025-06-08T00:09:47.467Z,1749341387.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.500649 s,
      deltaX: -0.100000 m,
      approachRate: -0.199741 m/s,
      rangeRepo size: 4

2025-06-08T00:09:47.525Z,1749341387.525 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.200151
2025-06-08T00:09:47.779Z,1749341387.779 [DAT](INFO): DAT read: Rx Time:00:09:47.0665 

2025-06-08T00:09:47.780Z,1749341387.780 [DAT](INFO): Rx dataTimestamp_ set to:1749341387.779388
2025-06-08T00:09:47.784Z,1749341387.784 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:47.786Z,1749341387.786 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-06-08T00:09:47.789Z,1749341387.789 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.463680
2025-06-08T00:09:47.908Z,1749341387.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.506790 s,
      deltaX: 0.100000 m,
      approachRate: 0.197321 m/s,
      rangeRepo size: 4

2025-06-08T00:09:48.028Z,1749341388.028 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.703522
2025-06-08T00:09:48.281Z,1749341388.281 [DAT](INFO): DAT read: Rx Time:00:09:47.5664 

2025-06-08T00:09:48.281Z,1749341388.281 [DAT](INFO): Rx dataTimestamp_ set to:1749341388.280712
2025-06-08T00:09:48.282Z,1749341388.282 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:48.283Z,1749341388.283 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-06-08T00:09:48.284Z,1749341388.284 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.958914
2025-06-08T00:09:48.532Z,1749341388.532 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.207224
2025-06-08T00:09:48.652Z,1749341388.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.501324 s,
      deltaX: -0.100000 m,
      approachRate: -0.199472 m/s,
      rangeRepo size: 4

2025-06-08T00:09:48.773Z,1749341388.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:09:48.787Z,1749341388.787 [DAT](INFO): DAT read: Rx Time:00:09:48.0665 

2025-06-08T00:09:48.789Z,1749341388.789 [DAT](INFO): Rx dataTimestamp_ set to:1749341388.787822
2025-06-08T00:09:48.792Z,1749341388.792 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:48.794Z,1749341388.794 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-06-08T00:09:48.797Z,1749341388.797 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.471628
2025-06-08T00:09:49.036Z,1749341389.036 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.711205
2025-06-08T00:09:49.144Z,1749341389.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:49.146Z,1749341389.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.507110 s,
      deltaX: 0.100000 m,
      approachRate: 0.197196 m/s,
      rangeRepo size: 4

2025-06-08T00:09:49.289Z,1749341389.289 [DAT](INFO): DAT read: Rx Time:00:09:48.5664 

2025-06-08T00:09:49.289Z,1749341389.289 [DAT](INFO): Rx dataTimestamp_ set to:1749341389.288901
2025-06-08T00:09:49.290Z,1749341389.290 [DAT](INFO): DAT read: Bearing  70.8, -24.8 (Local)

2025-06-08T00:09:49.291Z,1749341389.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.8, -24.8 (Local)

2025-06-08T00:09:49.293Z,1749341389.293 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:49.298Z,1749341389.298 [DAT](INFO): DAT read: 00:09:48.5664 LVL=  8224, 14481, 11602, 11475, AGC= 48, IDX= 510,-0.46, 2.552, 1.331, 0.994, 2.096, PHS= 0.544,-0.718,-1.104, RAW=  77.0,  16.8, CAL=  79.2,  24.8, ROT=  70.8, -24.8

2025-06-08T00:09:49.299Z,1749341389.299 [DAT](INFO): got valid direction response:
 00:09:48.5664 LVL=  8224, 14481, 11602, 11475, AGC= 48, IDX= 510,-0.46, 2.552, 1.331, 0.994, 2.096, PHS= 0.544,-0.718,-1.104, RAW=  77.0,  16.8, CAL=  79.2,  24.8, ROT=  70.8, -24.8

2025-06-08T00:09:49.299Z,1749341389.299 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-06-08T00:09:49.300Z,1749341389.300 [DAT](INFO): direction in FSK: [0.298538,0.857284,0.419452]
2025-06-08T00:09:49.300Z,1749341389.300 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:49.305Z,1749341389.305 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.979670
2025-06-08T00:09:49.475Z,1749341389.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.501079 s,
      deltaX: -0.100000 m,
      approachRate: -0.199570 m/s,
      rangeRepo size: 4

2025-06-08T00:09:49.493Z,1749341389.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579485 m,
      bearing: 313.357087 deg,
      lat: 36.905909 deg,
      lon: -122.115916 deg,
      deltaT: 5.050537 s,
      deltaX: -0.000015 m,
      approachRate: -0.000003 m/s,
      posRepo size: 4

2025-06-08T00:09:49.541Z,1749341389.541 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.216135
2025-06-08T00:09:49.775Z,1749341389.775 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:09:49.795Z,1749341389.795 [DAT](INFO): DAT read: Rx Time:00:09:49.0664 

2025-06-08T00:09:49.796Z,1749341389.796 [DAT](INFO): Rx dataTimestamp_ set to:1749341389.795168
2025-06-08T00:09:49.800Z,1749341389.800 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:49.802Z,1749341389.802 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-06-08T00:09:49.816Z,1749341389.816 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.481758
2025-06-08T00:09:49.961Z,1749341389.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.506267 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:50.044Z,1749341390.044 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.719296
2025-06-08T00:09:50.304Z,1749341390.304 [DAT](INFO): DAT read: Rx Time:00:09:49.5663 

2025-06-08T00:09:50.305Z,1749341390.305 [DAT](INFO): Rx dataTimestamp_ set to:1749341390.304551
2025-06-08T00:09:50.306Z,1749341390.306 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:09:50.307Z,1749341390.307 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-06-08T00:09:50.308Z,1749341390.308 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.982903
2025-06-08T00:09:50.556Z,1749341390.556 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.231268
2025-06-08T00:09:50.692Z,1749341390.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.509383 s,
      deltaX: -0.200000 m,
      approachRate: -0.392632 m/s,
      rangeRepo size: 4

2025-06-08T00:09:50.813Z,1749341390.813 [DAT](INFO): DAT read: Rx Time:00:09:50.0665 

2025-06-08T00:09:50.814Z,1749341390.814 [DAT](INFO): Rx dataTimestamp_ set to:1749341390.813314
2025-06-08T00:09:50.822Z,1749341390.822 [DAT](INFO): DAT read: Bearing 205.4, -40.8 (Local)

2025-06-08T00:09:50.828Z,1749341390.828 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.4, -40.8 (Local)

2025-06-08T00:09:50.835Z,1749341390.835 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed -0.1

2025-06-08T00:09:50.869Z,1749341390.869 [DAT](INFO): DAT read: 00:09:50.0665 LVL= 12016, 14769, 14178, 17763, AGC= 50, IDX= 510,-0.10,-2.452,-0.675,-1.343,-0.259, PHS=-2.105,-0.369,-1.087, RAW= 294.3,  39.8, CAL= 304.6,  40.8, ROT= 205.4, -40.8

2025-06-08T00:09:50.870Z,1749341390.870 [DAT](INFO): got valid direction response:
 00:09:50.0665 LVL= 12016, 14769, 14178, 17763, AGC= 50, IDX= 510,-0.10,-2.452,-0.675,-1.343,-0.259, PHS=-2.105,-0.369,-1.087, RAW= 294.3,  39.8, CAL= 304.6,  40.8, ROT= 205.4, -40.8

2025-06-08T00:09:50.870Z,1749341390.870 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-06-08T00:09:50.888Z,1749341390.888 [DAT](INFO): direction in FSK: [-0.683820,-0.324702,0.653421]
2025-06-08T00:09:50.888Z,1749341390.888 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:50.896Z,1749341390.896 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.570608
2025-06-08T00:09:51.060Z,1749341391.060 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.735582
2025-06-08T00:09:51.164Z,1749341391.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.508763 s,
      deltaX: 0.300000 m,
      approachRate: 0.589665 m/s,
      rangeRepo size: 4

2025-06-08T00:09:51.166Z,1749341391.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678682 m,
      bearing: 98.902131 deg,
      lat: 36.905909 deg,
      lon: -122.115916 deg,
      deltaT: 1.524413 s,
      deltaX: 0.099197 m,
      approachRate: 0.065072 m/s,
      posRepo size: 4

2025-06-08T00:09:51.313Z,1749341391.313 [DAT](INFO): DAT read: Rx Time:00:09:50.5664 

2025-06-08T00:09:51.313Z,1749341391.313 [DAT](INFO): Rx dataTimestamp_ set to:1749341391.312979
2025-06-08T00:09:51.315Z,1749341391.315 [DAT](INFO): DAT read: Bearing 206.0, -39.1 (Local)

2025-06-08T00:09:51.315Z,1749341391.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.0, -39.1 (Local)

2025-06-08T00:09:51.317Z,1749341391.317 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed -0.1

2025-06-08T00:09:51.322Z,1749341391.322 [DAT](INFO): DAT read: 00:09:50.5664 LVL= 12672, 14513, 15090, 19395, AGC= 50, IDX= 509,-0.04, 2.589,-1.817,-2.510,-1.461, PHS=-2.145,-0.310,-1.053, RAW= 293.7,  37.8, CAL= 304.0,  39.1, ROT= 206.0, -39.1

2025-06-08T00:09:51.323Z,1749341391.323 [DAT](INFO): got valid direction response:
 00:09:50.5664 LVL= 12672, 14513, 15090, 19395, AGC= 50, IDX= 509,-0.04, 2.589,-1.817,-2.510,-1.461, PHS=-2.145,-0.310,-1.053, RAW= 293.7,  37.8, CAL= 304.0,  39.1, ROT= 206.0, -39.1

2025-06-08T00:09:51.324Z,1749341391.324 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-06-08T00:09:51.325Z,1749341391.325 [DAT](INFO): direction in FSK: [-0.697506,-0.340196,0.630676]
2025-06-08T00:09:51.325Z,1749341391.325 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:51.329Z,1749341391.329 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.003712
2025-06-08T00:09:51.465Z,1749341391.465 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 4.
2025-06-08T00:09:51.472Z,1749341391.472 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 46.
2025-06-08T00:09:51.514Z,1749341391.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.499665 s,
      deltaX: -0.100000 m,
      approachRate: -0.200134 m/s,
      rangeRepo size: 4

2025-06-08T00:09:51.524Z,1749341391.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579471 m,
      bearing: 99.610388 deg,
      lat: 36.905908 deg,
      lon: -122.115916 deg,
      deltaT: 0.499665 s,
      deltaX: -0.099211 m,
      approachRate: -0.198555 m/s,
      posRepo size: 4

2025-06-08T00:09:51.565Z,1749341391.565 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.239935
2025-06-08T00:09:51.822Z,1749341391.822 [DAT](INFO): DAT read: Rx Time:00:09:51.0665 

2025-06-08T00:09:51.823Z,1749341391.823 [DAT](INFO): Rx dataTimestamp_ set to:1749341391.822096
2025-06-08T00:09:51.828Z,1749341391.828 [DAT](INFO): DAT read: Bearing 208.8, -39.0 (Local)

2025-06-08T00:09:51.830Z,1749341391.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.8, -39.0 (Local)

2025-06-08T00:09:51.837Z,1749341391.837 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:51.877Z,1749341391.877 [DAT](INFO): DAT read: 00:09:51.0665 LVL= 13600, 16081, 17138, 21347, AGC= 51, IDX= 510, 0.01,-2.315,-0.282,-0.926, 0.124, PHS=-2.351,-0.359,-1.053, RAW= 290.1,  37.2, CAL= 301.2,  39.0, ROT= 208.8, -39.0

2025-06-08T00:09:51.891Z,1749341391.891 [DAT](INFO): got valid direction response:
 00:09:51.0665 LVL= 13600, 16081, 17138, 21347, AGC= 51, IDX= 510, 0.01,-2.315,-0.282,-0.926, 0.124, PHS=-2.351,-0.359,-1.053, RAW= 290.1,  37.2, CAL= 301.2,  39.0, ROT= 208.8, -39.0

2025-06-08T00:09:51.892Z,1749341391.892 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-06-08T00:09:51.893Z,1749341391.893 [DAT](INFO): direction in FSK: [-0.681018,-0.374393,0.629320]
2025-06-08T00:09:51.893Z,1749341391.893 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:51.902Z,1749341391.902 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.577127
2025-06-08T00:09:52.062Z,1749341392.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.509117 s,
      deltaX: 0.100000 m,
      approachRate: 0.196419 m/s,
      rangeRepo size: 4

2025-06-08T00:09:52.068Z,1749341392.068 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.743397
2025-06-08T00:09:52.070Z,1749341392.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678679 m,
      bearing: 102.793611 deg,
      lat: 36.905900 deg,
      lon: -122.115915 deg,
      deltaT: 0.509117 s,
      deltaX: 0.099208 m,
      approachRate: 0.194864 m/s,
      posRepo size: 4

2025-06-08T00:09:52.322Z,1749341392.322 [DAT](INFO): DAT read: Rx Time:00:09:51.5664 

2025-06-08T00:09:52.322Z,1749341392.322 [DAT](INFO): Rx dataTimestamp_ set to:1749341392.322015
2025-06-08T00:09:52.324Z,1749341392.324 [DAT](INFO): DAT read: Bearing 209.0, -39.5 (Local)

2025-06-08T00:09:52.325Z,1749341392.325 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.0, -39.5 (Local)

2025-06-08T00:09:52.328Z,1749341392.328 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:52.333Z,1749341392.333 [DAT](INFO): DAT read: 00:09:51.5664 LVL= 14192, 17937, 17362, 22035, AGC= 50, IDX= 509, 0.04,-2.931,-0.932,-1.553,-0.498, PHS=-2.345,-0.387,-1.058, RAW= 289.7,  37.9, CAL= 301.0,  39.5, ROT= 209.0, -39.5

2025-06-08T00:09:52.334Z,1749341392.334 [DAT](INFO): got valid direction response:
 00:09:51.5664 LVL= 14192, 17937, 17362, 22035, AGC= 50, IDX= 509, 0.04,-2.931,-0.932,-1.553,-0.498, PHS=-2.345,-0.387,-1.058, RAW= 289.7,  37.9, CAL= 301.0,  39.5, ROT= 209.0, -39.5

2025-06-08T00:09:52.334Z,1749341392.334 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-06-08T00:09:52.348Z,1749341392.348 [DAT](INFO): direction in FSK: [-0.674878,-0.374091,0.636078]
2025-06-08T00:09:52.348Z,1749341392.348 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:52.356Z,1749341392.356 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.031094
2025-06-08T00:09:52.547Z,1749341392.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.499919 s,
      deltaX: -0.100000 m,
      approachRate: -0.200033 m/s,
      rangeRepo size: 4

2025-06-08T00:09:52.569Z,1749341392.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579469 m,
      bearing: 103.736650 deg,
      lat: 36.905900 deg,
      lon: -122.115915 deg,
      deltaT: 0.499919 s,
      deltaX: -0.099211 m,
      approachRate: -0.198453 m/s,
      posRepo size: 4

2025-06-08T00:09:52.572Z,1749341392.572 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.247355
2025-06-08T00:09:52.828Z,1749341392.828 [DAT](INFO): DAT read: Rx Time:00:09:52.0665 

2025-06-08T00:09:52.830Z,1749341392.830 [DAT](INFO): Rx dataTimestamp_ set to:1749341392.828718
2025-06-08T00:09:52.834Z,1749341392.834 [DAT](INFO): DAT read: Bearing 206.2, -40.8 (Local)

2025-06-08T00:09:52.835Z,1749341392.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.2, -40.8 (Local)

2025-06-08T00:09:52.845Z,1749341392.845 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:52.898Z,1749341392.898 [DAT](INFO): DAT read: 00:09:52.0665 LVL= 13488, 16465, 18050, 22051, AGC= 51, IDX= 510, 0.13,-2.140,-0.410,-1.033, 0.004, PHS=-2.056,-0.368,-1.040, RAW= 293.3,  39.8, CAL= 303.8,  40.8, ROT= 206.2, -40.8

2025-06-08T00:09:52.916Z,1749341392.916 [DAT](INFO): got valid direction response:
 00:09:52.0665 LVL= 13488, 16465, 18050, 22051, AGC= 51, IDX= 510, 0.13,-2.140,-0.410,-1.033, 0.004, PHS=-2.056,-0.368,-1.040, RAW= 293.3,  39.8, CAL= 303.8,  40.8, ROT= 206.2, -40.8

2025-06-08T00:09:52.916Z,1749341392.916 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-06-08T00:09:52.917Z,1749341392.917 [DAT](INFO): direction in FSK: [-0.679220,-0.334218,0.653421]
2025-06-08T00:09:52.918Z,1749341392.918 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:52.958Z,1749341392.958 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.632534
2025-06-08T00:09:53.078Z,1749341393.078 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.751955
2025-06-08T00:09:53.156Z,1749341393.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.506703 s,
      deltaX: 0.100000 m,
      approachRate: 0.197355 m/s,
      rangeRepo size: 4

2025-06-08T00:09:53.158Z,1749341393.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678681 m,
      bearing: 101.435650 deg,
      lat: 36.905899 deg,
      lon: -122.115915 deg,
      deltaT: 0.506703 s,
      deltaX: 0.099212 m,
      approachRate: 0.195799 m/s,
      posRepo size: 4

2025-06-08T00:09:53.329Z,1749341393.329 [DAT](INFO): DAT read: Rx Time:00:09:52.5664 

2025-06-08T00:09:53.329Z,1749341393.329 [DAT](INFO): Rx dataTimestamp_ set to:1749341393.329167
2025-06-08T00:09:53.331Z,1749341393.331 [DAT](INFO): DAT read: Bearing 198.8, -46.4 (Local)

2025-06-08T00:09:53.331Z,1749341393.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.8, -46.4 (Local)

2025-06-08T00:09:53.333Z,1749341393.333 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:53.338Z,1749341393.338 [DAT](INFO): DAT read: 00:09:52.5664 LVL= 13920, 18849, 17842, 21715, AGC= 50, IDX= 509, 0.18,-2.067,-0.864,-1.464,-0.425, PHS=-1.554,-0.392,-1.042, RAW= 303.9,  46.3, CAL= 311.2,  46.4, ROT= 198.8, -46.4

2025-06-08T00:09:53.339Z,1749341393.339 [DAT](INFO): got valid direction response:
 00:09:52.5664 LVL= 13920, 18849, 17842, 21715, AGC= 50, IDX= 509, 0.18,-2.067,-0.864,-1.464,-0.425, PHS=-1.554,-0.392,-1.042, RAW= 303.9,  46.3, CAL= 311.2,  46.4, ROT= 198.8, -46.4

2025-06-08T00:09:53.345Z,1749341393.345 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-06-08T00:09:53.346Z,1749341393.346 [DAT](INFO): direction in FSK: [-0.652828,-0.222241,0.724172]
2025-06-08T00:09:53.346Z,1749341393.346 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:53.349Z,1749341393.349 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.024549
2025-06-08T00:09:53.493Z,1749341393.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.500449 s,
      deltaX: -0.100000 m,
      approachRate: -0.199821 m/s,
      rangeRepo size: 4

2025-06-08T00:09:53.500Z,1749341393.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579470 m,
      bearing: 97.969515 deg,
      lat: 36.905899 deg,
      lon: -122.115915 deg,
      deltaT: 0.500449 s,
      deltaX: -0.099211 m,
      approachRate: -0.198243 m/s,
      posRepo size: 4

2025-06-08T00:09:53.583Z,1749341393.583 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.257603
2025-06-08T00:09:53.833Z,1749341393.833 [DAT](INFO): DAT read: Rx Time:00:09:53.0664 

2025-06-08T00:09:53.833Z,1749341393.833 [DAT](INFO): Rx dataTimestamp_ set to:1749341393.832946
2025-06-08T00:09:53.835Z,1749341393.835 [DAT](INFO): DAT read: Bearing 196.6, -48.6 (Local)

2025-06-08T00:09:53.835Z,1749341393.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.6, -48.6 (Local)

2025-06-08T00:09:53.837Z,1749341393.837 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:53.843Z,1749341393.843 [DAT](INFO): DAT read: 00:09:53.0664 LVL= 15472, 19041, 18034, 24355, AGC= 51, IDX= 509, 0.24,-2.067,-1.000,-1.572,-0.544, PHS=-1.435,-0.409,-1.031, RAW= 307.0,  48.6, CAL= 313.4,  48.6, ROT= 196.6, -48.6

2025-06-08T00:09:53.847Z,1749341393.847 [DAT](INFO): got valid direction response:
 00:09:53.0664 LVL= 15472, 19041, 18034, 24355, AGC= 51, IDX= 509, 0.24,-2.067,-1.000,-1.572,-0.544, PHS=-1.435,-0.409,-1.031, RAW= 307.0,  48.6, CAL= 313.4,  48.6, ROT= 196.6, -48.6

2025-06-08T00:09:53.848Z,1749341393.848 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-06-08T00:09:53.852Z,1749341393.852 [DAT](INFO): direction in FSK: [-0.633750,-0.188929,0.750111]
2025-06-08T00:09:53.853Z,1749341393.853 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:53.878Z,1749341393.878 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.553062
2025-06-08T00:09:53.983Z,1749341393.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503779 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:53.986Z,1749341393.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579470 m,
      bearing: 96.988250 deg,
      lat: 36.905899 deg,
      lon: -122.115916 deg,
      deltaT: 0.503779 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-06-08T00:09:54.092Z,1749341394.092 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.761723
2025-06-08T00:09:54.337Z,1749341394.337 [DAT](INFO): DAT read: Rx Time:00:09:53.5663 

2025-06-08T00:09:54.337Z,1749341394.337 [DAT](INFO): Rx dataTimestamp_ set to:1749341394.337053
2025-06-08T00:09:54.339Z,1749341394.339 [DAT](INFO): DAT read: Bearing 201.5, -46.5 (Local)

2025-06-08T00:09:54.339Z,1749341394.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.5, -46.5 (Local)

2025-06-08T00:09:54.341Z,1749341394.341 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:09:54.346Z,1749341394.346 [DAT](INFO): DAT read: 00:09:53.5663 LVL= 13776, 17825, 17858, 24211, AGC= 51, IDX= 508, 0.26, 2.742,-2.302,-2.860,-1.838, PHS=-1.615,-0.417,-1.025, RAW= 300.5,  46.2, CAL= 308.5,  46.5, ROT= 201.5, -46.5

2025-06-08T00:09:54.347Z,1749341394.347 [DAT](INFO): got valid direction response:
 00:09:53.5663 LVL= 13776, 17825, 17858, 24211, AGC= 51, IDX= 508, 0.26, 2.742,-2.302,-2.860,-1.838, PHS=-1.615,-0.417,-1.025, RAW= 300.5,  46.2, CAL= 308.5,  46.5, ROT= 201.5, -46.5

2025-06-08T00:09:54.347Z,1749341394.347 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-06-08T00:09:54.348Z,1749341394.348 [DAT](INFO): direction in FSK: [-0.640457,-0.252283,0.725374]
2025-06-08T00:09:54.349Z,1749341394.349 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:54.331Z,1749341394.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:54.354Z,1749341394.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504107 s,
      deltaX: -0.200000 m,
      approachRate: -0.396741 m/s,
      rangeRepo size: 4

2025-06-08T00:09:54.360Z,1749341394.360 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.034828
2025-06-08T00:09:54.593Z,1749341394.593 [DAT](INFO): DAT read: Rx Time:00:09:54.0664 

2025-06-08T00:09:54.594Z,1749341394.594 [DAT](INFO): Rx dataTimestamp_ set to:1749341394.593149
2025-06-08T00:09:54.597Z,1749341394.597 [DAT](INFO): DAT read: Bearing  80.6, -22.6 (Local)

2025-06-08T00:09:54.598Z,1749341394.598 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.6, -22.6 (Local)

2025-06-08T00:09:54.600Z,1749341394.600 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.274178
2025-06-08T00:09:54.842Z,1749341394.842 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:54.864Z,1749341394.864 [DAT](INFO): DAT read: 00:09:54.0664 LVL= 13904, 20657, 17698, 21779, AGC= 51, IDX= 509, 0.27, 0.484,-0.483,-0.985, 0.054, PHS= 0.519,-0.490,-1.042, RAW=  69.6,  14.6, CAL=  69.4,  22.6, ROT=  80.6, -22.6

2025-06-08T00:09:54.868Z,1749341394.868 [DAT](INFO): got valid direction response:
 00:09:54.0664 LVL= 13904, 20657, 17698, 21779, AGC= 51, IDX= 509, 0.27, 0.484,-0.483,-0.985, 0.054, PHS= 0.519,-0.490,-1.042, RAW=  69.6,  14.6, CAL=  69.4,  22.6, ROT=  80.6, -22.6

2025-06-08T00:09:54.869Z,1749341394.869 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-06-08T00:09:54.874Z,1749341394.874 [DAT](INFO): direction in FSK: [0.150784,0.910813,0.384295]
2025-06-08T00:09:54.874Z,1749341394.874 [DAT](INFO): publishing direction and range info
2025-06-08T00:09:54.926Z,1749341394.926 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.600630
2025-06-08T00:09:55.094Z,1749341395.094 [DAT](INFO): DAT read: Rx Time:00:09:54.5663 

2025-06-08T00:09:55.094Z,1749341395.094 [DAT](INFO): Rx dataTimestamp_ set to:1749341395.094067
2025-06-08T00:09:55.096Z,1749341395.096 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:09:55.096Z,1749341395.096 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-06-08T00:09:55.097Z,1749341395.097 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.772263
2025-06-08T00:09:55.239Z,1749341395.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.757014 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:09:55.241Z,1749341395.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.381049 m,
      bearing: 329.428303 deg,
      lat: 36.905901 deg,
      lon: -122.115919 deg,
      deltaT: 1.261121 s,
      deltaX: -0.198421 m,
      approachRate: -0.157337 m/s,
      posRepo size: 4

2025-06-08T00:09:55.344Z,1749341395.344 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.019386
2025-06-08T00:09:55.597Z,1749341395.597 [DAT](INFO): DAT read: Rx Time:00:09:55.0664 

2025-06-08T00:09:55.597Z,1749341395.597 [DAT](INFO): Rx dataTimestamp_ set to:1749341395.596866
2025-06-08T00:09:55.598Z,1749341395.598 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:55.600Z,1749341395.600 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-06-08T00:09:55.600Z,1749341395.600 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.275587
2025-06-08T00:09:55.848Z,1749341395.848 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.523279
2025-06-08T00:09:56.023Z,1749341396.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.502799 s,
      deltaX: 0.200000 m,
      approachRate: 0.397773 m/s,
      rangeRepo size: 4

2025-06-08T00:09:56.104Z,1749341396.104 [DAT](INFO): DAT read: Rx Time:00:09:55.5663 

2025-06-08T00:09:56.105Z,1749341396.105 [DAT](INFO): Rx dataTimestamp_ set to:1749341396.104137
2025-06-08T00:09:56.109Z,1749341396.109 [DAT](INFO): DAT read: Bearing 211.2, -45.5 (Local)

2025-06-08T00:09:56.110Z,1749341396.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.2, -45.5 (Local)

2025-06-08T00:09:56.136Z,1749341396.136 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:09:56.138Z,1749341396.138 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-06-08T00:09:56.145Z,1749341396.145 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.819851
2025-06-08T00:09:56.356Z,1749341396.356 [DAT](INFO): DAT read: 00:09:55.5663 LVL= 15456, 17201, 18674, 24995, AGC= 52, IDX= 508, 0.44,-2.636,-0.969,-1.435,-0.331, PHS=-2.217,-0.591,-1.107, RAW= 288.1,  43.9, CAL= 298.8,  45.5, ROT= 211.2, -45.5

2025-06-08T00:09:56.357Z,1749341396.357 [DAT](INFO): got valid direction response:
 00:09:55.5663 LVL= 15456, 17201, 18674, 24995, AGC= 52, IDX= 508, 0.44,-2.636,-0.969,-1.435,-0.331, PHS=-2.217,-0.591,-1.107, RAW= 288.1,  43.9, CAL= 298.8,  45.5, ROT= 211.2, -45.5

2025-06-08T00:09:56.357Z,1749341396.357 [DAT](INFO): #Rx 57: Read direction message, but no range.
2025-06-08T00:09:56.358Z,1749341396.358 [DAT](INFO): direction in FSK: [-0.599533,-0.363090,0.713250]
2025-06-08T00:09:56.361Z,1749341396.361 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.036560
2025-06-08T00:09:56.446Z,1749341396.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.507271 s,
      deltaX: -0.200000 m,
      approachRate: -0.394266 m/s,
      rangeRepo size: 4

2025-06-08T00:09:56.452Z,1749341396.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.381049 m,
      bearing: 110.614434 deg,
      lat: 36.905901 deg,
      lon: -122.115920 deg,
      deltaT: 1.010070 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-06-08T00:09:56.604Z,1749341396.604 [DAT](INFO): DAT read: Rx Time:00:09:56.0665 

2025-06-08T00:09:56.605Z,1749341396.605 [DAT](INFO): Rx dataTimestamp_ set to:1749341396.604507
2025-06-08T00:09:56.606Z,1749341396.606 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:56.607Z,1749341396.607 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-06-08T00:09:56.608Z,1749341396.608 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.282721
2025-06-08T00:09:56.789Z,1749341396.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:56.792Z,1749341396.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.500370 s,
      deltaX: 0.300000 m,
      approachRate: 0.599556 m/s,
      rangeRepo size: 4

2025-06-08T00:09:56.859Z,1749341396.859 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.533646
2025-06-08T00:09:57.108Z,1749341397.108 [DAT](INFO): DAT read: Rx Time:00:09:56.5664 

2025-06-08T00:09:57.109Z,1749341397.109 [DAT](INFO): Rx dataTimestamp_ set to:1749341397.108505
2025-06-08T00:09:57.110Z,1749341397.110 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:57.111Z,1749341397.111 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-06-08T00:09:57.112Z,1749341397.112 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.786716
2025-06-08T00:09:57.243Z,1749341397.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503998 s,
      deltaX: -0.100000 m,
      approachRate: -0.198414 m/s,
      rangeRepo size: 4

2025-06-08T00:09:57.360Z,1749341397.360 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.035526
2025-06-08T00:09:57.612Z,1749341397.612 [DAT](INFO): DAT read: Rx Time:00:09:57.0665 

2025-06-08T00:09:57.613Z,1749341397.613 [DAT](INFO): Rx dataTimestamp_ set to:1749341397.612595
2025-06-08T00:09:57.614Z,1749341397.614 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:57.615Z,1749341397.615 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-06-08T00:09:57.616Z,1749341397.616 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.290808
2025-06-08T00:09:57.628Z,1749341397.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504090 s,
      deltaX: 0.100000 m,
      approachRate: 0.198378 m/s,
      rangeRepo size: 4

2025-06-08T00:09:57.866Z,1749341397.866 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.540798
2025-06-08T00:09:58.117Z,1749341398.117 [DAT](INFO): DAT read: Rx Time:00:09:57.5664 

2025-06-08T00:09:58.118Z,1749341398.118 [DAT](INFO): Rx dataTimestamp_ set to:1749341398.117459
2025-06-08T00:09:58.119Z,1749341398.119 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:58.120Z,1749341398.120 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-06-08T00:09:58.121Z,1749341398.121 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.795671
2025-06-08T00:09:58.368Z,1749341398.368 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.043297
2025-06-08T00:09:58.398Z,1749341398.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504864 s,
      deltaX: -0.100000 m,
      approachRate: -0.198073 m/s,
      rangeRepo size: 4

2025-06-08T00:09:58.621Z,1749341398.621 [DAT](INFO): DAT read: Rx Time:00:09:58.0665 

2025-06-08T00:09:58.621Z,1749341398.621 [DAT](INFO): Rx dataTimestamp_ set to:1749341398.620851
2025-06-08T00:09:58.623Z,1749341398.623 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:58.624Z,1749341398.624 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-06-08T00:09:58.626Z,1749341398.626 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.300343
2025-06-08T00:09:58.798Z,1749341398.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:09:58.801Z,1749341398.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503392 s,
      deltaX: 0.100000 m,
      approachRate: 0.198653 m/s,
      rangeRepo size: 4

2025-06-08T00:09:58.872Z,1749341398.872 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.547478
2025-06-08T00:09:59.124Z,1749341399.124 [DAT](INFO): DAT read: Rx Time:00:09:58.5664 

2025-06-08T00:09:59.125Z,1749341399.125 [DAT](INFO): Rx dataTimestamp_ set to:1749341399.124480
2025-06-08T00:09:59.126Z,1749341399.126 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:09:59.127Z,1749341399.127 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-06-08T00:09:59.128Z,1749341399.128 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.803276
2025-06-08T00:09:59.231Z,1749341399.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503629 s,
      deltaX: -0.100000 m,
      approachRate: -0.198559 m/s,
      rangeRepo size: 4

2025-06-08T00:09:59.376Z,1749341399.376 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.051258
2025-06-08T00:09:59.628Z,1749341399.628 [DAT](INFO): DAT read: Rx Time:00:09:59.0665 

2025-06-08T00:09:59.629Z,1749341399.629 [DAT](INFO): Rx dataTimestamp_ set to:1749341399.628665
2025-06-08T00:09:59.630Z,1749341399.630 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:09:59.631Z,1749341399.631 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-06-08T00:09:59.632Z,1749341399.632 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.306854
2025-06-08T00:09:59.880Z,1749341399.880 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.555229
2025-06-08T00:10:00.064Z,1749341400.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504185 s,
      deltaX: 0.100000 m,
      approachRate: 0.198340 m/s,
      rangeRepo size: 4

2025-06-08T00:10:00.132Z,1749341400.132 [DAT](INFO): DAT read: Rx Time:00:09:59.5664 

2025-06-08T00:10:00.133Z,1749341400.133 [DAT](INFO): Rx dataTimestamp_ set to:1749341400.132588
2025-06-08T00:10:00.134Z,1749341400.134 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:00.135Z,1749341400.135 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-06-08T00:10:00.136Z,1749341400.136 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.810932
2025-06-08T00:10:00.384Z,1749341400.384 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.059380
2025-06-08T00:10:00.489Z,1749341400.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503923 s,
      deltaX: -0.100000 m,
      approachRate: -0.198443 m/s,
      rangeRepo size: 4

2025-06-08T00:10:00.641Z,1749341400.641 [DAT](INFO): DAT read: Rx Time:00:10:00.0665 

2025-06-08T00:10:00.641Z,1749341400.641 [DAT](INFO): Rx dataTimestamp_ set to:1749341400.640889
2025-06-08T00:10:00.642Z,1749341400.642 [DAT](INFO): DAT read: Bearing 208.6, -41.0 (Local)

2025-06-08T00:10:00.643Z,1749341400.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.6, -41.0 (Local)

2025-06-08T00:10:00.645Z,1749341400.645 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:00.650Z,1749341400.650 [DAT](INFO): DAT read: 00:10:00.0665 LVL= 12496, 17329, 16498, 18083, AGC= 51, IDX= 509,-0.00, 2.480,-1.932,-2.522,-1.455, PHS=-2.260,-0.430,-1.070, RAW= 290.1,  39.6, CAL= 301.4,  41.0, ROT= 208.6, -41.0

2025-06-08T00:10:00.651Z,1749341400.651 [DAT](INFO): got valid direction response:
 00:10:00.0665 LVL= 12496, 17329, 16498, 18083, AGC= 51, IDX= 509,-0.00, 2.480,-1.932,-2.522,-1.455, PHS=-2.260,-0.430,-1.070, RAW= 290.1,  39.6, CAL= 301.4,  41.0, ROT= 208.6, -41.0

2025-06-08T00:10:00.652Z,1749341400.652 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-08T00:10:00.653Z,1749341400.653 [DAT](INFO): direction in FSK: [-0.662622,-0.361273,0.656059]
2025-06-08T00:10:00.653Z,1749341400.653 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:00.658Z,1749341400.658 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.332710
2025-06-08T00:10:00.888Z,1749341400.888 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.563385
2025-06-08T00:10:01.009Z,1749341401.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.508301 s,
      deltaX: 0.100000 m,
      approachRate: 0.196734 m/s,
      rangeRepo size: 4

2025-06-08T00:10:01.016Z,1749341401.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678681 m,
      bearing: 106.109386 deg,
      lat: 36.905900 deg,
      lon: -122.115920 deg,
      deltaT: 4.536752 s,
      deltaX: 0.297632 m,
      approachRate: 0.065605 m/s,
      posRepo size: 4

2025-06-08T00:10:01.140Z,1749341401.140 [DAT](INFO): DAT read: Rx Time:00:10:00.5664 

2025-06-08T00:10:01.141Z,1749341401.141 [DAT](INFO): Rx dataTimestamp_ set to:1749341401.140533
2025-06-08T00:10:01.142Z,1749341401.142 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed -0.1

2025-06-08T00:10:01.143Z,1749341401.143 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-06-08T00:10:01.144Z,1749341401.144 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.818806
2025-06-08T00:10:01.393Z,1749341401.393 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.067982
2025-06-08T00:10:01.474Z,1749341401.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:01.477Z,1749341401.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.499644 s,
      deltaX: -0.100000 m,
      approachRate: -0.200143 m/s,
      rangeRepo size: 4

2025-06-08T00:10:01.646Z,1749341401.646 [DAT](INFO): DAT read: Rx Time:00:10:01.0665 

2025-06-08T00:10:01.647Z,1749341401.647 [DAT](INFO): Rx dataTimestamp_ set to:1749341401.646487
2025-06-08T00:10:01.650Z,1749341401.650 [DAT](INFO): DAT read: Bearing 207.4, -45.1 (Local)

2025-06-08T00:10:01.651Z,1749341401.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.4, -45.1 (Local)

2025-06-08T00:10:01.654Z,1749341401.654 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:01.670Z,1749341401.670 [DAT](INFO): DAT read: 00:10:01.0665 LVL= 12336, 15985, 15522, 18067, AGC= 51, IDX= 509, 0.09,-3.008,-1.426,-1.977,-0.868, PHS=-2.053,-0.511,-1.112, RAW= 292.8,  44.0, CAL= 302.6,  45.1, ROT= 207.4, -45.1

2025-06-08T00:10:01.672Z,1749341401.672 [DAT](INFO): got valid direction response:
 00:10:01.0665 LVL= 12336, 15985, 15522, 18067, AGC= 51, IDX= 509, 0.09,-3.008,-1.426,-1.977,-0.868, PHS=-2.053,-0.511,-1.112, RAW= 292.8,  44.0, CAL= 302.6,  45.1, ROT= 207.4, -45.1

2025-06-08T00:10:01.672Z,1749341401.672 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-06-08T00:10:01.673Z,1749341401.673 [DAT](INFO): direction in FSK: [-0.626684,-0.324842,0.708340]
2025-06-08T00:10:01.673Z,1749341401.673 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:01.687Z,1749341401.687 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.361794
2025-06-08T00:10:01.895Z,1749341401.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.505954 s,
      deltaX: 0.100000 m,
      approachRate: 0.197647 m/s,
      rangeRepo size: 4

2025-06-08T00:10:01.896Z,1749341401.896 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.571426
2025-06-08T00:10:01.899Z,1749341401.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678682 m,
      bearing: 104.674502 deg,
      lat: 36.905899 deg,
      lon: -122.115920 deg,
      deltaT: 1.005598 s,
      deltaX: 0.000001 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-06-08T00:10:02.148Z,1749341402.148 [DAT](INFO): DAT read: Rx Time:00:10:01.5664 

2025-06-08T00:10:02.149Z,1749341402.149 [DAT](INFO): Rx dataTimestamp_ set to:1749341402.148428
2025-06-08T00:10:02.150Z,1749341402.150 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:02.151Z,1749341402.151 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-06-08T00:10:02.152Z,1749341402.152 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.826656
2025-06-08T00:10:02.306Z,1749341402.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.501941 s,
      deltaX: -0.100000 m,
      approachRate: -0.199227 m/s,
      rangeRepo size: 4

2025-06-08T00:10:02.400Z,1749341402.400 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.075352
2025-06-08T00:10:02.652Z,1749341402.652 [DAT](INFO): DAT read: Rx Time:00:10:02.0664 

2025-06-08T00:10:02.653Z,1749341402.653 [DAT](INFO): Rx dataTimestamp_ set to:1749341402.652484
2025-06-08T00:10:02.654Z,1749341402.654 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:02.655Z,1749341402.655 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-06-08T00:10:02.656Z,1749341402.656 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.330708
2025-06-08T00:10:02.690Z,1749341402.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504056 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:02.905Z,1749341402.905 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.580242
2025-06-08T00:10:03.157Z,1749341403.157 [DAT](INFO): DAT read: Rx Time:00:10:02.5663 

2025-06-08T00:10:03.157Z,1749341403.157 [DAT](INFO): Rx dataTimestamp_ set to:1749341403.157123
2025-06-08T00:10:03.159Z,1749341403.159 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:03.159Z,1749341403.159 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-06-08T00:10:03.160Z,1749341403.160 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.835304
2025-06-08T00:10:03.408Z,1749341403.408 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.083340
2025-06-08T00:10:03.501Z,1749341403.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:03.504Z,1749341403.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504639 s,
      deltaX: -0.200000 m,
      approachRate: -0.396323 m/s,
      rangeRepo size: 4

2025-06-08T00:10:03.660Z,1749341403.660 [DAT](INFO): DAT read: Rx Time:00:10:03.0664 

2025-06-08T00:10:03.661Z,1749341403.661 [DAT](INFO): Rx dataTimestamp_ set to:1749341403.660470
2025-06-08T00:10:03.662Z,1749341403.662 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:03.663Z,1749341403.663 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-06-08T00:10:03.664Z,1749341403.664 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.338703
2025-06-08T00:10:03.904Z,1749341403.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503347 s,
      deltaX: 0.200000 m,
      approachRate: 0.397340 m/s,
      rangeRepo size: 4

2025-06-08T00:10:03.913Z,1749341403.913 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.587631
2025-06-08T00:10:04.165Z,1749341404.165 [DAT](INFO): DAT read: Rx Time:00:10:03.5664 

2025-06-08T00:10:04.165Z,1749341404.165 [DAT](INFO): Rx dataTimestamp_ set to:1749341404.164877
2025-06-08T00:10:04.167Z,1749341404.167 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:04.168Z,1749341404.168 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-06-08T00:10:04.169Z,1749341404.169 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.844387
2025-06-08T00:10:04.333Z,1749341404.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504407 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:04.421Z,1749341404.421 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.095940
2025-06-08T00:10:04.672Z,1749341404.672 [DAT](INFO): DAT read: Rx Time:00:10:04.0665 

2025-06-08T00:10:04.673Z,1749341404.673 [DAT](INFO): Rx dataTimestamp_ set to:1749341404.672453
2025-06-08T00:10:04.674Z,1749341404.674 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:04.675Z,1749341404.675 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-06-08T00:10:04.680Z,1749341404.680 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.354687
2025-06-08T00:10:04.710Z,1749341404.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.507576 s,
      deltaX: 0.100000 m,
      approachRate: 0.197015 m/s,
      rangeRepo size: 4

2025-06-08T00:10:04.928Z,1749341404.928 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.602558
2025-06-08T00:10:05.176Z,1749341405.176 [DAT](INFO): DAT read: Rx Time:00:10:04.5664 

2025-06-08T00:10:05.177Z,1749341405.177 [DAT](INFO): Rx dataTimestamp_ set to:1749341405.176596
2025-06-08T00:10:05.178Z,1749341405.178 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:05.179Z,1749341405.179 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-06-08T00:10:05.188Z,1749341405.188 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.862919
2025-06-08T00:10:05.429Z,1749341405.429 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.103600
2025-06-08T00:10:05.517Z,1749341405.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:05.520Z,1749341405.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504143 s,
      deltaX: -0.100000 m,
      approachRate: -0.198357 m/s,
      rangeRepo size: 4

2025-06-08T00:10:05.680Z,1749341405.680 [DAT](INFO): DAT read: Rx Time:00:10:05.0666 

2025-06-08T00:10:05.681Z,1749341405.681 [DAT](INFO): Rx dataTimestamp_ set to:1749341405.680481
2025-06-08T00:10:05.682Z,1749341405.682 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-06-08T00:10:05.683Z,1749341405.683 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-06-08T00:10:05.684Z,1749341405.684 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.358688
2025-06-08T00:10:05.933Z,1749341405.933 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.608067
2025-06-08T00:10:05.937Z,1749341405.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.503885 s,
      deltaX: 0.300000 m,
      approachRate: 0.595374 m/s,
      rangeRepo size: 4

2025-06-08T00:10:06.184Z,1749341406.184 [DAT](INFO): DAT read: Rx Time:00:10:05.5665 

2025-06-08T00:10:06.185Z,1749341406.185 [DAT](INFO): Rx dataTimestamp_ set to:1749341406.184610
2025-06-08T00:10:06.186Z,1749341406.186 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:06.187Z,1749341406.187 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-06-08T00:10:06.188Z,1749341406.188 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.862820
2025-06-08T00:10:06.358Z,1749341406.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504129 s,
      deltaX: -0.200000 m,
      approachRate: -0.396724 m/s,
      rangeRepo size: 4

2025-06-08T00:10:06.436Z,1749341406.436 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.111511
2025-06-08T00:10:06.688Z,1749341406.688 [DAT](INFO): DAT read: Rx Time:00:10:06.0665 

2025-06-08T00:10:06.689Z,1749341406.689 [DAT](INFO): Rx dataTimestamp_ set to:1749341406.688473
2025-06-08T00:10:06.690Z,1749341406.690 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:06.691Z,1749341406.691 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-06-08T00:10:06.692Z,1749341406.692 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.366692
2025-06-08T00:10:06.766Z,1749341406.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503863 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:06.941Z,1749341406.941 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.615761
2025-06-08T00:10:07.193Z,1749341407.193 [DAT](INFO): DAT read: Rx Time:00:10:06.5664 

2025-06-08T00:10:07.193Z,1749341407.193 [DAT](INFO): Rx dataTimestamp_ set to:1749341407.193093
2025-06-08T00:10:07.195Z,1749341407.195 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:07.196Z,1749341407.196 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-06-08T00:10:07.197Z,1749341407.197 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.872585
2025-06-08T00:10:07.445Z,1749341407.445 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.120117
2025-06-08T00:10:07.534Z,1749341407.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:07.537Z,1749341407.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504620 s,
      deltaX: -0.100000 m,
      approachRate: -0.198169 m/s,
      rangeRepo size: 4

2025-06-08T00:10:07.697Z,1749341407.697 [DAT](INFO): DAT read: Rx Time:00:10:07.0665 

2025-06-08T00:10:07.697Z,1749341407.697 [DAT](INFO): Rx dataTimestamp_ set to:1749341407.696746
2025-06-08T00:10:07.698Z,1749341407.698 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:07.699Z,1749341407.699 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-06-08T00:10:07.700Z,1749341407.700 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.374947
2025-06-08T00:10:07.949Z,1749341407.949 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.624153
2025-06-08T00:10:07.980Z,1749341407.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503653 s,
      deltaX: 0.100000 m,
      approachRate: 0.198550 m/s,
      rangeRepo size: 4

2025-06-08T00:10:08.200Z,1749341408.200 [DAT](INFO): DAT read: Rx Time:00:10:07.5664 

2025-06-08T00:10:08.201Z,1749341408.201 [DAT](INFO): Rx dataTimestamp_ set to:1749341408.200511
2025-06-08T00:10:08.202Z,1749341408.202 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:08.203Z,1749341408.203 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-06-08T00:10:08.204Z,1749341408.204 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.879311
2025-06-08T00:10:08.379Z,1749341408.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503765 s,
      deltaX: -0.100000 m,
      approachRate: -0.198506 m/s,
      rangeRepo size: 4

2025-06-08T00:10:08.452Z,1749341408.452 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.127399
2025-06-08T00:10:08.704Z,1749341408.704 [DAT](INFO): DAT read: Rx Time:00:10:08.0665 

2025-06-08T00:10:08.705Z,1749341408.705 [DAT](INFO): Rx dataTimestamp_ set to:1749341408.704538
2025-06-08T00:10:08.706Z,1749341408.706 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:08.707Z,1749341408.707 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-06-08T00:10:08.708Z,1749341408.708 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.382755
2025-06-08T00:10:08.846Z,1749341408.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504027 s,
      deltaX: 0.100000 m,
      approachRate: 0.198402 m/s,
      rangeRepo size: 4

2025-06-08T00:10:08.956Z,1749341408.956 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.631229
2025-06-08T00:10:09.208Z,1749341409.208 [DAT](INFO): DAT read: Rx Time:00:10:08.5665 

2025-06-08T00:10:09.209Z,1749341409.209 [DAT](INFO): Rx dataTimestamp_ set to:1749341409.208610
2025-06-08T00:10:09.210Z,1749341409.210 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:09.211Z,1749341409.211 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-06-08T00:10:09.212Z,1749341409.212 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.886810
2025-06-08T00:10:09.215Z,1749341409.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504072 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:09.460Z,1749341409.460 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.135307
2025-06-08T00:10:09.565Z,1749341409.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:09.713Z,1749341409.713 [DAT](INFO): DAT read: Rx Time:00:10:09.0666 

2025-06-08T00:10:09.713Z,1749341409.713 [DAT](INFO): Rx dataTimestamp_ set to:1749341409.712835
2025-06-08T00:10:09.714Z,1749341409.714 [DAT](INFO): DAT read: Bearing 206.7, -75.9 (Local)

2025-06-08T00:10:09.715Z,1749341409.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.7, -75.9 (Local)

2025-06-08T00:10:09.717Z,1749341409.717 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-06-08T00:10:09.721Z,1749341409.721 [DAT](INFO): DAT read: 00:10:09.0666 LVL= 10608, 12689, 18818, 15491, AGC= 50, IDX= 508,-0.03, 1.953, 2.353, 2.222,-2.923, PHS=-1.319,-0.960,-1.141, RAW= 300.3,  75.6, CAL= 303.3,  75.9, ROT= 206.7, -75.9

2025-06-08T00:10:09.722Z,1749341409.722 [DAT](INFO): got valid direction response:
 00:10:09.0666 LVL= 10608, 12689, 18818, 15491, AGC= 50, IDX= 508,-0.03, 1.953, 2.353, 2.222,-2.923, PHS=-1.319,-0.960,-1.141, RAW= 300.3,  75.6, CAL= 303.3,  75.9, ROT= 206.7, -75.9

2025-06-08T00:10:09.723Z,1749341409.723 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-06-08T00:10:09.724Z,1749341409.724 [DAT](INFO): direction in FSK: [-0.217639,-0.109461,0.969872]
2025-06-08T00:10:09.724Z,1749341409.724 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:09.728Z,1749341409.728 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.402889
2025-06-08T00:10:09.965Z,1749341409.965 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.640301
2025-06-08T00:10:10.009Z,1749341410.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504225 s,
      deltaX: 0.200000 m,
      approachRate: 0.396648 m/s,
      rangeRepo size: 4

2025-06-08T00:10:10.011Z,1749341410.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.877106 m,
      bearing: 121.562675 deg,
      lat: 36.905899 deg,
      lon: -122.115920 deg,
      deltaT: 8.066348 s,
      deltaX: 0.198424 m,
      approachRate: 0.024599 m/s,
      posRepo size: 4

2025-06-08T00:10:10.217Z,1749341410.217 [DAT](INFO): DAT read: Rx Time:00:10:09.5665 

2025-06-08T00:10:10.217Z,1749341410.217 [DAT](INFO): Rx dataTimestamp_ set to:1749341410.216983
2025-06-08T00:10:10.219Z,1749341410.219 [DAT](INFO): DAT read: Bearing 198.0, -75.8 (Local)

2025-06-08T00:10:10.219Z,1749341410.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0, -75.8 (Local)

2025-06-08T00:10:10.221Z,1749341410.221 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:10.226Z,1749341410.226 [DAT](INFO): DAT read: 00:10:09.5665 LVL= 10416, 10145, 14626, 16243, AGC= 50, IDX= 507, 0.06, 1.545, 1.952, 1.765, 2.996, PHS=-1.363,-0.997,-1.234, RAW= 309.7,  75.8, CAL= 312.0,  75.8, ROT= 198.0, -75.8

2025-06-08T00:10:10.227Z,1749341410.227 [DAT](INFO): got valid direction response:
 00:10:09.5665 LVL= 10416, 10145, 14626, 16243, AGC= 50, IDX= 507, 0.06, 1.545, 1.952, 1.765, 2.996, PHS=-1.363,-0.997,-1.234, RAW= 309.7,  75.8, CAL= 312.0,  75.8, ROT= 198.0, -75.8

2025-06-08T00:10:10.227Z,1749341410.227 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-06-08T00:10:10.228Z,1749341410.228 [DAT](INFO): direction in FSK: [-0.233301,-0.075804,0.969445]
2025-06-08T00:10:10.229Z,1749341410.229 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:10.233Z,1749341410.233 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.907707
2025-06-08T00:10:10.441Z,1749341410.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504148 s,
      deltaX: -0.200000 m,
      approachRate: -0.396709 m/s,
      rangeRepo size: 4

2025-06-08T00:10:10.447Z,1749341410.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678685 m,
      bearing: 117.210056 deg,
      lat: 36.905899 deg,
      lon: -122.115920 deg,
      deltaT: 0.504148 s,
      deltaX: -0.198421 m,
      approachRate: -0.393578 m/s,
      posRepo size: 4

2025-06-08T00:10:10.468Z,1749341410.468 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.143318
2025-06-08T00:10:10.721Z,1749341410.721 [DAT](INFO): DAT read: Rx Time:00:10:10.0665 

2025-06-08T00:10:10.721Z,1749341410.721 [DAT](INFO): Rx dataTimestamp_ set to:1749341410.720936
2025-06-08T00:10:10.722Z,1749341410.722 [DAT](INFO): DAT read: Bearing 195.4, -70.4 (Local)

2025-06-08T00:10:10.723Z,1749341410.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.4, -70.4 (Local)

2025-06-08T00:10:10.725Z,1749341410.725 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:10.730Z,1749341410.730 [DAT](INFO): DAT read: 00:10:10.0665 LVL=  9408, 10401, 14546, 13971, AGC= 49, IDX= 507, 0.08, 1.598, 2.139, 1.850, 3.080, PHS=-1.394,-0.894,-1.233, RAW= 311.7,  70.4, CAL= 314.6,  70.4, ROT= 195.4, -70.4

2025-06-08T00:10:10.731Z,1749341410.731 [DAT](INFO): got valid direction response:
 00:10:10.0665 LVL=  9408, 10401, 14546, 13971, AGC= 49, IDX= 507, 0.08, 1.598, 2.139, 1.850, 3.080, PHS=-1.394,-0.894,-1.233, RAW= 311.7,  70.4, CAL= 314.6,  70.4, ROT= 195.4, -70.4

2025-06-08T00:10:10.731Z,1749341410.731 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-06-08T00:10:10.732Z,1749341410.732 [DAT](INFO): direction in FSK: [-0.323407,-0.089081,0.942057]
2025-06-08T00:10:10.732Z,1749341410.732 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:10.740Z,1749341410.740 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.415337
2025-06-08T00:10:10.839Z,1749341410.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503953 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:10.842Z,1749341410.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678685 m,
      bearing: 111.936154 deg,
      lat: 36.905899 deg,
      lon: -122.115924 deg,
      deltaT: 0.503953 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-06-08T00:10:10.974Z,1749341410.974 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.649052
2025-06-08T00:10:11.225Z,1749341411.225 [DAT](INFO): DAT read: Rx Time:00:10:10.5664 

2025-06-08T00:10:11.225Z,1749341411.225 [DAT](INFO): Rx dataTimestamp_ set to:1749341411.225010
2025-06-08T00:10:11.227Z,1749341411.227 [DAT](INFO): DAT read: Bearing 201.6, -73.3 (Local)

2025-06-08T00:10:11.227Z,1749341411.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.6, -73.3 (Local)

2025-06-08T00:10:11.229Z,1749341411.229 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:11.234Z,1749341411.234 [DAT](INFO): DAT read: 00:10:10.5664 LVL= 10224, 11473, 16722, 16499, AGC= 50, IDX= 506, 0.14, 0.343, 0.831, 0.621, 1.857, PHS=-1.426,-0.979,-1.239, RAW= 305.3,  73.2, CAL= 308.4,  73.3, ROT= 201.6, -73.3

2025-06-08T00:10:11.235Z,1749341411.235 [DAT](INFO): got valid direction response:
 00:10:10.5664 LVL= 10224, 11473, 16722, 16499, AGC= 50, IDX= 506, 0.14, 0.343, 0.831, 0.621, 1.857, PHS=-1.426,-0.979,-1.239, RAW= 305.3,  73.2, CAL= 308.4,  73.3, ROT= 201.6, -73.3

2025-06-08T00:10:11.235Z,1749341411.235 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-06-08T00:10:11.236Z,1749341411.236 [DAT](INFO): direction in FSK: [-0.267181,-0.105784,0.957823]
2025-06-08T00:10:11.237Z,1749341411.237 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:11.256Z,1749341411.256 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.931316
2025-06-08T00:10:11.476Z,1749341411.476 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.151508
2025-06-08T00:10:11.660Z,1749341411.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504074 s,
      deltaX: -0.100000 m,
      approachRate: -0.198384 m/s,
      rangeRepo size: 4

2025-06-08T00:10:11.662Z,1749341411.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579474 m,
      bearing: 119.584531 deg,
      lat: 36.905900 deg,
      lon: -122.115926 deg,
      deltaT: 0.504074 s,
      deltaX: -0.099211 m,
      approachRate: -0.196817 m/s,
      posRepo size: 4

2025-06-08T00:10:11.730Z,1749341411.730 [DAT](INFO): DAT read: Rx Time:00:10:11.0665 

2025-06-08T00:10:11.731Z,1749341411.731 [DAT](INFO): Rx dataTimestamp_ set to:1749341411.730231
2025-06-08T00:10:11.732Z,1749341411.732 [DAT](INFO): DAT read: Bearing 200.0, -72.4 (Local)

2025-06-08T00:10:11.733Z,1749341411.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.0, -72.4 (Local)

2025-06-08T00:10:11.735Z,1749341411.735 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:11.755Z,1749341411.755 [DAT](INFO): DAT read: 00:10:11.0665 LVL= 10960,  9713, 14498, 14835, AGC= 49, IDX= 507, 0.18, 2.142, 2.654, 2.419,-2.615, PHS=-1.438,-0.967,-1.252, RAW= 306.9,  72.4, CAL= 310.0,  72.4, ROT= 200.0, -72.4

2025-06-08T00:10:11.768Z,1749341411.768 [DAT](INFO): got valid direction response:
 00:10:11.0665 LVL= 10960,  9713, 14498, 14835, AGC= 49, IDX= 507, 0.18, 2.142, 2.654, 2.419,-2.615, PHS=-1.438,-0.967,-1.252, RAW= 306.9,  72.4, CAL= 310.0,  72.4, ROT= 200.0, -72.4

2025-06-08T00:10:11.768Z,1749341411.768 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-06-08T00:10:11.769Z,1749341411.769 [DAT](INFO): direction in FSK: [-0.284135,-0.103417,0.953191]
2025-06-08T00:10:11.770Z,1749341411.770 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:11.777Z,1749341411.777 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.452515
2025-06-08T00:10:11.980Z,1749341411.980 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.655308
2025-06-08T00:10:12.016Z,1749341412.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.505221 s,
      deltaX: 0.100000 m,
      approachRate: 0.197933 m/s,
      rangeRepo size: 4

2025-06-08T00:10:12.018Z,1749341412.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678685 m,
      bearing: 117.388039 deg,
      lat: 36.905900 deg,
      lon: -122.115926 deg,
      deltaT: 0.505221 s,
      deltaX: 0.099211 m,
      approachRate: 0.196370 m/s,
      posRepo size: 4

2025-06-08T00:10:12.233Z,1749341412.233 [DAT](INFO): DAT read: Rx Time:00:10:11.5664 

2025-06-08T00:10:12.233Z,1749341412.233 [DAT](INFO): Rx dataTimestamp_ set to:1749341412.232888
2025-06-08T00:10:12.234Z,1749341412.234 [DAT](INFO): DAT read: Bearing 214.3, -77.0 (Local)

2025-06-08T00:10:12.235Z,1749341412.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.3, -77.0 (Local)

2025-06-08T00:10:12.238Z,1749341412.238 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:12.244Z,1749341412.244 [DAT](INFO): DAT read: 00:10:11.5664 LVL=  9392, 10177, 14386, 15187, AGC= 49, IDX= 506, 0.24, 0.788, 1.197, 1.105, 2.328, PHS=-1.452,-1.084,-1.226, RAW= 292.5,  76.4, CAL= 295.7,  77.0, ROT= 214.3, -77.0

2025-06-08T00:10:12.245Z,1749341412.245 [DAT](INFO): got valid direction response:
 00:10:11.5664 LVL=  9392, 10177, 14386, 15187, AGC= 49, IDX= 506, 0.24, 0.788, 1.197, 1.105, 2.328, PHS=-1.452,-1.084,-1.226, RAW= 292.5,  76.4, CAL= 295.7,  77.0, ROT= 214.3, -77.0

2025-06-08T00:10:12.245Z,1749341412.245 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-06-08T00:10:12.246Z,1749341412.246 [DAT](INFO): direction in FSK: [-0.185832,-0.126766,0.974370]
2025-06-08T00:10:12.246Z,1749341412.246 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:12.281Z,1749341412.281 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.955818
2025-06-08T00:10:12.443Z,1749341412.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.502657 s,
      deltaX: -0.100000 m,
      approachRate: -0.198943 m/s,
      rangeRepo size: 4

2025-06-08T00:10:12.445Z,1749341412.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579473 m,
      bearing: 129.015224 deg,
      lat: 36.905900 deg,
      lon: -122.115926 deg,
      deltaT: 0.502657 s,
      deltaX: -0.099212 m,
      approachRate: -0.197375 m/s,
      posRepo size: 4

2025-06-08T00:10:12.485Z,1749341412.485 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.160141
2025-06-08T00:10:12.737Z,1749341412.737 [DAT](INFO): DAT read: Rx Time:00:10:12.0666 

2025-06-08T00:10:12.737Z,1749341412.737 [DAT](INFO): Rx dataTimestamp_ set to:1749341412.736858
2025-06-08T00:10:12.738Z,1749341412.738 [DAT](INFO): DAT read: Bearing 235.9, -80.0 (Local)

2025-06-08T00:10:12.739Z,1749341412.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.9, -80.0 (Local)

2025-06-08T00:10:12.741Z,1749341412.741 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-06-08T00:10:12.750Z,1749341412.750 [DAT](INFO): DAT read: 00:10:12.0666 LVL=  8000,  9377, 13298, 15027, AGC= 49, IDX= 507, 0.31, 1.667, 1.978, 2.021,-3.075, PHS=-1.453,-1.184,-1.191, RAW= 271.3,  78.9, CAL= 274.1,  80.0, ROT= 235.9, -80.0

2025-06-08T00:10:12.751Z,1749341412.751 [DAT](INFO): got valid direction response:
 00:10:12.0666 LVL=  8000,  9377, 13298, 15027, AGC= 49, IDX= 507, 0.31, 1.667, 1.978, 2.021,-3.075, PHS=-1.453,-1.184,-1.191, RAW= 271.3,  78.9, CAL= 274.1,  80.0, ROT= 235.9, -80.0

2025-06-08T00:10:12.751Z,1749341412.751 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-06-08T00:10:12.752Z,1749341412.752 [DAT](INFO): direction in FSK: [-0.097354,-0.143791,0.984808]
2025-06-08T00:10:12.753Z,1749341412.753 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:12.762Z,1749341412.762 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.436859
2025-06-08T00:10:12.850Z,1749341412.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.503970 s,
      deltaX: 0.300000 m,
      approachRate: 0.595274 m/s,
      rangeRepo size: 4

2025-06-08T00:10:12.856Z,1749341412.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.877105 m,
      bearing: 141.891663 deg,
      lat: 36.905900 deg,
      lon: -122.115926 deg,
      deltaT: 0.503970 s,
      deltaX: 0.297632 m,
      approachRate: 0.590574 m/s,
      posRepo size: 4

2025-06-08T00:10:12.988Z,1749341412.988 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.663418
2025-06-08T00:10:13.242Z,1749341413.242 [DAT](INFO): DAT read: Rx Time:00:10:12.5665 

2025-06-08T00:10:13.243Z,1749341413.243 [DAT](INFO): Rx dataTimestamp_ set to:1749341413.242305
2025-06-08T00:10:13.245Z,1749341413.245 [DAT](INFO): DAT read: Bearing 263.5, -79.1 (Local)

2025-06-08T00:10:13.246Z,1749341413.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.5, -79.1 (Local)

2025-06-08T00:10:13.249Z,1749341413.249 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:13.261Z,1749341413.261 [DAT](INFO): DAT read: 00:10:12.5665 LVL=  7872, 12113, 16594, 17731, AGC= 50, IDX= 506, 0.35, 0.151, 0.392, 0.597, 1.717, PHS=-1.478,-1.278,-1.123, RAW= 244.1,  77.4, CAL= 246.5,  79.1, ROT= 263.5, -79.1

2025-06-08T00:10:13.262Z,1749341413.262 [DAT](INFO): got valid direction response:
 00:10:12.5665 LVL=  7872, 12113, 16594, 17731, AGC= 50, IDX= 506, 0.35, 0.151, 0.392, 0.597, 1.717, PHS=-1.478,-1.278,-1.123, RAW= 244.1,  77.4, CAL= 246.5,  79.1, ROT= 263.5, -79.1

2025-06-08T00:10:13.262Z,1749341413.262 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-06-08T00:10:13.280Z,1749341413.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:13.283Z,1749341413.283 [DAT](INFO): direction in FSK: [-0.021406,-0.187880,0.981959]
2025-06-08T00:10:13.284Z,1749341413.284 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:13.311Z,1749341413.311 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.962044
2025-06-08T00:10:13.492Z,1749341413.492 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.167210
2025-06-08T00:10:13.685Z,1749341413.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.505447 s,
      deltaX: -0.200000 m,
      approachRate: -0.395689 m/s,
      rangeRepo size: 4

2025-06-08T00:10:13.687Z,1749341413.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678682 m,
      bearing: 156.241474 deg,
      lat: 36.905900 deg,
      lon: -122.115929 deg,
      deltaT: 0.505447 s,
      deltaX: -0.198423 m,
      approachRate: -0.392569 m/s,
      posRepo size: 4

2025-06-08T00:10:13.747Z,1749341413.747 [DAT](INFO): DAT read: Rx Time:00:10:13.0666 

2025-06-08T00:10:13.748Z,1749341413.748 [DAT](INFO): Rx dataTimestamp_ set to:1749341413.746776
2025-06-08T00:10:13.750Z,1749341413.750 [DAT](INFO): DAT read: Bearing 250.3, -80.7 (Local)

2025-06-08T00:10:13.750Z,1749341413.750 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.3, -80.7 (Local)

2025-06-08T00:10:13.753Z,1749341413.753 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-06-08T00:10:13.760Z,1749341413.760 [DAT](INFO): DAT read: 00:10:13.0666 LVL=  8272, 11249, 13426, 17779, AGC= 50, IDX= 507, 0.46, 0.421, 0.666, 0.778, 1.881, PHS=-1.372,-1.168,-1.107, RAW= 257.2,  79.4, CAL= 259.7,  80.7, ROT= 250.3, -80.7

2025-06-08T00:10:13.761Z,1749341413.761 [DAT](INFO): got valid direction response:
 00:10:13.0666 LVL=  8272, 11249, 13426, 17779, AGC= 50, IDX= 507, 0.46, 0.421, 0.666, 0.778, 1.881, PHS=-1.372,-1.168,-1.107, RAW= 257.2,  79.4, CAL= 259.7,  80.7, ROT= 250.3, -80.7

2025-06-08T00:10:13.762Z,1749341413.762 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-08T00:10:13.763Z,1749341413.763 [DAT](INFO): direction in FSK: [-0.054476,-0.152145,0.986856]
2025-06-08T00:10:13.763Z,1749341413.763 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:13.767Z,1749341413.767 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.441624
2025-06-08T00:10:13.996Z,1749341413.996 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.671288
2025-06-08T00:10:14.038Z,1749341414.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504471 s,
      deltaX: 0.200000 m,
      approachRate: 0.396455 m/s,
      rangeRepo size: 4

2025-06-08T00:10:14.044Z,1749341414.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.877103 m,
      bearing: 148.695903 deg,
      lat: 36.905899 deg,
      lon: -122.115931 deg,
      deltaT: 0.504471 s,
      deltaX: 0.198421 m,
      approachRate: 0.393324 m/s,
      posRepo size: 4

2025-06-08T00:10:14.249Z,1749341414.249 [DAT](INFO): DAT read: Rx Time:00:10:13.5665 

2025-06-08T00:10:14.250Z,1749341414.250 [DAT](INFO): Rx dataTimestamp_ set to:1749341414.249517
2025-06-08T00:10:14.251Z,1749341414.251 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:14.252Z,1749341414.252 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-06-08T00:10:14.253Z,1749341414.253 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.928089
2025-06-08T00:10:14.454Z,1749341414.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.502741 s,
      deltaX: -0.200000 m,
      approachRate: -0.397819 m/s,
      rangeRepo size: 4

2025-06-08T00:10:14.500Z,1749341414.500 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.175358
2025-06-08T00:10:14.752Z,1749341414.752 [DAT](INFO): DAT read: Rx Time:00:10:14.0665 

2025-06-08T00:10:14.753Z,1749341414.753 [DAT](INFO): Rx dataTimestamp_ set to:1749341414.752543
2025-06-08T00:10:14.754Z,1749341414.754 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:14.755Z,1749341414.755 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-06-08T00:10:14.756Z,1749341414.756 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.430801
2025-06-08T00:10:14.827Z,1749341414.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503026 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:15.004Z,1749341415.004 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.679173
2025-06-08T00:10:15.239Z,1749341415.239 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.05,  85.06,  93.73
2025-06-08T00:10:15.256Z,1749341415.256 [DAT](INFO): DAT read: Rx Time:00:10:14.5664 

2025-06-08T00:10:15.257Z,1749341415.257 [DAT](INFO): Rx dataTimestamp_ set to:1749341415.256610
2025-06-08T00:10:15.258Z,1749341415.258 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:15.259Z,1749341415.259 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-06-08T00:10:15.260Z,1749341415.260 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.934818
2025-06-08T00:10:15.511Z,1749341415.511 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.186512
2025-06-08T00:10:15.627Z,1749341415.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:15.630Z,1749341415.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504067 s,
      deltaX: -0.100000 m,
      approachRate: -0.198387 m/s,
      rangeRepo size: 4

2025-06-08T00:10:15.760Z,1749341415.760 [DAT](INFO): DAT read: Rx Time:00:10:15.0665 

2025-06-08T00:10:15.761Z,1749341415.761 [DAT](INFO): Rx dataTimestamp_ set to:1749341415.760421
2025-06-08T00:10:15.762Z,1749341415.762 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:15.763Z,1749341415.763 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-06-08T00:10:15.764Z,1749341415.764 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.438633
2025-06-08T00:10:16.012Z,1749341416.012 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.687572
2025-06-08T00:10:16.051Z,1749341416.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503811 s,
      deltaX: 0.100000 m,
      approachRate: 0.198487 m/s,
      rangeRepo size: 4

2025-06-08T00:10:16.264Z,1749341416.264 [DAT](INFO): DAT read: Rx Time:00:10:15.5664 

2025-06-08T00:10:16.265Z,1749341416.265 [DAT](INFO): Rx dataTimestamp_ set to:1749341416.264558
2025-06-08T00:10:16.266Z,1749341416.266 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:16.267Z,1749341416.267 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-06-08T00:10:16.268Z,1749341416.268 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.942787
2025-06-08T00:10:16.484Z,1749341416.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504137 s,
      deltaX: -0.100000 m,
      approachRate: -0.198359 m/s,
      rangeRepo size: 4

2025-06-08T00:10:16.517Z,1749341416.517 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.191708
2025-06-08T00:10:16.532Z,1749341416.532 [DockingStepper](INFO): Changing to mode: 1
2025-06-08T00:10:16.532Z,1749341416.532 [DockingStepper](INFO): Standby mode.
2025-06-08T00:10:16.592Z,1749341416.592 [DockingStepper](INFO): Commanding positive:54426
2025-06-08T00:10:16.768Z,1749341416.768 [DAT](INFO): DAT read: Rx Time:00:10:16.0665 

2025-06-08T00:10:16.769Z,1749341416.769 [DAT](INFO): Rx dataTimestamp_ set to:1749341416.768563
2025-06-08T00:10:16.770Z,1749341416.770 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:16.771Z,1749341416.771 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-06-08T00:10:16.772Z,1749341416.772 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.446770
2025-06-08T00:10:16.882Z,1749341416.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504005 s,
      deltaX: 0.100000 m,
      approachRate: 0.198411 m/s,
      rangeRepo size: 4

2025-06-08T00:10:17.021Z,1749341417.021 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.695915
2025-06-08T00:10:17.272Z,1749341417.272 [DAT](INFO): DAT read: Rx Time:00:10:16.5664 

2025-06-08T00:10:17.273Z,1749341417.273 [DAT](INFO): Rx dataTimestamp_ set to:1749341417.272504
2025-06-08T00:10:17.274Z,1749341417.274 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:17.275Z,1749341417.275 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-06-08T00:10:17.276Z,1749341417.276 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.950718
2025-06-08T00:10:17.358Z,1749341417.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503941 s,
      deltaX: -0.100000 m,
      approachRate: -0.198436 m/s,
      rangeRepo size: 4

2025-06-08T00:10:17.525Z,1749341417.525 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.200226
2025-06-08T00:10:17.748Z,1749341417.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:17.776Z,1749341417.776 [DAT](INFO): DAT read: Rx Time:00:10:17.0665 

2025-06-08T00:10:17.777Z,1749341417.777 [DAT](INFO): Rx dataTimestamp_ set to:1749341417.776632
2025-06-08T00:10:17.778Z,1749341417.778 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:17.779Z,1749341417.779 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-08T00:10:17.780Z,1749341417.780 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.454845
2025-06-08T00:10:18.028Z,1749341418.028 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.703175
2025-06-08T00:10:18.145Z,1749341418.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504128 s,
      deltaX: 0.100000 m,
      approachRate: 0.198363 m/s,
      rangeRepo size: 4

2025-06-08T00:10:18.281Z,1749341418.281 [DAT](INFO): DAT read: Rx Time:00:10:17.5665 

2025-06-08T00:10:18.281Z,1749341418.281 [DAT](INFO): Rx dataTimestamp_ set to:1749341418.280902
2025-06-08T00:10:18.282Z,1749341418.282 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:18.283Z,1749341418.283 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-06-08T00:10:18.284Z,1749341418.284 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.959110
2025-06-08T00:10:18.532Z,1749341418.532 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.207394
2025-06-08T00:10:18.609Z,1749341418.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504270 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:18.785Z,1749341418.785 [DAT](INFO): DAT read: Rx Time:00:10:18.0665 

2025-06-08T00:10:18.785Z,1749341418.785 [DAT](INFO): Rx dataTimestamp_ set to:1749341418.784856
2025-06-08T00:10:18.786Z,1749341418.786 [DAT](INFO): DAT read: Bearing 208.0, -76.7 (Local)

2025-06-08T00:10:18.787Z,1749341418.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.0, -76.7 (Local)

2025-06-08T00:10:18.789Z,1749341418.789 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:18.793Z,1749341418.793 [DAT](INFO): DAT read: 00:10:18.0665 LVL=  8672, 13665, 14642, 13683, AGC= 49, IDX= 506, 0.06,-1.296,-0.915,-1.030, 0.109, PHS=-1.317,-0.977,-1.142, RAW= 299.0,  76.4, CAL= 302.0,  76.7, ROT= 208.0, -76.7

2025-06-08T00:10:18.794Z,1749341418.794 [DAT](INFO): got valid direction response:
 00:10:18.0665 LVL=  8672, 13665, 14642, 13683, AGC= 49, IDX= 506, 0.06,-1.296,-0.915,-1.030, 0.109, PHS=-1.317,-0.977,-1.142, RAW= 299.0,  76.4, CAL= 302.0,  76.7, ROT= 208.0, -76.7

2025-06-08T00:10:18.795Z,1749341418.795 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-06-08T00:10:18.796Z,1749341418.796 [DAT](INFO): direction in FSK: [-0.203122,-0.108002,0.973179]
2025-06-08T00:10:18.796Z,1749341418.796 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:18.800Z,1749341418.800 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.474892
2025-06-08T00:10:19.009Z,1749341419.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503954 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:19.015Z,1749341419.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678674 m,
      bearing: 115.775654 deg,
      lat: 36.905899 deg,
      lon: -122.115931 deg,
      deltaT: 5.038080 s,
      deltaX: -0.198429 m,
      approachRate: -0.039386 m/s,
      posRepo size: 4

2025-06-08T00:10:19.016Z,1749341419.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.70 m.
2025-06-08T00:10:19.016Z,1749341419.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-08T00:10:19.036Z,1749341419.036 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.711269
2025-06-08T00:10:19.289Z,1749341419.289 [DAT](INFO): DAT read: Rx Time:00:10:18.5664 

2025-06-08T00:10:19.289Z,1749341419.289 [DAT](INFO): Rx dataTimestamp_ set to:1749341419.289006
2025-06-08T00:10:19.291Z,1749341419.291 [DAT](INFO): DAT read: Bearing 227.2, -77.6 (Local)

2025-06-08T00:10:19.291Z,1749341419.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.2, -77.6 (Local)

2025-06-08T00:10:19.293Z,1749341419.293 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:19.298Z,1749341419.298 [DAT](INFO): DAT read: 00:10:18.5664 LVL=  8016, 13249, 14770, 14531, AGC= 50, IDX= 505, 0.11,-2.708,-2.329,-2.337,-1.175, PHS=-1.445,-1.107,-1.165, RAW= 279.3,  76.6, CAL= 282.8,  77.6, ROT= 227.2, -77.6

2025-06-08T00:10:19.299Z,1749341419.299 [DAT](INFO): got valid direction response:
 00:10:18.5664 LVL=  8016, 13249, 14770, 14531, AGC= 50, IDX= 505, 0.11,-2.708,-2.329,-2.337,-1.175, PHS=-1.445,-1.107,-1.165, RAW= 279.3,  76.6, CAL= 282.8,  77.6, ROT= 227.2, -77.6

2025-06-08T00:10:19.299Z,1749341419.299 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-06-08T00:10:19.300Z,1749341419.300 [DAT](INFO): direction in FSK: [-0.145900,-0.157558,0.976672]
2025-06-08T00:10:19.301Z,1749341419.301 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:19.308Z,1749341419.308 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.983269
2025-06-08T00:10:19.484Z,1749341419.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504150 s,
      deltaX: -0.100000 m,
      approachRate: -0.198354 m/s,
      rangeRepo size: 4

2025-06-08T00:10:19.486Z,1749341419.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579465 m,
      bearing: 128.548935 deg,
      lat: 36.905899 deg,
      lon: -122.115931 deg,
      deltaT: 0.504150 s,
      deltaX: -0.099208 m,
      approachRate: -0.196783 m/s,
      posRepo size: 4

2025-06-08T00:10:19.541Z,1749341419.541 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.215694
2025-06-08T00:10:19.793Z,1749341419.793 [DAT](INFO): DAT read: Rx Time:00:10:19.0665 

2025-06-08T00:10:19.793Z,1749341419.793 [DAT](INFO): Rx dataTimestamp_ set to:1749341419.793035
2025-06-08T00:10:19.795Z,1749341419.795 [DAT](INFO): DAT read: Bearing 241.0, -74.9 (Local)

2025-06-08T00:10:19.795Z,1749341419.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.0, -74.9 (Local)

2025-06-08T00:10:19.797Z,1749341419.797 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:19.802Z,1749341419.802 [DAT](INFO): DAT read: 00:10:19.0665 LVL=  7808, 12897, 17170, 15155, AGC= 50, IDX= 506, 0.15,-1.836,-1.381,-1.286,-0.114, PHS=-1.634,-1.220,-1.174, RAW= 264.8,  72.9, CAL= 269.0,  74.9, ROT= 241.0, -74.9

2025-06-08T00:10:19.803Z,1749341419.803 [DAT](INFO): got valid direction response:
 00:10:19.0665 LVL=  7808, 12897, 17170, 15155, AGC= 50, IDX= 506, 0.15,-1.836,-1.381,-1.286,-0.114, PHS=-1.634,-1.220,-1.174, RAW= 264.8,  72.9, CAL= 269.0,  74.9, ROT= 241.0, -74.9

2025-06-08T00:10:19.804Z,1749341419.804 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-06-08T00:10:19.805Z,1749341419.805 [DAT](INFO): direction in FSK: [-0.126295,-0.227842,0.965473]
2025-06-08T00:10:19.805Z,1749341419.805 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:19.813Z,1749341419.813 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.487785
2025-06-08T00:10:19.846Z,1749341419.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504029 s,
      deltaX: 0.100000 m,
      approachRate: 0.198402 m/s,
      rangeRepo size: 4

2025-06-08T00:10:19.854Z,1749341419.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678676 m,
      bearing: 135.868307 deg,
      lat: 36.905898 deg,
      lon: -122.115931 deg,
      deltaT: 0.504029 s,
      deltaX: 0.099211 m,
      approachRate: 0.196835 m/s,
      posRepo size: 4

2025-06-08T00:10:19.896Z,1749341419.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:10:20.044Z,1749341420.044 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.719467
2025-06-08T00:10:20.210Z,1749341420.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:20.300Z,1749341420.300 [DAT](INFO): DAT read: Rx Time:00:10:19.5664 

2025-06-08T00:10:20.302Z,1749341420.302 [DAT](INFO): Rx dataTimestamp_ set to:1749341420.300949
2025-06-08T00:10:20.304Z,1749341420.304 [DAT](INFO): DAT read: Bearing 240.7, -72.1 (Local)

2025-06-08T00:10:20.304Z,1749341420.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.7, -72.1 (Local)

2025-06-08T00:10:20.306Z,1749341420.306 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:20.311Z,1749341420.311 [DAT](INFO): DAT read: 00:10:19.5664 LVL=  7344, 14385, 15426, 17139, AGC= 50, IDX= 505, 0.22, 2.998,-2.719,-2.606,-1.399, PHS=-1.799,-1.274,-1.210, RAW= 264.3,  69.7, CAL= 269.3,  72.1, ROT= 240.7, -72.1

2025-06-08T00:10:20.316Z,1749341420.316 [DAT](INFO): got valid direction response:
 00:10:19.5664 LVL=  7344, 14385, 15426, 17139, AGC= 50, IDX= 505, 0.22, 2.998,-2.719,-2.606,-1.399, PHS=-1.799,-1.274,-1.210, RAW= 264.3,  69.7, CAL= 269.3,  72.1, ROT= 240.7, -72.1

2025-06-08T00:10:20.317Z,1749341420.317 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-06-08T00:10:20.318Z,1749341420.318 [DAT](INFO): direction in FSK: [-0.150415,-0.268036,0.951594]
2025-06-08T00:10:20.318Z,1749341420.318 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:20.325Z,1749341420.325 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.000599
2025-06-08T00:10:20.548Z,1749341420.548 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.223373
2025-06-08T00:10:20.682Z,1749341420.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.507914 s,
      deltaX: -0.100000 m,
      approachRate: -0.196884 m/s,
      rangeRepo size: 4

2025-06-08T00:10:20.684Z,1749341420.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579464 m,
      bearing: 135.648280 deg,
      lat: 36.905898 deg,
      lon: -122.115930 deg,
      deltaT: 0.507914 s,
      deltaX: -0.099212 m,
      approachRate: -0.195332 m/s,
      posRepo size: 4

2025-06-08T00:10:20.801Z,1749341420.801 [DAT](INFO): DAT read: Rx Time:00:10:20.0665 

2025-06-08T00:10:20.801Z,1749341420.801 [DAT](INFO): Rx dataTimestamp_ set to:1749341420.801072
2025-06-08T00:10:20.803Z,1749341420.803 [DAT](INFO): DAT read: Bearing 234.4, -69.7 (Local)

2025-06-08T00:10:20.803Z,1749341420.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.4, -69.7 (Local)

2025-06-08T00:10:20.805Z,1749341420.805 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:20.810Z,1749341420.810 [DAT](INFO): DAT read: 00:10:20.0665 LVL=  6736, 13281, 15346, 16579, AGC= 50, IDX= 506, 0.26,-2.134,-1.442,-1.391,-0.130, PHS=-1.916,-1.265,-1.264, RAW= 269.9,  67.5, CAL= 275.6,  69.7, ROT= 234.4, -69.7

2025-06-08T00:10:20.811Z,1749341420.811 [DAT](INFO): got valid direction response:
 00:10:20.0665 LVL=  6736, 13281, 15346, 16579, AGC= 50, IDX= 506, 0.26,-2.134,-1.442,-1.391,-0.130, PHS=-1.916,-1.265,-1.264, RAW= 269.9,  67.5, CAL= 275.6,  69.7, ROT= 234.4, -69.7

2025-06-08T00:10:20.811Z,1749341420.811 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-06-08T00:10:20.812Z,1749341420.812 [DAT](INFO): direction in FSK: [-0.201959,-0.282094,0.937889]
2025-06-08T00:10:20.812Z,1749341420.812 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:20.817Z,1749341420.817 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.491646
2025-06-08T00:10:20.900Z,1749341420.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:10:21.023Z,1749341421.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.500123 s,
      deltaX: 0.100000 m,
      approachRate: 0.199951 m/s,
      rangeRepo size: 4

2025-06-08T00:10:21.026Z,1749341421.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.678674 m,
      bearing: 132.428867 deg,
      lat: 36.905897 deg,
      lon: -122.115930 deg,
      deltaT: 0.500123 s,
      deltaX: 0.099210 m,
      approachRate: 0.198372 m/s,
      posRepo size: 4

2025-06-08T00:10:21.052Z,1749341421.052 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.727272
2025-06-08T00:10:21.305Z,1749341421.305 [DAT](INFO): DAT read: Rx Time:00:10:20.5664 

2025-06-08T00:10:21.305Z,1749341421.305 [DAT](INFO): Rx dataTimestamp_ set to:1749341421.304990
2025-06-08T00:10:21.307Z,1749341421.307 [DAT](INFO): DAT read: Bearing 217.8, -72.1 (Local)

2025-06-08T00:10:21.307Z,1749341421.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.8, -72.1 (Local)

2025-06-08T00:10:21.309Z,1749341421.309 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:21.314Z,1749341421.314 [DAT](INFO): DAT read: 00:10:20.5664 LVL=  7072, 15281, 15522, 16547, AGC= 50, IDX= 505, 0.36,-3.061,-2.447,-2.574,-1.248, PHS=-1.725,-1.151,-1.328, RAW= 287.5,  71.1, CAL= 292.2,  72.1, ROT= 217.8, -72.1

2025-06-08T00:10:21.315Z,1749341421.315 [DAT](INFO): got valid direction response:
 00:10:20.5664 LVL=  7072, 15281, 15522, 16547, AGC= 50, IDX= 505, 0.36,-3.061,-2.447,-2.574,-1.248, PHS=-1.725,-1.151,-1.328, RAW= 287.5,  71.1, CAL= 292.2,  72.1, ROT= 217.8, -72.1

2025-06-08T00:10:21.315Z,1749341421.315 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-06-08T00:10:21.316Z,1749341421.316 [DAT](INFO): direction in FSK: [-0.242859,-0.188381,0.951594]
2025-06-08T00:10:21.316Z,1749341421.316 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:21.320Z,1749341421.320 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.995190
2025-06-08T00:10:21.496Z,1749341421.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503918 s,
      deltaX: -0.100000 m,
      approachRate: -0.198445 m/s,
      rangeRepo size: 4

2025-06-08T00:10:21.498Z,1749341421.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579460 m,
      bearing: 122.813945 deg,
      lat: 36.905897 deg,
      lon: -122.115930 deg,
      deltaT: 0.503918 s,
      deltaX: -0.099214 m,
      approachRate: -0.196885 m/s,
      posRepo size: 4

2025-06-08T00:10:21.557Z,1749341421.557 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.232052
2025-06-08T00:10:21.809Z,1749341421.809 [DAT](INFO): DAT read: Rx Time:00:10:21.0664 

2025-06-08T00:10:21.809Z,1749341421.809 [DAT](INFO): Rx dataTimestamp_ set to:1749341421.809004
2025-06-08T00:10:21.811Z,1749341421.811 [DAT](INFO): DAT read: Bearing 181.6, -67.5 (Local)

2025-06-08T00:10:21.811Z,1749341421.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.6, -67.5 (Local)

2025-06-08T00:10:21.813Z,1749341421.813 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:21.818Z,1749341421.818 [DAT](INFO): DAT read: 00:10:21.0664 LVL=  8736, 14689, 14786, 17891, AGC= 50, IDX= 506,-0.47, 1.587, 2.170, 1.705, 3.081, PHS=-1.406,-0.864,-1.379, RAW= 327.5,  67.7, CAL= 328.4,  67.5, ROT= 181.6, -67.5

2025-06-08T00:10:21.819Z,1749341421.819 [DAT](INFO): got valid direction response:
 00:10:21.0664 LVL=  8736, 14689, 14786, 17891, AGC= 50, IDX= 506,-0.47, 1.587, 2.170, 1.705, 3.081, PHS=-1.406,-0.864,-1.379, RAW= 327.5,  67.7, CAL= 328.4,  67.5, ROT= 181.6, -67.5

2025-06-08T00:10:21.819Z,1749341421.819 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-06-08T00:10:21.821Z,1749341421.821 [DAT](INFO): direction in FSK: [-0.382534,-0.010685,0.923880]
2025-06-08T00:10:21.822Z,1749341421.822 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:21.829Z,1749341421.829 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.504192
2025-06-08T00:10:21.888Z,1749341421.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504014 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-08T00:10:21.890Z,1749341421.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.579460 m,
      bearing: 96.317554 deg,
      lat: 36.905897 deg,
      lon: -122.115928 deg,
      deltaT: 0.504014 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-06-08T00:10:22.061Z,1749341422.061 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.735760
2025-06-08T00:10:22.237Z,1749341422.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:22.316Z,1749341422.316 [DAT](INFO): DAT read: Rx Time:00:10:21.5663 

2025-06-08T00:10:22.317Z,1749341422.317 [DAT](INFO): Rx dataTimestamp_ set to:1749341422.316681
2025-06-08T00:10:22.321Z,1749341422.321 [DAT](INFO): DAT read: Bearing 171.5, -68.6 (Local)

2025-06-08T00:10:22.322Z,1749341422.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.5, -68.6 (Local)

2025-06-08T00:10:22.335Z,1749341422.335 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:22.346Z,1749341422.346 [DAT](INFO): DAT read: 00:10:21.5663 LVL=  8128, 14913, 15330, 20515, AGC= 51, IDX= 505,-0.30,-0.893,-0.409,-0.891, 0.499, PHS=-1.303,-0.860,-1.392, RAW= 339.0,  68.6, CAL= 338.5,  68.6, ROT= 171.5, -68.6

2025-06-08T00:10:22.347Z,1749341422.347 [DAT](INFO): got valid direction response:
 00:10:21.5663 LVL=  8128, 14913, 15330, 20515, AGC= 51, IDX= 505,-0.30,-0.893,-0.409,-0.891, 0.499, PHS=-1.303,-0.860,-1.392, RAW= 339.0,  68.6, CAL= 338.5,  68.6, ROT= 171.5, -68.6

2025-06-08T00:10:22.351Z,1749341422.351 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-06-08T00:10:22.352Z,1749341422.352 [DAT](INFO): direction in FSK: [-0.360869,0.053932,0.931056]
2025-06-08T00:10:22.353Z,1749341422.353 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:22.361Z,1749341422.361 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.035873
2025-06-08T00:10:22.564Z,1749341422.564 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.239235
2025-06-08T00:10:22.697Z,1749341422.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.507677 s,
      deltaX: -0.200000 m,
      approachRate: -0.393951 m/s,
      rangeRepo size: 4

2025-06-08T00:10:22.699Z,1749341422.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.381040 m,
      bearing: 92.688515 deg,
      lat: 36.905898 deg,
      lon: -122.115928 deg,
      deltaT: 0.507677 s,
      deltaX: -0.198421 m,
      approachRate: -0.390841 m/s,
      posRepo size: 4

2025-06-08T00:10:22.701Z,1749341422.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.40 m. Lat: 36.905898 Lon: -122.115928 Cable present. Reached intercept timeout.
2025-06-08T00:10:22.701Z,1749341422.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-08T00:10:22.701Z,1749341422.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-08T00:10:22.701Z,1749341422.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-08T00:10:22.818Z,1749341422.818 [DAT](INFO): DAT read: Rx Time:00:10:22.0665 

2025-06-08T00:10:22.818Z,1749341422.818 [DAT](INFO): Rx dataTimestamp_ set to:1749341422.818106
2025-06-08T00:10:22.820Z,1749341422.820 [DAT](INFO): DAT read: Bearing 159.8, -71.7 (Local)

2025-06-08T00:10:22.821Z,1749341422.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.8, -71.7 (Local)

2025-06-08T00:10:22.824Z,1749341422.824 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:22.829Z,1749341422.829 [DAT](INFO): DAT read: 00:10:22.0665 LVL=  7488, 13521, 13794, 17363, AGC= 50, IDX= 506,-0.23, 0.316, 0.656, 0.223, 1.615, PHS=-1.210,-0.912,-1.394, RAW= 352.2,  71.3, CAL= 350.2,  71.7, ROT= 159.8, -71.7

2025-06-08T00:10:22.830Z,1749341422.830 [DAT](INFO): got valid direction response:
 00:10:22.0665 LVL=  7488, 13521, 13794, 17363, AGC= 50, IDX= 506,-0.23, 0.316, 0.656, 0.223, 1.615, PHS=-1.210,-0.912,-1.394, RAW= 352.2,  71.3, CAL= 350.2,  71.7, ROT= 159.8, -71.7

2025-06-08T00:10:22.831Z,1749341422.831 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-06-08T00:10:22.832Z,1749341422.832 [DAT](INFO): direction in FSK: [-0.294680,0.108421,0.949425]
2025-06-08T00:10:22.833Z,1749341422.833 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:22.836Z,1749341422.836 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.511269
2025-06-08T00:10:23.037Z,1749341423.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-08T00:10:23.037Z,1749341423.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-08T00:10:23.038Z,1749341423.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-08T00:10:23.049Z,1749341423.049 [DockingStepper](INFO): Pause
2025-06-08T00:10:23.068Z,1749341423.068 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.743237
2025-06-08T00:10:23.325Z,1749341423.325 [DAT](INFO): DAT read: Rx Time:00:10:22.5664 

2025-06-08T00:10:23.326Z,1749341423.326 [DAT](INFO): Rx dataTimestamp_ set to:1749341423.325299
2025-06-08T00:10:23.331Z,1749341423.331 [DAT](INFO): DAT read: Bearing 157.5, -74.4 (Local)

2025-06-08T00:10:23.332Z,1749341423.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.5, -74.4 (Local)

2025-06-08T00:10:23.334Z,1749341423.334 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:23.347Z,1749341423.347 [DAT](INFO): DAT read: 00:10:22.5664 LVL=  7312, 13537, 13298, 16323, AGC= 50, IDX= 505,-0.17,-0.748,-0.463,-0.829, 0.552, PHS=-1.212,-0.968,-1.384, RAW= 354.3,  74.0, CAL= 352.5,  74.4, ROT= 157.5, -74.4

2025-06-08T00:10:23.348Z,1749341423.348 [DAT](INFO): got valid direction response:
 00:10:22.5664 LVL=  7312, 13537, 13298, 16323, AGC= 50, IDX= 505,-0.17,-0.748,-0.463,-0.829, 0.552, PHS=-1.212,-0.968,-1.384, RAW= 354.3,  74.0, CAL= 352.5,  74.4, ROT= 157.5, -74.4

2025-06-08T00:10:23.349Z,1749341423.349 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-06-08T00:10:23.350Z,1749341423.350 [DAT](INFO): direction in FSK: [-0.248449,0.102911,0.963163]
2025-06-08T00:10:23.350Z,1749341423.350 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:23.396Z,1749341423.396 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.070599
2025-06-08T00:10:23.516Z,1749341423.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-08T00:10:23.517Z,1749341423.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-08T00:10:23.518Z,1749341423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-08T00:10:23.573Z,1749341423.573 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.247654
2025-06-08T00:10:23.825Z,1749341423.825 [DAT](INFO): DAT read: Rx Time:00:10:23.0665 

2025-06-08T00:10:23.825Z,1749341423.825 [DAT](INFO): Rx dataTimestamp_ set to:1749341423.825015
2025-06-08T00:10:23.827Z,1749341423.827 [DAT](INFO): DAT read: Bearing 149.2, -74.3 (Local)

2025-06-08T00:10:23.827Z,1749341423.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.2, -74.3 (Local)

2025-06-08T00:10:23.829Z,1749341423.829 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:23.834Z,1749341423.834 [DAT](INFO): DAT read: 00:10:23.0665 LVL=  6800, 13009, 13522, 16723, AGC= 50, IDX= 506,-0.13, 1.124, 1.360, 0.983, 2.373, PHS=-1.162,-0.966,-1.394, RAW=   2.9,  73.4, CAL=   0.8,  74.3, ROT= 149.2, -74.3

2025-06-08T00:10:23.835Z,1749341423.835 [DAT](INFO): got valid direction response:
 00:10:23.0665 LVL=  6800, 13009, 13522, 16723, AGC= 50, IDX= 506,-0.13, 1.124, 1.360, 0.983, 2.373, PHS=-1.162,-0.966,-1.394, RAW=   2.9,  73.4, CAL=   0.8,  74.3, ROT= 149.2, -74.3

2025-06-08T00:10:23.835Z,1749341423.835 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-06-08T00:10:23.836Z,1749341423.836 [DAT](INFO): direction in FSK: [-0.232435,0.138559,0.962692]
2025-06-08T00:10:23.837Z,1749341423.837 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:23.841Z,1749341423.841 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.515949
2025-06-08T00:10:23.853Z,1749341423.853 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-08T00:10:23.853Z,1749341423.853 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-08T00:10:23.853Z,1749341423.853 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-08T00:10:23.853Z,1749341423.853 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-08T00:10:23.853Z,1749341423.853 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-08T00:10:23.853Z,1749341423.853 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-08T00:10:23.854Z,1749341423.854 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-06-08T00:10:23.854Z,1749341423.854 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-08T00:10:23.854Z,1749341423.854 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-08T00:10:23.859Z,1749341423.859 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-08T00:10:23.859Z,1749341423.859 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-08T00:10:23.859Z,1749341423.859 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-08T00:10:23.859Z,1749341423.859 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-08T00:10:23.859Z,1749341423.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-08T00:10:23.859Z,1749341423.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-08T00:10:23.902Z,1749341423.902 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-08T00:10:23.902Z,1749341423.902 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-08T00:10:24.076Z,1749341424.076 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.751179
2025-06-08T00:10:24.253Z,1749341424.253 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-08T00:10:24.253Z,1749341424.253 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-08T00:10:24.254Z,1749341424.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:24.333Z,1749341424.333 [DAT](INFO): DAT read: Rx Time:00:10:23.5664 

2025-06-08T00:10:24.334Z,1749341424.334 [DAT](INFO): Rx dataTimestamp_ set to:1749341424.333760
2025-06-08T00:10:24.338Z,1749341424.338 [DAT](INFO): DAT read: Bearing 148.4, -69.7 (Local)

2025-06-08T00:10:24.352Z,1749341424.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.4, -69.7 (Local)

2025-06-08T00:10:24.363Z,1749341424.363 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:24.377Z,1749341424.377 [DAT](INFO): DAT read: 00:10:23.5664 LVL=  6704, 12721, 13570, 16099, AGC= 50, IDX= 505,-0.09, 0.002, 0.278,-0.211, 1.192, PHS=-1.102,-0.867,-1.406, RAW=   4.2,  68.6, CAL=   1.6,  69.7, ROT= 148.4, -69.7

2025-06-08T00:10:24.378Z,1749341424.378 [DAT](INFO): got valid direction response:
 00:10:23.5664 LVL=  6704, 12721, 13570, 16099, AGC= 50, IDX= 505,-0.09, 0.002, 0.278,-0.211, 1.192, PHS=-1.102,-0.867,-1.406, RAW=   4.2,  68.6, CAL=   1.6,  69.7, ROT= 148.4, -69.7

2025-06-08T00:10:24.379Z,1749341424.379 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-06-08T00:10:24.384Z,1749341424.384 [DAT](INFO): direction in FSK: [-0.295494,0.181789,0.937889]
2025-06-08T00:10:24.384Z,1749341424.384 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:24.392Z,1749341424.392 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.066963
2025-06-08T00:10:24.583Z,1749341424.583 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.257523
2025-06-08T00:10:24.705Z,1749341424.705 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-08T00:10:24.705Z,1749341424.705 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-08T00:10:24.705Z,1749341424.705 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-08T00:10:24.833Z,1749341424.833 [DAT](INFO): DAT read: Rx Time:00:10:24.0665 

2025-06-08T00:10:24.833Z,1749341424.833 [DAT](INFO): Rx dataTimestamp_ set to:1749341424.832907
2025-06-08T00:10:24.834Z,1749341424.834 [DAT](INFO): DAT read: Bearing 153.2, -68.1 (Local)

2025-06-08T00:10:24.835Z,1749341424.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.2, -68.1 (Local)

2025-06-08T00:10:24.837Z,1749341424.837 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:24.842Z,1749341424.842 [DAT](INFO): DAT read: 00:10:24.0665 LVL=  7856, 17089, 17970, 18419, AGC= 51, IDX= 506,-0.06, 1.437, 1.764, 1.250, 2.622, PHS=-1.097,-0.811,-1.375, RAW= 359.5,  67.2, CAL= 356.8,  68.1, ROT= 153.2, -68.1

2025-06-08T00:10:24.848Z,1749341424.848 [DAT](INFO): got valid direction response:
 00:10:24.0665 LVL=  7856, 17089, 17970, 18419, AGC= 51, IDX= 506,-0.06, 1.437, 1.764, 1.250, 2.622, PHS=-1.097,-0.811,-1.375, RAW= 359.5,  67.2, CAL= 356.8,  68.1, ROT= 153.2, -68.1

2025-06-08T00:10:24.848Z,1749341424.848 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-06-08T00:10:24.849Z,1749341424.849 [DAT](INFO): direction in FSK: [-0.332924,0.168172,0.927836]
2025-06-08T00:10:24.849Z,1749341424.849 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:24.853Z,1749341424.853 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.528069
2025-06-08T00:10:25.088Z,1749341425.088 [DAT](INFO): DAT read: Rx Time:00:10:24.5664 

2025-06-08T00:10:25.090Z,1749341425.090 [DAT](INFO): Rx dataTimestamp_ set to:1749341425.088978
2025-06-08T00:10:25.096Z,1749341425.096 [DAT](INFO): DAT read: Bearing 152.9, -64.4 (Local)

2025-06-08T00:10:25.097Z,1749341425.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.9, -64.4 (Local)

2025-06-08T00:10:25.109Z,1749341425.109 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.773438
2025-06-08T00:10:25.344Z,1749341425.344 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:25.358Z,1749341425.358 [DAT](INFO): DAT read: 00:10:24.5664 LVL=  7280, 12785, 14642, 18659, AGC= 51, IDX= 505,-0.01, 0.935, 1.315, 0.683, 2.128, PHS=-1.105,-0.766,-1.448, RAW=   0.2,  63.3, CAL= 357.1,  64.4, ROT= 152.9, -64.4

2025-06-08T00:10:25.361Z,1749341425.361 [DAT](INFO): got valid direction response:
 00:10:24.5664 LVL=  7280, 12785, 14642, 18659, AGC= 51, IDX= 505,-0.01, 0.935, 1.315, 0.683, 2.128, PHS=-1.105,-0.766,-1.448, RAW=   0.2,  63.3, CAL= 357.1,  64.4, ROT= 152.9, -64.4

2025-06-08T00:10:25.362Z,1749341425.362 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-06-08T00:10:25.363Z,1749341425.363 [DAT](INFO): direction in FSK: [-0.384648,0.196834,0.901833]
2025-06-08T00:10:25.364Z,1749341425.364 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:25.367Z,1749341425.367 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.042027
2025-06-08T00:10:25.591Z,1749341425.591 [DAT](INFO): DAT read: Rx Time:00:10:25.0664 

2025-06-08T00:10:25.593Z,1749341425.593 [DAT](INFO): Rx dataTimestamp_ set to:1749341425.591785
2025-06-08T00:10:25.596Z,1749341425.596 [DAT](INFO): DAT read: Bearing 147.8, -67.4 (Local)

2025-06-08T00:10:25.597Z,1749341425.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.8, -67.4 (Local)

2025-06-08T00:10:25.608Z,1749341425.608 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.273449
2025-06-08T00:10:25.842Z,1749341425.842 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:25.847Z,1749341425.847 [DAT](INFO): DAT read: 00:10:25.0664 LVL=  6112, 13393, 15314, 16371, AGC= 50, IDX= 505, 0.02, 1.669, 1.963, 1.415, 2.830, PHS=-1.073,-0.821,-1.418, RAW=   5.1,  66.1, CAL=   2.2,  67.4, ROT= 147.8, -67.4

2025-06-08T00:10:25.848Z,1749341425.848 [DAT](INFO): got valid direction response:
 00:10:25.0664 LVL=  6112, 13393, 15314, 16371, AGC= 50, IDX= 505, 0.02, 1.669, 1.963, 1.415, 2.830, PHS=-1.073,-0.821,-1.418, RAW=   5.1,  66.1, CAL=   2.2,  67.4, ROT= 147.8, -67.4

2025-06-08T00:10:25.848Z,1749341425.848 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-06-08T00:10:25.849Z,1749341425.849 [DAT](INFO): direction in FSK: [-0.325188,0.204782,0.923210]
2025-06-08T00:10:25.850Z,1749341425.850 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:25.853Z,1749341425.853 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.528137
2025-06-08T00:10:26.095Z,1749341426.095 [DAT](INFO): DAT read: Rx Time:00:10:25.5663 

2025-06-08T00:10:26.096Z,1749341426.096 [DAT](INFO): Rx dataTimestamp_ set to:1749341426.095370
2025-06-08T00:10:26.098Z,1749341426.098 [DAT](INFO): DAT read: Bearing 148.3, -70.3 (Local)

2025-06-08T00:10:26.099Z,1749341426.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.3, -70.3 (Local)

2025-06-08T00:10:26.101Z,1749341426.101 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.775833
2025-06-08T00:10:26.270Z,1749341426.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:26.350Z,1749341426.350 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:26.393Z,1749341426.393 [DAT](INFO): DAT read: 00:10:25.5663 LVL=  7136, 16097, 16882, 16275, AGC= 50, IDX= 504, 0.06, 1.155, 1.425, 0.950, 2.351, PHS=-1.107,-0.878,-1.404, RAW=   4.2,  69.1, CAL=   1.7,  70.3, ROT= 148.3, -70.3

2025-06-08T00:10:26.394Z,1749341426.394 [DAT](INFO): got valid direction response:
 00:10:25.5663 LVL=  7136, 16097, 16882, 16275, AGC= 50, IDX= 504, 0.06, 1.155, 1.425, 0.950, 2.351, PHS=-1.107,-0.878,-1.404, RAW=   4.2,  69.1, CAL=   1.7,  70.3, ROT= 148.3, -70.3

2025-06-08T00:10:26.394Z,1749341426.394 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-06-08T00:10:26.396Z,1749341426.396 [DAT](INFO): direction in FSK: [-0.286804,0.177134,0.941471]
2025-06-08T00:10:26.396Z,1749341426.396 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:26.400Z,1749341426.400 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.075336
2025-06-08T00:10:26.599Z,1749341426.599 [DAT](INFO): DAT read: Rx Time:00:10:26.0665 

2025-06-08T00:10:26.600Z,1749341426.600 [DAT](INFO): Rx dataTimestamp_ set to:1749341426.599275
2025-06-08T00:10:26.602Z,1749341426.602 [DAT](INFO): DAT read: Bearing 150.8, -68.7 (Local)

2025-06-08T00:10:26.603Z,1749341426.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.8, -68.7 (Local)

2025-06-08T00:10:26.606Z,1749341426.606 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:26.608Z,1749341426.608 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-06-08T00:10:26.610Z,1749341426.610 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.285061
2025-06-08T00:10:26.852Z,1749341426.852 [DAT](INFO): DAT read: 00:10:26.0665 LVL=  8944, 14177, 17138, 20899, AGC= 51, IDX= 505, 0.08, 2.301, 2.610, 2.092,-2.776, PHS=-1.118,-0.850,-1.418, RAW=   1.9,  67.7, CAL= 359.2,  68.7, ROT= 150.8, -68.7

2025-06-08T00:10:26.853Z,1749341426.853 [DAT](INFO): got valid direction response:
 00:10:26.0665 LVL=  8944, 14177, 17138, 20899, AGC= 51, IDX= 505, 0.08, 2.301, 2.610, 2.092,-2.776, PHS=-1.118,-0.850,-1.418, RAW=   1.9,  67.7, CAL= 359.2,  68.7, ROT= 150.8, -68.7

2025-06-08T00:10:26.853Z,1749341426.853 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-06-08T00:10:26.854Z,1749341426.854 [DAT](INFO): direction in FSK: [-0.317090,0.177216,0.931691]
2025-06-08T00:10:26.858Z,1749341426.858 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.532879
2025-06-08T00:10:27.102Z,1749341427.102 [DAT](INFO): DAT read: Rx Time:00:10:26.5664 

2025-06-08T00:10:27.112Z,1749341427.112 [DAT](INFO): Rx dataTimestamp_ set to:1749341427.111336
2025-06-08T00:10:27.115Z,1749341427.115 [DAT](INFO): DAT read: Bearing 146.2, -66.2 (Local)

2025-06-08T00:10:27.116Z,1749341427.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.2, -66.2 (Local)

2025-06-08T00:10:27.128Z,1749341427.128 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:27.129Z,1749341427.129 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-06-08T00:10:27.139Z,1749341427.139 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:27.139Z,1749341427.139 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:27.140Z,1749341427.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:27.365Z,1749341427.365 [DAT](INFO): DAT read: 00:10:26.5664 LVL=  8416, 15185, 16178, 16083, AGC= 49, IDX= 504, 0.11, 1.911, 2.193, 1.632, 3.020, PHS=-1.021,-0.780,-1.391, RAW=   7.0,  64.7, CAL=   3.8,  66.2, ROT= 146.2, -66.2

2025-06-08T00:10:27.379Z,1749341427.379 [DAT](INFO): got valid direction response:
 00:10:26.5664 LVL=  8416, 15185, 16178, 16083, AGC= 49, IDX= 504, 0.11, 1.911, 2.193, 1.632, 3.020, PHS=-1.021,-0.780,-1.391, RAW=   7.0,  64.7, CAL=   3.8,  66.2, ROT= 146.2, -66.2

2025-06-08T00:10:27.380Z,1749341427.380 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:10:27.396Z,1749341427.396 [DAT](INFO): direction in FSK: [-0.335340,0.224491,0.914960]
2025-06-08T00:10:27.399Z,1749341427.399 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:27.407Z,1749341427.407 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:27.408Z,1749341427.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:27.498Z,1749341427.498 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-08T00:10:27.498Z,1749341427.498 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-08T00:10:27.498Z,1749341427.498 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-08T00:10:27.498Z,1749341427.498 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-08T00:10:27.607Z,1749341427.607 [DAT](INFO): DAT read: Rx Time:00:10:27.0665 

2025-06-08T00:10:27.608Z,1749341427.608 [DAT](INFO): Rx dataTimestamp_ set to:1749341427.607320
2025-06-08T00:10:27.610Z,1749341427.610 [DAT](INFO): DAT read: Bearing 151.7, -63.6 (Local)

2025-06-08T00:10:27.611Z,1749341427.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.7, -63.6 (Local)

2025-06-08T00:10:27.615Z,1749341427.615 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:27.616Z,1749341427.616 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:27.618Z,1749341427.618 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:27.619Z,1749341427.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:27.860Z,1749341427.860 [DAT](INFO): DAT read: 00:10:27.0665 LVL=  9792, 14609, 15698, 17699, AGC= 50, IDX= 505, 0.16, 2.885,-3.028, 2.615,2.26, PHS=-1.064,-0.735,-1.425, RAW=   1.6,  62.3, CAL= 358.3,  63.6, ROT= 151.7, -63.6

2025-06-08T00:10:27.861Z,1749341427.861 [DAT](INFO): got valid direction response:
 00:10:27.0665 LVL=  9792, 14609, 15698, 17699, AGC= 50, IDX= 505, 0.16, 2.885,-3.028, 2.615,2.26, PHS=-1.064,-0.735,-1.425, RAW=   1.6,  62.3, CAL= 358.3,  63.6, ROT= 151.7, -63.6

2025-06-08T00:10:27.861Z,1749341427.861 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:10:27.862Z,1749341427.862 [DAT](INFO): direction in FSK: [-0.391491,0.210796,0.895712]
2025-06-08T00:10:27.865Z,1749341427.865 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:27.865Z,1749341427.865 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:27.865Z,1749341427.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:27.940Z,1749341427.940 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-06-08T00:10:27.940Z,1749341427.940 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-08T00:10:27.947Z,1749341427.947 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture] Stopped
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-08T00:10:27.948Z,1749341427.948 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-08T00:10:27.949Z,1749341427.949 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-08T00:10:27.950Z,1749341427.950 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-08T00:10:28.110Z,1749341428.110 [DAT](INFO): DAT read: Rx Time:00:10:27.5664 

2025-06-08T00:10:28.112Z,1749341428.112 [DAT](INFO): Rx dataTimestamp_ set to:1749341428.110815
2025-06-08T00:10:28.114Z,1749341428.114 [DAT](INFO): DAT read: Bearing 147.6, -63.2 (Local)

2025-06-08T00:10:28.115Z,1749341428.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.6, -63.2 (Local)

2025-06-08T00:10:28.119Z,1749341428.119 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:28.122Z,1749341428.122 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:28.124Z,1749341428.124 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:28.124Z,1749341428.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:28.298Z,1749341428.298 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-08T00:10:28.298Z,1749341428.298 [lineCaptureHoming:Lap:B] Stopped
2025-06-08T00:10:28.298Z,1749341428.298 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-08T00:10:28.298Z,1749341428.298 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-08T00:10:28.299Z,1749341428.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:28.372Z,1749341428.372 [DAT](INFO): DAT read: 00:10:27.5664 LVL=  9184, 16113, 14674, 16307, AGC= 49, IDX= 504, 0.18, 2.321, 2.645, 2.006,-2.868, PHS=-1.006,-0.722,-.2, RAW=   5.9,  61.6, CAL=   2.4,  63.2, ROT= 147.6, -63.2

2025-06-08T00:10:28.380Z,1749341428.380 [DAT](INFO): got valid direction response:
 00:10:27.5664 LVL=  9184, 16113, 14674, 16307, AGC= 49, IDX= 504, 0.18, 2.321, 2.645, 2.006,-2.868, PHS=-1.006,-0.722,-.2, RAW=   5.9,  61.6, CAL=   2.4,  63.2, ROT= 147.6, -63.2

2025-06-08T00:10:28.381Z,1749341428.381 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:10:28.390Z,1749341428.390 [DAT](INFO): direction in FSK: [-0.380689,0.241592,0.892586]
2025-06-08T00:10:28.414Z,1749341428.414 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:28.414Z,1749341428.414 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:28.420Z,1749341428.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:28.612Z,1749341428.612 [DAT](INFO): DAT read: user:2112>

2025-06-08T00:10:28.613Z,1749341428.613 [DAT](INFO): DAT read: Command 'sbl' not found

2025-06-08T00:10:28.614Z,1749341428.614 [DAT](INFO): unknown deviceResponse_: Command 'sbl' not found

2025-06-08T00:10:28.614Z,1749341428.614 [DAT](INFO): DAT read: Error

2025-06-08T00:10:28.614Z,1749341428.614 [DAT](INFO): unknown deviceResponse_: Error

2025-06-08T00:10:28.615Z,1749341428.615 [DAT](INFO): DAT read: user:2113>

2025-06-08T00:10:28.615Z,1749341428.615 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:28.615Z,1749341428.615 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:28.616Z,1749341428.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:28.722Z,1749341428.722 [lineCaptureHoming:Lap:C] Stopped
2025-06-08T00:10:28.722Z,1749341428.722 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-08T00:10:28.864Z,1749341428.864 [DAT](INFO): DAT read: Tx time:00:10:28.4844

2025-06-08T00:10:28.865Z,1749341428.865 [DAT](INFO): Ping request sent.
2025-06-08T00:10:28.865Z,1749341428.865 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:10:28.866Z,1749341428.866 [DAT](INFO): DAT read: TxSync time:00:10:28.4836

2025-06-08T00:10:28.866Z,1749341428.866 [DAT](INFO): publishing transmit ping time
2025-06-08T00:10:28.867Z,1749341428.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001575
2025-06-08T00:10:29.095Z,1749341429.095 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-06-08T00:10:29.095Z,1749341429.095 [lineCaptureHoming:Lap:D] Stopped
2025-06-08T00:10:29.095Z,1749341429.095 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-08T00:10:29.096Z,1749341429.096 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-08T00:10:29.116Z,1749341429.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251279
2025-06-08T00:10:29.371Z,1749341429.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505337
2025-06-08T00:10:29.512Z,1749341429.512 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-08T00:10:29.512Z,1749341429.512 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-08T00:10:29.512Z,1749341429.512 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-08T00:10:29.512Z,1749341429.512 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-06-08T00:10:29.513Z,1749341429.513 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-08T00:10:29.513Z,1749341429.513 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-08T00:10:29.620Z,1749341429.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755132
2025-06-08T00:10:29.872Z,1749341429.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007286
2025-06-08T00:10:29.908Z,1749341429.908 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-08T00:10:29.908Z,1749341429.908 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-08T00:10:29.909Z,1749341429.909 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-08T00:10:29.909Z,1749341429.909 [lineCaptureHoming:restartDHCP] Stopped
2025-06-08T00:10:29.909Z,1749341429.909 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-08T00:10:29.917Z,1749341429.917 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-08T00:10:30.125Z,1749341430.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259879
2025-06-08T00:10:30.351Z,1749341430.351 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-08T00:10:30.351Z,1749341430.351 [lineCaptureHoming:Lap:E] Stopped
2025-06-08T00:10:30.351Z,1749341430.351 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-08T00:10:30.352Z,1749341430.352 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-08T00:10:30.352Z,1749341430.352 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-08T00:10:30.352Z,1749341430.352 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-08T00:10:30.353Z,1749341430.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:10:30.376Z,1749341430.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511263
2025-06-08T00:10:30.548Z,1749341430.548 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-06-08UTC001030_sh
  
2025-06-08T00:10:30.629Z,1749341430.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763481
2025-06-08T00:10:30.805Z,1749341430.805 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-06-08T00:10:30.805Z,1749341430.805 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-08T00:10:30.805Z,1749341430.805 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-08T00:10:30.880Z,1749341430.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015014
2025-06-08T00:10:31.134Z,1749341431.134 [DAT](INFO): DAT read: Rx Time:00:10:30.6170 

2025-06-08T00:10:31.136Z,1749341431.136 [DAT](INFO): Rx dataTimestamp_ set to:1749341431.134597
2025-06-08T00:10:31.137Z,1749341431.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271968
2025-06-08T00:10:31.145Z,1749341431.145 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-08T00:10:31.145Z,1749341431.145 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-08T00:10:31.388Z,1749341431.388 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:31.390Z,1749341431.390 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:31.393Z,1749341431.393 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:31.393Z,1749341431.393 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:31.394Z,1749341431.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:31.549Z,1749341431.549 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-08T00:10:31.549Z,1749341431.549 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-08T00:10:31.549Z,1749341431.549 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-08T00:10:31.550Z,1749341431.550 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-08T00:10:31.638Z,1749341431.638 [DAT](INFO): DAT read: Rx Time:00:10:31.1171 

2025-06-08T00:10:31.640Z,1749341431.640 [DAT](INFO): Rx dataTimestamp_ set to:1749341431.638651
2025-06-08T00:10:31.641Z,1749341431.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775859
2025-06-08T00:10:31.897Z,1749341431.897 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:31.898Z,1749341431.898 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:31.899Z,1749341431.899 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:31.899Z,1749341431.899 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:31.899Z,1749341431.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:32.012Z,1749341432.012 [DockingStepper](INFO): Resume
2025-06-08T00:10:32.148Z,1749341432.148 [DAT](INFO): DAT read: Rx Time:00:10:31.6170 

2025-06-08T00:10:32.149Z,1749341432.149 [DAT](INFO): Rx dataTimestamp_ set to:1749341432.148646
2025-06-08T00:10:32.150Z,1749341432.150 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:32.151Z,1749341432.151 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:32.152Z,1749341432.152 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:32.152Z,1749341432.152 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:32.152Z,1749341432.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:32.352Z,1749341432.352 [DockingStepper](INFO): Resuming
2025-06-08T00:10:32.401Z,1749341432.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536180
2025-06-08T00:10:32.652Z,1749341432.652 [DAT](INFO): DAT read: Rx Time:00:10:32.1171 

2025-06-08T00:10:32.653Z,1749341432.653 [DAT](INFO): Rx dataTimestamp_ set to:1749341432.652497
2025-06-08T00:10:32.654Z,1749341432.654 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:32.655Z,1749341432.655 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:32.655Z,1749341432.655 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:32.656Z,1749341432.656 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:32.656Z,1749341432.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:32.810Z,1749341432.810 [DockingStepper](INFO): Start
2025-06-08T00:10:32.811Z,1749341432.811 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-08T00:10:32.904Z,1749341432.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039240
2025-06-08T00:10:32.928Z,1749341432.928 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-08T00:10:33.156Z,1749341433.156 [DAT](INFO): DAT read: Rx Time:00:10:32.6170 

2025-06-08T00:10:33.157Z,1749341433.157 [DAT](INFO): Rx dataTimestamp_ set to:1749341433.156578
2025-06-08T00:10:33.158Z,1749341433.158 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:33.159Z,1749341433.159 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:33.160Z,1749341433.160 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:33.160Z,1749341433.160 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:33.160Z,1749341433.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:33.187Z,1749341433.187 [DockingStepper](INFO): Starting
2025-06-08T00:10:33.408Z,1749341433.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543142
2025-06-08T00:10:33.611Z,1749341433.611 [DockingStepper](INFO): Starting
2025-06-08T00:10:33.660Z,1749341433.660 [DAT](INFO): DAT read: Rx Time:00:10:33.1170 

2025-06-08T00:10:33.661Z,1749341433.661 [DAT](INFO): Rx dataTimestamp_ set to:1749341433.660536
2025-06-08T00:10:33.664Z,1749341433.664 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:33.667Z,1749341433.667 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:33.668Z,1749341433.668 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:33.668Z,1749341433.668 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:33.669Z,1749341433.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:33.912Z,1749341433.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047144
2025-06-08T00:10:33.988Z,1749341433.988 [DockingStepper](INFO): Starting
2025-06-08T00:10:34.036Z,1749341434.036 [DockingStepper](INFO): Init string: /1z16322aE13561N3m50
2025-06-08T00:10:34.165Z,1749341434.165 [DAT](INFO): DAT read: Rx Time:00:10:33.6169 

2025-06-08T00:10:34.165Z,1749341434.165 [DAT](INFO): Rx dataTimestamp_ set to:1749341434.164745
2025-06-08T00:10:34.166Z,1749341434.166 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:34.167Z,1749341434.167 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:34.168Z,1749341434.168 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:34.168Z,1749341434.168 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:34.168Z,1749341434.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:34.364Z,1749341434.364 [DockingStepper](INFO): Starting
2025-06-08T00:10:34.416Z,1749341434.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551260
2025-06-08T00:10:34.669Z,1749341434.669 [DAT](INFO): DAT read: Rx Time:00:10:34.1170 

2025-06-08T00:10:34.670Z,1749341434.670 [DAT](INFO): Rx dataTimestamp_ set to:1749341434.669397
2025-06-08T00:10:34.672Z,1749341434.672 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:34.673Z,1749341434.673 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:34.674Z,1749341434.674 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:34.674Z,1749341434.674 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:34.675Z,1749341434.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:34.890Z,1749341434.890 [DockingStepper](INFO): Starting
2025-06-08T00:10:34.920Z,1749341434.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055345
2025-06-08T00:10:35.173Z,1749341435.173 [DAT](INFO): DAT read: Rx Time:00:10:34.6169 

2025-06-08T00:10:35.174Z,1749341435.174 [DAT](INFO): Rx dataTimestamp_ set to:1749341435.173513
2025-06-08T00:10:35.175Z,1749341435.175 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:35.176Z,1749341435.176 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:35.176Z,1749341435.176 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:35.176Z,1749341435.176 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:35.177Z,1749341435.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:35.248Z,1749341435.248 [DockingStepper](INFO): Starting
2025-06-08T00:10:35.426Z,1749341435.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560138
2025-06-08T00:10:35.615Z,1749341435.615 [DockingStepper](INFO): Starting
2025-06-08T00:10:35.644Z,1749341435.644 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-08T00:10:35.676Z,1749341435.676 [DAT](INFO): DAT read: Rx Time:00:10:35.1170 

2025-06-08T00:10:35.677Z,1749341435.677 [DAT](INFO): Rx dataTimestamp_ set to:1749341435.676597
2025-06-08T00:10:35.678Z,1749341435.678 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:35.679Z,1749341435.679 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:35.679Z,1749341435.679 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:35.680Z,1749341435.680 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:35.680Z,1749341435.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:35.928Z,1749341435.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063387
2025-06-08T00:10:36.006Z,1749341436.006 [DockingStepper](INFO): Starting
2025-06-08T00:10:36.180Z,1749341436.180 [DAT](INFO): DAT read: Rx Time:00:10:35.6169 

2025-06-08T00:10:36.181Z,1749341436.181 [DAT](INFO): Rx dataTimestamp_ set to:1749341436.180443
2025-06-08T00:10:36.182Z,1749341436.182 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:36.183Z,1749341436.183 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:36.183Z,1749341436.183 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:36.184Z,1749341436.184 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:36.184Z,1749341436.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:36.382Z,1749341436.382 [DockingStepper](INFO): Changing to mode: 1
2025-06-08T00:10:36.383Z,1749341436.383 [DockingStepper](INFO): Standby mode.
2025-06-08T00:10:36.432Z,1749341436.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567286
2025-06-08T00:10:36.688Z,1749341436.688 [DAT](INFO): DAT read: Rx Time:00:10:36.1170 

2025-06-08T00:10:36.689Z,1749341436.689 [DAT](INFO): Rx dataTimestamp_ set to:1749341436.688452
2025-06-08T00:10:36.690Z,1749341436.690 [DAT](INFO): DAT read: Bearing  74.9, -19.2 (Local)

2025-06-08T00:10:36.690Z,1749341436.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.9, -19.2 (Local)

2025-06-08T00:10:36.693Z,1749341436.693 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:36.697Z,1749341436.697 [DAT](INFO): DAT read: 00:10:36.1170 LVL= 12016, 19617, 14674, 15347, AGC= 49, IDX= 511, 0.21,-0.221,-1.788,-2.420,-1.032, PHS= 0.899,-0.709,-1.391, RAW=  73.1,  11.8, CAL=  75.1,  19.2, ROT=  74.9, -19.2

2025-06-08T00:10:36.698Z,1749341436.698 [DAT](INFO): got valid direction response:
 00:10:36.1170 LVL= 12016, 19617, 14674, 15347, AGC= 49, IDX= 511, 0.21,-0.221,-1.788,-2.420,-1.032, PHS= 0.899,-0.709,-1.391, RAW=  73.1,  11.8, CAL=  75.1,  19.2, ROT=  74.9, -19.2

2025-06-08T00:10:36.699Z,1749341436.699 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:36.700Z,1749341436.700 [DAT](INFO): direction in FSK: [0.246014,0.911770,0.328867]
2025-06-08T00:10:36.700Z,1749341436.700 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:36.705Z,1749341436.705 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:36.705Z,1749341436.705 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:36.705Z,1749341436.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:36.937Z,1749341436.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071823
2025-06-08T00:10:37.190Z,1749341437.190 [DAT](INFO): DAT read: Rx Time:00:10:36.6170 

2025-06-08T00:10:37.190Z,1749341437.190 [DAT](INFO): Rx dataTimestamp_ set to:1749341437.190076
2025-06-08T00:10:37.192Z,1749341437.192 [DAT](INFO): DAT read: Bearing  83.2, -28.0 (Local)

2025-06-08T00:10:37.192Z,1749341437.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.2, -28.0 (Local)

2025-06-08T00:10:37.194Z,1749341437.194 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:37.199Z,1749341437.199 [DAT](INFO): DAT read: 00:10:36.6170 LVL= 10816, 19441, 14514, 15507, AGC= 48, IDX= 510, 0.28,-1.931,-3.022, 2.623,-2.280, PHS= 0.437,-0.695,-1.383, RAW=  68.0,  20.0, CAL=  66.8,  28.0, ROT=  83.2, -28.0

2025-06-08T00:10:37.200Z,1749341437.200 [DAT](INFO): got valid direction response:
 00:10:36.6170 LVL= 10816, 19441, 14514, 15507, AGC= 48, IDX= 510, 0.28,-1.931,-3.022, 2.623,-2.280, PHS= 0.437,-0.695,-1.383, RAW=  68.0,  20.0, CAL=  66.8,  28.0, ROT=  83.2, -28.0

2025-06-08T00:10:37.201Z,1749341437.201 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:37.201Z,1749341437.201 [DAT](INFO): direction in FSK: [0.104545,0.876736,0.469472]
2025-06-08T00:10:37.202Z,1749341437.202 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:37.213Z,1749341437.213 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:37.213Z,1749341437.213 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:37.214Z,1749341437.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:37.440Z,1749341437.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575206
2025-06-08T00:10:37.693Z,1749341437.693 [DAT](INFO): DAT read: Rx Time:00:10:37.1170 

2025-06-08T00:10:37.693Z,1749341437.693 [DAT](INFO): Rx dataTimestamp_ set to:1749341437.693054
2025-06-08T00:10:37.695Z,1749341437.695 [DAT](INFO): DAT read: Bearing  91.2, -33.3 (Local)

2025-06-08T00:10:37.695Z,1749341437.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.2, -33.3 (Local)

2025-06-08T00:10:37.697Z,1749341437.697 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:37.702Z,1749341437.702 [DAT](INFO): DAT read: 00:10:37.1170 LVL= 10512, 16577, 13986, 13091, AGC= 48, IDX= 510, 0.42,-2.853, 2.656, 1.963,-2.946, PHS= 0.181,-0.634,-1.378, RAW=  61.5,  25.6, CAL=  58.8,  33.3, ROT=  91.2, -33.3

2025-06-08T00:10:37.703Z,1749341437.703 [DAT](INFO): got valid direction response:
 00:10:37.1170 LVL= 10512, 16577, 13986, 13091, AGC= 48, IDX= 510, 0.42,-2.853, 2.656, 1.963,-2.946, PHS= 0.181,-0.634,-1.378, RAW=  61.5,  25.6, CAL=  58.8,  33.3, ROT=  91.2, -33.3

2025-06-08T00:10:37.703Z,1749341437.703 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:37.704Z,1749341437.704 [DAT](INFO): direction in FSK: [-0.017504,0.835624,0.549023]
2025-06-08T00:10:37.705Z,1749341437.705 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:37.712Z,1749341437.712 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:37.712Z,1749341437.712 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:37.713Z,1749341437.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:37.945Z,1749341437.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079662
2025-06-08T00:10:38.197Z,1749341438.197 [DAT](INFO): DAT read: Rx Time:00:10:37.6169 

2025-06-08T00:10:38.197Z,1749341438.197 [DAT](INFO): Rx dataTimestamp_ set to:1749341438.197005
2025-06-08T00:10:38.199Z,1749341438.199 [DAT](INFO): DAT read: Bearing  89.7, -27.7 (Local)

2025-06-08T00:10:38.199Z,1749341438.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.7, -27.7 (Local)

2025-06-08T00:10:38.201Z,1749341438.201 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:38.206Z,1749341438.206 [DAT](INFO): DAT read: 00:10:37.6169 LVL=  9552, 16817, 13714, 13171, AGC= 48, IDX= 510,-0.46, 0.860,-0.029,-0.774, 0.578, PHS= 0.371,-0.560,-1.355, RAW=  62.6,  20.0, CAL=  60.3,  27.7, ROT=  89.7, -27.7

2025-06-08T00:10:38.208Z,1749341438.208 [DAT](INFO): got valid direction response:
 00:10:37.6169 LVL=  9552, 16817, 13714, 13171, AGC= 48, IDX= 510,-0.46, 0.860,-0.029,-0.774, 0.578, PHS= 0.371,-0.560,-1.355, RAW=  62.6,  20.0, CAL=  60.3,  27.7, ROT=  89.7, -27.7

2025-06-08T00:10:38.208Z,1749341438.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:38.209Z,1749341438.209 [DAT](INFO): direction in FSK: [0.004636,0.885381,0.464842]
2025-06-08T00:10:38.209Z,1749341438.209 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:38.213Z,1749341438.213 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:38.213Z,1749341438.213 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:38.213Z,1749341438.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:38.448Z,1749341438.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583243
2025-06-08T00:10:38.701Z,1749341438.701 [DAT](INFO): DAT read: Rx Time:00:10:38.1170 

2025-06-08T00:10:38.701Z,1749341438.701 [DAT](INFO): Rx dataTimestamp_ set to:1749341438.700916
2025-06-08T00:10:38.702Z,1749341438.702 [DAT](INFO): DAT read: Bearing  90.3, -26.6 (Local)

2025-06-08T00:10:38.703Z,1749341438.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.3, -26.6 (Local)

2025-06-08T00:10:38.705Z,1749341438.705 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:38.710Z,1749341438.710 [DAT](INFO): DAT read: 00:10:38.1170 LVL=  9648, 15153, 13458, 13491, AGC= 48, IDX= 511,-0.34, 1.436, 0.540,-0.235, 1.119, PHS= 0.405,-0.532,-1.357, RAW=  62.1,  19.0, CAL=  59.7,  26.6, ROT=  90.3, -26.6

2025-06-08T00:10:38.711Z,1749341438.711 [DAT](INFO): got valid direction response:
 00:10:38.1170 LVL=  9648, 15153, 13458, 13491, AGC= 48, IDX= 511,-0.34, 1.436, 0.540,-0.235, 1.119, PHS= 0.405,-0.532,-1.357, RAW=  62.1,  19.0, CAL=  59.7,  26.6, ROT=  90.3, -26.6

2025-06-08T00:10:38.711Z,1749341438.711 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:38.712Z,1749341438.712 [DAT](INFO): direction in FSK: [-0.004682,0.894142,0.447759]
2025-06-08T00:10:38.712Z,1749341438.712 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:38.716Z,1749341438.716 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:10:38.716Z,1749341438.716 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:10:38.716Z,1749341438.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:38.953Z,1749341438.953 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:38.953Z,1749341438.953 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:38.953Z,1749341438.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:39.205Z,1749341439.205 [DAT](INFO): DAT read: Rx Time:00:10:38.6169 

2025-06-08T00:10:39.206Z,1749341439.206 [DAT](INFO): Rx dataTimestamp_ set to:1749341439.205484
2025-06-08T00:10:39.207Z,1749341439.207 [DAT](INFO): DAT read: Bearing 101.7, -37.5 (Local)

2025-06-08T00:10:39.207Z,1749341439.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.7, -37.5 (Local)

2025-06-08T00:10:39.210Z,1749341439.210 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:39.215Z,1749341439.215 [DAT](INFO): DAT read: 00:10:38.6169 LVL=  8784, 14481, 13346, 14035, AGC= 48, IDX= 510,-0.29,-0.403,-0.861,-1.640,-0.282, PHS=-0.032,-0.531,-1.361, RAW=  51.8,  30.3, CAL=  48.3,  37.5, ROT= 101.7, -37.5

2025-06-08T00:10:39.216Z,1749341439.216 [DAT](INFO): got valid direction response:
 00:10:38.6169 LVL=  8784, 14481, 13346, 14035, AGC= 48, IDX= 510,-0.29,-0.403,-0.861,-1.640,-0.282, PHS=-0.032,-0.531,-1.361, RAW=  51.8,  30.3, CAL=  48.3,  37.5, ROT= 101.7, -37.5

2025-06-08T00:10:39.216Z,1749341439.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:39.217Z,1749341439.217 [DAT](INFO): direction in FSK: [-0.160882,0.776870,0.608761]
2025-06-08T00:10:39.217Z,1749341439.217 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:39.236Z,1749341439.236 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:39.236Z,1749341439.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:39.456Z,1749341439.456 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:39.456Z,1749341439.456 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:39.456Z,1749341439.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:39.710Z,1749341439.710 [DAT](INFO): DAT read: Rx Time:00:10:39.1171 

2025-06-08T00:10:39.710Z,1749341439.710 [DAT](INFO): Rx dataTimestamp_ set to:1749341439.710181
2025-06-08T00:10:39.712Z,1749341439.712 [DAT](INFO): DAT read: Bearing 105.2, -42.5 (Local)

2025-06-08T00:10:39.712Z,1749341439.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 105.2, -42.5 (Local)

2025-06-08T00:10:39.714Z,1749341439.714 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:39.720Z,1749341439.720 [DAT](INFO): DAT read: 00:10:39.1171 LVL=  9456, 15233, 14498, 14147, AGC= 48, IDX= 511,-0.23, 0.635, 0.302,-0.433, 0.914, PHS=-0.191,-0.564,-1.350, RAW=  48.4,  36.0, CAL=  44.8,  42.5, ROT= 105.2, -42.5

2025-06-08T00:10:39.722Z,1749341439.722 [DAT](INFO): got valid direction response:
 00:10:39.1171 LVL=  9456, 15233, 14498, 14147, AGC= 48, IDX= 511,-0.23, 0.635, 0.302,-0.433, 0.914, PHS=-0.191,-0.564,-1.350, RAW=  48.4,  36.0, CAL=  44.8,  42.5, ROT= 105.2, -42.5

2025-06-08T00:10:39.722Z,1749341439.722 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:39.724Z,1749341439.724 [DAT](INFO): direction in FSK: [-0.193306,0.711485,0.675590]
2025-06-08T00:10:39.725Z,1749341439.725 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:39.742Z,1749341439.742 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:39.742Z,1749341439.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:39.960Z,1749341439.960 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:39.961Z,1749341439.961 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:39.961Z,1749341439.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:40.213Z,1749341440.213 [DAT](INFO): DAT read: Rx Time:00:10:39.6170 

2025-06-08T00:10:40.213Z,1749341440.213 [DAT](INFO): Rx dataTimestamp_ set to:1749341440.212914
2025-06-08T00:10:40.214Z,1749341440.214 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:40.215Z,1749341440.215 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:40.216Z,1749341440.216 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:40.216Z,1749341440.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:40.464Z,1749341440.464 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:40.464Z,1749341440.464 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:40.464Z,1749341440.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:40.717Z,1749341440.717 [DAT](INFO): DAT read: Rx Time:00:10:40.1171 

2025-06-08T00:10:40.717Z,1749341440.717 [DAT](INFO): Rx dataTimestamp_ set to:1749341440.716911
2025-06-08T00:10:40.718Z,1749341440.718 [DAT](INFO): DAT read: Bearing 140.9, -57.3 (Local)

2025-06-08T00:10:40.719Z,1749341440.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.9, -57.3 (Local)

2025-06-08T00:10:40.721Z,1749341440.721 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:40.726Z,1749341440.726 [DAT](INFO): DAT read: 00:10:40.1171 LVL=  9376, 14577, 14866, 15859, AGC= 49, IDX= 511,-0.09,-0.076, 0.196,-0.541, 0.842, PHS=-0.830,-0.599,-1.386, RAW=  13.4,  54.9, CAL=   9.1,  57.3, ROT= 140.9, -57.3

2025-06-08T00:10:40.727Z,1749341440.727 [DAT](INFO): got valid direction response:
 00:10:40.1171 LVL=  9376, 14577, 14866, 15859, AGC= 49, IDX= 511,-0.09,-0.076, 0.196,-0.541, 0.842, PHS=-0.830,-0.599,-1.386, RAW=  13.4,  54.9, CAL=   9.1,  57.3, ROT= 140.9, -57.3

2025-06-08T00:10:40.727Z,1749341440.727 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:40.728Z,1749341440.728 [DAT](INFO): direction in FSK: [-0.419252,0.340716,0.841511]
2025-06-08T00:10:40.728Z,1749341440.728 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:40.732Z,1749341440.732 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:40.732Z,1749341440.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:40.968Z,1749341440.968 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:40.968Z,1749341440.968 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:40.968Z,1749341440.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:41.220Z,1749341441.220 [DAT](INFO): DAT read: Rx Time:00:10:40.6170 

2025-06-08T00:10:41.221Z,1749341441.221 [DAT](INFO): Rx dataTimestamp_ set to:1749341441.220656
2025-06-08T00:10:41.222Z,1749341441.222 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:41.223Z,1749341441.223 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:41.223Z,1749341441.223 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:41.224Z,1749341441.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:41.472Z,1749341441.472 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:41.472Z,1749341441.472 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:41.472Z,1749341441.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:41.745Z,1749341441.745 [DAT](INFO): DAT read: Rx Time:00:10:41.1170 

2025-06-08T00:10:41.746Z,1749341441.746 [DAT](INFO): Rx dataTimestamp_ set to:1749341441.745889
2025-06-08T00:10:41.748Z,1749341441.748 [DAT](INFO): DAT read: Bearing 144.8, -62.2 (Local)

2025-06-08T00:10:41.748Z,1749341441.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.8, -62.2 (Local)

2025-06-08T00:10:41.751Z,1749341441.751 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:41.757Z,1749341441.757 [DAT](INFO): DAT read: 00:10:41.1170 LVL=  9408, 16449, 14610, 15731, AGC= 49, IDX= 510, 0.00,-0.621,-0.324,-0.976, 0.422, PHS=-0.956,-0.699,-1.402, RAW=   8.9,  60.3, CAL=   5.2,  62.2, ROT= 144.8, -62.2

2025-06-08T00:10:41.759Z,1749341441.759 [DAT](INFO): got valid direction response:
 00:10:41.1170 LVL=  9408, 16449, 14610, 15731, AGC= 49, IDX= 510, 0.00,-0.621,-0.324,-0.976, 0.422, PHS=-0.956,-0.699,-1.402, RAW=   8.9,  60.3, CAL=   5.2,  62.2, ROT= 144.8, -62.2

2025-06-08T00:10:41.759Z,1749341441.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:41.776Z,1749341441.776 [DAT](INFO): direction in FSK: [-0.381105,0.268840,0.884581]
2025-06-08T00:10:41.776Z,1749341441.776 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:41.783Z,1749341441.783 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:41.783Z,1749341441.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:41.996Z,1749341441.996 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:41.996Z,1749341441.996 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:41.996Z,1749341441.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:42.249Z,1749341442.249 [DAT](INFO): DAT read: Rx Time:00:10:41.6169 

2025-06-08T00:10:42.249Z,1749341442.249 [DAT](INFO): Rx dataTimestamp_ set to:1749341442.248905
2025-06-08T00:10:42.250Z,1749341442.250 [DAT](INFO): DAT read: Bearing 142.8, -64.1 (Local)

2025-06-08T00:10:42.251Z,1749341442.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.8, -64.1 (Local)

2025-06-08T00:10:42.253Z,1749341442.253 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:42.258Z,1749341442.258 [DAT](INFO): DAT read: 00:10:41.6169 LVL= 10064, 15681, 16802, 15683, AGC= 49, IDX= 509, 0.03,-1.103,-0.843,-1.441,-0.058, PHS=-0.957,-0.738,-1.387, RAW=  10.6,  62.3, CAL=   7.2,  64.1, ROT= 142.8, -64.1

2025-06-08T00:10:42.259Z,1749341442.259 [DAT](INFO): got valid direction response:
 00:10:41.6169 LVL= 10064, 15681, 16802, 15683, AGC= 49, IDX= 509, 0.03,-1.103,-0.843,-1.441,-0.058, PHS=-0.957,-0.738,-1.387, RAW=  10.6,  62.3, CAL=   7.2,  64.1, ROT= 142.8, -64.1

2025-06-08T00:10:42.260Z,1749341442.260 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:42.261Z,1749341442.261 [DAT](INFO): direction in FSK: [-0.347926,0.264090,0.899558]
2025-06-08T00:10:42.261Z,1749341442.261 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:42.264Z,1749341442.264 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:42.264Z,1749341442.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:42.500Z,1749341442.500 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:42.500Z,1749341442.500 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:42.501Z,1749341442.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:42.753Z,1749341442.753 [DAT](INFO): DAT read: Rx Time:00:10:42.1171 

2025-06-08T00:10:42.753Z,1749341442.753 [DAT](INFO): Rx dataTimestamp_ set to:1749341442.752933
2025-06-08T00:10:42.755Z,1749341442.755 [DAT](INFO): DAT read: Bearing 150.5, -64.1 (Local)

2025-06-08T00:10:42.755Z,1749341442.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.5, -64.1 (Local)

2025-06-08T00:10:42.757Z,1749341442.757 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:42.762Z,1749341442.762 [DAT](INFO): DAT read: 00:10:42.1171 LVL=  8720, 14273, 14706, 18099, AGC= 50, IDX= 510, 0.09,-0.163, 0.185,-0.438, 0.975, PHS=-1.051,-0.743,-1.416, RAW=   2.9,  62.8, CAL= 359.5,  64.1, ROT= 150.5, -64.1

2025-06-08T00:10:42.763Z,1749341442.763 [DAT](INFO): got valid direction response:
 00:10:42.1171 LVL=  8720, 14273, 14706, 18099, AGC= 50, IDX= 510, 0.09,-0.163, 0.185,-0.438, 0.975, PHS=-1.051,-0.743,-1.416, RAW=   2.9,  62.8, CAL= 359.5,  64.1, ROT= 150.5, -64.1

2025-06-08T00:10:42.763Z,1749341442.763 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:42.764Z,1749341442.764 [DAT](INFO): direction in FSK: [-0.380173,0.215092,0.899558]
2025-06-08T00:10:42.764Z,1749341442.764 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:42.768Z,1749341442.768 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:42.768Z,1749341442.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:43.004Z,1749341443.004 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:43.004Z,1749341443.004 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:43.004Z,1749341443.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:43.257Z,1749341443.257 [DAT](INFO): DAT read: Rx Time:00:10:42.6170 

2025-06-08T00:10:43.257Z,1749341443.257 [DAT](INFO): Rx dataTimestamp_ set to:1749341443.256973
2025-06-08T00:10:43.259Z,1749341443.259 [DAT](INFO): DAT read: Bearing 145.8, -64.0 (Local)

2025-06-08T00:10:43.259Z,1749341443.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.8, -64.0 (Local)

2025-06-08T00:10:43.261Z,1749341443.261 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:43.267Z,1749341443.267 [DAT](INFO): DAT read: 00:10:42.6170 LVL=  9168, 13745, 15234, 17027, AGC= 50, IDX= 509, 0.15,-1.387,-1.089,-1.707,-0.299, PHS=-1.000,-0.743,-1.411, RAW=   7.6,  62.4, CAL=   4.2,  64.0, ROT= 145.8, -64.0

2025-06-08T00:10:43.269Z,1749341443.269 [DAT](INFO): got valid direction response:
 00:10:42.6170 LVL=  9168, 13745, 15234, 17027, AGC= 50, IDX= 509, 0.15,-1.387,-1.089,-1.707,-0.299, PHS=-1.000,-0.743,-1.411, RAW=   7.6,  62.4, CAL=   4.2,  64.0, ROT= 145.8, -64.0

2025-06-08T00:10:43.269Z,1749341443.269 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:43.271Z,1749341443.271 [DAT](INFO): direction in FSK: [-0.362568,0.246401,0.898794]
2025-06-08T00:10:43.283Z,1749341443.283 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:43.299Z,1749341443.299 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:43.299Z,1749341443.299 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:43.508Z,1749341443.508 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:43.508Z,1749341443.508 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:43.508Z,1749341443.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:43.761Z,1749341443.761 [DAT](INFO): DAT read: Rx Time:00:10:43.1171 

2025-06-08T00:10:43.761Z,1749341443.761 [DAT](INFO): Rx dataTimestamp_ set to:1749341443.760995
2025-06-08T00:10:43.763Z,1749341443.763 [DAT](INFO): DAT read: Bearing 149.3, -65.4 (Local)

2025-06-08T00:10:43.763Z,1749341443.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.3, -65.4 (Local)

2025-06-08T00:10:43.765Z,1749341443.765 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:43.770Z,1749341443.770 [DAT](INFO): DAT read: 00:10:43.1171 LVL=  8736, 13665, 15186, 17763, AGC= 50, IDX= 510, 0.19, 0.332, 0.659, 0.061, 1.486, PHS=-1.065,-0.779,-1.428, RAW=   3.9,  64.0, CAL=   0.7,  65.4, ROT= 149.3, -65.4

2025-06-08T00:10:43.771Z,1749341443.771 [DAT](INFO): got valid direction response:
 00:10:43.1171 LVL=  8736, 13665, 15186, 17763, AGC= 50, IDX= 510, 0.19, 0.332, 0.659, 0.061, 1.486, PHS=-1.065,-0.779,-1.428, RAW=   3.9,  64.0, CAL=   0.7,  65.4, ROT= 149.3, -65.4

2025-06-08T00:10:43.771Z,1749341443.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:43.772Z,1749341443.772 [DAT](INFO): direction in FSK: [-0.357940,0.212529,0.909236]
2025-06-08T00:10:43.773Z,1749341443.773 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:43.776Z,1749341443.776 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:43.776Z,1749341443.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:44.012Z,1749341444.012 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:44.012Z,1749341444.012 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:44.012Z,1749341444.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:44.265Z,1749341444.265 [DAT](INFO): DAT read: Rx Time:00:10:43.6170 

2025-06-08T00:10:44.265Z,1749341444.265 [DAT](INFO): Rx dataTimestamp_ set to:1749341444.264965
2025-06-08T00:10:44.267Z,1749341444.267 [DAT](INFO): DAT read: Bearing 144.1, -64.8 (Local)

2025-06-08T00:10:44.267Z,1749341444.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.1, -64.8 (Local)

2025-06-08T00:10:44.269Z,1749341444.269 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:44.274Z,1749341444.274 [DAT](INFO): DAT read: 00:10:43.6170 LVL=  9168, 13889, 15426, 16963, AGC= 50, IDX= 509, 0.25,-1.450,-1.176,-1.773,-0.368, PHS=-0.994,-0.761,-1.408, RAW=   9.2,  63.1, CAL=   5.9,  64.8, ROT= 144.1, -64.8

2025-06-08T00:10:44.275Z,1749341444.275 [DAT](INFO): got valid direction response:
 00:10:43.6170 LVL=  9168, 13889, 15426, 16963, AGC= 50, IDX= 509, 0.25,-1.450,-1.176,-1.773,-0.368, PHS=-0.994,-0.761,-1.408, RAW=   9.2,  63.1, CAL=   5.9,  64.8, ROT= 144.1, -64.8

2025-06-08T00:10:44.275Z,1749341444.275 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:44.276Z,1749341444.276 [DAT](INFO): direction in FSK: [-0.344899,0.249665,0.904827]
2025-06-08T00:10:44.276Z,1749341444.276 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:44.289Z,1749341444.289 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:44.289Z,1749341444.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:44.516Z,1749341444.516 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:44.516Z,1749341444.516 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:44.517Z,1749341444.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:44.769Z,1749341444.769 [DAT](INFO): DAT read: Rx Time:00:10:44.1171 

2025-06-08T00:10:44.769Z,1749341444.769 [DAT](INFO): Rx dataTimestamp_ set to:1749341444.768952
2025-06-08T00:10:44.771Z,1749341444.771 [DAT](INFO): DAT read: Bearing 140.5, -66.4 (Local)

2025-06-08T00:10:44.771Z,1749341444.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.5, -66.4 (Local)

2025-06-08T00:10:44.773Z,1749341444.773 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:44.778Z,1749341444.778 [DAT](INFO): DAT read: 00:10:44.1171 LVL= 10608, 16049, 17746, 17523, AGC= 50, IDX= 510, 0.29, 0.264, 0.489,-0.062, 1.335, PHS=-0.983,-0.799,-1.400, RAW=  12.6,  64.6, CAL=   9.5,  66.4, ROT= 140.5, -66.4

2025-06-08T00:10:44.779Z,1749341444.779 [DAT](INFO): got valid direction response:
 00:10:44.1171 LVL= 10608, 16049, 17746, 17523, AGC= 50, IDX= 510, 0.29, 0.264, 0.489,-0.062, 1.335, PHS=-0.983,-0.799,-1.400, RAW=  12.6,  64.6, CAL=   9.5,  66.4, ROT= 140.5, -66.4

2025-06-08T00:10:44.779Z,1749341444.779 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:44.780Z,1749341444.780 [DAT](INFO): direction in FSK: [-0.308919,0.254653,0.916363]
2025-06-08T00:10:44.780Z,1749341444.780 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:44.784Z,1749341444.784 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:44.784Z,1749341444.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:45.020Z,1749341445.020 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:45.021Z,1749341445.021 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:45.021Z,1749341445.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:45.273Z,1749341445.273 [DAT](INFO): DAT read: Rx Time:00:10:44.6170 

2025-06-08T00:10:45.273Z,1749341445.273 [DAT](INFO): Rx dataTimestamp_ set to:1749341445.272995
2025-06-08T00:10:45.275Z,1749341445.275 [DAT](INFO): DAT read: Bearing 143.7, -63.3 (Local)

2025-06-08T00:10:45.275Z,1749341445.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.7, -63.3 (Local)

2025-06-08T00:10:45.277Z,1749341445.277 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:45.282Z,1749341445.282 [DAT](INFO): DAT read: 00:10:44.6170 LVL=  9088, 14609, 14658, 17859, AGC= 50, IDX= 509, 0.36,-1.043,-0.761,-1.399, 0.026, PHS=-0.980,-0.739,-1.427, RAW=   9.8,  61.5, CAL=   6.3,  63.3, ROT= 143.7, -63.3

2025-06-08T00:10:45.283Z,1749341445.283 [DAT](INFO): got valid direction response:
 00:10:44.6170 LVL=  9088, 14609, 14658, 17859, AGC= 50, IDX= 509, 0.36,-1.043,-0.761,-1.399, 0.026, PHS=-0.980,-0.739,-1.427, RAW=   9.8,  61.5, CAL=   6.3,  63.3, ROT= 143.7, -63.3

2025-06-08T00:10:45.284Z,1749341445.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:45.285Z,1749341445.285 [DAT](INFO): direction in FSK: [-0.362119,0.266003,0.893371]
2025-06-08T00:10:45.285Z,1749341445.285 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:45.289Z,1749341445.289 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:45.289Z,1749341445.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:45.524Z,1749341445.524 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:45.524Z,1749341445.524 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:45.524Z,1749341445.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:45.777Z,1749341445.777 [DAT](INFO): DAT read: Rx Time:00:10:45.1170 

2025-06-08T00:10:45.777Z,1749341445.777 [DAT](INFO): Rx dataTimestamp_ set to:1749341445.777081
2025-06-08T00:10:45.779Z,1749341445.779 [DAT](INFO): DAT read: Bearing 138.9, -60.8 (Local)

2025-06-08T00:10:45.779Z,1749341445.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.9, -60.8 (Local)

2025-06-08T00:10:45.781Z,1749341445.781 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:45.788Z,1749341445.788 [DAT](INFO): DAT read: 00:10:45.1170 LVL=  9440, 15313, 15154, 17011, AGC= 50, IDX= 509, 0.45,-1.548,-1.312,-1.989,-0.573, PHS=-0.887,-0.692,-1.419, RAW=  14.9,  58.4, CAL=  11.1,  60.8, ROT= 138.9, -60.8

2025-06-08T00:10:45.789Z,1749341445.789 [DAT](INFO): got valid direction response:
 00:10:45.1170 LVL=  9440, 15313, 15154, 17011, AGC= 50, IDX= 509, 0.45,-1.548,-1.312,-1.989,-0.573, PHS=-0.887,-0.692,-1.419, RAW=  14.9,  58.4, CAL=  11.1,  60.8, ROT= 138.9, -60.8

2025-06-08T00:10:45.790Z,1749341445.790 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:45.799Z,1749341445.799 [DAT](INFO): direction in FSK: [-0.367633,0.320707,0.872922]
2025-06-08T00:10:45.800Z,1749341445.800 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:45.806Z,1749341445.806 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:45.806Z,1749341445.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:46.028Z,1749341446.028 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:46.028Z,1749341446.028 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:46.028Z,1749341446.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:46.281Z,1749341446.281 [DAT](INFO): DAT read: Rx Time:00:10:45.6169 

2025-06-08T00:10:46.281Z,1749341446.281 [DAT](INFO): Rx dataTimestamp_ set to:1749341446.281143
2025-06-08T00:10:46.283Z,1749341446.283 [DAT](INFO): DAT read: Bearing 134.4, -57.2 (Local)

2025-06-08T00:10:46.283Z,1749341446.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 134.4, -57.2 (Local)

2025-06-08T00:10:46.285Z,1749341446.285 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:46.290Z,1749341446.290 [DAT](INFO): DAT read: 00:10:45.6169 LVL=  9776, 16241, 15266, 16883, AGC= 50, IDX= 509,-0.49, 2.704, 2.893, 2.166,-2.720, PHS=-0.770,-0.623,-1.400, RAW=  19.7,  54.1, CAL=  15.6,  57.2, ROT= 134.4, -57.2

2025-06-08T00:10:46.291Z,1749341446.291 [DAT](INFO): got valid direction response:
 00:10:45.6169 LVL=  9776, 16241, 15266, 16883, AGC= 50, IDX= 509,-0.49, 2.704, 2.893, 2.166,-2.720, PHS=-0.770,-0.623,-1.400, RAW=  19.7,  54.1, CAL=  15.6,  57.2, ROT= 134.4, -57.2

2025-06-08T00:10:46.291Z,1749341446.291 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:46.294Z,1749341446.294 [DAT](INFO): direction in FSK: [-0.379013,0.387036,0.840567]
2025-06-08T00:10:46.296Z,1749341446.296 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:46.301Z,1749341446.301 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:46.301Z,1749341446.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:46.532Z,1749341446.532 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:46.533Z,1749341446.533 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:46.533Z,1749341446.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:46.784Z,1749341446.784 [DAT](INFO): DAT read: Rx Time:00:10:46.1171 

2025-06-08T00:10:46.785Z,1749341446.785 [DAT](INFO): Rx dataTimestamp_ set to:1749341446.784480
2025-06-08T00:10:46.786Z,1749341446.786 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:46.787Z,1749341446.787 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:46.787Z,1749341446.787 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:46.788Z,1749341446.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:47.036Z,1749341447.036 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:47.036Z,1749341447.036 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:47.036Z,1749341447.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:47.290Z,1749341447.290 [DAT](INFO): DAT read: Rx Time:00:10:46.6170 

2025-06-08T00:10:47.290Z,1749341447.290 [DAT](INFO): Rx dataTimestamp_ set to:1749341447.289733
2025-06-08T00:10:47.291Z,1749341447.291 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:47.292Z,1749341447.292 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:47.293Z,1749341447.293 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:47.293Z,1749341447.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:47.540Z,1749341447.540 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:47.540Z,1749341447.540 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:47.540Z,1749341447.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:47.793Z,1749341447.793 [DAT](INFO): DAT read: Rx Time:00:10:47.1171 

2025-06-08T00:10:47.793Z,1749341447.793 [DAT](INFO): Rx dataTimestamp_ set to:1749341447.792804
2025-06-08T00:10:47.794Z,1749341447.794 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:47.795Z,1749341447.795 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:47.796Z,1749341447.796 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:47.796Z,1749341447.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:48.044Z,1749341448.044 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:48.044Z,1749341448.044 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:48.044Z,1749341448.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:48.296Z,1749341448.296 [DAT](INFO): DAT read: Rx Time:00:10:47.6170 

2025-06-08T00:10:48.297Z,1749341448.297 [DAT](INFO): Rx dataTimestamp_ set to:1749341448.296474
2025-06-08T00:10:48.298Z,1749341448.298 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:48.299Z,1749341448.299 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:48.300Z,1749341448.300 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:48.300Z,1749341448.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:48.549Z,1749341448.549 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:48.550Z,1749341448.550 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:48.550Z,1749341448.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:48.800Z,1749341448.800 [DAT](INFO): DAT read: Rx Time:00:10:48.1170 

2025-06-08T00:10:48.801Z,1749341448.801 [DAT](INFO): Rx dataTimestamp_ set to:1749341448.800480
2025-06-08T00:10:48.802Z,1749341448.802 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:48.803Z,1749341448.803 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:48.803Z,1749341448.803 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:48.804Z,1749341448.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:49.052Z,1749341449.052 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:49.052Z,1749341449.052 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:49.052Z,1749341449.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:49.307Z,1749341449.307 [DAT](INFO): DAT read: Rx Time:00:10:48.6169 

2025-06-08T00:10:49.308Z,1749341449.308 [DAT](INFO): Rx dataTimestamp_ set to:1749341449.307283
2025-06-08T00:10:49.309Z,1749341449.309 [DAT](INFO): DAT read: Bearing 141.1, -56.2 (Local)

2025-06-08T00:10:49.310Z,1749341449.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.1, -56.2 (Local)

2025-06-08T00:10:49.313Z,1749341449.313 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:49.324Z,1749341449.324 [DAT](INFO): DAT read: 00:10:48.6169 LVL=  9696, 15009, 14258, 16323, AGC= 49, IDX= 508,-0.10, 1.431, 1.710, 0.951, 2.333, PHS=-0.814,-0.576,-1.385, RAW=  13.4,  53.7, CAL=   8.9,  56.2, ROT= 141.1, -56.2

2025-06-08T00:10:49.326Z,1749341449.326 [DAT](INFO): got valid direction response:
 00:10:48.6169 LVL=  9696, 15009, 14258, 16323, AGC= 49, IDX= 508,-0.10, 1.431, 1.710, 0.951, 2.333, PHS=-0.814,-0.576,-1.385, RAW=  13.4,  53.7, CAL=   8.9,  56.2, ROT= 141.1, -56.2

2025-06-08T00:10:49.327Z,1749341449.327 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:49.360Z,1749341449.360 [DAT](INFO): direction in FSK: [-0.432933,0.349333,0.830984]
2025-06-08T00:10:49.360Z,1749341449.360 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:49.372Z,1749341449.372 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:49.372Z,1749341449.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:49.556Z,1749341449.556 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:49.556Z,1749341449.556 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:49.556Z,1749341449.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:49.808Z,1749341449.808 [DAT](INFO): DAT read: Rx Time:00:10:49.1170 

2025-06-08T00:10:49.809Z,1749341449.809 [DAT](INFO): Rx dataTimestamp_ set to:1749341449.808550
2025-06-08T00:10:49.810Z,1749341449.810 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:49.811Z,1749341449.811 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:49.811Z,1749341449.811 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:49.812Z,1749341449.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:50.060Z,1749341450.060 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:50.060Z,1749341450.060 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:50.060Z,1749341450.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:50.313Z,1749341450.313 [DAT](INFO): DAT read: Rx Time:00:10:49.6169 

2025-06-08T00:10:50.313Z,1749341450.313 [DAT](INFO): Rx dataTimestamp_ set to:1749341450.312951
2025-06-08T00:10:50.315Z,1749341450.315 [DAT](INFO): DAT read: Bearing 149.2, -59.5 (Local)

2025-06-08T00:10:50.315Z,1749341450.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.2, -59.5 (Local)

2025-06-08T00:10:50.317Z,1749341450.317 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:50.322Z,1749341450.322 [DAT](INFO): DAT read: 00:10:49.6169 LVL=  9968, 14529, 14722, 17043, AGC= 49, IDX= 508,-0.00, 2.104, 2.472, 1.758,-3.132, PHS=-0.958,-0.632,-1.395, RAW=   4.8,  57.8, CAL=   0.8,  59.5, ROT= 149.2, -59.5

2025-06-08T00:10:50.323Z,1749341450.323 [DAT](INFO): got valid direction response:
 00:10:49.6169 LVL=  9968, 14529, 14722, 17043, AGC= 49, IDX= 508,-0.00, 2.104, 2.472, 1.758,-3.132, PHS=-0.958,-0.632,-1.395, RAW=   4.8,  57.8, CAL=   0.8,  59.5, ROT= 149.2, -59.5

2025-06-08T00:10:50.323Z,1749341450.323 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:50.324Z,1749341450.324 [DAT](INFO): direction in FSK: [-0.435955,0.259881,0.861629]
2025-06-08T00:10:50.324Z,1749341450.324 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:50.328Z,1749341450.328 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:50.328Z,1749341450.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:50.564Z,1749341450.564 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:50.564Z,1749341450.564 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:50.565Z,1749341450.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:50.817Z,1749341450.817 [DAT](INFO): DAT read: Rx Time:00:10:50.1170 

2025-06-08T00:10:50.817Z,1749341450.817 [DAT](INFO): Rx dataTimestamp_ set to:1749341450.816920
2025-06-08T00:10:50.818Z,1749341450.818 [DAT](INFO): DAT read: Bearing 152.6, -61.4 (Local)

2025-06-08T00:10:50.819Z,1749341450.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6, -61.4 (Local)

2025-06-08T00:10:50.821Z,1749341450.821 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:50.826Z,1749341450.826 [DAT](INFO): DAT read: 00:10:50.1170 LVL=  9584, 14689, 15186, 17907, AGC= 49, IDX= 509, 0.05,-2.453,-2.058,-2.737,-1.337, PHS=-1.028,-0.674,-1.403, RAW=   1.0,  60.1, CAL= 357.4,  61.4, ROT= 152.6, -61.4

2025-06-08T00:10:50.827Z,1749341450.827 [DAT](INFO): got valid direction response:
 00:10:50.1170 LVL=  9584, 14689, 15186, 17907, AGC= 49, IDX= 509, 0.05,-2.453,-2.058,-2.737,-1.337, PHS=-1.028,-0.674,-1.403, RAW=   1.0,  60.1, CAL= 357.4,  61.4, ROT= 152.6, -61.4

2025-06-08T00:10:50.843Z,1749341450.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:50.844Z,1749341450.844 [DAT](INFO): direction in FSK: [-0.424990,0.220294,0.877983]
2025-06-08T00:10:50.845Z,1749341450.845 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:50.852Z,1749341450.852 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:50.852Z,1749341450.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:51.040Z,1749341451.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-08T00:10:51.068Z,1749341451.068 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:51.068Z,1749341451.068 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:51.068Z,1749341451.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:51.321Z,1749341451.321 [DAT](INFO): DAT read: Rx Time:00:10:50.6169 

2025-06-08T00:10:51.321Z,1749341451.321 [DAT](INFO): Rx dataTimestamp_ set to:1749341451.320814
2025-06-08T00:10:51.322Z,1749341451.322 [DAT](INFO): DAT read: Bearing 152.5, -61.5 (Local)

2025-06-08T00:10:51.323Z,1749341451.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.5, -61.5 (Local)

2025-06-08T00:10:51.325Z,1749341451.325 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:51.329Z,1749341451.329 [DAT](INFO): DAT read: 00:10:50.6169 LVL=  9360, 16753, 15810, 18099, AGC= 49, IDX= 508, 0.08, 2.654, 3.047, 2.371,-2.513, PHS=-1.028,-0.676,-1.402, RAW=   1.0,  60.2, CAL= 357.5,  61.5, ROT= 152.5, -61.5

2025-06-08T00:10:51.330Z,1749341451.330 [DAT](INFO): got valid direction response:
 00:10:50.6169 LVL=  9360, 16753, 15810, 18099, AGC= 49, IDX= 508, 0.08, 2.654, 3.047, 2.371,-2.513, PHS=-1.028,-0.676,-1.402, RAW=   1.0,  60.2, CAL= 357.5,  61.5, ROT= 152.5, -61.5

2025-06-08T00:10:51.331Z,1749341451.331 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:51.332Z,1749341451.332 [DAT](INFO): direction in FSK: [-0.423245,0.220327,0.878817]
2025-06-08T00:10:51.332Z,1749341451.332 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:51.335Z,1749341451.335 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:51.336Z,1749341451.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:51.573Z,1749341451.573 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:51.573Z,1749341451.573 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:51.573Z,1749341451.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:51.826Z,1749341451.826 [DAT](INFO): DAT read: Rx Time:00:10:51.1171 

2025-06-08T00:10:51.826Z,1749341451.826 [DAT](INFO): Rx dataTimestamp_ set to:1749341451.825702
2025-06-08T00:10:51.827Z,1749341451.827 [DAT](INFO): DAT read: Bearing 154.7, -61.9 (Local)

2025-06-08T00:10:51.828Z,1749341451.828 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.7, -61.9 (Local)

2025-06-08T00:10:51.830Z,1749341451.830 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:51.836Z,1749341451.836 [DAT](INFO): DAT read: 00:10:51.1171 LVL=  9664, 16769, 14418, 17635, AGC= 49, IDX= 509, 0.15,-2.301,-1.886,-2.553,-1.152, PHS=-1.061,-0.687,-1.404, RAW= 358.6,  60.9, CAL= 355.3,  61.9, ROT= 154.7, -61.9

2025-06-08T00:10:51.837Z,1749341451.837 [DAT](INFO): got valid direction response:
 00:10:51.1171 LVL=  9664, 16769, 14418, 17635, AGC= 49, IDX= 509, 0.15,-2.301,-1.886,-2.553,-1.152, PHS=-1.061,-0.687,-1.404, RAW= 358.6,  60.9, CAL= 355.3,  61.9, ROT= 154.7, -61.9

2025-06-08T00:10:51.837Z,1749341451.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:51.839Z,1749341451.839 [DAT](INFO): direction in FSK: [-0.425834,0.201291,0.882127]
2025-06-08T00:10:51.844Z,1749341451.844 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:51.849Z,1749341451.849 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:51.850Z,1749341451.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:52.043Z,1749341452.043 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-08T00:10:52.076Z,1749341452.076 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:52.076Z,1749341452.076 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:52.076Z,1749341452.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:52.329Z,1749341452.329 [DAT](INFO): DAT read: Rx Time:00:10:51.6170 

2025-06-08T00:10:52.329Z,1749341452.329 [DAT](INFO): Rx dataTimestamp_ set to:1749341452.328925
2025-06-08T00:10:52.330Z,1749341452.330 [DAT](INFO): DAT read: Bearing 154.2, -62.8 (Local)

2025-06-08T00:10:52.331Z,1749341452.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.2, -62.8 (Local)

2025-06-08T00:10:52.333Z,1749341452.333 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:52.338Z,1749341452.338 [DAT](INFO): DAT read: 00:10:51.6170 LVL=  9856, 16193, 14066, 17875, AGC= 49, IDX= 508, 0.18,-3.077,-2.675, 2.957,-1.916, PHS=-1.073,-0.712,-1.413, RAW= 359.0,  61.7, CAL= 355.8,  62.8, ROT= 154.2, -62.8

2025-06-08T00:10:52.339Z,1749341452.339 [DAT](INFO): got valid direction response:
 00:10:51.6170 LVL=  9856, 16193, 14066, 17875, AGC= 49, IDX= 508, 0.18,-3.077,-2.675, 2.957,-1.916, PHS=-1.073,-0.712,-1.413, RAW= 359.0,  61.7, CAL= 355.8,  62.8, ROT= 154.2, -62.8

2025-06-08T00:10:52.339Z,1749341452.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:52.340Z,1749341452.340 [DAT](INFO): direction in FSK: [-0.411534,0.198943,0.889416]
2025-06-08T00:10:52.340Z,1749341452.340 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:52.344Z,1749341452.344 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:52.344Z,1749341452.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:52.581Z,1749341452.581 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:52.581Z,1749341452.581 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:52.582Z,1749341452.582 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:52.833Z,1749341452.833 [DAT](INFO): DAT read: Rx Time:00:10:52.1170 

2025-06-08T00:10:52.833Z,1749341452.833 [DAT](INFO): Rx dataTimestamp_ set to:1749341452.832890
2025-06-08T00:10:52.834Z,1749341452.834 [DAT](INFO): DAT read: Bearing 145.9, -63.1 (Local)

2025-06-08T00:10:52.835Z,1749341452.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -63.1 (Local)

2025-06-08T00:10:52.837Z,1749341452.837 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:52.842Z,1749341452.842 [DAT](INFO): DAT read: 00:10:52.1170 LVL= 10224, 17969, 16082, 16947, AGC= 49, IDX= 508, 0.21, 3.121,-2.859, 2.792,-2.097, PHS=-0.977,-0.715,-1.398, RAW=   7.6,  61.4, CAL=   4.1,  63.1, ROT= 145.9, -63.1

2025-06-08T00:10:52.843Z,1749341452.843 [DAT](INFO): got valid direction response:
 00:10:52.1170 LVL= 10224, 17969, 16082, 16947, AGC= 49, IDX= 508, 0.21, 3.121,-2.859, 2.792,-2.097, PHS=-0.977,-0.715,-1.398, RAW=   7.6,  61.4, CAL=   4.1,  63.1, ROT= 145.9, -63.1

2025-06-08T00:10:52.853Z,1749341452.853 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:52.854Z,1749341452.854 [DAT](INFO): direction in FSK: [-0.374643,0.253653,0.891798]
2025-06-08T00:10:52.854Z,1749341452.854 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:52.858Z,1749341452.858 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:52.858Z,1749341452.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:53.084Z,1749341453.084 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:53.084Z,1749341453.084 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:53.084Z,1749341453.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:53.337Z,1749341453.337 [DAT](INFO): DAT read: Rx Time:00:10:52.6169 

2025-06-08T00:10:53.337Z,1749341453.337 [DAT](INFO): Rx dataTimestamp_ set to:1749341453.337093
2025-06-08T00:10:53.339Z,1749341453.339 [DAT](INFO): DAT read: Bearing 153.5, -61.3 (Local)

2025-06-08T00:10:53.339Z,1749341453.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -61.3 (Local)

2025-06-08T00:10:53.341Z,1749341453.341 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:53.350Z,1749341453.350 [DAT](INFO): DAT read: 00:10:52.6169 LVL=  9184, 16369, 13810, 16739, AGC= 49, IDX= 507, 0.30, 1.793, 2.204, 1.514, 2.933, PHS=-1.052,-0.681,-1.422, RAW= 360.0,  60.1, CAL= 356.5,  61.3, ROT= 153.5, -61.3

2025-06-08T00:10:53.355Z,1749341453.355 [DAT](INFO): got valid direction response:
 00:10:52.6169 LVL=  9184, 16369, 13810, 16739, AGC= 49, IDX= 507, 0.30, 1.793, 2.204, 1.514, 2.933, PHS=-1.052,-0.681,-1.422, RAW= 360.0,  60.1, CAL= 356.5,  61.3, ROT= 153.5, -61.3

2025-06-08T00:10:53.356Z,1749341453.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:53.357Z,1749341453.357 [DAT](INFO): direction in FSK: [-0.429769,0.214275,0.877146]
2025-06-08T00:10:53.357Z,1749341453.357 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:53.362Z,1749341453.362 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:53.362Z,1749341453.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:53.588Z,1749341453.588 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:53.588Z,1749341453.588 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:53.588Z,1749341453.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:53.842Z,1749341453.842 [DAT](INFO): DAT read: Rx Time:00:10:53.1171 

2025-06-08T00:10:53.842Z,1749341453.842 [DAT](INFO): Rx dataTimestamp_ set to:1749341453.842176
2025-06-08T00:10:53.844Z,1749341453.844 [DAT](INFO): DAT read: Bearing 148.3, -61.3 (Local)

2025-06-08T00:10:53.844Z,1749341453.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.3, -61.3 (Local)

2025-06-08T00:10:53.846Z,1749341453.846 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:53.852Z,1749341453.852 [DAT](INFO): DAT read: 00:10:53.1171 LVL=  9536, 16545, 14642, 16179, AGC= 49, IDX= 508, 0.34, 2.940,-2.998, 2.606,-2.274, PHS=-0.981,-0.677,-1.407, RAW=   5.5,  59.6, CAL=   1.7,  61.3, ROT= 148.3, -61.3

2025-06-08T00:10:53.853Z,1749341453.853 [DAT](INFO): got valid direction response:
 00:10:53.1171 LVL=  9536, 16545, 14642, 16179, AGC= 49, IDX= 508, 0.34, 2.940,-2.998, 2.606,-2.274, PHS=-0.981,-0.677,-1.407, RAW=   5.5,  59.6, CAL=   1.7,  61.3, ROT= 148.3, -61.3

2025-06-08T00:10:53.853Z,1749341453.853 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:53.854Z,1749341453.854 [DAT](INFO): direction in FSK: [-0.408580,0.252344,0.877146]
2025-06-08T00:10:53.854Z,1749341453.854 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:53.869Z,1749341453.869 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:53.869Z,1749341453.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:54.092Z,1749341454.092 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:54.092Z,1749341454.092 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:54.092Z,1749341454.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:54.345Z,1749341454.345 [DAT](INFO): DAT read: Rx Time:00:10:53.6170 

2025-06-08T00:10:54.345Z,1749341454.345 [DAT](INFO): Rx dataTimestamp_ set to:1749341454.344909
2025-06-08T00:10:54.346Z,1749341454.346 [DAT](INFO): DAT read: Bearing 147.6, -59.9 (Local)

2025-06-08T00:10:54.347Z,1749341454.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.6, -59.9 (Local)

2025-06-08T00:10:54.349Z,1749341454.349 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:54.354Z,1749341454.354 [DAT](INFO): DAT read: 00:10:53.6170 LVL= 10320, 14897, 13394, 15811, AGC= 49, IDX= 507, 0.40, 1.618, 1.967, 1.254, 2.663, PHS=-0.958,-0.650,-1.413, RAW=   6.3,  58.1, CAL=   2.4,  59.9, ROT= 147.6, -59.9

2025-06-08T00:10:54.355Z,1749341454.355 [DAT](INFO): got valid direction response:
 00:10:53.6170 LVL= 10320, 14897, 13394, 15811, AGC= 49, IDX= 507, 0.40, 1.618, 1.967, 1.254, 2.663, PHS=-0.958,-0.650,-1.413, RAW=   6.3,  58.1, CAL=   2.4,  59.9, ROT= 147.6, -59.9

2025-06-08T00:10:54.355Z,1749341454.355 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:54.356Z,1749341454.356 [DAT](INFO): direction in FSK: [-0.423440,0.268723,0.865151]
2025-06-08T00:10:54.357Z,1749341454.357 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:54.360Z,1749341454.360 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:54.360Z,1749341454.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:54.596Z,1749341454.596 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:54.597Z,1749341454.597 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:54.597Z,1749341454.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:54.849Z,1749341454.849 [DAT](INFO): DAT read: Rx Time:00:10:54.1171 

2025-06-08T00:10:54.849Z,1749341454.849 [DAT](INFO): Rx dataTimestamp_ set to:1749341454.848902
2025-06-08T00:10:54.850Z,1749341454.850 [DAT](INFO): DAT read: Bearing 146.8, -59.1 (Local)

2025-06-08T00:10:54.851Z,1749341454.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.8, -59.1 (Local)

2025-06-08T00:10:54.853Z,1749341454.853 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:54.858Z,1749341454.858 [DAT](INFO): DAT read: 00:10:54.1171 LVL=  9760, 14449, 13810, 15699, AGC= 49, IDX= 508, 0.49, 2.696, 3.038, 2.315,-2.568, PHS=-0.931,-0.630,-1.403, RAW=   7.2,  57.2, CAL=   3.2,  59.1, ROT= 146.8, -59.1

2025-06-08T00:10:54.859Z,1749341454.859 [DAT](INFO): got valid direction response:
 00:10:54.1171 LVL=  9760, 14449, 13810, 15699, AGC= 49, IDX= 508, 0.49, 2.696, 3.038, 2.315,-2.568, PHS=-0.931,-0.630,-1.403, RAW=   7.2,  57.2, CAL=   3.2,  59.1, ROT= 146.8, -59.1

2025-06-08T00:10:54.859Z,1749341454.859 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:54.860Z,1749341454.860 [DAT](INFO): direction in FSK: [-0.429713,0.281196,0.858065]
2025-06-08T00:10:54.860Z,1749341454.860 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:54.864Z,1749341454.864 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:54.864Z,1749341454.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:55.100Z,1749341455.100 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:55.101Z,1749341455.101 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:55.101Z,1749341455.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:55.353Z,1749341455.353 [DAT](INFO): DAT read: Rx Time:00:10:54.6170 

2025-06-08T00:10:55.353Z,1749341455.353 [DAT](INFO): Rx dataTimestamp_ set to:1749341455.352872
2025-06-08T00:10:55.354Z,1749341455.354 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:55.355Z,1749341455.355 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:55.356Z,1749341455.356 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:55.356Z,1749341455.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:55.604Z,1749341455.604 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:55.604Z,1749341455.604 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:55.604Z,1749341455.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:55.857Z,1749341455.857 [DAT](INFO): DAT read: Rx Time:00:10:55.1171 

2025-06-08T00:10:55.858Z,1749341455.858 [DAT](INFO): Rx dataTimestamp_ set to:1749341455.857064
2025-06-08T00:10:55.859Z,1749341455.859 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:55.860Z,1749341455.860 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:55.861Z,1749341455.861 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:55.862Z,1749341455.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:56.108Z,1749341456.108 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:56.108Z,1749341456.108 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:56.109Z,1749341456.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:56.360Z,1749341456.360 [DAT](INFO): DAT read: Rx Time:00:10:55.6170 

2025-06-08T00:10:56.361Z,1749341456.361 [DAT](INFO): Rx dataTimestamp_ set to:1749341456.360500
2025-06-08T00:10:56.362Z,1749341456.362 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:56.363Z,1749341456.363 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:56.363Z,1749341456.363 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:56.364Z,1749341456.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:56.612Z,1749341456.612 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:56.613Z,1749341456.613 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:56.613Z,1749341456.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:56.865Z,1749341456.865 [DAT](INFO): DAT read: Rx Time:00:10:56.1170 

2025-06-08T00:10:56.865Z,1749341456.865 [DAT](INFO): Rx dataTimestamp_ set to:1749341456.864916
2025-06-08T00:10:56.866Z,1749341456.866 [DAT](INFO): DAT read: Bearing 114.4, -45.9 (Local)

2025-06-08T00:10:56.867Z,1749341456.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing 114.4, -45.9 (Local)

2025-06-08T00:10:56.869Z,1749341456.869 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:56.874Z,1749341456.874 [DAT](INFO): DAT read: 00:10:56.1170 LVL= 10672, 15505, 14738, 14707, AGC= 48, IDX= 508,-0.25, 0.471, 0.336,-0.439, 0.907, PHS=-0.348,-0.524,-1.349, RAW=  39.4,  40.3, CAL=  35.6,  45.9, ROT= 114.4, -45.9

2025-06-08T00:10:56.875Z,1749341456.875 [DAT](INFO): got valid direction response:
 00:10:56.1170 LVL= 10672, 15505, 14738, 14707, AGC= 48, IDX= 508,-0.25, 0.471, 0.336,-0.439, 0.907, PHS=-0.348,-0.524,-1.349, RAW=  39.4,  40.3, CAL=  35.6,  45.9, ROT= 114.4, -45.9

2025-06-08T00:10:56.875Z,1749341456.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:56.876Z,1749341456.876 [DAT](INFO): direction in FSK: [-0.287485,0.633756,0.718126]
2025-06-08T00:10:56.876Z,1749341456.876 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:56.880Z,1749341456.880 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:56.880Z,1749341456.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:57.116Z,1749341457.116 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:57.116Z,1749341457.116 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:57.117Z,1749341457.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:57.368Z,1749341457.368 [DAT](INFO): DAT read: Rx Time:00:10:56.6169 

2025-06-08T00:10:57.369Z,1749341457.369 [DAT](INFO): Rx dataTimestamp_ set to:1749341457.368593
2025-06-08T00:10:57.370Z,1749341457.370 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:57.371Z,1749341457.371 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:57.371Z,1749341457.371 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:57.372Z,1749341457.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:57.620Z,1749341457.620 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:57.620Z,1749341457.620 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:57.620Z,1749341457.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:57.872Z,1749341457.872 [DAT](INFO): DAT read: Rx Time:00:10:57.1170 

2025-06-08T00:10:57.873Z,1749341457.873 [DAT](INFO): Rx dataTimestamp_ set to:1749341457.872602
2025-06-08T00:10:57.874Z,1749341457.874 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:57.875Z,1749341457.875 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:57.876Z,1749341457.876 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:57.877Z,1749341457.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:58.124Z,1749341458.124 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:58.124Z,1749341458.124 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:58.124Z,1749341458.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:58.376Z,1749341458.376 [DAT](INFO): DAT read: Rx Time:00:10:57.6169 

2025-06-08T00:10:58.377Z,1749341458.377 [DAT](INFO): Rx dataTimestamp_ set to:1749341458.376526
2025-06-08T00:10:58.378Z,1749341458.378 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:10:58.379Z,1749341458.379 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:58.379Z,1749341458.379 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:58.380Z,1749341458.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:58.628Z,1749341458.628 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:58.629Z,1749341458.629 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:58.630Z,1749341458.630 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:58.880Z,1749341458.880 [DAT](INFO): DAT read: Rx Time:00:1:8171 

2025-06-08T00:10:58.881Z,1749341458.881 [DAT](INFO): Rx dataTimestamp_ set to:1749341458.880409
2025-06-08T00:10:58.882Z,1749341458.882 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:10:58.882Z,1749341458.882 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:10:58.883Z,1749341458.883 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:58.884Z,1749341458.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:59.133Z,1749341459.133 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:59.134Z,1749341459.134 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:59.135Z,1749341459.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:59.385Z,1749341459.385 [DAT](INFO): DAT read: Rx Time:00:10:58.6170 

2025-06-08T00:10:59.385Z,1749341459.385 [DAT](INFO): Rx dataTimestamp_ set to:1749341459.385063
2025-06-08T00:10:59.386Z,1749341459.386 [DAT](INFO): DAT read: Bearing 1495,-85 (Local)

2025-06-08T00:10:59.387Z,1749341459.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing 1495,-85 (Local)

2025-06-08T00:10:59.389Z,1749341459.389 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:10:59.394Z,1749341459.394 [DAT](INFO): DAT read: 00:10:58.6170 LVL= 10064, 14289, 13874, 16883, AGC= 49, IDX= 508, 0.01, 1.204, 1.585, 0.844, 2.246, PHS=-0.954,-0.614,-1.405, RAW=   4.6,  56.8, CAL=   0.5,  58.5, ROT= 149.5, -58.5

2025-06-08T00:10:59.396Z,1749341459.396 [DAT](INFO): got valid direction response:
 00:10:58.6170 LVL= 10064, 14289, 13874, 16883, AGC= 49, IDX= 508, 0.01, 1.204, 1.585, 0.844, 2.246, PHS=-0.954,-0.614,-1.405, RAW=   4.6,  56.8, CAL=   0.5,  58.5, ROT= 149.5, -58.5

2025-06-08T00:10:59.396Z,1749341459.396 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:59.397Z,1749341459.397 [DAT](INFO): direction in FSK: [-0.450200,0.265188,0.852640]
2025-06-08T00:10:59.397Z,1749341459.397 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:59.408Z,1749341459.408 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:59.409Z,1749341459.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:59.638Z,1749341459.638 [DAT](INFO): DAT read: Rx Time:00:10:59.1170 

2025-06-08T00:10:59.643Z,1749341459.643 [DAT](INFO): Rx dataTimestamp_ set to:1749341459.642215
2025-06-08T00:10:59.645Z,1749341459.645 [DAT](INFO): DAT read: Bearing 150.0, -59.2 (Local)

2025-06-08T00:10:59.646Z,1749341459.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.0, -59.2 (Local)

2025-06-08T00:10:59.647Z,1749341459.647 [DAT](INFO): Reached modem response timeout
2025-06-08T00:10:59.648Z,1749341459.648 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:59.648Z,1749341459.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:10:59.890Z,1749341459.890 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed0.0

2025-06-08T00:10:59.896Z,1749341459.896 [DAT](INFO): DAT read: 00:10:59.1170 LVL=  9488, 15345, 14418, 17107, AGC= 49, IDX= 508, 0.06, 1.245, 1.629, 0.901, 2.305, PHS=-0.972,-0.629,-1.406, RAW=   3.9,  57.6, CAL= 360.0,  59.2, ROT= 150.0, -59.2

2025-06-08T00:10:59.897Z,1749341459.897 [DAT](INFO): got valid direction response:
 00:10:59.1170 LVL=  9488, 15345, 14418, 17107, AGC= 49, IDX= 508, 0.06, 1.245, 1.629, 0.901, 2.305, PHS=-0.972,-0.629,-1.406, RAW=   3.9,  57.6, CAL= 360.0,  59.2, ROT= 150.0, -59.2

2025-06-08T00:10:59.898Z,1749341459.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:10:59.899Z,1749341459.899 [DAT](INFO): direction in FSK: [-0.443442,0.256021,0.858960]
2025-06-08T00:10:59.900Z,1749341459.900 [DAT](INFO): publishing direction and range info
2025-06-08T00:10:59.913Z,1749341459.913 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:10:59.914Z,1749341459.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:00.142Z,1749341460.142 [DAT](INFO): DAT read: Rx Time:00:10:59.6169 

2025-06-08T00:11:00.144Z,1749341460.144 [DAT](INFO): Rx dataTimestamp_ set to:1749341460.143304
2025-06-08T00:11:00.146Z,1749341460.146 [DAT](INFO): DAT read: Bearing 153.4, -60.5 (Local)

2025-06-08T00:11:00.148Z,1749341460.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -60.5 (Local)

2025-06-08T00:11:00.148Z,1749341460.148 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:00.149Z,1749341460.149 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:00.150Z,1749341460.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:00.394Z,1749341460.394 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed .0

2025-06-08T00:11:00.398Z,1749341460.398 [DAT](INFO): DAT read: 010:59.6169 LVL=  9280, 14577, 14754, 16979, AGC= 49, IDX= 507, 0.13, 0.067, 0.484,-0.222, 1.189, PHS=-1.034,-0.659,-1.414, RAW=   0.2,  59.2, CAL= 356.6,  60.5, ROT= 153.4, -60.5

2025-06-08T00:11:00.399Z,1749341460.399 [DAT](INFO): unknown deviceResponse_: 010:59.6169 LVL=  9280, 14577, 14754, 16979, AGC= 49, IDX= 507, 0.13, 0.067, 0.484,-0.222, 1.189, PHS=-1.034,-0.659,-1.414, RAW=   0.2,  59.2, CAL= 356.6,  60.5, ROT= 153.4, -60.5

2025-06-08T00:11:00.399Z,1749341460.399 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:00.400Z,1749341460.400 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:00.400Z,1749341460.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:00.648Z,1749341460.648 [DAT](INFO): DAT read: Rx Time:00:11:00.1171 

2025-06-08T00:11:00.649Z,1749341460.649 [DAT](INFO): Rx dataTimestamp_ set to:1749341460.648228
2025-06-08T00:11:00.652Z,1749341460.652 [DAT](INFO): DAT read: Bearing 159.8, -61.2 (Local)

2025-06-08T00:11:00.653Z,1749341460.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.8, -61.2 (Local)

2025-06-08T00:11:00.657Z,1749341460.657 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:00.668Z,1749341460.668 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:00.670Z,1749341460.670 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:00.671Z,1749341460.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:00.906Z,1749341460.906 [DAT](INFO): DAT read: 00:11:00.1171 LVL= 10048, 15441, 15314, 18867, AGC= 50, IDX= 508, 0.17, 1.745, 2.238, 1.537, 2.76 PS=-1.142,-0.691,-1.441, RAW= 353.3,  60.5, CAL= 350.2,  61.2, ROT= 159.8, -61.2

2025-06-08T00:11:00.907Z,1749341460.907 [DAT](INFO): unknown deviceResponse_: 00:11:00.1171 LVL= 10048, 15441, 15314, 18867, AGC= 50, IDX= 508, 0.17, 1.745, 2.238, 1.537, 2.76 PS=-1.142,-0.691,-1.441, RAW= 353.3,  60.5, CAL= 350.2,  61.2, ROT= 159.8, -61.2

2025-06-08T00:11:00.907Z,1749341460.907 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:00.907Z,1749341460.907 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:00.907Z,1749341460.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:01.151Z,1749341461.151 [DAT](INFO): DAT read: Rx Time:00:11:00.6170 

2025-06-08T00:11:01.152Z,1749341461.152 [DAT](INFO): Rx dataTimestamp_ set to:1749341461.151437
2025-06-08T00:11:01.155Z,1749341461.155 [DAT](INFO): DAT read: Bearing 154.8, -62.0 (Local)

2025-06-08T00:11:01.156Z,1749341461.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.8, -62.0 (Local)

2025-06-08T00:11:01.162Z,1749341461.162 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:01.164Z,1749341461.164 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:01.166Z,1749341461.166 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:01.167Z,1749341461.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:01.404Z,1749341461.404 [DAT](INFO): DAT read: 00:11:00.6170 LVL=  8880, 15457, 14834, 17219, AGC= 49, IDX= 507, 0.21, 0.42, 0.852, 0.176, 1.597, PHS=-1.077,-0.698,-1.424, RAW= 358.5,  60.9, CAL= 355.2,  62.0, ROT= 154.8, -62.0

2025-06-08T00:11:01.405Z,1749341461.405 [DAT](INFO): got valid direction response:
 00:11:00.6170 LVL=  8880, 15457, 14834, 17219, AGC= 49, IDX= 507, 0.21, 0.42, 0.852, 0.176, 1.597, PHS=-1.077,-0.698,-1.424, RAW= 358.5,  60.9, CAL= 355.2,  62.0, ROT= 154.8, -62.0

2025-06-08T00:11:01.405Z,1749341461.405 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:11:01.406Z,1749341461.406 [DAT](INFO): direction in FSK: [-0.424791,0.199891,0.882948]
2025-06-08T00:11:01.414Z,1749341461.414 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:01.414Z,1749341461.414 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:01.414Z,1749341461.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:01.655Z,1749341461.655 [DAT](INFO): DAT read: Rx Time:00:11:01.1172 

2025-06-08T00:11:01.659Z,1749341461.659 [DAT](INFO): Rx dataTimestamp_ set to:1749341461.657731
2025-06-08T00:11:01.664Z,1749341461.664 [DAT](INFO): DAT read: Bearing 153.1, -62.2 (Local)

2025-06-08T00:11:01.665Z,1749341461.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1, -62.2 (Local)

2025-06-08T00:11:01.696Z,1749341461.696 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-06-08T00:11:01.702Z,1749341461.702 [DAT](INFO): DAT read: 00:11:01.1172 LVL=  8640, 15841, 14674, 17987, AGC= 49, IDX= 508, 0.26, 1.467, 1.862, 1.197, 2.606, PHS=-1.052,-0.698,-1.413, RAW=   0.4,  61.0, CAL= 356.9,  62.2, ROT= 153.1, -62.2

2025-06-08T00:11:01.724Z,1749341461.724 [DAT](INFO): got valid direction response:
 00:11:01.1172 LVL=  8640, 15841, 14674, 17987, AGC= 49, IDX= 508, 0.26, 1.467, 1.862, 1.197, 2.606, PHS=-1.052,-0.698,-1.413, RAW=   0.4,  61.0, CAL= 356.9,  62.2, ROT= 153.1, -62.2

2025-06-08T00:11:01.724Z,1749341461.724 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:01.726Z,1749341461.726 [DAT](INFO): direction in FSK: [-0.415922,0.211010,0.884581]
2025-06-08T00:11:01.726Z,1749341461.726 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:01.742Z,1749341461.742 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:01.742Z,1749341461.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:01.904Z,1749341461.904 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:01.904Z,1749341461.904 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:01.904Z,1749341461.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:02.160Z,1749341462.160 [DAT](INFO): DAT read: Rx Time:00:11:01.6171 

2025-06-08T00:11:02.161Z,1749341462.161 [DAT](INFO): Rx dataTimestamp_ set to:1749341462.160607
2025-06-08T00:11:02.164Z,1749341462.164 [DAT](INFO): DAT read: Bearing 147.9, -64.4 (Local)

2025-06-08T00:11:02.165Z,1749341462.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.9, -64.4 (Local)

2025-06-08T00:11:02.169Z,1749341462.169 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:02.172Z,1749341462.172 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:02.174Z,1749341462.174 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:02.175Z,1749341462.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:02.412Z,1749341462.412 [DAT](INFO): DAT read: 00:11:01.6171 LVL=  9712, 16241, 15906, 17347, AGC= 49, IDX= 507, 0.30, 0.971, 1.288, 0.677, 2.083, PHS=-1.024,-078-1409, RAW=   5.4,  62.9, CAL=   2.1,  64.4, ROT= 147.9, -64.4

2025-06-08T00:11:02.413Z,1749341462.413 [DAT](INFO): unknown deviceResponse_: 00:11:01.6171 LVL=  9712, 16241, 15906, 17347, AGC= 49, IDX= 507, 0.30, 0.971, 1.288, 0.677, 2.083, PHS=-1.024,-078-1409, RAW=   5.4,  62.9, CAL=   2.1,  64.4, ROT= 147.9, -64.4

2025-06-08T00:11:02.414Z,1749341462.414 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:02.414Z,1749341462.414 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:02.414Z,1749341462.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:02.663Z,1749341462.663 [DAT](INFO): DAT read: Rx Time:00:11:02.1171 

2025-06-08T00:11:02.665Z,1749341462.665 [DAT](INFO): Rx dataTimestamp_ set to:1749341462.663987
2025-06-08T00:11:02.668Z,1749341462.668 [DAT](INFO): DAT read: Bearing 153.7, -63.2 (Local)

2025-06-08T00:11:02.669Z,1749341462.669 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7, -63.2 (Local)

2025-06-08T00:11:02.674Z,1749341462.674 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:02.680Z,1749341462.680 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:02.682Z,1749341462.682 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:02.683Z,1749341462.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:02.926Z,1749341462.926 [DAT](INFO): DAT read: 00:11:02.1171 LVL=  8688, 15329, 14930, 18307, AGC= 49, IDX= 507, 0.37, 0.695, 1.091, 0.441, 1.863, PHS=-1.080,-0.726,-1.425, RAW= 359.5,  62.1, CAL= 353, 63.2, ROT= 153.7, -63.2

2025-06-08T00:11:02.929Z,1749341462.929 [DAT](INFO): got valid direction response:
 00:11:02.1171 LVL=  8688, 15329, 14930, 18307, AGC= 49, IDX= 507, 0.37, 0.695, 1.091, 0.441, 1.863, PHS=-1.080,-0.726,-1.425, RAW= 359.5,  62.1, CAL= 353, 63.2, ROT= 153.7, -63.2

2025-06-08T00:11:02.931Z,1749341462.931 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:11:02.934Z,1749341462.934 [DAT](INFO): direction in FSK: [-0.404206,0.199771,0.892586]
2025-06-08T00:11:02.938Z,1749341462.938 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:02.938Z,1749341462.938 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:02.939Z,1749341462.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:03.167Z,1749341463.167 [DAT](INFO): DAT read: Rx Time:00:11:02.6170 

2025-06-08T00:11:03.169Z,1749341463.169 [DAT](INFO): Rx dataTimestamp_ set to:1749341463.167781
2025-06-08T00:11:03.176Z,1749341463.176 [DAT](INFO): DAT read: Bearing 149.1, -61.2 (Local)

2025-06-08T00:11:03.177Z,1749341463.177 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.1, -61.2 (Local)

2025-06-08T00:11:03.182Z,1749341463.182 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:03.184Z,1749341463.184 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:03.186Z,1749341463.186 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:03.215Z,1749341463.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:03.420Z,1749341463.420 [DAT](INFO): DAT read: 00:11:02.6170 LVL=  9104, 14209, 14770, 17651, AGC= 49, IDX= 506, 0.46,-1.167,-0.814,-1.492,-0.097, PHS=-0.982,-0.669,-1.397, RAW=   4.7,  59.6, CAL=   0.9,  61.2, ROT= 149.1, -61.2

2025-06-08T00:11:03.421Z,1749341463.421 [DAT](INFO): got valid direction response:
 00:11:02.6170 LVL=  9104, 14209, 14770, 17651, AGC= 49, IDX= 506, 0.46,-1.167,-0.814,-1.492,-0.097, PHS=-0.982,-0.669,-1.397, RAW=   4.7,  59.6, CAL=   0.9,  61.2, ROT= 149.1, -61.2

2025-06-08T00:11:03.421Z,1749341463.421 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:11:03.422Z,1749341463.422 [DAT](INFO): direction in FSK: [-0.413376,0.247400,0.876307]
2025-06-08T00:11:03.429Z,1749341463.429 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:03.430Z,1749341463.430 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:03.430Z,1749341463.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:03.669Z,1749341463.669 [DAT](INFO): DAT read: Rx Time:00:11:03.1171 

2025-06-08T00:11:03.669Z,1749341463.669 [DAT](INFO): Rx dataTimestamp_ set to:1749341463.668810
2025-06-08T00:11:03.670Z,1749341463.670 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:03.671Z,1749341463.671 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:03.672Z,1749341463.672 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:03.672Z,1749341463.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:03.922Z,1749341463.922 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:03.922Z,1749341463.922 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:03.925Z,1749341463.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:04.176Z,1749341464.176 [DAT](INFO): DAT read: Rx Time:00:11:03.6170 

2025-06-08T00:11:04.177Z,1749341464.177 [DAT](INFO): Rx dataTimestamp_ set to:1749341464.176115
2025-06-08T00:11:04.180Z,1749341464.180 [DAT](INFO): DAT read: Bearing 145.5, -55.1 (Local)

2025-06-08T00:11:04.181Z,1749341464.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.5, -55.1 (Local)

2025-06-08T00:11:04.186Z,1749341464.186 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:04.189Z,1749341464.189 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:04.190Z,1749341464.190 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:04.190Z,1749341464.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:04.428Z,1749341464.428 [DAT](INFO): DAT read: 00:11:03.6170 LVL=  9120, 13361, 13586, 16659, AGC= 49, IDX= 507,-0.37,-2.473,-2.127,-2.919,-1.543, PHS=-0.842,-0.537,-1.380, RAW=   9.0,  52.9, CAL=   4.5,  55.1, ROT= 145.5, -55.1

2025-06-08T00:11:04.429Z,1749341464.429 [DAT](INFO): got valid direction response:
 00:11:03.6170 LVL=  9120, 13361, 13586, 16659, AGC= 49, IDX= 507,-0.37,-2.473,-2.127,-2.919,-1.543, PHS=-0.842,-0.537,-1.380, RAW=   9.0,  52.9, CAL=   4.5,  55.1, ROT= 145.5, -55.1

2025-06-08T00:11:04.430Z,1749341464.430 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-08T00:11:04.431Z,1749341464.431 [DAT](INFO): direction in FSK: [-0.471520,0.324067,0.820152]
2025-06-08T00:11:04.434Z,1749341464.434 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:04.434Z,1749341464.434 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:04.434Z,1749341464.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:04.676Z,1749341464.676 [DAT](INFO): DAT read: Rx Time:00:11:04.1171 

2025-06-08T00:11:04.677Z,1749341464.677 [DAT](INFO): Rx dataTimestamp_ set to:1749341464.676642
2025-06-08T00:11:04.678Z,1749341464.678 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:04.679Z,1749341464.679 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:04.679Z,1749341464.679 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:04.680Z,1749341464.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:04.929Z,1749341464.929 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:04.930Z,1749341464.930 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:04.930Z,1749341464.930 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:05.180Z,1749341465.180 [DAT](INFO): DAT read: Rx Time:00:11:04.6170 

2025-06-08T00:11:05.181Z,1749341465.181 [DAT](INFO): Rx dataTimestamp_ set to:1749341465.180527
2025-06-08T00:11:05.182Z,1749341465.182 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:05.183Z,1749341465.183 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:05.183Z,1749341465.183 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:05.184Z,1749341465.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:05.432Z,1749341465.432 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:05.432Z,1749341465.432 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:05.432Z,1749341465.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:05.688Z,1749341465.688 [DAT](INFO): DAT read: Rx Time:00:11:05.1171 

2025-06-08T00:11:05.689Z,1749341465.689 [DAT](INFO): Rx dataTimestamp_ set to:1749341465.688444
2025-06-08T00:11:05.691Z,1749341465.691 [DAT](INFO): DAT read: Bearing 103.2, -35.5 (Local)

2025-06-08T00:11:05.691Z,1749341465.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.2, -35.5 (Local)

2025-06-08T00:11:05.693Z,1749341465.693 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:05.698Z,1749341465.698 [DAT](INFO): DAT read: 00:11:05.1171 LVL=  8144, 12865, 13362, 13523, AGC= 47, IDX= 508,-0.18,-0.571,-1.006,-1.831,-0.487, PHS= 0.005,-0.472,-1.347, RAW=  50.3,  28.4, CAL=  46.8,  35.5, ROT= 103.2, -35.5

2025-06-08T00:11:05.700Z,1749341465.700 [DAT](INFO): got valid direction response:
 00:11:05.1171 LVL=  8144, 12865, 13362, 13523, AGC= 47, IDX= 508,-0.18,-0.571,-1.006,-1.831,-0.487, PHS= 0.005,-0.472,-1.347, RAW=  50.3,  28.4, CAL=  46.8,  35.5, ROT= 103.2, -35.5

2025-06-08T00:11:05.700Z,1749341465.700 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:05.701Z,1749341465.701 [DAT](INFO): direction in FSK: [-0.185904,0.792606,0.580703]
2025-06-08T00:11:05.701Z,1749341465.701 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:05.705Z,1749341465.705 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:05.705Z,1749341465.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:05.937Z,1749341465.937 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:05.938Z,1749341465.938 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:05.940Z,1749341465.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:06.188Z,1749341466.188 [DAT](INFO): DAT read: Rx Time:00:11:05.6170 

2025-06-08T00:11:06.189Z,1749341466.189 [DAT](INFO): Rx dataTimestamp_ set to:1749341466.188547
2025-06-08T00:11:06.190Z,1749341466.190 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:06.191Z,1749341466.191 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:06.191Z,1749341466.191 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:06.192Z,1749341466.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:06.440Z,1749341466.440 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:06.440Z,1749341466.440 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:06.440Z,1749341466.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:06.693Z,1749341466.693 [DAT](INFO): DAT read: Rx Time:00:11:06.1170 

2025-06-08T00:11:06.693Z,1749341466.693 [DAT](INFO): Rx dataTimestamp_ set to:1749341466.693018
2025-06-08T00:11:06.695Z,1749341466.695 [DAT](INFO): DAT read: Bearing 172.9, -52.7 (Local)

2025-06-08T00:11:06.695Z,1749341466.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.9, -52.7 (Local)

2025-06-08T00:11:06.697Z,1749341466.697 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:06.702Z,1749341466.702 [DAT](INFO): DAT read: 00:11:06.1170 LVL= 10288, 14385, 13922, 15091, AGC= 48, IDX= 507,-0.09,-2.376,-1.578,-2.412,-1.050, PHS=-1.238,-0.481,-1.365, RAW= 337.6,  52.8, CAL= 337.1,  52.7, ROT= 172.9, -52.7

2025-06-08T00:11:06.704Z,1749341466.704 [DAT](INFO): got valid direction response:
 00:11:06.1170 LVL= 10288, 14385, 13922, 15091, AGC= 48, IDX= 507,-0.09,-2.376,-1.578,-2.412,-1.050, PHS=-1.238,-0.481,-1.365, RAW= 337.6,  52.8, CAL= 337.1,  52.7, ROT= 172.9, -52.7

2025-06-08T00:11:06.704Z,1749341466.704 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:06.705Z,1749341466.705 [DAT](INFO): direction in FSK: [-0.601342,0.074901,0.795473]
2025-06-08T00:11:06.705Z,1749341466.705 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:06.713Z,1749341466.713 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:06.713Z,1749341466.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:06.946Z,1749341466.946 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:06.947Z,1749341466.947 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:06.948Z,1749341466.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:07.197Z,1749341467.197 [DAT](INFO): DAT read: Rx Time:00:11:06.6169 

2025-06-08T00:11:07.197Z,1749341467.197 [DAT](INFO): Rx dataTimestamp_ set to:1749341467.196957
2025-06-08T00:11:07.199Z,1749341467.199 [DAT](INFO): DAT read: Bearing 197.4, -44.8 (Local)

2025-06-08T00:11:07.199Z,1749341467.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.4, -44.8 (Local)

2025-06-08T00:11:07.201Z,1749341467.201 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:11:07.206Z,1749341467.206 [DAT](INFO): DAT read: 00:11:06.6169 LVL=  9936, 14481, 14450, 15859, AGC= 48, IDX= 506,-0.04, 1.744,-2.940, 2.486,-2.445, PHS=-2.006,-0.448,-1.355, RAW= 305.4,  44.8, CAL= 312.6,  44.8, ROT= 197.4, -44.8

2025-06-08T00:11:07.208Z,1749341467.208 [DAT](INFO): got valid direction response:
 00:11:06.6169 LVL=  9936, 14481, 14450, 15859, AGC= 48, IDX= 506,-0.04, 1.744,-2.940, 2.486,-2.445, PHS=-2.006,-0.448,-1.355, RAW= 305.4,  44.8, CAL= 312.6,  44.8, ROT= 197.4, -44.8

2025-06-08T00:11:07.208Z,1749341467.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:07.209Z,1749341467.209 [DAT](INFO): direction in FSK: [-0.677101,-0.212191,0.704634]
2025-06-08T00:11:07.209Z,1749341467.209 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:07.217Z,1749341467.217 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:07.218Z,1749341467.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:07.448Z,1749341467.448 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:07.448Z,1749341467.448 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:07.448Z,1749341467.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:07.701Z,1749341467.701 [DAT](INFO): DAT read: Rx Time:00:11:07.1170 

2025-06-08T00:11:07.701Z,1749341467.701 [DAT](INFO): Rx dataTimestamp_ set to:1749341467.700960
2025-06-08T00:11:07.703Z,1749341467.703 [DAT](INFO): DAT read: Bearing 156.6, -53.6 (Local)

2025-06-08T00:11:07.703Z,1749341467.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.6, -53.6 (Local)

2025-06-08T00:11:07.705Z,1749341467.705 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:07.710Z,1749341467.710 [DAT](INFO): DAT read: 00:11:07.1170 LVL=  9040, 14833, 14082, 13747, AGC= 47, IDX= 507,-0.01,-1.676,-1.166,-1.989,-0.638, PHS=-0.950,-0.481,-1.355, RAW= 357.6,  52.4, CAL= 353.4,  53.6, ROT= 156.6, -53.6

2025-06-08T00:11:07.711Z,1749341467.711 [DAT](INFO): got valid direction response:
 00:11:07.1170 LVL=  9040, 14833, 14082, 13747, AGC= 47, IDX= 507,-0.01,-1.676,-1.166,-1.989,-0.638, PHS=-0.950,-0.481,-1.355, RAW= 357.6,  52.4, CAL= 353.4,  53.6, ROT= 156.6, -53.6

2025-06-08T00:11:07.711Z,1749341467.711 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:07.712Z,1749341467.712 [DAT](INFO): direction in FSK: [-0.544613,0.235675,0.804894]
2025-06-08T00:11:07.712Z,1749341467.712 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:07.728Z,1749341467.728 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:07.728Z,1749341467.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:07.954Z,1749341467.954 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:07.956Z,1749341467.956 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:07.957Z,1749341467.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:08.205Z,1749341468.205 [DAT](INFO): DAT read: Rx Time:00:11:07.6169 

2025-06-08T00:11:08.206Z,1749341468.206 [DAT](INFO): Rx dataTimestamp_ set to:1749341468.205661
2025-06-08T00:11:08.208Z,1749341468.208 [DAT](INFO): DAT read: Bearing 163.8, -54.0 (Local)

2025-06-08T00:11:08.208Z,1749341468.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.8, -54.0 (Local)

2025-06-08T00:11:08.210Z,1749341468.210 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:11:08.215Z,1749341468.215 [DAT](INFO): DAT read: 00:11:07.6169 LVL=  8944, 14385, 13154, 14163, AGC= 47, IDX= 506, 0.01,-2.483,-1.858,-2.681,-1.316, PHS=-1.079,-0.495,-1.368, RAW= 349.0,  53.5, CAL= 346.2,  54.0, ROT= 163.8, -54.0

2025-06-08T00:11:08.216Z,1749341468.216 [DAT](INFO): got valid direction response:
 00:11:07.6169 LVL=  8944, 14385, 13154, 14163, AGC= 47, IDX= 506, 0.01,-2.483,-1.858,-2.681,-1.316, PHS=-1.079,-0.495,-1.368, RAW= 349.0,  53.5, CAL= 346.2,  54.0, ROT= 163.8, -54.0

2025-06-08T00:11:08.216Z,1749341468.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:08.217Z,1749341468.217 [DAT](INFO): direction in FSK: [-0.564446,0.163987,0.809017]
2025-06-08T00:11:08.218Z,1749341468.218 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:08.221Z,1749341468.221 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:08.221Z,1749341468.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:08.456Z,1749341468.456 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:08.456Z,1749341468.456 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:08.457Z,1749341468.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:08.709Z,1749341468.709 [DAT](INFO): DAT read: Rx Time:00:11:08.1171 

2025-06-08T00:11:08.709Z,1749341468.709 [DAT](INFO): Rx dataTimestamp_ set to:1749341468.708854
2025-06-08T00:11:08.710Z,1749341468.710 [DAT](INFO): DAT read: Bearing 169.3, -55.1 (Local)

2025-06-08T00:11:08.711Z,1749341468.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.3, -55.1 (Local)

2025-06-08T00:11:08.713Z,1749341468.713 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:08.718Z,1749341468.718 [DAT](INFO): DAT read: 00:11:08.1171 LVL=  9840, 13905, 13762, 14051, AGC= 47, IDX= 507, 0.06,-0.717,-0.013,-0.811, 0.571, PHS=-1.200,-0.537,-1.385, RAW= 342.0,  55.0, CAL= 340.7,  55.1, ROT= 169.3, -55.1

2025-06-08T00:11:08.719Z,1749341468.719 [DAT](INFO): got valid direction response:
 00:11:08.1171 LVL=  9840, 13905, 13762, 14051, AGC= 47, IDX= 507, 0.06,-0.717,-0.013,-0.811, 0.571, PHS=-1.200,-0.537,-1.385, RAW= 342.0,  55.0, CAL= 340.7,  55.1, ROT= 169.3, -55.1

2025-06-08T00:11:08.723Z,1749341468.723 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:08.724Z,1749341468.724 [DAT](INFO): direction in FSK: [-0.562198,0.106228,0.820152]
2025-06-08T00:11:08.724Z,1749341468.724 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:08.732Z,1749341468.732 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:08.732Z,1749341468.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:08.962Z,1749341468.962 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:08.963Z,1749341468.963 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:08.964Z,1749341468.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:09.213Z,1749341469.213 [DAT](INFO): DAT read: Rx Time:00:11:08.6170 

2025-06-08T00:11:09.213Z,1749341469.213 [DAT](INFO): Rx dataTimestamp_ set to:1749341469.213043
2025-06-08T00:11:09.215Z,1749341469.215 [DAT](INFO): DAT read: Bearing 162.1, -55.2 (Local)

2025-06-08T00:11:09.215Z,1749341469.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.1, -55.2 (Local)

2025-06-08T00:11:09.217Z,1749341469.217 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:09.222Z,1749341469.222 [DAT](INFO): DAT read: 00:11:08.6170 LVL=  8816, 14321, 13714, 14195, AGC= 47, IDX= 506, 0.10,-1.936,-1.352,-2.155,-0.778, PHS=-1.070,-0.527,-1.380, RAW= 351.0,  54.6, CAL= 347.9,  55.2, ROT= 162.1, -55.2

2025-06-08T00:11:09.223Z,1749341469.223 [DAT](INFO): got valid direction response:
 00:11:08.6170 LVL=  8816, 14321, 13714, 14195, AGC= 47, IDX= 506, 0.10,-1.936,-1.352,-2.155,-0.778, PHS=-1.070,-0.527,-1.380, RAW= 351.0,  54.6, CAL= 347.9,  55.2, ROT= 162.1, -55.2

2025-06-08T00:11:09.223Z,1749341469.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:09.224Z,1749341469.224 [DAT](INFO): direction in FSK: [-0.543088,0.175413,0.821149]
2025-06-08T00:11:09.225Z,1749341469.225 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:09.232Z,1749341469.232 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:09.232Z,1749341469.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:09.464Z,1749341469.464 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:09.464Z,1749341469.464 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:09.464Z,1749341469.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:09.717Z,1749341469.717 [DAT](INFO): DAT read: Rx Time:00:11:09.1171 

2025-06-08T00:11:09.717Z,1749341469.717 [DAT](INFO): Rx dataTimestamp_ set to:1749341469.717168
2025-06-08T00:11:09.719Z,1749341469.719 [DAT](INFO): DAT read: Bearing 180.7, -52.6 (Local)

2025-06-08T00:11:09.720Z,1749341469.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.7, -52.6 (Local)

2025-06-08T00:11:09.722Z,1749341469.722 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:09.727Z,1749341469.727 [DAT](INFO): DAT read: 00:11:09.1171 LVL=  9648, 14769, 14418, 16707, AGC= 48, IDX= 507, 0.16,-1.167,-0.215,-1.041, 0.355, PHS=-1.434,-0.523,-1.399, RAW= 328.1,  53.0, CAL= 329.3,  52.6, ROT= 180.7, -52.6

2025-06-08T00:11:09.750Z,1749341469.750 [DAT](INFO): got valid direction response:
 00:11:09.1171 LVL=  9648, 14769, 14418, 16707, AGC= 48, IDX= 507, 0.16,-1.167,-0.215,-1.041, 0.355, PHS=-1.434,-0.523,-1.399, RAW= 328.1,  53.0, CAL= 329.3,  52.6, ROT= 180.7, -52.6

2025-06-08T00:11:09.751Z,1749341469.751 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:09.760Z,1749341469.760 [DAT](INFO): direction in FSK: [-0.607331,-0.007420,0.794415]
2025-06-08T00:11:09.760Z,1749341469.760 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:09.768Z,1749341469.768 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:09.768Z,1749341469.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:09.970Z,1749341469.970 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:09.970Z,1749341469.970 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:09.971Z,1749341469.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:10.220Z,1749341470.220 [DAT](INFO): DAT read: Rx Time:00:11:09.6170 

2025-06-08T00:11:10.221Z,1749341470.221 [DAT](INFO): Rx dataTimestamp_ set to:1749341470.220519
2025-06-08T00:11:10.222Z,1749341470.222 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:10.223Z,1749341470.223 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:10.223Z,1749341470.223 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:10.224Z,1749341470.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:10.472Z,1749341470.472 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:10.472Z,1749341470.472 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:10.472Z,1749341470.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:10.734Z,1749341470.734 [DAT](INFO): DAT read: Rx Time:00:11:10.1170 

2025-06-08T00:11:10.735Z,1749341470.735 [DAT](INFO): Rx dataTimestamp_ set to:1749341470.734286
2025-06-08T00:11:10.737Z,1749341470.737 [DAT](INFO): DAT read: Bearing 172.6, -54.7 (Local)

2025-06-08T00:11:10.737Z,1749341470.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.6, -54.7 (Local)

2025-06-08T00:11:10.741Z,1749341470.741 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:10.756Z,1749341470.756 [DAT](INFO): DAT read: 00:11:10.1170 LVL=  9856, 14609, 13394, 17395, AGC= 48, IDX= 506, 0.29,-2.178,-1.403,-2.215,-0.813, PHS=-1.277,-0.543,-1.405, RAW= 337.9,  54.7, CAL= 337.4,  54.7, ROT= 172.6, -54.7

2025-06-08T00:11:10.757Z,1749341470.757 [DAT](INFO): got valid direction response:
 00:11:10.1170 LVL=  9856, 14609, 13394, 17395, AGC= 48, IDX= 506, 0.29,-2.178,-1.403,-2.215,-0.813, PHS=-1.277,-0.543,-1.405, RAW= 337.9,  54.7, CAL= 337.4,  54.7, ROT= 172.6, -54.7

2025-06-08T00:11:10.757Z,1749341470.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:10.758Z,1749341470.758 [DAT](INFO): direction in FSK: [-0.573045,0.074426,0.816138]
2025-06-08T00:11:10.758Z,1749341470.758 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:10.775Z,1749341470.775 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:10.776Z,1749341470.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:10.986Z,1749341470.986 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:10.986Z,1749341470.986 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:10.987Z,1749341470.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:11.237Z,1749341471.237 [DAT](INFO): DAT read: Rx Time:00:11:10.6170 

2025-06-08T00:11:11.237Z,1749341471.237 [DAT](INFO): Rx dataTimestamp_ set to:1749341471.237030
2025-06-08T00:11:11.239Z,1749341471.239 [DAT](INFO): DAT read: Bearing 150.0, -56.5 (Local)

2025-06-08T00:11:11.239Z,1749341471.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.0, -56.5 (Local)

2025-06-08T00:11:11.241Z,1749341471.241 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:11.246Z,1749341471.246 [DAT](INFO): DAT read: 00:11:10.6170 LVL=  9536, 14721, 13394, 16579, AGC= 48, IDX= 505, 0.32, 3.064,-2.817, 2.685,-2.204, PHS=-0.927,-0.566,-1.397, RAW=   4.3,  54.8, CAL= 360.0,  56.5, ROT= 150.0, -56.5

2025-06-08T00:11:11.247Z,1749341471.247 [DAT](INFO): got valid direction response:
 00:11:10.6170 LVL=  9536, 14721, 13394, 16579, AGC= 48, IDX= 505, 0.32, 3.064,-2.817, 2.685,-2.204, PHS=-0.927,-0.566,-1.397, RAW=   4.3,  54.8, CAL= 360.0,  56.5, ROT= 150.0, -56.5

2025-06-08T00:11:11.247Z,1749341471.247 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:11.248Z,1749341471.248 [DAT](INFO): direction in FSK: [-0.477991,0.275969,0.833886]
2025-06-08T00:11:11.249Z,1749341471.249 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:11.260Z,1749341471.260 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:11.260Z,1749341471.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:11.488Z,1749341471.488 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:11.488Z,1749341471.488 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:11.488Z,1749341471.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:11.741Z,1749341471.741 [DAT](INFO): DAT read: Rx Time:00:11:11.1171 

2025-06-08T00:11:11.741Z,1749341471.741 [DAT](INFO): Rx dataTimestamp_ set to:1749341471.740927
2025-06-08T00:11:11.743Z,1749341471.743 [DAT](INFO): DAT read: Bearing 151.6, -56.9 (Local)

2025-06-08T00:11:11.743Z,1749341471.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.6, -56.9 (Local)

2025-06-08T00:11:11.745Z,1749341471.745 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:11.750Z,1749341471.750 [DAT](INFO): DAT read: 00:11:11.1171 LVL=  9376, 14977, 13874, 15987, AGC= 48, IDX= 506, 0.40,-2.081,-1.660,-2.435,-1.041, PHS=-0.952,-0.572,-1.398, RAW=   2.6,  55.3, CAL= 358.4,  56.9, ROT= 151.6, -56.9

2025-06-08T00:11:11.751Z,1749341471.751 [DAT](INFO): got valid direction response:
 00:11:11.1171 LVL=  9376, 14977, 13874, 15987, AGC= 48, IDX= 506, 0.40,-2.081,-1.660,-2.435,-1.041, PHS=-0.952,-0.572,-1.398, RAW=   2.6,  55.3, CAL= 358.4,  56.9, ROT= 151.6, -56.9

2025-06-08T00:11:11.751Z,1749341471.751 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:11.752Z,1749341471.752 [DAT](INFO): direction in FSK: [-0.480378,0.259739,0.837719]
2025-06-08T00:11:11.752Z,1749341471.752 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:11.756Z,1749341471.756 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:11.756Z,1749341471.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:11.994Z,1749341471.994 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:11.995Z,1749341471.995 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:11.996Z,1749341471.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:12.245Z,1749341472.245 [DAT](INFO): DAT read: Rx Time:00:11:11.6170 

2025-06-08T00:11:12.245Z,1749341472.245 [DAT](INFO): Rx dataTimestamp_ set to:1749341472.244963
2025-06-08T00:11:12.247Z,1749341472.247 [DAT](INFO): DAT read: Bearing 141.8, -57.0 (Local)

2025-06-08T00:11:12.247Z,1749341472.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.8, -57.0 (Local)

2025-06-08T00:11:12.249Z,1749341472.249 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:12.254Z,1749341472.254 [DAT](INFO): DAT read: 00:11:11.6170 LVL= 10080, 16065, 14226, 16579, AGC= 48, IDX= 505, 0.49,-3.045,-2.759, 2.773,-2.118, PHS=-0.839,-0.594,-1.395, RAW=  12.6,  54.6, CAL=   8.2,  57.0, ROT= 141.8, -57.0

2025-06-08T00:11:12.255Z,1749341472.255 [DAT](INFO): got valid direction response:
 00:11:11.6170 LVL= 10080, 16065, 14226, 16579, AGC= 48, IDX= 505, 0.49,-3.045,-2.759, 2.773,-2.118, PHS=-0.839,-0.594,-1.395, RAW=  12.6,  54.6, CAL=   8.2,  57.0, ROT= 141.8, -57.0

2025-06-08T00:11:12.259Z,1749341472.259 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:12.260Z,1749341472.260 [DAT](INFO): direction in FSK: [-0.428008,0.336809,0.838671]
2025-06-08T00:11:12.260Z,1749341472.260 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:12.264Z,1749341472.264 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:12.264Z,1749341472.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:12.496Z,1749341472.496 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:12.497Z,1749341472.497 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:12.497Z,1749341472.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:12.749Z,1749341472.749 [DAT](INFO): DAT read: Rx Time:00:11:12.1171 

2025-06-08T00:11:12.749Z,1749341472.749 [DAT](INFO): Rx dataTimestamp_ set to:1749341472.749021
2025-06-08T00:11:12.751Z,1749341472.751 [DAT](INFO): DAT read: Bearing 145.3, -54.5 (Local)

2025-06-08T00:11:12.751Z,1749341472.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.3, -54.5 (Local)

2025-06-08T00:11:12.753Z,1749341472.753 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:12.758Z,1749341472.758 [DAT](INFO): DAT read: 00:11:12.1171 LVL= 10096, 15729, 14722, 17427, AGC= 49, IDX= 507,-0.40, 2.932,-3.005, 2.475,-2.432, PHS=-0.831,-0.526,-1.379, RAW=   9.3,  52.3, CAL=   4.7,  54.5, ROT= 145.3, -54.5

2025-06-08T00:11:12.759Z,1749341472.759 [DAT](INFO): got valid direction response:
 00:11:12.1171 LVL= 10096, 15729, 14722, 17427, AGC= 49, IDX= 507,-0.40, 2.932,-3.005, 2.475,-2.432, PHS=-0.831,-0.526,-1.379, RAW=   9.3,  52.3, CAL=   4.7,  54.5, ROT= 145.3, -54.5

2025-06-08T00:11:12.759Z,1749341472.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:12.760Z,1749341472.760 [DAT](INFO): direction in FSK: [-0.477422,0.330582,0.814116]
2025-06-08T00:11:12.761Z,1749341472.761 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:12.795Z,1749341472.795 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:12.796Z,1749341472.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:13.001Z,1749341473.001 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:13.001Z,1749341473.001 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:13.001Z,1749341473.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:13.253Z,1749341473.253 [DAT](INFO): DAT read: Rx Time:00:11:12.6170 

2025-06-08T00:11:13.254Z,1749341473.254 [DAT](INFO): Rx dataTimestamp_ set to:1749341473.253574
2025-06-08T00:11:13.257Z,1749341473.257 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:13.258Z,1749341473.258 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:13.258Z,1749341473.258 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:13.259Z,1749341473.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:13.504Z,1749341473.504 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:13.504Z,1749341473.504 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:13.504Z,1749341473.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:13.757Z,1749341473.757 [DAT](INFO): DAT read: Rx Time:00:11:13.1171 

2025-06-08T00:11:13.757Z,1749341473.757 [DAT](INFO): Rx dataTimestamp_ set to:1749341473.756951
2025-06-08T00:11:13.759Z,1749341473.759 [DAT](INFO): DAT read: Bearing 146.7, -53.9 (Local)

2025-06-08T00:11:13.759Z,1749341473.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.7, -53.9 (Local)

2025-06-08T00:11:13.761Z,1749341473.761 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:13.766Z,1749341473.766 [DAT](INFO): DAT read: 00:11:13.1171 LVL=  9840, 16257, 14226, 17107, AGC= 49, IDX= 507,-0.24, 2.214, 2.584, 1.764, 3.140, PHS=-0.837,-0.508,-1.379, RAW=   8.0,  51.7, CAL=   3.3,  53.9, ROT= 146.7, -53.9

2025-06-08T00:11:13.767Z,1749341473.767 [DAT](INFO): got valid direction response:
 00:11:13.1171 LVL=  9840, 16257, 14226, 17107, AGC= 49, IDX= 507,-0.24, 2.214, 2.584, 1.764, 3.140, PHS=-0.837,-0.508,-1.379, RAW=   8.0,  51.7, CAL=   3.3,  53.9, ROT= 146.7, -53.9

2025-06-08T00:11:13.770Z,1749341473.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:13.771Z,1749341473.771 [DAT](INFO): direction in FSK: [-0.492455,0.323482,0.807990]
2025-06-08T00:11:13.771Z,1749341473.771 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:13.774Z,1749341473.774 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:13.775Z,1749341473.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:14.008Z,1749341474.008 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:14.008Z,1749341474.008 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:14.008Z,1749341474.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:14.261Z,1749341474.261 [DAT](INFO): DAT read: Rx Time:00:11:13.6170 

2025-06-08T00:11:14.261Z,1749341474.261 [DAT](INFO): Rx dataTimestamp_ set to:1749341474.260924
2025-06-08T00:11:14.262Z,1749341474.262 [DAT](INFO): DAT read: Bearing 144.7, -55.7 (Local)

2025-06-08T00:11:14.263Z,1749341474.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.7, -55.7 (Local)

2025-06-08T00:11:14.269Z,1749341474.269 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:14.274Z,1749341474.274 [DAT](INFO): DAT read: 00:11:13.6170 LVL= 10400, 14705, 14402, 15187, AGC= 48, IDX= 506,-0.19, 1.153, 1.482, 0.709, 2.078, PHS=-0.837,-0.549,-1.372, RAW=   9.8,  53.4, CAL=   5.3,  55.7, ROT= 144.7, -55.7

2025-06-08T00:11:14.275Z,1749341474.275 [DAT](INFO): got valid direction response:
 00:11:13.6170 LVL= 10400, 14705, 14402, 15187, AGC= 48, IDX= 506,-0.19, 1.153, 1.482, 0.709, 2.078, PHS=-0.837,-0.549,-1.372, RAW=   9.8,  53.4, CAL=   5.3,  55.7, ROT= 144.7, -55.7

2025-06-08T00:11:14.275Z,1749341474.275 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:14.276Z,1749341474.276 [DAT](INFO): direction in FSK: [-0.459915,0.325638,0.826098]
2025-06-08T00:11:14.276Z,1749341474.276 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:14.280Z,1749341474.280 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:14.280Z,1749341474.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:14.512Z,1749341474.512 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:14.512Z,1749341474.512 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:14.512Z,1749341474.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:14.765Z,1749341474.765 [DAT](INFO): DAT read: Rx Time:00:11:14.1170 

2025-06-08T00:11:14.765Z,1749341474.765 [DAT](INFO): Rx dataTimestamp_ set to:1749341474.764988
2025-06-08T00:11:14.767Z,1749341474.767 [DAT](INFO): DAT read: Bearing 148.0, -58.6 (Local)

2025-06-08T00:11:14.767Z,1749341474.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.0, -58.6 (Local)

2025-06-08T00:11:14.777Z,1749341474.777 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:14.782Z,1749341474.782 [DAT](INFO): DAT read: 00:11:14.1170 LVL=  9744, 15857, 15666, 19091, AGC= 49, IDX= 506,-0.14, 1.725, 2.083, 1.354, 2.744, PHS=-0.931,-0.613,-1.393, RAW=   6.1,  56.8, CAL=   2.0,  58.6, ROT= 148.0, -58.6

2025-06-08T00:11:14.783Z,1749341474.783 [DAT](INFO): got valid direction response:
 00:11:14.1170 LVL=  9744, 15857, 15666, 19091, AGC= 49, IDX= 506,-0.14, 1.725, 2.083, 1.354, 2.744, PHS=-0.931,-0.613,-1.393, RAW=   6.1,  56.8, CAL=   2.0,  58.6, ROT= 148.0, -58.6

2025-06-08T00:11:14.791Z,1749341474.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:14.792Z,1749341474.792 [DAT](INFO): direction in FSK: [-0.441841,0.276093,0.853551]
2025-06-08T00:11:14.793Z,1749341474.793 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:14.802Z,1749341474.802 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:14.802Z,1749341474.802 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:15.016Z,1749341475.016 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:15.016Z,1749341475.016 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:15.016Z,1749341475.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:15.273Z,1749341475.273 [DAT](INFO): DAT read: Rx Time:00:11:14.6169 

2025-06-08T00:11:15.273Z,1749341475.273 [DAT](INFO): Rx dataTimestamp_ set to:1749341475.272890
2025-06-08T00:11:15.274Z,1749341475.274 [DAT](INFO): DAT read: Bearing 151.6, -59.0 (Local)

2025-06-08T00:11:15.275Z,1749341475.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.6, -59.0 (Local)

2025-06-08T00:11:15.277Z,1749341475.277 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:11:15.282Z,1749341475.282 [DAT](INFO): DAT read: 00:11:14.6169 LVL=  8800, 15473, 15586, 17059, AGC= 49, IDX= 505,-0.08, 0.490, 0.897, 0.161, 1.571, PHS=-0.992,-0.626,-1.412, RAW=   2.3,  57.6, CAL= 358.4,  59.0, ROT= 151.6, -59.0

2025-06-08T00:11:15.283Z,1749341475.283 [DAT](INFO): got valid direction response:
 00:11:14.6169 LVL=  8800, 15473, 15586, 17059, AGC= 49, IDX= 505,-0.08, 0.490, 0.897, 0.161, 1.571, PHS=-0.992,-0.626,-1.412, RAW=   2.3,  57.6, CAL= 358.4,  59.0, ROT= 151.6, -59.0

2025-06-08T00:11:15.283Z,1749341475.283 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:15.284Z,1749341475.284 [DAT](INFO): direction in FSK: [-0.453053,0.244964,0.857167]
2025-06-08T00:11:15.284Z,1749341475.284 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:15.288Z,1749341475.288 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:15.288Z,1749341475.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:15.524Z,1749341475.524 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:15.524Z,1749341475.524 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:15.524Z,1749341475.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:15.777Z,1749341475.777 [DAT](INFO): DAT read: Rx Time:00:11:15.1171 

2025-06-08T00:11:15.777Z,1749341475.777 [DAT](INFO): Rx dataTimestamp_ set to:1749341475.776951
2025-06-08T00:11:15.779Z,1749341475.779 [DAT](INFO): DAT read: Bearing 159.2, -60.1 (Local)

2025-06-08T00:11:15.779Z,1749341475.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.2, -60.1 (Local)

2025-06-08T00:11:15.781Z,1749341475.781 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:15.786Z,1749341475.786 [DAT](INFO): DAT read: 00:11:15.1171 LVL=  9600, 16113, 16114, 21219, AGC= 50, IDX= 506,-0.00, 1.640, 2.137, 1.415, 2.846, PHS=-1.118,-0.662,-1.434, RAW= 354.1,  59.4, CAL= 350.8,  60.1, ROT= 159.2, -60.1

2025-06-08T00:11:15.787Z,1749341475.787 [DAT](INFO): got valid direction response:
 00:11:15.1171 LVL=  9600, 16113, 16114, 21219, AGC= 50, IDX= 506,-0.00, 1.640, 2.137, 1.415, 2.846, PHS=-1.118,-0.662,-1.434, RAW= 354.1,  59.4, CAL= 350.8,  60.1, ROT= 159.2, -60.1

2025-06-08T00:11:15.787Z,1749341475.787 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:15.788Z,1749341475.788 [DAT](INFO): direction in FSK: [-0.465999,0.177016,0.866897]
2025-06-08T00:11:15.789Z,1749341475.789 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:15.792Z,1749341475.792 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:15.792Z,1749341475.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:16.029Z,1749341476.029 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:16.029Z,1749341476.029 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:16.030Z,1749341476.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:16.281Z,1749341476.281 [DAT](INFO): DAT read: Rx Time:00:11:15.6170 

2025-06-08T00:11:16.281Z,1749341476.281 [DAT](INFO): Rx dataTimestamp_ set to:1749341476.280952
2025-06-08T00:11:16.283Z,1749341476.283 [DAT](INFO): DAT read: Bearing 157.9, -61.7 (Local)

2025-06-08T00:11:16.283Z,1749341476.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.9, -61.7 (Local)

2025-06-08T00:11:16.285Z,1749341476.285 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:16.292Z,1749341476.292 [DAT](INFO): DAT read: 00:11:15.6170 LVL=  8400, 15793, 15218, 18035, AGC= 49, IDX= 505, 0.03, 1.024, 1.482, 0.802, 2.222, PHS=-1.111,-0.693,-1.423, RAW= 355.2,  60.9, CAL= 352.1,  61.7, ROT= 157.9, -61.7

2025-06-08T00:11:16.296Z,1749341476.296 [DAT](INFO): got valid direction response:
 00:11:15.6170 LVL=  8400, 15793, 15218, 18035, AGC= 49, IDX= 505, 0.03, 1.024, 1.482, 0.802, 2.222, PHS=-1.111,-0.693,-1.423, RAW= 355.2,  60.9, CAL= 352.1,  61.7, ROT= 157.9, -61.7

2025-06-08T00:11:16.297Z,1749341476.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:16.298Z,1749341476.298 [DAT](INFO): direction in FSK: [-0.439256,0.178363,0.880477]
2025-06-08T00:11:16.298Z,1749341476.298 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:16.301Z,1749341476.301 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:16.302Z,1749341476.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:16.532Z,1749341476.532 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:16.532Z,1749341476.532 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:16.533Z,1749341476.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:16.786Z,1749341476.786 [DAT](INFO): DAT read: Rx Time:00:11:16.1171 

2025-06-08T00:11:16.786Z,1749341476.786 [DAT](INFO): Rx dataTimestamp_ set to:1749341476.785899
2025-06-08T00:11:16.788Z,1749341476.788 [DAT](INFO): DAT read: Bearing 161.5, -62.3 (Local)

2025-06-08T00:11:16.788Z,1749341476.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.5, -62.3 (Local)

2025-06-08T00:11:16.790Z,1749341476.790 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:16.795Z,1749341476.795 [DAT](INFO): DAT read: 00:11:16.1171 LVL=  8352, 15265, 15474, 17811, AGC= 49, IDX= 506, 0.08, 2.109, 2.601, 1.939,-2.929, PHS=-1.157,-0.706,-1.418, RAW= 351.2,  61.7, CAL= 348.5,  62.3, ROT= 161.5, -62.3

2025-06-08T00:11:16.797Z,1749341476.797 [DAT](INFO): got valid direction response:
 00:11:16.1171 LVL=  8352, 15265, 15474, 17811, AGC= 49, IDX= 506, 0.08, 2.109, 2.601, 1.939,-2.929, PHS=-1.157,-0.706,-1.418, RAW= 351.2,  61.7, CAL= 348.5,  62.3, ROT= 161.5, -62.3

2025-06-08T00:11:16.797Z,1749341476.797 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:16.798Z,1749341476.798 [DAT](INFO): direction in FSK: [-0.440821,0.147497,0.885394]
2025-06-08T00:11:16.811Z,1749341476.811 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:16.820Z,1749341476.820 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:16.821Z,1749341476.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:17.036Z,1749341477.036 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:17.036Z,1749341477.036 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:17.036Z,1749341477.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:17.289Z,1749341477.289 [DAT](INFO): DAT read: Rx Time:00:11:16.6171 

2025-06-08T00:11:17.290Z,1749341477.290 [DAT](INFO): Rx dataTimestamp_ set to:1749341477.289630
2025-06-08T00:11:17.292Z,1749341477.292 [DAT](INFO): DAT read: Bearing 165.0, -62.8 (Local)

2025-06-08T00:11:17.292Z,1749341477.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.0, -62.8 (Local)

2025-06-08T00:11:17.296Z,1749341477.296 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:17.302Z,1749341477.302 [DAT](INFO): DAT read: 00:11:16.6171 LVL=  9680, 15729, 15474, 23507, AGC= 50, IDX= 505, 0.13, 0.858, 1.395, 0.738, 2.178, PHS=-1.232,-0.737,-1.443, RAW= 346.9,  62.5, CAL= 345.0,  62.8, ROT= 165.0, -62.8

2025-06-08T00:11:17.303Z,1749341477.303 [DAT](INFO): got valid direction response:
 00:11:16.6171 LVL=  9680, 15729, 15474, 23507, AGC= 50, IDX= 505, 0.13, 0.858, 1.395, 0.738, 2.178, PHS=-1.232,-0.737,-1.443, RAW= 346.9,  62.5, CAL= 345.0,  62.8, ROT= 165.0, -62.8

2025-06-08T00:11:17.303Z,1749341477.303 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:17.304Z,1749341477.304 [DAT](INFO): direction in FSK: [-0.441523,0.118306,0.889416]
2025-06-08T00:11:17.305Z,1749341477.305 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:17.320Z,1749341477.320 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:17.320Z,1749341477.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:17.540Z,1749341477.540 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:17.540Z,1749341477.540 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:17.540Z,1749341477.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:17.793Z,1749341477.793 [DAT](INFO): DAT read: Rx Time:00:11:17.1172 

2025-06-08T00:11:17.793Z,1749341477.793 [DAT](INFO): Rx dataTimestamp_ set to:1749341477.792894
2025-06-08T00:11:17.794Z,1749341477.794 [DAT](INFO): DAT read: Bearing 165.7, -63.9 (Local)

2025-06-08T00:11:17.795Z,1749341477.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.7, -63.9 (Local)

2025-06-08T00:11:17.798Z,1749341477.798 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-06-08T00:11:17.806Z,1749341477.806 [DAT](INFO): DAT read: 00:11:17.1172 LVL= 11328, 15889, 16114, 23203, AGC= 50, IDX= 506, 0.18, 2.721,-3.033, 2.619,-2.219, PHS=-1.254,-0.767,-1.448, RAW= 346.0,  63.7, CAL= 344.3,  63.9, ROT= 165.7, -63.9

2025-06-08T00:11:17.807Z,1749341477.807 [DAT](INFO): got valid direction response:
 00:11:17.1172 LVL= 11328, 15889, 16114, 23203, AGC= 50, IDX= 506, 0.18, 2.721,-3.033, 2.619,-2.219, PHS=-1.254,-0.767,-1.448, RAW= 346.0,  63.7, CAL= 344.3,  63.9, ROT= 165.7, -63.9

2025-06-08T00:11:17.818Z,1749341477.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:17.820Z,1749341477.820 [DAT](INFO): direction in FSK: [-0.426308,0.108665,0.898028]
2025-06-08T00:11:17.821Z,1749341477.821 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:17.827Z,1749341477.827 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:17.839Z,1749341477.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:18.044Z,1749341478.044 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:18.045Z,1749341478.045 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:18.045Z,1749341478.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:18.297Z,1749341478.297 [DAT](INFO): DAT read: Rx Time:00:11:17.6171 

2025-06-08T00:11:18.297Z,1749341478.297 [DAT](INFO): Rx dataTimestamp_ set to:1749341478.296920
2025-06-08T00:11:18.298Z,1749341478.298 [DAT](INFO): DAT read: Bearing 163.0, -63.5 (Local)

2025-06-08T00:11:18.299Z,1749341478.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.0, -63.5 (Local)

2025-06-08T00:11:18.301Z,1749341478.301 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:18.306Z,1749341478.306 [DAT](INFO): DAT read: 00:11:17.6171 LVL=  9824, 15729, 16066, 19171, AGC= 49, IDX= 505, 0.20, 1.296, 1.794, 1.156, 2.582, PHS=-1.198,-0.742,-1.429, RAW= 349.2,  63.0, CAL= 347.0,  63.5, ROT= 163.0, -63.5

2025-06-08T00:11:18.307Z,1749341478.307 [DAT](INFO): got valid direction response:
 00:11:17.6171 LVL=  9824, 15729, 16066, 19171, AGC= 49, IDX= 505, 0.20, 1.296, 1.794, 1.156, 2.582, PHS=-1.198,-0.742,-1.429, RAW= 349.2,  63.0, CAL= 347.0,  63.5, ROT= 163.0, -63.5

2025-06-08T00:11:18.307Z,1749341478.307 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:18.308Z,1749341478.308 [DAT](INFO): direction in FSK: [-0.426701,0.130456,0.894934]
2025-06-08T00:11:18.308Z,1749341478.308 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:18.312Z,1749341478.312 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:18.312Z,1749341478.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:18.548Z,1749341478.548 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:18.548Z,1749341478.548 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:18.548Z,1749341478.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:18.801Z,1749341478.801 [DAT](INFO): DAT read: Rx Time:00:11:18.1171 

2025-06-08T00:11:18.801Z,1749341478.801 [DAT](INFO): Rx dataTimestamp_ set to:1749341478.800997
2025-06-08T00:11:18.803Z,1749341478.803 [DAT](INFO): DAT read: Bearing 161.6, -63.1 (Local)

2025-06-08T00:11:18.803Z,1749341478.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6, -63.1 (Local)

2025-06-08T00:11:18.805Z,1749341478.805 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:18.818Z,1749341478.818 [DAT](INFO): DAT read: 00:11:18.1171 LVL= 10512, 16033, 14930, 19283, AGC= 49, IDX= 505, 0.24, 1.856, 2.342, 1.693, 3.121, PHS=-1.177,-0.732,-1.430, RAW= 351.0,  62.6, CAL= 348.4,  63.1, ROT= 161.6, -63.1

2025-06-08T00:11:18.819Z,1749341478.819 [DAT](INFO): got valid direction response:
 00:11:18.1171 LVL= 10512, 16033, 14930, 19283, AGC= 49, IDX= 505, 0.24, 1.856, 2.342, 1.693, 3.121, PHS=-1.177,-0.732,-1.430, RAW= 351.0,  62.6, CAL= 348.4,  63.1, ROT= 161.6, -63.1

2025-06-08T00:11:18.820Z,1749341478.820 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:18.821Z,1749341478.821 [DAT](INFO): direction in FSK: [-0.429304,0.142811,0.891798]
2025-06-08T00:11:18.821Z,1749341478.821 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:18.841Z,1749341478.841 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:18.841Z,1749341478.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:19.052Z,1749341479.052 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:19.052Z,1749341479.052 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:19.053Z,1749341479.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:19.306Z,1749341479.306 [DAT](INFO): DAT read: Rx Time:00:11:18.6170 

2025-06-08T00:11:19.306Z,1749341479.306 [DAT](INFO): Rx dataTimestamp_ set to:1749341479.305761
2025-06-08T00:11:19.308Z,1749341479.308 [DAT](INFO): DAT read: Bearing 166.0, -59.3 (Local)

2025-06-08T00:11:19.309Z,1749341479.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.0, -59.3 (Local)

2025-06-08T00:11:19.311Z,1749341479.311 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:19.317Z,1749341479.317 [DAT](INFO): DAT read: 00:11:18.6170 LVL= 10720, 14561, 13442, 19619, AGC= 49, IDX= 504, 0.31,-0.095, 0.511,-0.225, 1.208, PHS=-1.215,-0.650,-1.436, RAW= 345.9,  59.0, CAL= 344.0,  59.3, ROT= 166.0, -59.3

2025-06-08T00:11:19.319Z,1749341479.319 [DAT](INFO): got valid direction response:
 00:11:18.6170 LVL= 10720, 14561, 13442, 19619, AGC= 49, IDX= 504, 0.31,-0.095, 0.511,-0.225, 1.208, PHS=-1.215,-0.650,-1.436, RAW= 345.9,  59.0, CAL= 344.0,  59.3, ROT= 166.0, -59.3

2025-06-08T00:11:19.320Z,1749341479.320 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:19.322Z,1749341479.322 [DAT](INFO): direction in FSK: [-0.495378,0.123512,0.859852]
2025-06-08T00:11:19.322Z,1749341479.322 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:19.326Z,1749341479.326 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:19.326Z,1749341479.326 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:19.556Z,1749341479.556 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:19.556Z,1749341479.556 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:19.556Z,1749341479.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:19.809Z,1749341479.809 [DAT](INFO): DAT read: Rx Time:00:11:19.1171 

2025-06-08T00:11:19.809Z,1749341479.809 [DAT](INFO): Rx dataTimestamp_ set to:1749341479.808962
2025-06-08T00:11:19.811Z,1749341479.811 [DAT](INFO): DAT read: Bearing 160.5, -58.6 (Local)

2025-06-08T00:11:19.811Z,1749341479.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.5, -58.6 (Local)

2025-06-08T00:11:19.813Z,1749341479.813 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:19.818Z,1749341479.818 [DAT](INFO): DAT read: 00:11:19.1171 LVL=  9328, 14961, 12994, 16563, AGC= 48, IDX= 505, 0.35, 1.667, 2.197, 1.444, 2.867, PHS=-1.112,-0.623,-1.426, RAW= 352.8,  57.9, CAL= 349.5,  58.6, ROT= 160.5, -58.6

2025-06-08T00:11:19.819Z,1749341479.819 [DAT](INFO): got valid direction response:
 00:11:19.1171 LVL=  9328, 14961, 12994, 16563, AGC= 48, IDX= 505, 0.35, 1.667, 2.197, 1.444, 2.867, PHS=-1.112,-0.623,-1.426, RAW= 352.8,  57.9, CAL= 349.5,  58.6, ROT= 160.5, -58.6

2025-06-08T00:11:19.819Z,1749341479.819 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:19.820Z,1749341479.820 [DAT](INFO): direction in FSK: [-0.491125,0.173917,0.853551]
2025-06-08T00:11:19.820Z,1749341479.820 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:19.836Z,1749341479.836 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:19.837Z,1749341479.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:20.060Z,1749341480.060 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:20.061Z,1749341480.061 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:20.061Z,1749341480.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:20.313Z,1749341480.313 [DAT](INFO): DAT read: Rx Time:00:11:19.6170 

2025-06-08T00:11:20.313Z,1749341480.313 [DAT](INFO): Rx dataTimestamp_ set to:1749341480.312927
2025-06-08T00:11:20.314Z,1749341480.314 [DAT](INFO): DAT read: Bearing 159.2, -57.4 (Local)

2025-06-08T00:11:20.315Z,1749341480.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.2, -57.4 (Local)

2025-06-08T00:11:20.317Z,1749341480.317 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:20.322Z,1749341480.322 [DAT](INFO): DAT read: 00:11:19.6170 LVL=  9712, 14961, 13170, 16595, AGC= 48, IDX= 504, 0.41, 0.315, 0.839, 0.065, 1.474, PHS=-1.071,-0.588,-1.412, RAW= 354.3,  56.6, CAL= 350.8,  57.4, ROT= 159.2, -57.4

2025-06-08T00:11:20.323Z,1749341480.323 [DAT](INFO): got valid direction response:
 00:11:19.6170 LVL=  9712, 14961, 13170, 16595, AGC= 48, IDX= 504, 0.41, 0.315, 0.839, 0.065, 1.474, PHS=-1.071,-0.588,-1.412, RAW= 354.3,  56.6, CAL= 350.8,  57.4, ROT= 159.2, -57.4

2025-06-08T00:11:20.323Z,1749341480.323 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:20.324Z,1749341480.324 [DAT](INFO): direction in FSK: [-0.503657,0.191321,0.842452]
2025-06-08T00:11:20.324Z,1749341480.324 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:20.328Z,1749341480.328 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:20.328Z,1749341480.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:20.564Z,1749341480.564 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:20.564Z,1749341480.564 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:20.564Z,1749341480.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:20.817Z,1749341480.817 [DAT](INFO): DAT read: Rx Time:00:11:20.1171 

2025-06-08T00:11:20.817Z,1749341480.817 [DAT](INFO): Rx dataTimestamp_ set to:1749341480.817018
2025-06-08T00:11:20.819Z,1749341480.819 [DAT](INFO): DAT read: Bearing 156.6, -55.8 (Local)

2025-06-08T00:11:20.819Z,1749341480.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.6, -55.8 (Local)

2025-06-08T00:11:20.821Z,1749341480.821 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:20.834Z,1749341480.834 [DAT](INFO): DAT read: 00:11:20.1171 LVL=  9488, 13617, 13426, 17059, AGC= 48, IDX= 505, 0.45, 1.495, 1.996, 1.196, 2.589, PHS=-1.006,-0.546,-1.396, RAW= 357.3,  54.7, CAL= 353.4,  55.8, ROT= 156.6, -55.8

2025-06-08T00:11:20.835Z,1749341480.835 [DAT](INFO): got valid direction response:
 00:11:20.1171 LVL=  9488, 13617, 13426, 17059, AGC= 48, IDX= 505, 0.45, 1.495, 1.996, 1.196, 2.589, PHS=-1.006,-0.546,-1.396, RAW= 357.3,  54.7, CAL= 353.4,  55.8, ROT= 156.6, -55.8

2025-06-08T00:11:20.835Z,1749341480.835 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:20.836Z,1749341480.836 [DAT](INFO): direction in FSK: [-0.515855,0.223230,0.827081]
2025-06-08T00:11:20.837Z,1749341480.837 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:20.856Z,1749341480.856 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:20.856Z,1749341480.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:21.068Z,1749341481.068 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:21.068Z,1749341481.068 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:21.068Z,1749341481.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:21.322Z,1749341481.322 [DAT](INFO): DAT read: Rx Time:00:11:20.6170 

2025-06-08T00:11:21.322Z,1749341481.322 [DAT](INFO): Rx dataTimestamp_ set to:1749341481.321833
2025-06-08T00:11:21.324Z,1749341481.324 [DAT](INFO): DAT read: Bearing 179.9, -51.1 (Local)

2025-06-08T00:11:21.325Z,1749341481.325 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.9, -51.1 (Local)

2025-06-08T00:11:21.329Z,1749341481.329 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:21.343Z,1749341481.343 [DAT](INFO): DAT read: 00:11:20.6170 LVL=  9360, 13617, 13298, 15027, AGC= 48, IDX= 505,-0.48,-0.904, 0.051,-0.798, 0.571, PHS=-1.387,-0.473,-1.373, RAW= 329.2,  51.6, CAL= 330.1,  51.1, ROT= 179.9, -51.1

2025-06-08T00:11:21.344Z,1749341481.344 [DAT](INFO): got valid direction response:
 00:11:20.6170 LVL=  9360, 13617, 13298, 15027, AGC= 48, IDX= 505,-0.48,-0.904, 0.051,-0.798, 0.571, PHS=-1.387,-0.473,-1.373, RAW= 329.2,  51.6, CAL= 330.1,  51.1, ROT= 179.9, -51.1

2025-06-08T00:11:21.345Z,1749341481.345 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:21.346Z,1749341481.346 [DAT](INFO): direction in FSK: [-0.627962,0.001096,0.778243]
2025-06-08T00:11:21.346Z,1749341481.346 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:21.365Z,1749341481.365 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:21.366Z,1749341481.366 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:21.572Z,1749341481.572 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:21.572Z,1749341481.572 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:21.572Z,1749341481.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:21.824Z,1749341481.824 [DAT](INFO): DAT read: Rx Time:00:11:21.1171 

2025-06-08T00:11:21.825Z,1749341481.825 [DAT](INFO): Rx dataTimestamp_ set to:1749341481.824567
2025-06-08T00:11:21.826Z,1749341481.826 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:21.827Z,1749341481.827 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:21.827Z,1749341481.827 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:21.828Z,1749341481.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:22.076Z,1749341482.076 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:22.077Z,1749341482.077 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:22.077Z,1749341482.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:22.329Z,1749341482.329 [DAT](INFO): DAT read: Rx Time:00:11:21.6170 

2025-06-08T00:11:22.329Z,1749341482.329 [DAT](INFO): Rx dataTimestamp_ set to:1749341482.328890
2025-06-08T00:11:22.330Z,1749341482.330 [DAT](INFO): DAT read: Bearing 201.9, -42.8 (Local)

2025-06-08T00:11:22.331Z,1749341482.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.9, -42.8 (Local)

2025-06-08T00:11:22.333Z,1749341482.333 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:22.338Z,1749341482.338 [DAT](INFO): DAT read: 00:11:21.6170 LVL= 11920, 19265, 14258, 16067, AGC= 49, IDX= 505,-0.38,-1.237, 0.644,-0.208, 1.148, PHS=-2.297,-0.456,-1.358, RAW= 299.4,  42.4, CAL= 308.1,  42.8, ROT= 201.9, -42.8

2025-06-08T00:11:22.339Z,1749341482.339 [DAT](INFO): got valid direction response:
 00:11:21.6170 LVL= 11920, 19265, 14258, 16067, AGC= 49, IDX= 505,-0.38,-1.237, 0.644,-0.208, 1.148, PHS=-2.297,-0.456,-1.358, RAW= 299.4,  42.4, CAL= 308.1,  42.8, ROT= 201.9, -42.8

2025-06-08T00:11:22.339Z,1749341482.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:22.340Z,1749341482.340 [DAT](INFO): direction in FSK: [-0.680781,-0.273672,0.679441]
2025-06-08T00:11:22.340Z,1749341482.340 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:22.344Z,1749341482.344 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:22.344Z,1749341482.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:22.580Z,1749341482.580 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:22.580Z,1749341482.580 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:22.580Z,1749341482.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:22.832Z,1749341482.832 [DAT](INFO): DAT read: Rx Time:00:11:22.1170 

2025-06-08T00:11:22.833Z,1749341482.833 [DAT](INFO): Rx dataTimestamp_ set to:1749341482.832656
2025-06-08T00:11:22.834Z,1749341482.834 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:22.835Z,1749341482.835 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:22.836Z,1749341482.836 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:22.836Z,1749341482.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:23.084Z,1749341483.084 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:23.084Z,1749341483.084 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:23.084Z,1749341483.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:23.336Z,1749341483.336 [DAT](INFO): DAT read: Rx Time:00:11:22.6169 

2025-06-08T00:11:23.337Z,1749341483.337 [DAT](INFO): Rx dataTimestamp_ set to:1749341483.336570
2025-06-08T00:11:23.338Z,1749341483.338 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:11:23.339Z,1749341483.339 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:23.340Z,1749341483.340 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:23.340Z,1749341483.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:23.588Z,1749341483.588 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:23.588Z,1749341483.588 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:23.588Z,1749341483.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:23.840Z,1749341483.840 [DAT](INFO): DAT read: Rx Time:00:11:23.1170 

2025-06-08T00:11:23.841Z,1749341483.841 [DAT](INFO): Rx dataTimestamp_ set to:1749341483.840483
2025-06-08T00:11:23.842Z,1749341483.842 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:23.843Z,1749341483.843 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:23.844Z,1749341483.844 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:23.844Z,1749341483.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:24.092Z,1749341484.092 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:24.093Z,1749341484.093 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:24.093Z,1749341484.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:24.344Z,1749341484.344 [DAT](INFO): DAT read: Rx Time:00:11:23.6169 

2025-06-08T00:11:24.345Z,1749341484.345 [DAT](INFO): Rx dataTimestamp_ set to:1749341484.344516
2025-06-08T00:11:24.346Z,1749341484.346 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:11:24.347Z,1749341484.347 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:24.347Z,1749341484.347 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:24.348Z,1749341484.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:24.596Z,1749341484.596 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:24.596Z,1749341484.596 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:24.596Z,1749341484.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:24.848Z,1749341484.848 [DAT](INFO): DAT read: Rx Time:00:11:24.1170 

2025-06-08T00:11:24.849Z,1749341484.849 [DAT](INFO): Rx dataTimestamp_ set to:1749341484.848609
2025-06-08T00:11:24.850Z,1749341484.850 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:24.851Z,1749341484.851 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:24.851Z,1749341484.851 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:24.852Z,1749341484.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:25.100Z,1749341485.100 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:25.100Z,1749341485.100 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:25.100Z,1749341485.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:25.352Z,1749341485.352 [DAT](INFO): DAT read: Rx Time:00:11:24.6169 

2025-06-08T00:11:25.353Z,1749341485.353 [DAT](INFO): Rx dataTimestamp_ set to:1749341485.352367
2025-06-08T00:11:25.354Z,1749341485.354 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:11:25.354Z,1749341485.354 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:25.355Z,1749341485.355 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:25.355Z,1749341485.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:25.604Z,1749341485.604 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:25.604Z,1749341485.604 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:25.604Z,1749341485.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:25.857Z,1749341485.857 [DAT](INFO): DAT read: Rx Time:00:11:25.1170 

2025-06-08T00:11:25.857Z,1749341485.857 [DAT](INFO): Rx dataTimestamp_ set to:1749341485.856924
2025-06-08T00:11:25.859Z,1749341485.859 [DAT](INFO): DAT read: Bearing  77.7, -14.9 (Local)

2025-06-08T00:11:25.859Z,1749341485.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.7, -14.9 (Local)

2025-06-08T00:11:25.861Z,1749341485.861 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed -0.1

2025-06-08T00:11:25.866Z,1749341485.866 [DAT](INFO): DAT read: 00:11:25.1170 LVL= 11552, 19169, 14482, 14627, AGC= 48, IDX= 504,-0.07, 1.747, 0.255,-0.462, 0.885, PHS= 0.950,-0.583,-1.350, RAW=  70.9,   9.7, CAL=  72.3,  14.9, ROT=  77.7, -14.9

2025-06-08T00:11:25.867Z,1749341485.867 [DAT](INFO): got valid direction response:
 00:11:25.1170 LVL= 11552, 19169, 14482, 14627, AGC= 48, IDX= 504,-0.07, 1.747, 0.255,-0.462, 0.885, PHS= 0.950,-0.583,-1.350, RAW=  70.9,   9.7, CAL=  72.3,  14.9, ROT=  77.7, -14.9

2025-06-08T00:11:25.867Z,1749341485.867 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:25.868Z,1749341485.868 [DAT](INFO): direction in FSK: [0.205867,0.944193,0.257133]
2025-06-08T00:11:25.868Z,1749341485.868 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:25.872Z,1749341485.872 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:25.872Z,1749341485.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:26.108Z,1749341486.108 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:26.108Z,1749341486.108 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:26.108Z,1749341486.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:26.361Z,1749341486.361 [DAT](INFO): DAT read: Rx Time:00:11:25.6169 

2025-06-08T00:11:26.361Z,1749341486.361 [DAT](INFO): Rx dataTimestamp_ set to:1749341486.360786
2025-06-08T00:11:26.362Z,1749341486.362 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:11:26.363Z,1749341486.363 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:26.364Z,1749341486.364 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:26.364Z,1749341486.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:26.612Z,1749341486.612 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:26.612Z,1749341486.612 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:26.612Z,1749341486.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:26.865Z,1749341486.865 [DAT](INFO): DAT read: Rx Time:00:11:26.1170 

2025-06-08T00:11:26.865Z,1749341486.865 [DAT](INFO): Rx dataTimestamp_ set to:1749341486.865017
2025-06-08T00:11:26.867Z,1749341486.867 [DAT](INFO): DAT read: Bearing 138.4, -57.1 (Local)

2025-06-08T00:11:26.867Z,1749341486.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.4, -57.1 (Local)

2025-06-08T00:11:26.869Z,1749341486.869 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:26.874Z,1749341486.874 [DAT](INFO): DAT read: 00:11:26.1170 LVL=  9152, 14945, 14194, 14579, AGC= 48, IDX= 504, 0.05, 0.532, 0.773, 0.031, 1.427, PHS=-0.807,-0.607,-1.399, RAW=  16.0,  54.3, CAL=  11.6,  57.1, ROT= 138.4, -57.1

2025-06-08T00:11:26.884Z,1749341486.884 [DAT](INFO): got valid direction response:
 00:11:26.1170 LVL=  9152, 14945, 14194, 14579, AGC= 48, IDX= 504, 0.05, 0.532, 0.773, 0.031, 1.427, PHS=-0.807,-0.607,-1.399, RAW=  16.0,  54.3, CAL=  11.6,  57.1, ROT= 138.4, -57.1

2025-06-08T00:11:26.884Z,1749341486.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:26.885Z,1749341486.885 [DAT](INFO): direction in FSK: [-0.406185,0.360628,0.839620]
2025-06-08T00:11:26.885Z,1749341486.885 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:26.897Z,1749341486.897 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:26.897Z,1749341486.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:27.116Z,1749341487.116 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:27.116Z,1749341487.116 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:27.116Z,1749341487.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:27.370Z,1749341487.370 [DAT](INFO): DAT read: Rx Time:00:11:26.6169 

2025-06-08T00:11:27.370Z,1749341487.370 [DAT](INFO): Rx dataTimestamp_ set to:1749341487.369733
2025-06-08T00:11:27.372Z,1749341487.372 [DAT](INFO): DAT read: Bearing 146.1, -58.0 (Local)

2025-06-08T00:11:27.373Z,1749341487.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.1, -58.0 (Local)

2025-06-08T00:11:27.375Z,1749341487.375 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-06-08T00:11:27.381Z,1749341487.381 [DAT](INFO): DAT read: 00:11:26.6169 LVL=  9440, 13553, 14322, 15075, AGC= 48, IDX= 503, 0.13,-1.328,-0.990,-1.727,-0.343, PHS=-0.897,-0.600,-1.387, RAW=   8.1,  56.0, CAL=   3.9,  58.0, ROT= 146.1, -58.0

2025-06-08T00:11:27.383Z,1749341487.383 [DAT](INFO): got valid direction response:
 00:11:26.6169 LVL=  9440, 13553, 14322, 15075, AGC= 48, IDX= 503, 0.13,-1.328,-0.990,-1.727,-0.343, PHS=-0.897,-0.600,-1.387, RAW=   8.1,  56.0, CAL=   3.9,  58.0, ROT= 146.1, -58.0

2025-06-08T00:11:27.384Z,1749341487.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:27.385Z,1749341487.385 [DAT](INFO): direction in FSK: [-0.439840,0.295560,0.848048]
2025-06-08T00:11:27.385Z,1749341487.385 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:27.390Z,1749341487.390 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:27.390Z,1749341487.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:27.620Z,1749341487.620 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:27.620Z,1749341487.620 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:27.620Z,1749341487.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:27.873Z,1749341487.873 [DAT](INFO): DAT read: Rx Time:00:11:27.1171 

2025-06-08T00:11:27.873Z,1749341487.873 [DAT](INFO): Rx dataTimestamp_ set to:1749341487.872925
2025-06-08T00:11:27.875Z,1749341487.875 [DAT](INFO): DAT read: Bearing 162.0, -59.1 (Local)

2025-06-08T00:11:27.875Z,1749341487.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.0, -59.1 (Local)

2025-06-08T00:11:27.877Z,1749341487.877 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:27.882Z,1749341487.882 [DAT](INFO): DAT read: 00:11:27.1171 LVL=  9712, 14257, 14322, 16691, AGC= 49, IDX= 504, 0.22,-0.226, 0.317,-0.419, 0.999, PHS=-1.137,-0.634,-1.421, RAW= 350.9,  58.6, CAL= 348.0,  59.1, ROT= 162.0, -59.1

2025-06-08T00:11:27.883Z,1749341487.883 [DAT](INFO): got valid direction response:
 00:11:27.1171 LVL=  9712, 14257, 14322, 16691, AGC= 49, IDX= 504, 0.22,-0.226, 0.317,-0.419, 0.999, PHS=-1.137,-0.634,-1.421, RAW= 350.9,  58.6, CAL= 348.0,  59.1, ROT= 162.0, -59.1

2025-06-08T00:11:27.883Z,1749341487.883 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:27.884Z,1749341487.884 [DAT](INFO): direction in FSK: [-0.488407,0.158693,0.858065]
2025-06-08T00:11:27.884Z,1749341487.884 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:27.916Z,1749341487.916 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:27.916Z,1749341487.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:28.124Z,1749341488.124 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:28.124Z,1749341488.124 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:28.125Z,1749341488.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:28.377Z,1749341488.377 [DAT](INFO): DAT read: Rx Time:00:11:27.6170 

2025-06-08T00:11:28.378Z,1749341488.378 [DAT](INFO): Rx dataTimestamp_ set to:1749341488.377265
2025-06-08T00:11:28.379Z,1749341488.379 [DAT](INFO): DAT read: Bearing 156.8, -61.9 (Local)

2025-06-08T00:11:28.379Z,1749341488.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.8, -61.9 (Local)

2025-06-08T00:11:28.381Z,1749341488.381 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:28.386Z,1749341488.386 [DAT](INFO): DAT read: 00:11:27.6170 LVL=  9856, 14689, 14802, 17843, AGC= 49, IDX= 503, 0.30,-1.233,-0.791,-1.465,-0.049, PHS=-1.096,-0.695,-1.419, RAW= 356.4,  61.0, CAL= 353.2,  61.9, ROT= 156.8, -61.9

2025-06-08T00:11:28.387Z,1749341488.387 [DAT](INFO): got valid direction response:
 00:11:27.6170 LVL=  9856, 14689, 14802, 17843, AGC= 49, IDX= 503, 0.30,-1.233,-0.791,-1.465,-0.049, PHS=-1.096,-0.695,-1.419, RAW= 356.4,  61.0, CAL= 353.2,  61.9, ROT= 156.8, -61.9

2025-06-08T00:11:28.387Z,1749341488.387 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:28.388Z,1749341488.388 [DAT](INFO): direction in FSK: [-0.432924,0.185551,0.882127]
2025-06-08T00:11:28.389Z,1749341488.389 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:28.392Z,1749341488.392 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:28.392Z,1749341488.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:28.628Z,1749341488.628 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:28.629Z,1749341488.629 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:28.629Z,1749341488.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:28.881Z,1749341488.881 [DAT](INFO): DAT read: RxTie0011:28.1171 

2025-06-08T00:11:28.881Z,1749341488.881 [DAT](INFO): unknown deviceResponse_: RxTie0011:28.1171 

2025-06-08T00:11:28.882Z,1749341488.882 [DAT](INFO): DAT read: Bearing 157.6, -61.1 (Local)

2025-06-08T00:11:28.883Z,1749341488.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6, -61.1 (Local)

2025-06-08T00:11:28.885Z,1749341488.885 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-06-08T00:11:28.889Z,1749341488.889 [DAT](INFO): DAT read: 00:11:28.1171 LVL=  8624, 16513, 15554, 17651, AGC= 49, IDX= 504, 0.39,-0.938,-0.477,-1.170, 0.246, PHS=-1.096,-0.675,-1.419, RAW= 355.7,  60.2, CAL= 352.4,  61.1, ROT= 157.6, -61.1

2025-06-08T00:11:28.890Z,1749341488.890 [DAT](INFO): got valid direction response:
 00:11:28.1171 LVL=  8624, 16513, 15554, 17651, AGC= 49, IDX= 504, 0.39,-0.938,-0.477,-1.170, 0.246, PHS=-1.096,-0.675,-1.419, RAW= 355.7,  60.2, CAL= 352.4,  61.1, ROT= 157.6, -61.1

2025-06-08T00:11:28.891Z,1749341488.891 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:28.892Z,1749341488.892 [DAT](INFO): direction in FSK: [-0.446817,0.184165,0.875465]
2025-06-08T00:11:28.892Z,1749341488.892 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:28.895Z,1749341488.895 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:28.895Z,1749341488.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:29.133Z,1749341489.133 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:29.134Z,1749341489.134 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:29.135Z,1749341489.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:29.385Z,1749341489.385 [DAT](INFO): DAT read: Rx Time:00:11:28.6170 

2025-06-08T00:11:29.386Z,1749341489.386 [DAT](INFO): Rx dataTimestamp_ set to:1749341489.385352
2025-06-08T00:11:29.387Z,1749341489.387 [DAT](INFO): DAT read: Bearin 1., -59.1 (Local)

2025-06-08T00:11:29.387Z,1749341489.387 [DAT](INFO): Local bearing/azimuth received:
 Bearin 1., -59.1 (Local)

2025-06-08T00:11:29.389Z,1749341489.389 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:29.394Z,1749341489.394 [DAT](INFO): DAT read: 00:11:28.6170 LVL=  8128, 15649, 15762, 18675, AGC= 49, IDX= 504,-0.46, 2.772,-3.030, 2.532,-2.366, PHS=-1.057,-0.617,-1.388, RAW= 355.3,  58.2, CAL= 351.8,  59.1, ROT= 158.2, -59.1

2025-06-08T00:11:29.395Z,1749341489.395 [DAT](INFO): got valid direction response:
 00:11:28.6170 LVL=  8128, 15649, 15762, 18675, AGC= 49, IDX= 504,-0.46, 2.772,-3.030, 2.532,-2.366, PHS=-1.057,-0.617,-1.388, RAW= 355.3,  58.2, CAL= 351.8,  59.1, ROT= 158.2, -59.1

2025-06-08T00:11:29.396Z,1749341489.396 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:29.397Z,1749341489.397 [DAT](INFO): direction in FSK: [-0.476816,0.190713,0.858065]
2025-06-08T00:11:29.397Z,1749341489.397 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:29.400Z,1749341489.400 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:29.400Z,1749341489.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:29.638Z,1749341489.638 [DAT](INFO): DAT read: Rx Time:00:11:29.1170 

2025-06-08T00:11:29.640Z,1749341489.640 [DAT](INFO): Rx dataTimestamp_ set to:1749341489.639206
2025-06-08T00:11:29.642Z,1749341489.642 [DAT](INFO): DAT read: Bearing 162.5, -60.7 (Local)

2025-06-08T00:11:29.643Z,1749341489.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.5, -60.7 (Local)

2025-06-08T00:11:29.644Z,1749341489.644 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:29.645Z,1749341489.645 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:29.645Z,1749341489.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:29.892Z,1749341489.892 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m(tiptme 1.7 ms) speed -0.1

2025-06-08T00:11:29.899Z,1749341489.899 [DAT](INFO): DAT read: 00:11:29.1170 LVL=  8944, 16593, 15282, 17619, AGC= 49, IDX= 504,-0.34, 2.058, 2.577, 1.892,-2.998, PHS=-1.139,-0.660,-1.396, RAW= 350.1,  60.2, CAL= 347.5,  60.7, ROT= 162.5, -60.7

2025-06-08T00:11:29.919Z,1749341489.919 [DAT](INFO): got valid direction response:
 00:11:29.1170 LVL=  8944, 16593, 15282, 17619, AGC= 49, IDX= 504,-0.34, 2.058, 2.577, 1.892,-2.998, PHS=-1.139,-0.660,-1.396, RAW= 350.1,  60.2, CAL= 347.5,  60.7, ROT= 162.5, -60.7

2025-06-08T00:11:29.919Z,1749341489.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:29.920Z,1749341489.920 [DAT](INFO): direction in FSK: [-0.466732,0.147160,0.872069]
2025-06-08T00:11:29.921Z,1749341489.921 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:29.937Z,1749341489.937 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:29.937Z,1749341489.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:30.143Z,1749341490.143 [DAT](INFO): DAT read: Rx Time:00:11:29.6169 

2025-06-08T00:11:30.144Z,1749341490.144 [DAT](INFO): Rx dataTimestamp_ set to:1749341490.143621
2025-06-08T00:11:30.147Z,1749341490.147 [DAT](INFO): DAT read: Bearing 166.5, -60.9 (Local)

2025-06-08T00:11:30.148Z,1749341490.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.5, -60.9 (Local)

2025-06-08T00:11:30.149Z,1749341490.149 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:30.149Z,1749341490.149 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:30.150Z,1749341490.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:30.394Z,1749341490.394 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) sped-0.

2025-06-08T00:11:30.398Z,1749341490.398 [DAT](INFO): DAT read: 00:11:29.6169 LVL=  8768, 15601, 13202, 18419, AGC= 49, IDX= 503,-0.23, 0.057, 0.633,-0.049, 1.355, PHS=-1.209,-0.675,-1.407, RAW= 345.1,  60.6, CAL= 343.5,  60.9, ROT= 166.5, -60.9

2025-06-08T00:11:30.400Z,1749341490.400 [DAT](INFO): got valid direction response:
 00:11:29.6169 LVL=  8768, 15601, 13202, 18419, AGC= 49, IDX= 503,-0.23, 0.057, 0.633,-0.049, 1.355, PHS=-1.209,-0.675,-1.407, RAW= 345.1,  60.6, CAL= 343.5,  60.9, ROT= 166.5, -60.9

2025-06-08T00:11:30.400Z,1749341490.400 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:30.401Z,1749341490.401 [DAT](INFO): direction in FSK: [-0.472898,0.113533,0.873772]
2025-06-08T00:11:30.401Z,1749341490.401 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:30.404Z,1749341490.404 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:30.405Z,1749341490.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:30.647Z,1749341490.647 [DAT](INFO): DAT read: Rx Time:00:11:30.1170 

2025-06-08T00:11:30.648Z,1749341490.648 [DAT](INFO): Rx dataTimestamp_ set to:1749341490.647641
2025-06-08T00:11:30.651Z,1749341490.651 [DAT](INFO): DAT read: Bearing 169.2, -63.7 (Local)

2025-06-08T00:11:30.652Z,1749341490.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.2, -63.7 (Local)

2025-06-08T00:11:30.656Z,1749341490.656 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-06-08T00:11:30.658Z,1749341490.658 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:11:30.661Z,1749341490.661 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:30.662Z,1749341490.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:30.907Z,1749341490.907 [DAT](INFO): DAT read: 00:11:30.1170 LVL=  8688, 17297, 14386, 18419, AGC 49,IDX= 504,-0.17, 1.127, 1.675, 1.080, 2.457, PHS=-1.241,-0.735,-1.380, RAW= 341.8,  63.6, CAL= 340.8,  63.7, ROT= 169.2, -63.7

2025-06-08T00:11:30.923Z,1749341490.923 [DAT](INFO): unknown deviceResponse_: 00:11:30.1170 LVL=  8688, 17297, 14386, 18419, AGC 49,IDX= 504,-0.17, 1.127, 1.675, 1.080, 2.457, PHS=-1.241,-0.735,-1.380, RAW= 341.8,  63.6, CAL= 340.8,  63.7, ROT= 169.2, -63.7

2025-06-08T00:11:30.923Z,1749341490.923 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:30.924Z,1749341490.924 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:30.924Z,1749341490.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:31.148Z,1749341491.148 [DAT](INFO): DAT read: RX DATA OVERRUNuser:2114>

2025-06-08T00:11:31.149Z,1749341491.149 [DAT](INFO): Reached modem response timeout
2025-06-08T00:11:31.149Z,1749341491.149 [DAT](DEBUG): Acoustic response timeout
2025-06-08T00:11:31.149Z,1749341491.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:11:31.400Z,1749341491.400 [DAT](INFO): DAT read: Command 'tr50' not found

2025-06-08T00:11:31.401Z,1749341491.401 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-06-08T00:11:31.401Z,1749341491.401 [DAT](INFO): DAT read: Error

2025-06-08T00:11:31.401Z,1749341491.401 [DAT](INFO): unknown deviceResponse_: Error

2025-06-08T00:11:31.402Z,1749341491.402 [DAT](INFO): DAT read: user:2115>

2025-06-08T00:11:31.403Z,1749341491.403 [DAT](INFO): DAT read: Tx time:00:11:31.0352

2025-06-08T00:11:31.403Z,1749341491.403 [DAT](INFO): Ping request sent.
2025-06-08T00:11:31.403Z,1749341491.403 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:31.404Z,1749341491.404 [DAT](INFO): DAT read: TxSync time:00:11:31.0344

2025-06-08T00:11:31.404Z,1749341491.404 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:31.405Z,1749341491.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001570
2025-06-08T00:11:31.652Z,1749341491.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248882
2025-06-08T00:11:31.904Z,1749341491.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500939
2025-06-08T00:11:32.157Z,1749341492.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753684
2025-06-08T00:11:32.409Z,1749341492.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005314
2025-06-08T00:11:32.660Z,1749341492.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256921
2025-06-08T00:11:32.917Z,1749341492.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513515
2025-06-08T00:11:33.168Z,1749341493.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764893
2025-06-08T00:11:33.420Z,1749341493.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017143
2025-06-08T00:11:33.672Z,1749341493.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268872
2025-06-08T00:11:33.924Z,1749341493.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520928
2025-06-08T00:11:34.176Z,1749341494.176 [DAT](INFO): DAT read: Rx Time:00:11:33.4430

2025-06-08T00:11:34.177Z,1749341494.177 [DAT](INFO): Rx dataTimestamp_ set to:1749341494.176535
2025-06-08T00:11:34.177Z,1749341494.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774154
2025-06-08T00:11:34.429Z,1749341494.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025430
2025-06-08T00:11:34.683Z,1749341494.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278874
2025-06-08T00:11:34.938Z,1749341494.938 [DAT](INFO): DAT read: 00:11:33.4430 LVL= 10192, 18481, 14130, 19171, AGC= 51, IDX= 224, 0.14, 1.657, 2.165, 1.411, 2.853, PHS=-1.108,-0.641,-1.445, RAW= 354.7,  58.2, CAL= 351.3,  59.0, ROT= 158.7, -59.0

2025-06-08T00:11:34.939Z,1749341494.939 [DAT](INFO): got valid direction response:
 00:11:33.4430 LVL= 10192, 18481, 14130, 19171, AGC= 51, IDX= 224, 0.14, 1.657, 2.165, 1.411, 2.853, PHS=-1.108,-0.641,-1.445, RAW= 354.7,  58.2, CAL= 351.3,  59.0, ROT= 158.7, -59.0

2025-06-08T00:11:34.940Z,1749341494.940 [DAT](INFO): DAT read: Bearing 158.7, -59.0 (Local)

2025-06-08T00:11:34.941Z,1749341494.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.7, -59.0 (Local)

2025-06-08T00:11:34.942Z,1749341494.942 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:11:34.943Z,1749341494.943 [DAT](INFO): DAT read: user:2116>

2025-06-08T00:11:34.944Z,1749341494.944 [DAT](INFO): DAT read: Tx time:00:11:34.5353

2025-06-08T00:11:34.944Z,1749341494.944 [DAT](INFO): Ping request sent.
2025-06-08T00:11:34.944Z,1749341494.944 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:34.945Z,1749341494.945 [DAT](INFO): DAT read: TxSync time:00:11:34.5345

2025-06-08T00:11:34.945Z,1749341494.945 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:11:34.946Z,1749341494.946 [DAT](INFO): direction in FSK: [-0.479856,0.187088,0.857167]
2025-06-08T00:11:34.947Z,1749341494.947 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:34.947Z,1749341494.947 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:34.950Z,1749341494.950 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:34.950Z,1749341494.950 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:34.953Z,1749341494.953 [DAT](INFO): Requesting device enable set for address 50.
2025-06-08T00:11:35.184Z,1749341495.184 [DAT](INFO): Requesting device enable set for address 50.
2025-06-08T00:11:35.436Z,1749341495.436 [DAT](INFO): Requesting device enable set for address 50.
2025-06-08T00:11:37.709Z,1749341497.709 [DAT](INFO): DAT read: RX DATA OVERRUNRx Time:00:11:36.9429

2025-06-08T00:11:37.709Z,1749341497.709 [DAT](INFO): Rx dataTimestamp_ set to:1749341497.708888
2025-06-08T00:11:38.214Z,1749341498.214 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:11:38.215Z,1749341498.215 [DAT](INFO): DAT read: user:2117>

2025-06-08T00:11:38.216Z,1749341498.216 [DAT](INFO): DAT read: Tx time:00:11:38.0353

2025-06-08T00:11:38.216Z,1749341498.216 [DAT](INFO): Ping request sent.
2025-06-08T00:11:38.216Z,1749341498.216 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:38.217Z,1749341498.217 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-08T00:11:38.217Z,1749341498.217 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:38.217Z,1749341498.217 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:38.465Z,1749341498.465 [DAT](INFO): DAT read: TxSync time:00:11:38.0345

2025-06-08T00:11:41.236Z,1749341501.236 [DAT](INFO): DAT read: Rx Time:00:11:40.4429

2025-06-08T00:11:41.237Z,1749341501.237 [DAT](INFO): Rx dataTimestamp_ set to:1749341501.236339
2025-06-08T00:11:41.746Z,1749341501.746 [DAT](INFO): DAT read: 00:11:40.4429 LVL=  9328, 13297, 13074, 15763, AGC= 48, IDX= 447, 0.33,-0.451, 0.151,-0.612, 0.809, PHS=-1.172,-0.611,-1.424, RAW= 347.7,  57.6, CAL= 345.3,  58.0, ROT= 164.7, -58.0

2025-06-08T00:11:41.747Z,1749341501.747 [DAT](INFO): got valid direction response:
 00:11:40.4429 LVL=  9328, 13297, 13074, 15763, AGC= 48, IDX= 447, 0.33,-0.451, 0.151,-0.612, 0.809, PHS=-1.172,-0.611,-1.424, RAW= 347.7,  57.6, CAL= 345.3,  58.0, ROT= 164.7, -58.0

2025-06-08T00:11:41.748Z,1749341501.748 [DAT](INFO): DAT read: Bearing 164.7, -58.0 (Local)

2025-06-08T00:11:41.749Z,1749341501.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.7, -58.0 (Local)

2025-06-08T00:11:41.750Z,1749341501.750 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:11:41.751Z,1749341501.751 [DAT](INFO): DAT read: user:2118>

2025-06-08T00:11:41.752Z,1749341501.752 [DAT](INFO): DAT read: Tx time:00:11:41.5353

2025-06-08T00:11:41.752Z,1749341501.752 [DAT](INFO): Ping request sent.
2025-06-08T00:11:41.752Z,1749341501.752 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:41.752Z,1749341501.752 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-08T00:11:41.753Z,1749341501.753 [DAT](INFO): direction in FSK: [-0.511138,0.139831,0.848048]
2025-06-08T00:11:41.754Z,1749341501.754 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:41.754Z,1749341501.754 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:41.757Z,1749341501.757 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:41.757Z,1749341501.757 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:41.993Z,1749341501.993 [DAT](INFO): DAT read: TxSync time:00:11:41.5345

2025-06-08T00:11:44.764Z,1749341504.764 [DAT](INFO): DAT read: Rx Time:00:11:43.9431

2025-06-08T00:11:44.765Z,1749341504.765 [DAT](INFO): Rx dataTimestamp_ set to:1749341504.764371
2025-06-08T00:11:45.274Z,1749341505.274 [DAT](INFO): DAT read: 00:11:43.9431 LVL= 10080, 16753, 13298, 17267, AGC= 49, IDX= 448, 0.19,-2.023,-1.575,-2.060,-0.652, PHS=-1.283,-0.876,-1.410, RAW= 343.2,  69.0, CAL= 342.2,  69.2, ROT= 167.8, -69.2

2025-06-08T00:11:45.276Z,1749341505.276 [DAT](INFO): got valid direction response:
 00:11:43.9431 LVL= 10080, 16753, 13298, 17267, AGC= 49, IDX= 448, 0.19,-2.023,-1.575,-2.060,-0.652, PHS=-1.283,-0.876,-1.410, RAW= 343.2,  69.0, CAL= 342.2,  69.2, ROT= 167.8, -69.2

2025-06-08T00:11:45.277Z,1749341505.277 [DAT](INFO): DAT read: Bearing 167.8, -69.2 (Local)

2025-06-08T00:11:45.277Z,1749341505.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.8, -69.2 (Local)

2025-06-08T00:11:45.278Z,1749341505.278 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:11:45.280Z,1749341505.280 [DAT](INFO): DAT read: user:2119>

2025-06-08T00:11:45.280Z,1749341505.280 [DAT](INFO): DAT read: Tx time:00:11:45.0354

2025-06-08T00:11:45.281Z,1749341505.281 [DAT](INFO): Ping request sent.
2025-06-08T00:11:45.281Z,1749341505.281 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:45.281Z,1749341505.281 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-08T00:11:45.282Z,1749341505.282 [DAT](INFO): direction in FSK: [-0.347087,0.075043,0.934826]
2025-06-08T00:11:45.282Z,1749341505.282 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:45.283Z,1749341505.283 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:45.286Z,1749341505.286 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:45.286Z,1749341505.286 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:45.523Z,1749341505.523 [DAT](INFO): DAT read: TxSync time:00:11:45.0346

2025-06-08T00:11:48.296Z,1749341508.296 [DAT](INFO): DAT read: Rx Time:00:11:47.4430

2025-06-08T00:11:48.297Z,1749341508.297 [DAT](INFO): Rx dataTimestamp_ set to:1749341508.296463
2025-06-08T00:11:48.806Z,1749341508.806 [DAT](INFO): DAT read: 00:11:47.4430 LVL= 10800, 16737, 15154, 18899, AGC= 49, IDX= 448,-0.19, 2.457, 2.860, 2.075,-2.830, PHS=-0.908,-0.547,-1.381, RAW=   4.4,  54.1, CAL=   0.0,  55.9, ROT= 150.0, -55.9

2025-06-08T00:11:48.807Z,1749341508.807 [DAT](INFO): got valid direction response:
 00:11:47.4430 LVL= 10800, 16737, 15154, 18899, AGC= 49, IDX= 448,-0.19, 2.457, 2.860, 2.075,-2.830, PHS=-0.908,-0.547,-1.381, RAW=   4.4,  54.1, CAL=   0.0,  55.9, ROT= 150.0, -55.9

2025-06-08T00:11:48.808Z,1749341508.808 [DAT](INFO): DAT read: Bearing 150.0, -55.9 (Local)

2025-06-08T00:11:48.809Z,1749341508.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.0, -55.9 (Local)

2025-06-08T00:11:48.810Z,1749341508.810 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:11:48.811Z,1749341508.811 [DAT](INFO): DAT read: user:2120>

2025-06-08T00:11:48.812Z,1749341508.812 [DAT](INFO): DAT read: Tx time:00:11:48.5354

2025-06-08T00:11:48.812Z,1749341508.812 [DAT](INFO): Ping request sent.
2025-06-08T00:11:48.812Z,1749341508.812 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:48.812Z,1749341508.812 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-08T00:11:48.813Z,1749341508.813 [DAT](INFO): direction in FSK: [-0.485528,0.280319,0.828060]
2025-06-08T00:11:48.814Z,1749341508.814 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:48.814Z,1749341508.814 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:48.821Z,1749341508.821 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:48.822Z,1749341508.822 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:49.056Z,1749341509.056 [DAT](INFO): DAT read: TxSync time:00:11:48.5346

2025-06-08T00:11:51.824Z,1749341511.824 [DAT](INFO): DAT read: Rx Time:00:11:50.9429

2025-06-08T00:11:51.825Z,1749341511.825 [DAT](INFO): Rx dataTimestamp_ set to:1749341511.824421
2025-06-08T00:11:52.334Z,1749341512.334 [DAT](INFO): DAT read: 00:11:50.9429 LVL= 11296, 18033, 14962, 16147, AGC= 49, IDX= 447, 0.17,-2.674,-1.335,-2.108,-0.735, PHS=-1.851,-0.553,-1.376, RAW= 308.8,  49.6, CAL= 314.8,  49.5, ROT= 195.2, -49.5

2025-06-08T00:11:52.336Z,1749341512.336 [DAT](INFO): got valid direction response:
 00:11:50.9429 LVL= 11296, 18033, 14962, 16147, AGC= 49, IDX= 447, 0.17,-2.674,-1.335,-2.108,-0.735, PHS=-1.851,-0.553,-1.376, RAW= 308.8,  49.6, CAL= 314.8,  49.5, ROT= 195.2, -49.5

2025-06-08T00:11:52.337Z,1749341512.337 [DAT](INFO): DAT read: Bearing 195.2, -49.5 (Local)

2025-06-08T00:11:52.337Z,1749341512.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.2, -49.5 (Local)

2025-06-08T00:11:52.339Z,1749341512.339 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-06-08T00:11:52.339Z,1749341512.339 [DAT](INFO): DAT read: user:2121>

2025-06-08T00:11:52.340Z,1749341512.340 [DAT](INFO): DAT read: Tx time:00:11:52.0354

2025-06-08T00:11:52.340Z,1749341512.340 [DAT](INFO): Ping request sent.
2025-06-08T00:11:52.341Z,1749341512.341 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:52.341Z,1749341512.341 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-08T00:11:52.342Z,1749341512.342 [DAT](INFO): direction in FSK: [-0.626728,-0.170278,0.760406]
2025-06-08T00:11:52.342Z,1749341512.342 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:52.342Z,1749341512.342 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:52.346Z,1749341512.346 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:52.346Z,1749341512.346 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:52.580Z,1749341512.580 [DAT](INFO): DAT read: TxSync time:00:11:52.0346

2025-06-08T00:11:55.352Z,1749341515.352 [DAT](INFO): DAT read: Rx Time:00:11:54.4430

2025-06-08T00:11:55.353Z,1749341515.353 [DAT](INFO): Rx dataTimestamp_ set to:1749341515.352361
2025-06-08T00:11:55.862Z,1749341515.862 [DAT](INFO): DAT read: 00:11:54.4430 LVL=  8592, 14001, 13010, 14643, AGC= 48, IDX= 448,-0.07,-2.769, 2.922, 2.131,-2.793, PHS= 0.112,-0.522,-1.363, RAW=  55.4,  26.1, CAL=  52.1,  33.4, ROT=  97.9, -33.4

2025-06-08T00:11:55.863Z,1749341515.863 [DAT](INFO): got valid direction response:
 00:11:54.4430 LVL=  8592, 14001, 13010, 14643, AGC= 48, IDX= 448,-0.07,-2.769, 2.922, 2.131,-2.793, PHS= 0.112,-0.522,-1.363, RAW=  55.4,  26.1, CAL=  52.1,  33.4, ROT=  97.9, -33.4

2025-06-08T00:11:55.864Z,1749341515.864 [DAT](INFO): DAT read: Bearing  97.9, -33.4 (Local)

2025-06-08T00:11:55.864Z,1749341515.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.9, -33.4 (Local)

2025-06-08T00:11:55.866Z,1749341515.866 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:11:55.866Z,1749341515.866 [DAT](INFO): DAT read: user:2122>

2025-06-08T00:11:55.867Z,1749341515.867 [DAT](INFO): DAT read: Tx time:00:11:55.5354

2025-06-08T00:11:55.868Z,1749341515.868 [DAT](INFO): Ping request sent.
2025-06-08T00:11:55.868Z,1749341515.868 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:55.868Z,1749341515.868 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-08T00:11:55.869Z,1749341515.869 [DAT](INFO): direction in FSK: [-0.114745,0.826925,0.550481]
2025-06-08T00:11:55.869Z,1749341515.869 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:55.869Z,1749341515.869 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:55.873Z,1749341515.873 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:55.873Z,1749341515.873 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:56.109Z,1749341516.109 [DAT](INFO): DAT read: TxSync time:00:11:55.5346

2025-06-08T00:11:58.880Z,1749341518.880 [DAT](INFO): DAT read: Rx Time:00:11:57.9431

2025-06-08T00:11:58.881Z,1749341518.881 [DAT](INFO): Rx dataTimestamp_ set to:1749341518.880518
2025-06-08T00:11:59.392Z,1749341519.392 [DAT](INFO): DAT read: 00:11:57.9431 LVL= 10160, 17521, 16626, 18339, AGC= 49, IDX= 448,-0.26,-0.680,-0.184,-0.693, 0.710, PHS=-1.302,-0.847,-1.405, RAW= 340.0,  67.7, CAL= 339.4,  67.8, ROT= 170.6, -67.8

2025-06-08T00:11:59.393Z,1749341519.393 [DAT](INFO): got valid direction response:
 00:11:57.9431 LVL= 10160, 17521, 16626, 18339, AGC= 49, IDX= 448,-0.26,-0.680,-0.184,-0.693, 0.710, PHS=-1.302,-0.847,-1.405, RAW= 340.0,  67.7, CAL= 339.4,  67.8, ROT= 170.6, -67.8

2025-06-08T00:11:59.394Z,1749341519.394 [DAT](INFO): DAT read: Bearing 170.6, -67.8 (Local)

2025-06-08T00:11:59.394Z,1749341519.394 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.6, -67.8 (Local)

2025-06-08T00:11:59.396Z,1749341519.396 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:11:59.397Z,1749341519.397 [DAT](INFO): DAT read: user:2123>

2025-06-08T00:11:59.398Z,1749341519.398 [DAT](INFO): DAT read: Tx time:00:11:59.0355

2025-06-08T00:11:59.398Z,1749341519.398 [DAT](INFO): Ping request sent.
2025-06-08T00:11:59.398Z,1749341519.398 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:11:59.399Z,1749341519.399 [DAT](INFO): DAT read: TxSync time:00:11:59.0347

2025-06-08T00:11:59.399Z,1749341519.399 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-08T00:11:59.400Z,1749341519.400 [DAT](INFO): direction in FSK: [-0.372767,0.061711,0.925871]
2025-06-08T00:11:59.401Z,1749341519.401 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:59.401Z,1749341519.401 [DAT](INFO): publishing direction and range info
2025-06-08T00:11:59.404Z,1749341519.404 [DAT](INFO): publishing transmit ping time
2025-06-08T00:11:59.404Z,1749341519.404 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:02.160Z,1749341522.160 [DAT](INFO): DAT read: Rx Time:00:12:01.4432

2025-06-08T00:12:02.161Z,1749341522.161 [DAT](INFO): Rx dataTimestamp_ set to:1749341522.160355
2025-06-08T00:12:02.924Z,1749341522.924 [DAT](INFO): DAT read: 00:12:01.4432 LVL= 10848, 19409, 16242, 17491, AGC= 48, IDX= 448, 0.20, 1.433, 1.845, 1.240, 2.600, PHS=-1.079,-0.708,-1.363, RAW= 355.6,  62.9, CAL= 352.6,  63.7, ROT= 157.4, -63.7

2025-06-08T00:12:02.926Z,1749341522.926 [DAT](INFO): got valid direction response:
 00:12:01.4432 LVL= 10848, 19409, 16242, 17491, AGC= 48, IDX= 448, 0.20, 1.433, 1.845, 1.240, 2.600, PHS=-1.079,-0.708,-1.363, RAW= 355.6,  62.9, CAL= 352.6,  63.7, ROT= 157.4, -63.7

2025-06-08T00:12:02.927Z,1749341522.927 [DAT](INFO): DAT read: Bearing 157.4, -63.7 (Local)

2025-06-08T00:12:02.928Z,1749341522.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.4, -63.7 (Local)

2025-06-08T00:12:02.930Z,1749341522.930 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:12:02.931Z,1749341522.931 [DAT](INFO): DAT read: user:2124>

2025-06-08T00:12:02.932Z,1749341522.932 [DAT](INFO): DAT read: Tx time:00:12:02.5355

2025-06-08T00:12:02.933Z,1749341522.933 [DAT](INFO): Ping request sent.
2025-06-08T00:12:02.933Z,1749341522.933 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:02.934Z,1749341522.934 [DAT](INFO): DAT read: TxSync time:00:12:02.5347

2025-06-08T00:12:02.934Z,1749341522.934 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-08T00:12:02.936Z,1749341522.936 [DAT](INFO): direction in FSK: [-0.409048,0.170270,0.896486]
2025-06-08T00:12:02.936Z,1749341522.936 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:02.937Z,1749341522.937 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:02.941Z,1749341522.941 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:02.941Z,1749341522.941 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:05.688Z,1749341525.688 [DAT](INFO): DAT read: Rx Time:00:12:04.9431

2025-06-08T00:12:05.689Z,1749341525.689 [DAT](INFO): Rx dataTimestamp_ set to:1749341525.688442
2025-06-08T00:12:06.193Z,1749341526.193 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:06.194Z,1749341526.194 [DAT](INFO): DAT read: user:2125>

2025-06-08T00:12:06.195Z,1749341526.195 [DAT](INFO): DAT read: Tx time:00:12:06.0355

2025-06-08T00:12:06.196Z,1749341526.196 [DAT](INFO): Ping request sent.
2025-06-08T00:12:06.196Z,1749341526.196 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:06.196Z,1749341526.196 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-06-08T00:12:06.196Z,1749341526.196 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:06.197Z,1749341526.197 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:06.444Z,1749341526.444 [DAT](INFO): DAT read: TxSync time:00:12:06.0347

2025-06-08T00:12:09.220Z,1749341529.220 [DAT](INFO): DAT read: Rx Time:00:12:08.4432

2025-06-08T00:12:09.221Z,1749341529.221 [DAT](INFO): Rx dataTimestamp_ set to:1749341529.220470
2025-06-08T00:12:09.725Z,1749341529.725 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:09.726Z,1749341529.726 [DAT](INFO): DAT read: user:2126>

2025-06-08T00:12:09.727Z,1749341529.727 [DAT](INFO): DAT read: Tx time:00:12:09.5356

2025-06-08T00:12:09.727Z,1749341529.727 [DAT](INFO): Ping request sent.
2025-06-08T00:12:09.727Z,1749341529.727 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:09.728Z,1749341529.728 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-06-08T00:12:09.728Z,1749341529.728 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:09.728Z,1749341529.728 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:09.976Z,1749341529.976 [DAT](INFO): DAT read: TxSync time:00:12:09.5348

2025-06-08T00:12:12.761Z,1749341532.761 [DAT](INFO): DAT read: Rx Time:00:12:11.9433

2025-06-08T00:12:12.761Z,1749341532.761 [DAT](INFO): Rx dataTimestamp_ set to:1749341532.760938
2025-06-08T00:12:13.270Z,1749341533.270 [DAT](INFO): DAT read: 00:12:11.9433 LVL=  9072, 17825, 14914, 17283, AGC= 49, IDX= 448, 0.23,-1.848,-1.324,-1.665,-0.253, PHS=-1.507,-1.025,-1.415, RAW= 319.6,  72.4, CAL= 321.5,  72.2, ROT= 188.5, -72.2

2025-06-08T00:12:13.271Z,1749341533.271 [DAT](INFO): got valid direction response:
 00:12:11.9433 LVL=  9072, 17825, 14914, 17283, AGC= 49, IDX= 448, 0.23,-1.848,-1.324,-1.665,-0.253, PHS=-1.507,-1.025,-1.415, RAW= 319.6,  72.4, CAL= 321.5,  72.2, ROT= 188.5, -72.2

2025-06-08T00:12:13.272Z,1749341533.272 [DAT](INFO): DAT read: Bearing 188.5, -72.2 (Local)

2025-06-08T00:12:13.272Z,1749341533.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.5, -72.2 (Local)

2025-06-08T00:12:13.274Z,1749341533.274 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:12:13.274Z,1749341533.274 [DAT](INFO): DAT read: user:2127>

2025-06-08T00:12:13.275Z,1749341533.275 [DAT](INFO): DAT read: Tx time:00:12:13.0356

2025-06-08T00:12:13.276Z,1749341533.276 [DAT](INFO): Ping request sent.
2025-06-08T00:12:13.276Z,1749341533.276 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:13.276Z,1749341533.276 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-08T00:12:13.277Z,1749341533.277 [DAT](INFO): direction in FSK: [-0.302338,-0.045185,0.952129]
2025-06-08T00:12:13.277Z,1749341533.277 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:13.278Z,1749341533.278 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:13.281Z,1749341533.281 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:13.281Z,1749341533.281 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:13.517Z,1749341533.517 [DAT](INFO): DAT read: TxSync time:00:12:13.0348

2025-06-08T00:12:16.290Z,1749341536.290 [DAT](INFO): DAT read: Rx Time:00:12:15.4432

2025-06-08T00:12:16.291Z,1749341536.291 [DAT](INFO): Rx dataTimestamp_ set to:1749341536.290505
2025-06-08T00:12:16.802Z,1749341536.802 [DAT](INFO): DAT read: 00:12:15.4432 LVL=  9152, 13809, 12018, 13523, AGC= 46, IDX= 448,-0.06, 0.163, 1.671, 0.716, 2.052, PHS=-1.801,-0.335,-1.339, RAW= 312.0,  43.4, CAL= 318.2,  43.1, ROT= 191.8, -43.1

2025-06-08T00:12:16.803Z,1749341536.803 [DAT](INFO): got valid direction response:
 00:12:15.4432 LVL=  9152, 13809, 12018, 13523, AGC= 46, IDX= 448,-0.06, 0.163, 1.671, 0.716, 2.052, PHS=-1.801,-0.335,-1.339, RAW= 312.0,  43.4, CAL= 318.2,  43.1, ROT= 191.8, -43.1

2025-06-08T00:12:16.804Z,1749341536.804 [DAT](INFO): DAT read: Bearing 191.8, -43.1 (Local)

2025-06-08T00:12:16.804Z,1749341536.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.8, -43.1 (Local)

2025-06-08T00:12:16.806Z,1749341536.806 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:16.807Z,1749341536.807 [DAT](INFO): DAT read: user:2128>

2025-06-08T00:12:16.807Z,1749341536.807 [DAT](INFO): DAT read: Tx time:00:12:16.5356

2025-06-08T00:12:16.808Z,1749341536.808 [DAT](INFO): Ping request sent.
2025-06-08T00:12:16.808Z,1749341536.808 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:16.808Z,1749341536.808 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-08T00:12:16.809Z,1749341536.809 [DAT](INFO): direction in FSK: [-0.714732,-0.149315,0.683274]
2025-06-08T00:12:16.809Z,1749341536.809 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:16.810Z,1749341536.810 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:16.813Z,1749341536.813 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:16.813Z,1749341536.813 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:17.048Z,1749341537.048 [DAT](INFO): DAT read: TxSync time:00:12:16.5348

2025-06-08T00:12:19.828Z,1749341539.828 [DAT](INFO): DAT read: Rx Time:00:12:18.9432

2025-06-08T00:12:19.829Z,1749341539.829 [DAT](INFO): Rx dataTimestamp_ set to:1749341539.828573
2025-06-08T00:12:20.333Z,1749341540.333 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-06-08T00:12:20.334Z,1749341540.334 [DAT](INFO): DAT read: user:2129>

2025-06-08T00:12:20.335Z,1749341540.335 [DAT](INFO): DAT read: Tx time:00:12:20.0357

2025-06-08T00:12:20.335Z,1749341540.335 [DAT](INFO): Ping request sent.
2025-06-08T00:12:20.335Z,1749341540.335 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:20.335Z,1749341540.335 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-08T00:12:20.336Z,1749341540.336 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:20.336Z,1749341540.336 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:20.584Z,1749341540.584 [DAT](INFO): DAT read: TxSync time:00:12:20.0349

2025-06-08T00:12:23.360Z,1749341543.360 [DAT](INFO): DAT read: Rx Time:00:12:22.4433

2025-06-08T00:12:23.361Z,1749341543.361 [DAT](INFO): Rx dataTimestamp_ set to:1749341543.360362
2025-06-08T00:12:23.870Z,1749341543.870 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:23.871Z,1749341543.871 [DAT](INFO): DAT read: user:2130>

2025-06-08T00:12:23.872Z,1749341543.872 [DAT](INFO): DAT read: Tx time:00:12:23.5357

2025-06-08T00:12:23.873Z,1749341543.873 [DAT](INFO): Ping request sent.
2025-06-08T00:12:23.873Z,1749341543.873 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:23.873Z,1749341543.873 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-06-08T00:12:23.874Z,1749341543.874 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:23.874Z,1749341543.874 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:24.122Z,1749341544.122 [DAT](INFO): DAT read: TxSync time:00:12:23.5349

2025-06-08T00:12:26.640Z,1749341546.640 [DAT](INFO): DAT read: Rx Time:00:12:25.9433

2025-06-08T00:12:26.641Z,1749341546.641 [DAT](INFO): Rx dataTimestamp_ set to:1749341546.640394
2025-06-08T00:12:27.409Z,1749341547.409 [DAT](INFO): DAT read: 00:12:25.9433 LVL=  9232, 16705, 16754, 17683, AGC= 49, IDX= 448,-0.27, 0.343, 0.716, 0.027, 1.390, PHS=-0.959,-0.627,-1.366, RAW=   3.3,  58.4, CAL= 359.5,  60.0, ROT= 150.5, -60.0

2025-06-08T00:12:27.412Z,1749341547.412 [DAT](INFO): got valid direction response:
 00:12:25.9433 LVL=  9232, 16705, 16754, 17683, AGC= 49, IDX= 448,-0.27, 0.343, 0.716, 0.027, 1.390, PHS=-0.959,-0.627,-1.366, RAW=   3.3,  58.4, CAL= 359.5,  60.0, ROT= 150.5, -60.0

2025-06-08T00:12:27.413Z,1749341547.413 [DAT](INFO): DAT read: Bearing 150.5, -60.0 (Local)

2025-06-08T00:12:27.413Z,1749341547.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.5, -60.0 (Local)

2025-06-08T00:12:27.416Z,1749341547.416 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:27.417Z,1749341547.417 [DAT](INFO): DAT read: user:2131>

2025-06-08T00:12:27.418Z,1749341547.418 [DAT](INFO): DAT read: Tx time:00:12:27.0357

2025-06-08T00:12:27.418Z,1749341547.418 [DAT](INFO): Ping request sent.
2025-06-08T00:12:27.418Z,1749341547.418 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:27.419Z,1749341547.419 [DAT](INFO): DAT read: TxSync time:00:12:27.0349

2025-06-08T00:12:27.419Z,1749341547.419 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-08T00:12:27.420Z,1749341547.420 [DAT](INFO): direction in FSK: [-0.435178,0.246212,0.866025]
2025-06-08T00:12:27.421Z,1749341547.421 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:27.421Z,1749341547.421 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:27.424Z,1749341547.424 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:27.424Z,1749341547.424 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:30.184Z,1749341550.184 [DAT](INFO): DAT read: Rx Time:00:12:29.4433

2025-06-08T00:12:30.185Z,1749341550.185 [DAT](INFO): Rx dataTimestamp_ set to:1749341550.184644
2025-06-08T00:12:30.711Z,1749341550.711 [DAT](INFO): DAT read: 00:12:29.4433 LVL=  8992, 14177, 12770, 13203, AGC= 46, IDX= 448, 0.41,-1.045, 0.876,-0.101, 1.273, PHS=-2.230,-0.350,-1.377, RAW= 303.1,  40.6, CAL= 311.3,  40.7, ROT= 198.7, -40.7

2025-06-08T00:12:30.720Z,1749341550.720 [DAT](INFO): got valid direction response:
 00:12:29.4433 LVL=  8992, 14177, 12770, 13203, AGC= 46, IDX= 448, 0.41,-1.045, 0.876,-0.101, 1.273, PHS=-2.230,-0.350,-1.377, RAW= 303.1,  40.6, CAL= 311.3,  40.7, ROT= 198.7, -40.7

2025-06-08T00:12:30.721Z,1749341550.721 [DAT](INFO): DAT read: Bearing 198.7, -40.7 (Local)

2025-06-08T00:12:30.721Z,1749341550.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.7, -40.7 (Local)

2025-06-08T00:12:30.723Z,1749341550.723 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:30.724Z,1749341550.724 [DAT](INFO): DAT read: user:2132>

2025-06-08T00:12:30.724Z,1749341550.724 [DAT](INFO): DAT read: Tx time:00:12:30.5357

2025-06-08T00:12:30.725Z,1749341550.725 [DAT](INFO): Ping request sent.
2025-06-08T00:12:30.725Z,1749341550.725 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:30.725Z,1749341550.725 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-08T00:12:30.726Z,1749341550.726 [DAT](INFO): direction in FSK: [-0.718113,-0.243068,0.652098]
2025-06-08T00:12:30.726Z,1749341550.726 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:30.727Z,1749341550.727 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:30.734Z,1749341550.734 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:30.735Z,1749341550.735 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:30.937Z,1749341550.937 [DAT](INFO): DAT read: TxSync time:00:12:30.5349

2025-06-08T00:12:31.121Z,1749341551.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:12:31.190Z,1749341551.190 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:12:31.190Z,1749341551.190 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:12:31.191Z,1749341551.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:12:31.440Z,1749341551.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.715220
2025-06-08T00:12:31.692Z,1749341551.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967227
2025-06-08T00:12:31.945Z,1749341551.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219586
2025-06-08T00:12:32.199Z,1749341552.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473240
2025-06-08T00:12:32.448Z,1749341552.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723219
2025-06-08T00:12:32.704Z,1749341552.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979259
2025-06-08T00:12:32.957Z,1749341552.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231727
2025-06-08T00:12:33.211Z,1749341553.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485591
2025-06-08T00:12:33.460Z,1749341553.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735258
2025-06-08T00:12:33.712Z,1749341553.712 [DAT](INFO): DAT read: Rx Time:00:12:32.9433

2025-06-08T00:12:33.713Z,1749341553.713 [DAT](INFO): Rx dataTimestamp_ set to:1749341553.712419
2025-06-08T00:12:33.713Z,1749341553.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988345
2025-06-08T00:12:33.965Z,1749341553.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240168
2025-06-08T00:12:34.221Z,1749341554.221 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:34.224Z,1749341554.224 [DAT](INFO): DAT read: user:2133>

2025-06-08T00:12:34.227Z,1749341554.227 [DAT](INFO): DAT read: Tx time:00:12:34.0357

2025-06-08T00:12:34.228Z,1749341554.228 [DAT](INFO): Ping request sent.
2025-06-08T00:12:34.228Z,1749341554.228 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:34.229Z,1749341554.229 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-08T00:12:34.230Z,1749341554.230 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:34.233Z,1749341554.233 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:34.468Z,1749341554.468 [DAT](INFO): DAT read: TxSync time:00:12:34.0349

2025-06-08T00:12:37.253Z,1749341557.253 [DAT](INFO): DAT read: Rx Time:00:12:36.4434

2025-06-08T00:12:37.255Z,1749341557.255 [DAT](INFO): Rx dataTimestamp_ set to:1749341557.253537
2025-06-08T00:12:37.753Z,1749341557.753 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:37.754Z,1749341557.754 [DAT](INFO): DAT read: user:2134>

2025-06-08T00:12:37.755Z,1749341557.755 [DAT](INFO): DAT read: Tx time:00:12:37.5358

2025-06-08T00:12:37.771Z,1749341557.771 [DAT](INFO): Ping request sent.
2025-06-08T00:12:37.771Z,1749341557.771 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:37.772Z,1749341557.772 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-08T00:12:37.772Z,1749341557.772 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:37.772Z,1749341557.772 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:38.004Z,1749341558.004 [DAT](INFO): DAT read: TxSync time:00:12:37.5350

2025-06-08T00:12:40.788Z,1749341560.788 [DAT](INFO): DAT read: Rx Time:00:12:39.9434

2025-06-08T00:12:40.789Z,1749341560.789 [DAT](INFO): Rx dataTimestamp_ set to:1749341560.788608
2025-06-08T00:12:41.300Z,1749341561.300 [DAT](INFO): DAT read: 00:12:39.9434 LVL=  9616, 15057, 14322, 18819, AGC= 49, IDX= 448, 0.07,-0.309, 0.224,-0.511, 0.947, PHS=-1.168,-0.676,-1.461, RAW= 351.7,  59.5, CAL= 348.7,  60.1, ROT= 161.3, -60.1

2025-06-08T00:12:41.301Z,1749341561.301 [DAT](INFO): got valid direction response:
 00:12:39.9434 LVL=  9616, 15057, 14322, 18819, AGC= 49, IDX= 448, 0.07,-0.309, 0.224,-0.511, 0.947, PHS=-1.168,-0.676,-1.461, RAW= 351.7,  59.5, CAL= 348.7,  60.1, ROT= 161.3, -60.1

2025-06-08T00:12:41.302Z,1749341561.302 [DAT](INFO): DAT read: Bearing 161.3, -60.1 (Local)

2025-06-08T00:12:41.304Z,1749341561.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.3, -60.1 (Local)

2025-06-08T00:12:41.319Z,1749341561.319 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:41.322Z,1749341561.322 [DAT](INFO): DAT read: user:2135>

2025-06-08T00:12:41.324Z,1749341561.324 [DAT](INFO): DAT read: Tx time:00:12:41.0358

2025-06-08T00:12:41.325Z,1749341561.325 [DAT](INFO): Ping request sent.
2025-06-08T00:12:41.325Z,1749341561.325 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:41.326Z,1749341561.326 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-08T00:12:41.336Z,1749341561.336 [DAT](INFO): direction in FSK: [-0.472173,0.159822,0.866897]
2025-06-08T00:12:41.337Z,1749341561.337 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:41.338Z,1749341561.338 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:41.380Z,1749341561.380 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:41.381Z,1749341561.381 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:41.544Z,1749341561.544 [DAT](INFO): DAT read: TxSync time:00:12:41.0350

2025-06-08T00:12:44.321Z,1749341564.321 [DAT](INFO): DAT read: Rx Time:00:12:43.4434

2025-06-08T00:12:44.322Z,1749341564.322 [DAT](INFO): Rx dataTimestamp_ set to:1749341564.321357
2025-06-08T00:12:44.830Z,1749341564.830 [DAT](INFO): DAT read: 00:12:43.4434 LVL=  8944, 13649, 12210, 15331, AGC= 47, IDX= 448,-0.15, 2.256,-2.936, 2.469,-2.466, PHS=-1.473,-0.423,-1.352, RAW= 323.9,  49.1, CAL= 326.4,  48.6, ROT= 183.6, -48.6

2025-06-08T00:12:44.831Z,1749341564.831 [DAT](INFO): got valid direction response:
 00:12:43.4434 LVL=  8944, 13649, 12210, 15331, AGC= 47, IDX= 448,-0.15, 2.256,-2.936, 2.469,-2.466, PHS=-1.473,-0.423,-1.352, RAW= 323.9,  49.1, CAL= 326.4,  48.6, ROT= 183.6, -48.6

2025-06-08T00:12:44.832Z,1749341564.832 [DAT](INFO): DAT read: Bearing 183.6, -48.6 (Local)

2025-06-08T00:12:44.832Z,1749341564.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.6, -48.6 (Local)

2025-06-08T00:12:44.834Z,1749341564.834 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:44.834Z,1749341564.834 [DAT](INFO): DAT read: user:2136>

2025-06-08T00:12:44.843Z,1749341564.843 [DAT](INFO): DAT read: Tx time:00:12:44.5358

2025-06-08T00:12:44.843Z,1749341564.843 [DAT](INFO): Ping request sent.
2025-06-08T00:12:44.844Z,1749341564.844 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:44.844Z,1749341564.844 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-08T00:12:44.845Z,1749341564.845 [DAT](INFO): direction in FSK: [-0.660007,-0.041524,0.750111]
2025-06-08T00:12:44.845Z,1749341564.845 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:44.845Z,1749341564.845 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:44.869Z,1749341564.869 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:44.869Z,1749341564.869 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:45.076Z,1749341565.076 [DAT](INFO): DAT read: TxSync time:00:12:44.5350

2025-06-08T00:12:47.852Z,1749341567.852 [DAT](INFO): DAT read: Rx Time:00:12:46.9434

2025-06-08T00:12:47.853Z,1749341567.853 [DAT](INFO): Rx dataTimestamp_ set to:1749341567.852417
2025-06-08T00:12:48.362Z,1749341568.362 [DAT](INFO): DAT read: 00:12:46.9434 LVL= 10032, 12817, 13554, 16835, AGC= 48, IDX= 447, 0.33,-2.883,-1.780,-2.633,-1.215, PHS=-1.580,-0.519,-1.421, RAW= 322.0,  51.4, CAL= 324.9,  51.0, ROT= 185.1, -51.0

2025-06-08T00:12:48.363Z,1749341568.363 [DAT](INFO): got valid direction response:
 00:12:46.9434 LVL= 10032, 12817, 13554, 16835, AGC= 48, IDX= 447, 0.33,-2.883,-1.780,-2.633,-1.215, PHS=-1.580,-0.519,-1.421, RAW= 322.0,  51.4, CAL= 324.9,  51.0, ROT= 185.1, -51.0

2025-06-08T00:12:48.364Z,1749341568.364 [DAT](INFO): DAT read: Bearing 185.1, -51.0 (Local)

2025-06-08T00:12:48.364Z,1749341568.364 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.1, -51.0 (Local)

2025-06-08T00:12:48.366Z,1749341568.366 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-06-08T00:12:48.367Z,1749341568.367 [DAT](INFO): DAT read: user:2137>

2025-06-08T00:12:48.367Z,1749341568.367 [DAT](INFO): DAT read: Tx time:00:12:48.0359

2025-06-08T00:12:48.368Z,1749341568.368 [DAT](INFO): Ping request sent.
2025-06-08T00:12:48.368Z,1749341568.368 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:48.368Z,1749341568.368 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-08T00:12:48.369Z,1749341568.369 [DAT](INFO): direction in FSK: [-0.626829,-0.055943,0.777146]
2025-06-08T00:12:48.369Z,1749341568.369 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:48.370Z,1749341568.370 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:48.373Z,1749341568.373 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:48.374Z,1749341568.374 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:48.611Z,1749341568.611 [DAT](INFO): DAT read: TxSync time:00:12:48.0351

2025-06-08T00:12:51.384Z,1749341571.384 [DAT](INFO): DAT read: Rx Time:00:12:50.4435

2025-06-08T00:12:51.384Z,1749341571.384 [DAT](INFO): Rx dataTimestamp_ set to:1749341571.384003
2025-06-08T00:12:51.895Z,1749341571.895 [DAT](INFO): DAT read: 00:12:50.4435 LVL= 12672, 18273, 15922, 16451, AGC= 48, IDX= 448, 0.01,-2.816,-2.464, 3.080,-1.820, PHS=-0.909,-0.598,-1.387, RAW=   7.0,  56.1, CAL=   2.8,  58.0, ROT= 147.2, -58.0

2025-06-08T00:12:51.896Z,1749341571.896 [DAT](INFO): got valid direction response:
 00:12:50.4435 LVL= 12672, 18273, 15922, 16451, AGC= 48, IDX= 448, 0.01,-2.816,-2.464, 3.080,-1.820, PHS=-0.909,-0.598,-1.387, RAW=   7.0,  56.1, CAL=   2.8,  58.0, ROT= 147.2, -58.0

2025-06-08T00:12:51.897Z,1749341571.897 [DAT](INFO): DAT read: Bearing 147.2, -58.0 (Local)

2025-06-08T00:12:51.897Z,1749341571.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.2, -58.0 (Local)

2025-06-08T00:12:51.899Z,1749341571.899 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:51.901Z,1749341571.901 [DAT](INFO): DAT read: user:2138>

2025-06-08T00:12:51.902Z,1749341571.902 [DAT](INFO): DAT read: Tx time:00:12:51.5359

2025-06-08T00:12:51.902Z,1749341571.902 [DAT](INFO): Ping request sent.
2025-06-08T00:12:51.903Z,1749341571.903 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:51.934Z,1749341571.934 [DAT](INFO): DAT read: TxSync time:00:12:51.5351

2025-06-08T00:12:51.935Z,1749341571.935 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-08T00:12:51.936Z,1749341571.936 [DAT](INFO): direction in FSK: [-0.445432,0.287062,0.848048]
2025-06-08T00:12:51.937Z,1749341571.937 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:51.937Z,1749341571.937 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:51.961Z,1749341571.961 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:51.962Z,1749341571.962 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:54.660Z,1749341574.660 [DAT](INFO): DAT read: Rx Time:00:12:53.9435

2025-06-08T00:12:54.661Z,1749341574.661 [DAT](INFO): Rx dataTimestamp_ set to:1749341574.660501
2025-06-08T00:12:55.425Z,1749341575.425 [DAT](INFO): DAT read: 00:12:53.9435 LVL=  9584, 15537, 16610, 19075, AGC= 50, IDX= 448,-0.28, 0.621, 0.968, 0.301, 1.719, PHS=-1.010,-0.704,-1.421, RAW=   4.8,  60.7, CAL=   1.2,  62.2, ROT= 148.8, -62.2

2025-06-08T00:12:55.426Z,1749341575.426 [DAT](INFO): got valid direction response:
 00:12:53.9435 LVL=  9584, 15537, 16610, 19075, AGC= 50, IDX= 448,-0.28, 0.621, 0.968, 0.301, 1.719, PHS=-1.010,-0.704,-1.421, RAW=   4.8,  60.7, CAL=   1.2,  62.2, ROT= 148.8, -62.2

2025-06-08T00:12:55.428Z,1749341575.428 [DAT](INFO): DAT read: Bearing 148.8, -62.2 (Local)

2025-06-08T00:12:55.429Z,1749341575.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.8, -62.2 (Local)

2025-06-08T00:12:55.431Z,1749341575.431 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:55.432Z,1749341575.432 [DAT](INFO): DAT read: user:2139>

2025-06-08T00:12:55.433Z,1749341575.433 [DAT](INFO): DAT read: Tx time:00:12:55.0359

2025-06-08T00:12:55.433Z,1749341575.433 [DAT](INFO): Ping request sent.
2025-06-08T00:12:55.434Z,1749341575.434 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:55.434Z,1749341575.434 [DAT](INFO): DAT read: TxSync time:00:12:55.0351

2025-06-08T00:12:55.449Z,1749341575.449 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-08T00:12:55.450Z,1749341575.450 [DAT](INFO): direction in FSK: [-0.398930,0.241601,0.884581]
2025-06-08T00:12:55.451Z,1749341575.451 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:55.451Z,1749341575.451 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:55.462Z,1749341575.462 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:55.462Z,1749341575.462 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:58.196Z,1749341578.196 [DAT](INFO): DAT read: Rx Time:00:12:57.4436

2025-06-08T00:12:58.197Z,1749341578.197 [DAT](INFO): Rx dataTimestamp_ set to:1749341578.196464
2025-06-08T00:12:58.709Z,1749341578.709 [DAT](INFO): DAT read: 00:12:57.4436 LVL=  9152, 14993, 12482, 16643, AGC= 48, IDX= 448, 0.17,-3.097,-2.583, 2.959,-1.899, PHS=-1.111,-0.638,-1.428, RAW= 353.5,  58.5, CAL= 350.2,  59.2, ROT= 159.8, -59.2

2025-06-08T00:12:58.710Z,1749341578.710 [DAT](INFO): got valid direction response:
 00:12:57.4436 LVL=  9152, 14993, 12482, 16643, AGC= 48, IDX= 448, 0.17,-3.097,-2.583, 2.959,-1.899, PHS=-1.111,-0.638,-1.428, RAW= 353.5,  58.5, CAL= 350.2,  59.2, ROT= 159.8, -59.2

2025-06-08T00:12:58.711Z,1749341578.711 [DAT](INFO): DAT read: Bearing 159.8, -59.2 (Local)

2025-06-08T00:12:58.712Z,1749341578.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.8, -59.2 (Local)

2025-06-08T00:12:58.713Z,1749341578.713 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:12:58.714Z,1749341578.714 [DAT](INFO): DAT read: user:2140>

2025-06-08T00:12:58.715Z,1749341578.715 [DAT](INFO): DAT read: Tx time:00:12:58.5360

2025-06-08T00:12:58.715Z,1749341578.715 [DAT](INFO): Ping request sent.
2025-06-08T00:12:58.715Z,1749341578.715 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:12:58.715Z,1749341578.715 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-08T00:12:58.716Z,1749341578.716 [DAT](INFO): direction in FSK: [-0.480549,0.176807,0.858960]
2025-06-08T00:12:58.717Z,1749341578.717 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:58.718Z,1749341578.718 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:58.721Z,1749341578.721 [DAT](INFO): publishing transmit ping time
2025-06-08T00:12:58.722Z,1749341578.722 [DAT](INFO): publishing direction and range info
2025-06-08T00:12:58.954Z,1749341578.954 [DAT](INFO): DAT read: TxSync time:00:12:58.5352

2025-06-08T00:13:01.724Z,1749341581.724 [DAT](INFO): DAT read: Rx Time:00:13:00.9436

2025-06-08T00:13:01.725Z,1749341581.725 [DAT](INFO): Rx dataTimestamp_ set to:1749341581.724305
2025-06-08T00:13:02.229Z,1749341582.229 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:02.230Z,1749341582.230 [DAT](INFO): DAT read: user:2141>

2025-06-08T00:13:02.231Z,1749341582.231 [DAT](INFO): DAT read: Tx time:00:13:02.0360

2025-06-08T00:13:02.231Z,1749341582.231 [DAT](INFO): Ping request sent.
2025-06-08T00:13:02.231Z,1749341582.231 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:02.232Z,1749341582.232 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-06-08T00:13:02.232Z,1749341582.232 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:02.232Z,1749341582.232 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:02.480Z,1749341582.480 [DAT](INFO): DAT read: TxSync time:00:13:02.0352

2025-06-08T00:13:05.252Z,1749341585.252 [DAT](INFO): DAT read: Rx Time:00:13:04.4436

2025-06-08T00:13:05.253Z,1749341585.253 [DAT](INFO): Rx dataTimestamp_ set to:1749341585.252401
2025-06-08T00:13:05.762Z,1749341585.762 [DAT](INFO): DAT read: 00:13:04.4436 LVL= 10784, 17825, 15186, 13987, AGC= 48, IDX= 447, 0.31, 2.614, 2.286, 1.599, 2.987, PHS=-0.285,-0.654,-1.391, RAW=  49.1,  40.2, CAL=  45.9,  46.3, ROT= 104.1, -46.3

2025-06-08T00:13:05.763Z,1749341585.763 [DAT](INFO): got valid direction response:
 00:13:04.4436 LVL= 10784, 17825, 15186, 13987, AGC= 48, IDX= 447, 0.31, 2.614, 2.286, 1.599, 2.987, PHS=-0.285,-0.654,-1.391, RAW=  49.1,  40.2, CAL=  45.9,  46.3, ROT= 104.1, -46.3

2025-06-08T00:13:05.764Z,1749341585.764 [DAT](INFO): DAT read: Bearing 104.1, -46.3 (Local)

2025-06-08T00:13:05.764Z,1749341585.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 104.1, -46.3 (Local)

2025-06-08T00:13:05.766Z,1749341585.766 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:05.766Z,1749341585.766 [DAT](INFO): DAT read: user:2142>

2025-06-08T00:13:05.767Z,1749341585.767 [DAT](INFO): DAT read: Tx time:00:13:05.5360

2025-06-08T00:13:05.767Z,1749341585.767 [DAT](INFO): Ping request sent.
2025-06-08T00:13:05.768Z,1749341585.768 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:05.768Z,1749341585.768 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-08T00:13:05.769Z,1749341585.769 [DAT](INFO): direction in FSK: [-0.168309,0.670068,0.722967]
2025-06-08T00:13:05.769Z,1749341585.769 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:05.769Z,1749341585.769 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:05.772Z,1749341585.772 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:05.773Z,1749341585.773 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:06.008Z,1749341586.008 [DAT](INFO): DAT read: TxSync time:00:13:05.5352

2025-06-08T00:13:08.785Z,1749341588.785 [DAT](INFO): DAT read: Rx Time:00:13:07.9437

2025-06-08T00:13:08.786Z,1749341588.786 [DAT](INFO): Rx dataTimestamp_ set to:1749341588.785688
2025-06-08T00:13:09.290Z,1749341589.290 [DAT](INFO): DAT read: 00:13:07.9437 LVL= 10432, 17617, 17746, 17651, AGC= 50, IDX= 448, 0.03, 0.591, 0.845, 0.212, 1.612, PHS=-0.933,-0.720,-1.403, RAW=  12.3,  60.8, CAL=   8.7,  62.8, ROT= 141.3, -62.8

2025-06-08T00:13:09.291Z,1749341589.291 [DAT](INFO): got valid direction response:
 00:13:07.9437 LVL= 10432, 17617, 17746, 17651, AGC= 50, IDX= 448, 0.03, 0.591, 0.845, 0.212, 1.612, PHS=-0.933,-0.720,-1.403, RAW=  12.3,  60.8, CAL=   8.7,  62.8, ROT= 141.3, -62.8

2025-06-08T00:13:09.292Z,1749341589.292 [DAT](INFO): DAT read: Bearing 141.3, -62.8 (Local)

2025-06-08T00:13:09.293Z,1749341589.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.3, -62.8 (Local)

2025-06-08T00:13:09.294Z,1749341589.294 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:09.295Z,1749341589.295 [DAT](INFO): DAT read: user:2143>

2025-06-08T00:13:09.296Z,1749341589.296 [DAT](INFO): DAT read: Tx time:00:13:09.0361

2025-06-08T00:13:09.296Z,1749341589.296 [DAT](INFO): Ping request sent.
2025-06-08T00:13:09.296Z,1749341589.296 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:09.296Z,1749341589.296 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-08T00:13:09.297Z,1749341589.297 [DAT](INFO): direction in FSK: [-0.356733,0.285797,0.889416]
2025-06-08T00:13:09.298Z,1749341589.298 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:09.298Z,1749341589.298 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:09.306Z,1749341589.306 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:09.306Z,1749341589.306 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:09.537Z,1749341589.537 [DAT](INFO): DAT read: TxSync time:00:13:09.0353

2025-06-08T00:13:12.308Z,1749341592.308 [DAT](INFO): DAT read: Rx Time:00:13:11.4437

2025-06-08T00:13:12.309Z,1749341592.309 [DAT](INFO): Rx dataTimestamp_ set to:1749341592.308497
2025-06-08T00:13:12.847Z,1749341592.847 [DAT](INFO): DAT read: 00:13:11.4437 LVL=  8048, 15169, 12770, 17635, AGC= 48, IDX= 448,-0.14, 2.857,-2.831, 2.769,-2.139, PHS=-1.199,-0.645,-1.378, RAW= 343.6,  59.9, CAL= 342.1,  60.0, ROT= 167.9, -60.0

2025-06-08T00:13:12.851Z,1749341592.851 [DAT](INFO): got valid direction response:
 00:13:11.4437 LVL=  8048, 15169, 12770, 17635, AGC= 48, IDX= 448,-0.14, 2.857,-2.831, 2.769,-2.139, PHS=-1.199,-0.645,-1.378, RAW= 343.6,  59.9, CAL= 342.1,  60.0, ROT= 167.9, -60.0

2025-06-08T00:13:12.856Z,1749341592.856 [DAT](INFO): DAT read: Bearing 167.9, -60.0 (Local)

2025-06-08T00:13:12.856Z,1749341592.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.9, -60.0 (Local)

2025-06-08T00:13:12.858Z,1749341592.858 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:12.859Z,1749341592.859 [DAT](INFO): DAT read: user:2144>

2025-06-08T00:13:12.864Z,1749341592.864 [DAT](INFO): DAT read: Tx time:00:13:12.5361

2025-06-08T00:13:12.864Z,1749341592.864 [DAT](INFO): Ping request sent.
2025-06-08T00:13:12.864Z,1749341592.864 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:12.864Z,1749341592.864 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-08T00:13:12.865Z,1749341592.865 [DAT](INFO): direction in FSK: [-0.488892,0.104809,0.866025]
2025-06-08T00:13:12.866Z,1749341592.866 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:12.866Z,1749341592.866 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:12.873Z,1749341592.873 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:12.873Z,1749341592.873 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:13.064Z,1749341593.064 [DAT](INFO): DAT read: TxSync time:00:13:12.5353

2025-06-08T00:13:15.851Z,1749341595.851 [DAT](INFO): DAT read: Rx Time:00:13:14.9438

2025-06-08T00:13:15.852Z,1749341595.852 [DAT](INFO): Rx dataTimestamp_ set to:1749341595.851284
2025-06-08T00:13:16.358Z,1749341596.358 [DAT](INFO): DAT read: 00:13:14.9438 LVL=  9424, 16273, 13074, 15699, AGC= 47, IDX= 448, 0.34,-1.725,-1.108,-1.991,-0.607, PHS=-1.030,-0.455,-1.388, RAW= 352.3,  51.2, CAL= 348.6,  52.0, ROT= 161.4, -52.0

2025-06-08T00:13:16.359Z,1749341596.359 [DAT](INFO): got valid direction response:
 00:13:14.9438 LVL=  9424, 16273, 13074, 15699, AGC= 47, IDX= 448, 0.34,-1.725,-1.108,-1.991,-0.607, PHS=-1.030,-0.455,-1.388, RAW= 352.3,  51.2, CAL= 348.6,  52.0, ROT= 161.4, -52.0

2025-06-08T00:13:16.360Z,1749341596.360 [DAT](INFO): DAT read: Bearing 161.4, -52.0 (Local)

2025-06-08T00:13:16.360Z,1749341596.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.4, -52.0 (Local)

2025-06-08T00:13:16.362Z,1749341596.362 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:13:16.362Z,1749341596.362 [DAT](INFO): DAT read: user:2145>

2025-06-08T00:13:16.363Z,1749341596.363 [DAT](INFO): DAT read: Tx time:00:13:16.0361

2025-06-08T00:13:16.364Z,1749341596.364 [DAT](INFO): Ping request sent.
2025-06-08T00:13:16.364Z,1749341596.364 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:16.364Z,1749341596.364 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-08T00:13:16.365Z,1749341596.365 [DAT](INFO): direction in FSK: [-0.583504,0.196371,0.788011]
2025-06-08T00:13:16.365Z,1749341596.365 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:16.365Z,1749341596.365 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:16.369Z,1749341596.369 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:16.369Z,1749341596.369 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:16.604Z,1749341596.604 [DAT](INFO): DAT read: TxSync time:00:13:16.0353

2025-06-08T00:13:19.376Z,1749341599.376 [DAT](INFO): DAT read: Rx Time:00:13:18.4437

2025-06-08T00:13:19.377Z,1749341599.377 [DAT](INFO): Rx dataTimestamp_ set to:1749341599.376349
2025-06-08T00:13:19.906Z,1749341599.906 [DAT](INFO): DAT read: 00:13:18.4437 LVL=  9920, 16177, 13186, 12339, AGC= 48, IDX= 448,-0.15,-0.371,-2.059,-2.781,-1.423, PHS= 1.140,-0.589,-1.361, RAW=  72.5,   7.4, CAL=  74.9,   9.8, ROT=  75.1,  -9.8

2025-06-08T00:13:19.910Z,1749341599.910 [DAT](INFO): got valid direction response:
 00:13:18.4437 LVL=  9920, 16177, 13186, 12339, AGC= 48, IDX= 448,-0.15,-0.371,-2.059,-2.781,-1.423, PHS= 1.140,-0.589,-1.361, RAW=  72.5,   7.4, CAL=  74.9,   9.8, ROT=  75.1,  -9.8

2025-06-08T00:13:19.914Z,1749341599.914 [DAT](INFO): DAT read: Bearing  75.1,  -9.8 (Local)

2025-06-08T00:13:19.915Z,1749341599.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.1,  -9.8 (Local)

2025-06-08T00:13:19.920Z,1749341599.920 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:19.922Z,1749341599.922 [DAT](INFO): DAT read: user:2146>

2025-06-08T00:13:19.925Z,1749341599.925 [DAT](INFO): DAT read: Tx time:00:13:19.5361

2025-06-08T00:13:19.926Z,1749341599.926 [DAT](INFO): Ping request sent.
2025-06-08T00:13:19.926Z,1749341599.926 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:19.929Z,1749341599.929 [DAT](INFO): DAT read: TxSync time:00:13:19.5353

2025-06-08T00:13:19.932Z,1749341599.932 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-08T00:13:19.935Z,1749341599.935 [DAT](INFO): direction in FSK: [0.253381,0.952275,0.170209]
2025-06-08T00:13:19.936Z,1749341599.936 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:19.937Z,1749341599.937 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:19.996Z,1749341599.996 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:19.996Z,1749341599.996 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:22.658Z,1749341602.658 [DAT](INFO): DAT read: Rx Time:00:13:21.9438

2025-06-08T00:13:22.658Z,1749341602.658 [DAT](INFO): Rx dataTimestamp_ set to:1749341602.657709
2025-06-08T00:13:23.161Z,1749341603.161 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:23.162Z,1749341603.162 [DAT](INFO): DAT read: user:2147>

2025-06-08T00:13:23.162Z,1749341603.162 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-06-08T00:13:23.412Z,1749341603.412 [DAT](INFO): DAT read: Tx time:00:13:23.0362

2025-06-08T00:13:23.413Z,1749341603.413 [DAT](INFO): Ping request sent.
2025-06-08T00:13:23.413Z,1749341603.413 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:23.413Z,1749341603.413 [DAT](INFO): DAT read: TxSync time:00:13:23.0354

2025-06-08T00:13:23.414Z,1749341603.414 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:26.184Z,1749341606.184 [DAT](INFO): DAT read: Rx Time:00:13:25.4439

2025-06-08T00:13:26.185Z,1749341606.185 [DAT](INFO): Rx dataTimestamp_ set to:1749341606.184360
2025-06-08T00:13:26.706Z,1749341606.706 [DAT](INFO): DAT read: 00:13:25.4439 LVL=  9344, 16465, 14930, 20403, AGC= 50, IDX= 448, 0.20, 2.370, 2.836, 2.218,-2.654, PHS=-1.171,-0.746,-1.414, RAW= 351.0,  63.6, CAL= 348.5,  64.1, ROT= 161.5, -64.1

2025-06-08T00:13:26.715Z,1749341606.715 [DAT](INFO): got valid direction response:
 00:13:25.4439 LVL=  9344, 16465, 14930, 20403, AGC= 50, IDX= 448, 0.20, 2.370, 2.836, 2.218,-2.654, PHS=-1.171,-0.746,-1.414, RAW= 351.0,  63.6, CAL= 348.5,  64.1, ROT= 161.5, -64.1

2025-06-08T00:13:26.717Z,1749341606.717 [DAT](INFO): DAT read: Bearing 161.5, -64.1 (Local)

2025-06-08T00:13:26.717Z,1749341606.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.5, -64.1 (Local)

2025-06-08T00:13:26.718Z,1749341606.718 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:13:26.720Z,1749341606.720 [DAT](INFO): DAT read: user:2148>

2025-06-08T00:13:26.721Z,1749341606.721 [DAT](INFO): DAT read: Tx time:00:13:26.5362

2025-06-08T00:13:26.721Z,1749341606.721 [DAT](INFO): Ping request sent.
2025-06-08T00:13:26.721Z,1749341606.721 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:26.721Z,1749341606.721 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-08T00:13:26.722Z,1749341606.722 [DAT](INFO): direction in FSK: [-0.414229,0.138599,0.899558]
2025-06-08T00:13:26.723Z,1749341606.723 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:26.723Z,1749341606.723 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:26.726Z,1749341606.726 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:26.726Z,1749341606.726 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:26.945Z,1749341606.945 [DAT](INFO): DAT read: TxSync time:00:13:26.5354

2025-06-08T00:13:29.716Z,1749341609.716 [DAT](INFO): DAT read: Rx Time:00:13:28.9438

2025-06-08T00:13:29.717Z,1749341609.717 [DAT](INFO): Rx dataTimestamp_ set to:1749341609.716447
2025-06-08T00:13:30.228Z,1749341610.228 [DAT](INFO): DAT read: 00:13:28.9438 LVL= 10816, 16817, 16434, 18323, AGC= 49, IDX= 448,-0.13, 0.407, 0.862, 0.116, 1.487, PHS=-0.991,-0.578,-1.374, RAW= 358.7,  56.5, CAL= 354.9,  57.7, ROT= 155.1, -57.7

2025-06-08T00:13:30.229Z,1749341610.229 [DAT](INFO): got valid direction response:
 00:13:28.9438 LVL= 10816, 16817, 16434, 18323, AGC= 49, IDX= 448,-0.13, 0.407, 0.862, 0.116, 1.487, PHS=-0.991,-0.578,-1.374, RAW= 358.7,  56.5, CAL= 354.9,  57.7, ROT= 155.1, -57.7

2025-06-08T00:13:30.230Z,1749341610.230 [DAT](INFO): DAT read: Bearing 155.1, -57.7 (Local)

2025-06-08T00:13:30.231Z,1749341610.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.1, -57.7 (Local)

2025-06-08T00:13:30.233Z,1749341610.233 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:30.234Z,1749341610.234 [DAT](INFO): DAT read: user:2149>

2025-06-08T00:13:30.240Z,1749341610.240 [DAT](INFO): DAT read: Tx time:00:13:30.0362

2025-06-08T00:13:30.240Z,1749341610.240 [DAT](INFO): Ping request sent.
2025-06-08T00:13:30.240Z,1749341610.240 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:30.241Z,1749341610.241 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-06-08T00:13:30.242Z,1749341610.242 [DAT](INFO): direction in FSK: [-0.484681,0.224981,0.845262]
2025-06-08T00:13:30.243Z,1749341610.243 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:30.245Z,1749341610.245 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:30.268Z,1749341610.268 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:30.269Z,1749341610.269 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:30.472Z,1749341610.472 [DAT](INFO): DAT read: TxSync time:00:13:30.0354

2025-06-08T00:13:33.244Z,1749341613.244 [DAT](INFO): DAT read: Rx Time:00:13:32.4438

2025-06-08T00:13:33.245Z,1749341613.245 [DAT](INFO): Rx dataTimestamp_ set to:1749341613.244491
2025-06-08T00:13:33.754Z,1749341613.754 [DAT](INFO): DAT read: 00:13:32.4438 LVL=  9136, 16513, 13426, 15971, AGC= 48, IDX= 447, 0.42, 0.961, 1.330, 0.612, 2.026, PHS=-0.978,-0.650,-1.417, RAW=   4.8,  58.2, CAL=   0.9,  59.9, ROT= 149.1, -59.9

2025-06-08T00:13:33.755Z,1749341613.755 [DAT](INFO): got valid direction response:
 00:13:32.4438 LVL=  9136, 16513, 13426, 15971, AGC= 48, IDX= 447, 0.42, 0.961, 1.330, 0.612, 2.026, PHS=-0.978,-0.650,-1.417, RAW=   4.8,  58.2, CAL=   0.9,  59.9, ROT= 149.1, -59.9

2025-06-08T00:13:33.756Z,1749341613.756 [DAT](INFO): DAT read: Bearing 149.1, -59.9 (Local)

2025-06-08T00:13:33.757Z,1749341613.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.1, -59.9 (Local)

2025-06-08T00:13:33.758Z,1749341613.758 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:33.759Z,1749341613.759 [DAT](INFO): DAT read: user:2150>

2025-06-08T00:13:33.759Z,1749341613.759 [DAT](INFO): DAT read: Tx time:00:13:33.5362

2025-06-08T00:13:33.760Z,1749341613.760 [DAT](INFO): Ping request sent.
2025-06-08T00:13:33.760Z,1749341613.760 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:33.760Z,1749341613.760 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-08T00:13:33.761Z,1749341613.761 [DAT](INFO): direction in FSK: [-0.430329,0.257546,0.865151]
2025-06-08T00:13:33.761Z,1749341613.761 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:33.762Z,1749341613.762 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:33.793Z,1749341613.793 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:33.794Z,1749341613.794 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:34.000Z,1749341614.000 [DAT](INFO): DAT read: TxSync time:00:13:33.5354

2025-06-08T00:13:36.772Z,1749341616.772 [DAT](INFO): DAT read: Rx Time:00:13:35.9439

2025-06-08T00:13:36.773Z,1749341616.773 [DAT](INFO): Rx dataTimestamp_ set to:1749341616.772518
2025-06-08T00:13:37.277Z,1749341617.277 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:37.278Z,1749341617.278 [DAT](INFO): DAT read: user:2151>

2025-06-08T00:13:37.279Z,1749341617.279 [DAT](INFO): DAT read: Tx time:00:13:37.0363

2025-06-08T00:13:37.279Z,1749341617.279 [DAT](INFO): Ping request sent.
2025-06-08T00:13:37.279Z,1749341617.279 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:37.279Z,1749341617.279 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-06-08T00:13:37.280Z,1749341617.280 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:37.280Z,1749341617.280 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:37.528Z,1749341617.528 [DAT](INFO): DAT read: TxSync time:00:13:37.0355

2025-06-08T00:13:40.301Z,1749341620.301 [DAT](INFO): DAT read: Rx Time:00:13:39.4439

2025-06-08T00:13:40.301Z,1749341620.301 [DAT](INFO): Rx dataTimestamp_ set to:1749341620.301026
2025-06-08T00:13:40.805Z,1749341620.805 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:40.806Z,1749341620.806 [DAT](INFO): DAT read: user:2152>

2025-06-08T00:13:40.807Z,1749341620.807 [DAT](INFO): DAT read: Tx time:00:13:40.5363

2025-06-08T00:13:40.807Z,1749341620.807 [DAT](INFO): Ping request sent.
2025-06-08T00:13:40.807Z,1749341620.807 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:40.808Z,1749341620.808 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-06-08T00:13:40.808Z,1749341620.808 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:40.808Z,1749341620.808 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:41.057Z,1749341621.057 [DAT](INFO): DAT read: TxSync time:00:13:40.5355

2025-06-08T00:13:43.832Z,1749341623.832 [DAT](INFO): DAT read: Rx Time:00:13:42.9439

2025-06-08T00:13:43.833Z,1749341623.833 [DAT](INFO): Rx dataTimestamp_ set to:1749341623.832514
2025-06-08T00:13:44.342Z,1749341624.342 [DAT](INFO): DAT read: 00:13:42.9439 LVL=  8912, 18193, 17874, 17059, AGC= 49, IDX= 447, 0.24,-1.263,-0.838,-1.421, 0.020, PHS=-1.195,-0.811,-1.444, RAW= 352.9,  65.6, CAL= 350.4,  66.2, ROT= 159.6, -66.2

2025-06-08T00:13:44.343Z,1749341624.343 [DAT](INFO): got valid direction response:
 00:13:42.9439 LVL=  8912, 18193, 17874, 17059, AGC= 49, IDX= 447, 0.24,-1.263,-0.838,-1.421, 0.020, PHS=-1.195,-0.811,-1.444, RAW= 352.9,  65.6, CAL= 350.4,  66.2, ROT= 159.6, -66.2

2025-06-08T00:13:44.344Z,1749341624.344 [DAT](INFO): DAT read: Bearing 159.6, -66.2 (Local)

2025-06-08T00:13:44.345Z,1749341624.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.6, -66.2 (Local)

2025-06-08T00:13:44.347Z,1749341624.347 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:44.349Z,1749341624.349 [DAT](INFO): DAT read: user:2153>

2025-06-08T00:13:44.350Z,1749341624.350 [DAT](INFO): DAT read: Tx time:00:13:44.0363

2025-06-08T00:13:44.350Z,1749341624.350 [DAT](INFO): Ping request sent.
2025-06-08T00:13:44.351Z,1749341624.351 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:44.351Z,1749341624.351 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-08T00:13:44.353Z,1749341624.353 [DAT](INFO): direction in FSK: [-0.378236,0.140665,0.914960]
2025-06-08T00:13:44.353Z,1749341624.353 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:44.353Z,1749341624.353 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:44.362Z,1749341624.362 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:44.367Z,1749341624.367 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:44.588Z,1749341624.588 [DAT](INFO): DAT read: TxSync time:00:13:44.0355

2025-06-08T00:13:47.362Z,1749341627.362 [DAT](INFO): DAT read: Rx Time:00:13:46.4440

2025-06-08T00:13:47.362Z,1749341627.362 [DAT](INFO): Rx dataTimestamp_ set to:1749341627.362093
2025-06-08T00:13:47.875Z,1749341627.875 [DAT](INFO): DAT read: 00:13:46.4440 LVL= 10960, 15249, 14066, 20467, AGC= 49, IDX= 448, 0.03, 2.946,-2.716, 2.994,-1.880, PHS=-1.370,-0.790,-1.413, RAW= 333.6,  64.5, CAL= 333.7,  64.3, ROT= 176.3, -64.3

2025-06-08T00:13:47.876Z,1749341627.876 [DAT](INFO): got valid direction response:
 00:13:46.4440 LVL= 10960, 15249, 14066, 20467, AGC= 49, IDX= 448, 0.03, 2.946,-2.716, 2.994,-1.880, PHS=-1.370,-0.790,-1.413, RAW= 333.6,  64.5, CAL= 333.7,  64.3, ROT= 176.3, -64.3

2025-06-08T00:13:47.877Z,1749341627.877 [DAT](INFO): DAT read: Bearing 176.3, -64.3 (Local)

2025-06-08T00:13:47.877Z,1749341627.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.3, -64.3 (Local)

2025-06-08T00:13:47.879Z,1749341627.879 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:47.879Z,1749341627.879 [DAT](INFO): DAT read: user:2154>

2025-06-08T00:13:47.880Z,1749341627.880 [DAT](INFO): DAT read: Tx time:00:13:47.5364

2025-06-08T00:13:47.880Z,1749341627.880 [DAT](INFO): Ping request sent.
2025-06-08T00:13:47.880Z,1749341627.880 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:47.881Z,1749341627.881 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-08T00:13:47.882Z,1749341627.882 [DAT](INFO): direction in FSK: [-0.432755,0.027985,0.901077]
2025-06-08T00:13:47.882Z,1749341627.882 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:47.882Z,1749341627.882 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:47.905Z,1749341627.905 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:47.905Z,1749341627.905 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:48.121Z,1749341628.121 [DAT](INFO): DAT read: TxSync time:00:13:47.5356

2025-06-08T00:13:50.640Z,1749341630.640 [DAT](INFO): DAT read: Rx Time:00:13:49.9440

2025-06-08T00:13:50.641Z,1749341630.641 [DAT](INFO): Rx dataTimestamp_ set to:1749341630.640465
2025-06-08T00:13:51.401Z,1749341631.401 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:51.404Z,1749341631.404 [DAT](INFO): DAT read: user:2155>

2025-06-08T00:13:51.408Z,1749341631.408 [DAT](INFO): DAT read: Tx time:00:13:51.0364

2025-06-08T00:13:51.409Z,1749341631.409 [DAT](INFO): Ping request sent.
2025-06-08T00:13:51.410Z,1749341631.410 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:51.413Z,1749341631.413 [DAT](INFO): DAT read: TxSync time:00:13:51.0356

2025-06-08T00:13:51.414Z,1749341631.414 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-06-08T00:13:51.415Z,1749341631.415 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:51.417Z,1749341631.417 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:54.168Z,1749341634.168 [DAT](INFO): DAT read: Rx Time:00:13:53.4439

2025-06-08T00:13:54.169Z,1749341634.169 [DAT](INFO): Rx dataTimestamp_ set to:1749341634.168357
2025-06-08T00:13:54.934Z,1749341634.934 [DAT](INFO): DAT read: 00:13:53.4439 LVL=  9856, 13777, 13058, 13123, AGC= 48, IDX= 447, 0.09,-2.690,-2.962, 2.607,-2.288, PHS=-0.314,-0.627,-1.391, RAW=  46.4,  40.7, CAL=  43.0,  46.6, ROT= 107.0, -46.6

2025-06-08T00:13:54.936Z,1749341634.936 [DAT](INFO): got valid direction response:
 00:13:53.4439 LVL=  9856, 13777, 13058, 13123, AGC= 48, IDX= 447, 0.09,-2.690,-2.962, 2.607,-2.288, PHS=-0.314,-0.627,-1.391, RAW=  46.4,  40.7, CAL=  43.0,  46.6, ROT= 107.0, -46.6

2025-06-08T00:13:54.937Z,1749341634.937 [DAT](INFO): DAT read: Bearing 107.0, -46.6 (Local)

2025-06-08T00:13:54.938Z,1749341634.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.0, -46.6 (Local)

2025-06-08T00:13:54.940Z,1749341634.940 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-06-08T00:13:54.941Z,1749341634.941 [DAT](INFO): DAT read: user:2156>

2025-06-08T00:13:54.942Z,1749341634.942 [DAT](INFO): DAT read: Tx time:00:13:54.5364

2025-06-08T00:13:54.942Z,1749341634.942 [DAT](INFO): Ping request sent.
2025-06-08T00:13:54.942Z,1749341634.942 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:54.943Z,1749341634.943 [DAT](INFO): DAT read: TxSync time:00:13:54.5356

2025-06-08T00:13:54.944Z,1749341634.944 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-08T00:13:54.946Z,1749341634.946 [DAT](INFO): direction in FSK: [-0.200885,0.657065,0.726575]
2025-06-08T00:13:54.946Z,1749341634.946 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:54.946Z,1749341634.946 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:54.951Z,1749341634.951 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:54.951Z,1749341634.951 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:57.696Z,1749341637.696 [DAT](INFO): DAT read: Rx Time:00:13:56.9440

2025-06-08T00:13:57.697Z,1749341637.697 [DAT](INFO): Rx dataTimestamp_ set to:1749341637.696456
2025-06-08T00:13:58.214Z,1749341638.214 [DAT](INFO): DAT read: 00:13:56.9440 LVL=  9712, 16337, 14930, 17187, AGC= 50, IDX= 448,-0.12, 0.506, 0.729, 0.017, 1.406, PHS=-0.812,-0.630,-1.392, RAW=  16.8,  55.5, CAL=  12.7,  58.2, ROT= 137.3, -58.2

2025-06-08T00:13:58.215Z,1749341638.215 [DAT](INFO): got valid direction response:
 00:13:56.9440 LVL=  9712, 16337, 14930, 17187, AGC= 50, IDX= 448,-0.12, 0.506, 0.729, 0.017, 1.406, PHS=-0.812,-0.630,-1.392, RAW=  16.8,  55.5, CAL=  12.7,  58.2, ROT= 137.3, -58.2

2025-06-08T00:13:58.236Z,1749341638.236 [DAT](INFO): DAT read: Bearing 137.3, -58.2 (Local)

2025-06-08T00:13:58.236Z,1749341638.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.3, -58.2 (Local)

2025-06-08T00:13:58.237Z,1749341638.237 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:13:58.238Z,1749341638.238 [DAT](INFO): DAT read: user:2157>

2025-06-08T00:13:58.239Z,1749341638.239 [DAT](INFO): DAT read: Tx time:00:13:58.0364

2025-06-08T00:13:58.240Z,1749341638.240 [DAT](INFO): Ping request sent.
2025-06-08T00:13:58.240Z,1749341638.240 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:13:58.240Z,1749341638.240 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-06-08T00:13:58.241Z,1749341638.241 [DAT](INFO): direction in FSK: [-0.387267,0.357360,0.849893]
2025-06-08T00:13:58.241Z,1749341638.241 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:58.242Z,1749341638.242 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:58.245Z,1749341638.245 [DAT](INFO): publishing transmit ping time
2025-06-08T00:13:58.245Z,1749341638.245 [DAT](INFO): publishing direction and range info
2025-06-08T00:13:58.459Z,1749341638.459 [DAT](INFO): DAT read: TxSync time:00:13:58.0356

2025-06-08T00:14:01.232Z,1749341641.232 [DAT](INFO): DAT read: Rx Time:00:14:00.4441

2025-06-08T00:14:01.233Z,1749341641.233 [DAT](INFO): Rx dataTimestamp_ set to:1749341641.232424
2025-06-08T00:14:01.745Z,1749341641.745 [DAT](INFO): DAT read: 00:14:00.4441 LVL= 10064, 18161, 17074, 16739, AGC= 49, IDX= 448,-0.45,-0.689,-0.390,-0.909, 0.448, PHS=-1.049,-0.791,-1.360, RAW=   3.1,  66.4, CAL=   0.2,  67.6, ROT= 149.8, -67.6

2025-06-08T00:14:01.746Z,1749341641.746 [DAT](INFO): got valid direction response:
 00:14:00.4441 LVL= 10064, 18161, 17074, 16739, AGC= 49, IDX= 448,-0.45,-0.689,-0.390,-0.909, 0.448, PHS=-1.049,-0.791,-1.360, RAW=   3.1,  66.4, CAL=   0.2,  67.6, ROT= 149.8, -67.6

2025-06-08T00:14:01.748Z,1749341641.748 [DAT](INFO): DAT read: Bearing 149.8, -67.6 (Local)

2025-06-08T00:14:01.749Z,1749341641.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.8, -67.6 (Local)

2025-06-08T00:14:01.751Z,1749341641.751 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:01.752Z,1749341641.752 [DAT](INFO): DAT read: user:2158>

2025-06-08T00:14:01.753Z,1749341641.753 [DAT](INFO): DAT read: Tx time:00:14:01.5365

2025-06-08T00:14:01.754Z,1749341641.754 [DAT](INFO): Ping request sent.
2025-06-08T00:14:01.754Z,1749341641.754 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:01.754Z,1749341641.754 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-06-08T00:14:01.784Z,1749341641.784 [DAT](INFO): direction in FSK: [-0.329350,0.191686,0.924546]
2025-06-08T00:14:01.784Z,1749341641.784 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:01.784Z,1749341641.784 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:01.795Z,1749341641.795 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:01.796Z,1749341641.796 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:01.988Z,1749341641.988 [DAT](INFO): DAT read: TxSync time:00:14:01.5357

2025-06-08T00:14:04.772Z,1749341644.772 [DAT](INFO): DAT read: Rx Time:00:14:03.9441

2025-06-08T00:14:04.773Z,1749341644.773 [DAT](INFO): Rx dataTimestamp_ set to:1749341644.772340
2025-06-08T00:14:05.282Z,1749341645.282 [DAT](INFO): DAT read: 00:14:03.9441 LVL=  9776, 16289, 13186, 15043, AGC= 47, IDX= 448, 0.06, 1.326, 1.662, 0.999, 2.381, PHS=-0.967,-0.672,-1.385, RAW=   5.7,  59.9, CAL=   2.0,  61.5, ROT= 148.0, -61.5

2025-06-08T00:14:05.283Z,1749341645.283 [DAT](INFO): got valid direction response:
 00:14:03.9441 LVL=  9776, 16289, 13186, 15043, AGC= 47, IDX= 448, 0.06, 1.326, 1.662, 0.999, 2.381, PHS=-0.967,-0.672,-1.385, RAW=   5.7,  59.9, CAL=   2.0,  61.5, ROT= 148.0, -61.5

2025-06-08T00:14:05.284Z,1749341645.284 [DAT](INFO): DAT read: Bearing 148.0, -61.5 (Local)

2025-06-08T00:14:05.285Z,1749341645.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.0, -61.5 (Local)

2025-06-08T00:14:05.286Z,1749341645.286 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:05.287Z,1749341645.287 [DAT](INFO): DAT read: user:2159>

2025-06-08T00:14:05.287Z,1749341645.287 [DAT](INFO): DAT read: Tx time:00:14:05.0365

2025-06-08T00:14:05.288Z,1749341645.288 [DAT](INFO): Ping request sent.
2025-06-08T00:14:05.288Z,1749341645.288 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:05.288Z,1749341645.288 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-08T00:14:05.289Z,1749341645.289 [DAT](INFO): direction in FSK: [-0.404654,0.252856,0.878817]
2025-06-08T00:14:05.289Z,1749341645.289 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:05.290Z,1749341645.290 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:05.301Z,1749341645.301 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:05.301Z,1749341645.301 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:05.528Z,1749341645.528 [DAT](INFO): DAT read: TxSync time:00:14:05.0357

2025-06-08T00:14:08.304Z,1749341648.304 [DAT](INFO): DAT read: Rx Time:00:14:07.4441

2025-06-08T00:14:08.305Z,1749341648.305 [DAT](INFO): Rx dataTimestamp_ set to:1749341648.304422
2025-06-08T00:14:08.809Z,1749341648.809 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:08.810Z,1749341648.810 [DAT](INFO): DAT read: user:2160>

2025-06-08T00:14:08.811Z,1749341648.811 [DAT](INFO): DAT read: Tx time:00:14:08.5365

2025-06-08T00:14:08.811Z,1749341648.811 [DAT](INFO): Ping request sent.
2025-06-08T00:14:08.811Z,1749341648.811 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:08.812Z,1749341648.812 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-06-08T00:14:08.812Z,1749341648.812 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:08.812Z,1749341648.812 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:09.060Z,1749341649.060 [DAT](INFO): DAT read: TxSync time:00:14:08.5357

2025-06-08T00:14:11.837Z,1749341651.837 [DAT](INFO): DAT read: Rx Time:00:14:10.9441

2025-06-08T00:14:11.838Z,1749341651.838 [DAT](INFO): Rx dataTimestamp_ set to:1749341651.837282
2025-06-08T00:14:12.350Z,1749341652.350 [DAT](INFO): DAT read: 00:14:10.9441 LVL= 13360, 19169, 14626, 14675, AGC= 48, IDX= 447, 0.10, 2.461, 0.735, 0.105, 1.471, PHS= 1.078,-0.689,-1.369, RAW=  74.4,   9.0, CAL=  77.3,  13.2, ROT=  72.7, -13.2

2025-06-08T00:14:12.351Z,1749341652.351 [DAT](INFO): got valid direction response:
 00:14:10.9441 LVL= 13360, 19169, 14626, 14675, AGC= 48, IDX= 447, 0.10, 2.461, 0.735, 0.105, 1.471, PHS= 1.078,-0.689,-1.369, RAW=  74.4,   9.0, CAL=  77.3,  13.2, ROT=  72.7, -13.2

2025-06-08T00:14:12.352Z,1749341652.352 [DAT](INFO): DAT read: Bearing  72.7, -13.2 (Local)

2025-06-08T00:14:12.352Z,1749341652.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.7, -13.2 (Local)

2025-06-08T00:14:12.354Z,1749341652.354 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-06-08T00:14:12.354Z,1749341652.354 [DAT](INFO): DAT read: user:2161>

2025-06-08T00:14:12.355Z,1749341652.355 [DAT](INFO): DAT read: Tx time:00:14:12.0366

2025-06-08T00:14:12.356Z,1749341652.356 [DAT](INFO): Ping request sent.
2025-06-08T00:14:12.356Z,1749341652.356 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:12.356Z,1749341652.356 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-06-08T00:14:12.357Z,1749341652.357 [DAT](INFO): direction in FSK: [0.289518,0.929535,0.228351]
2025-06-08T00:14:12.357Z,1749341652.357 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:12.357Z,1749341652.357 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:12.361Z,1749341652.361 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:12.361Z,1749341652.361 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:12.597Z,1749341652.597 [DAT](INFO): DAT read: TxSync time:00:14:12.0358

2025-06-08T00:14:15.384Z,1749341655.384 [DAT](INFO): DAT read: Rx Time:00:14:14.4442

2025-06-08T00:14:15.385Z,1749341655.385 [DAT](INFO): Rx dataTimestamp_ set to:1749341655.384405
2025-06-08T00:14:15.896Z,1749341655.896 [DAT](INFO): DAT read: 00:14:14.4442 LVL= 10016, 17617, 16194, 19699, AGC= 49, IDX= 448,-0.07,-2.368,-1.913,-2.630,-1.264, PHS=-1.016,-0.602,-1.368, RAW= 357.4,  57.8, CAL= 353.8,  58.9, ROT= 156.2, -58.9

2025-06-08T00:14:15.897Z,1749341655.897 [DAT](INFO): got valid direction response:
 00:14:14.4442 LVL= 10016, 17617, 16194, 19699, AGC= 49, IDX= 448,-0.07,-2.368,-1.913,-2.630,-1.264, PHS=-1.016,-0.602,-1.368, RAW= 357.4,  57.8, CAL= 353.8,  58.9, ROT= 156.2, -58.9

2025-06-08T00:14:15.898Z,1749341655.898 [DAT](INFO): DAT read: Bearing 156.2, -58.9 (Local)

2025-06-08T00:14:15.899Z,1749341655.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.2, -58.9 (Local)

2025-06-08T00:14:15.900Z,1749341655.900 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:15.901Z,1749341655.901 [DAT](INFO): DAT read: user:2162>

2025-06-08T00:14:15.902Z,1749341655.902 [DAT](INFO): DAT read: Tx time:00:14:15.5366

2025-06-08T00:14:15.902Z,1749341655.902 [DAT](INFO): Ping request sent.
2025-06-08T00:14:15.902Z,1749341655.902 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:15.903Z,1749341655.903 [DAT](INFO): DAT read: TxSync time:00:14:15.5358

2025-06-08T00:14:15.903Z,1749341655.903 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-06-08T00:14:15.904Z,1749341655.904 [DAT](INFO): direction in FSK: [-0.472607,0.208445,0.856267]
2025-06-08T00:14:15.905Z,1749341655.905 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:15.905Z,1749341655.905 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:15.908Z,1749341655.908 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:15.908Z,1749341655.908 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:18.661Z,1749341658.661 [DAT](INFO): DAT read: Rx Time:00:14:17.9442

2025-06-08T00:14:18.662Z,1749341658.662 [DAT](INFO): Rx dataTimestamp_ set to:1749341658.661486
2025-06-08T00:14:19.422Z,1749341659.422 [DAT](INFO): DAT read: 00:14:17.9442 LVL= 11568, 18113, 13426, 16371, AGC= 48, IDX= 448,-0.22,-0.252, 0.295,-0.148, 1.210, PHS=-1.374,-0.868,-1.361, RAW= 328.7,  68.6, CAL= 329.4,  68.3, ROT= 180.6, -68.3

2025-06-08T00:14:19.424Z,1749341659.424 [DAT](INFO): got valid direction response:
 00:14:17.9442 LVL= 11568, 18113, 13426, 16371, AGC= 48, IDX= 448,-0.22,-0.252, 0.295,-0.148, 1.210, PHS=-1.374,-0.868,-1.361, RAW= 328.7,  68.6, CAL= 329.4,  68.3, ROT= 180.6, -68.3

2025-06-08T00:14:19.425Z,1749341659.425 [DAT](INFO): DAT read: Bearing 180.6, -68.3 (Local)

2025-06-08T00:14:19.425Z,1749341659.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.6, -68.3 (Local)

2025-06-08T00:14:19.427Z,1749341659.427 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:19.427Z,1749341659.427 [DAT](INFO): DAT read: user:2163>

2025-06-08T00:14:19.428Z,1749341659.428 [DAT](INFO): DAT read: Tx time:00:14:19.0366

2025-06-08T00:14:19.428Z,1749341659.428 [DAT](INFO): Ping request sent.
2025-06-08T00:14:19.429Z,1749341659.429 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:19.429Z,1749341659.429 [DAT](INFO): DAT read: TxSync time:00:14:19.0358

2025-06-08T00:14:19.430Z,1749341659.430 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-08T00:14:19.431Z,1749341659.431 [DAT](INFO): direction in FSK: [-0.369726,-0.003872,0.929133]
2025-06-08T00:14:19.447Z,1749341659.447 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:19.448Z,1749341659.448 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:19.451Z,1749341659.451 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:19.451Z,1749341659.451 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:22.188Z,1749341662.188 [DAT](INFO): DAT read: Rx Time:00:14:21.4443

2025-06-08T00:14:22.189Z,1749341662.189 [DAT](INFO): Rx dataTimestamp_ set to:1749341662.188416
2025-06-08T00:14:22.694Z,1749341662.694 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:22.695Z,1749341662.695 [DAT](INFO): DAT read: user:2164>

2025-06-08T00:14:22.696Z,1749341662.696 [DAT](INFO): DAT read: Tx time:00:14:22.5367

2025-06-08T00:14:22.697Z,1749341662.697 [DAT](INFO): Ping request sent.
2025-06-08T00:14:22.697Z,1749341662.697 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:22.697Z,1749341662.697 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-06-08T00:14:22.697Z,1749341662.697 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:22.698Z,1749341662.698 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:22.945Z,1749341662.945 [DAT](INFO): DAT read: TxSync time:00:14:22.5359

2025-06-08T00:14:25.724Z,1749341665.724 [DAT](INFO): DAT read: Rx Time:00:14:24.9443

2025-06-08T00:14:25.725Z,1749341665.725 [DAT](INFO): Rx dataTimestamp_ set to:1749341665.724440
2025-06-08T00:14:26.238Z,1749341666.238 [DAT](INFO): DAT read: 00:14:24.9443 LVL= 10112, 16673, 13474, 13347, AGC= 47, IDX= 448,-0.33,-2.610, 2.604, 1.874,-3.076, PHS= 0.554,-0.557,-1.336, RAW=  65.8,  16.0, CAL=  64.5,  23.8, ROT=  85.5, -23.8

2025-06-08T00:14:26.247Z,1749341666.247 [DAT](INFO): got valid direction response:
 00:14:24.9443 LVL= 10112, 16673, 13474, 13347, AGC= 47, IDX= 448,-0.33,-2.610, 2.604, 1.874,-3.076, PHS= 0.554,-0.557,-1.336, RAW=  65.8,  16.0, CAL=  64.5,  23.8, ROT=  85.5, -23.8

2025-06-08T00:14:26.248Z,1749341666.248 [DAT](INFO): DAT read: Bearing  85.5, -23.8 (Local)

2025-06-08T00:14:26.248Z,1749341666.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.5, -23.8 (Local)

2025-06-08T00:14:26.250Z,1749341666.250 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:26.251Z,1749341666.251 [DAT](INFO): DAT read: user:2165>

2025-06-08T00:14:26.251Z,1749341666.251 [DAT](INFO): DAT read: Tx time:00:14:26.0367

2025-06-08T00:14:26.252Z,1749341666.252 [DAT](INFO): Ping request sent.
2025-06-08T00:14:26.252Z,1749341666.252 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:26.252Z,1749341666.252 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-08T00:14:26.253Z,1749341666.253 [DAT](INFO): direction in FSK: [0.071787,0.912139,0.403545]
2025-06-08T00:14:26.253Z,1749341666.253 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:26.254Z,1749341666.254 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:26.277Z,1749341666.277 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:26.277Z,1749341666.277 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:26.484Z,1749341666.484 [DAT](INFO): DAT read: TxSync time:00:14:26.0359

2025-06-08T00:14:29.268Z,1749341669.268 [DAT](INFO): DAT read: Rx Time:00:14:28.4443

2025-06-08T00:14:29.269Z,1749341669.269 [DAT](INFO): Rx dataTimestamp_ set to:1749341669.268674
2025-06-08T00:14:29.778Z,1749341669.778 [DAT](INFO): DAT read: 00:14:28.4443 LVL= 11504, 17633, 15602, 21507, AGC= 50, IDX= 447, 0.28, 1.526, 1.964, 1.376, 2.787, PHS=-1.173,-0.775,-1.414, RAW= 352.0,  64.8, CAL= 349.4,  65.3, ROT= 160.6, -65.3

2025-06-08T00:14:29.780Z,1749341669.780 [DAT](INFO): got valid direction response:
 00:14:28.4443 LVL= 11504, 17633, 15602, 21507, AGC= 50, IDX= 447, 0.28, 1.526, 1.964, 1.376, 2.787, PHS=-1.173,-0.775,-1.414, RAW= 352.0,  64.8, CAL= 349.4,  65.3, ROT= 160.6, -65.3

2025-06-08T00:14:29.781Z,1749341669.781 [DAT](INFO): DAT read: Bearing 160.6, -65.3 (Local)

2025-06-08T00:14:29.781Z,1749341669.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.6, -65.3 (Local)

2025-06-08T00:14:29.782Z,1749341669.782 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:29.783Z,1749341669.783 [DAT](INFO): DAT read: user:2166>

2025-06-08T00:14:29.784Z,1749341669.784 [DAT](INFO): DAT read: Tx time:00:14:29.5367

2025-06-08T00:14:29.784Z,1749341669.784 [DAT](INFO): Ping request sent.
2025-06-08T00:14:29.784Z,1749341669.784 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:29.785Z,1749341669.785 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-06-08T00:14:29.786Z,1749341669.786 [DAT](INFO): direction in FSK: [-0.394142,0.138799,0.908508]
2025-06-08T00:14:29.786Z,1749341669.786 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:29.786Z,1749341669.786 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:29.789Z,1749341669.789 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:29.790Z,1749341669.790 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:30.025Z,1749341670.025 [DAT](INFO): DAT read: TxSync time:00:14:29.5359

2025-06-08T00:14:31.142Z,1749341671.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-08T00:14:31.284Z,1749341671.284 [DAT](INFO): ****** received valid address query ******
2025-06-08T00:14:31.284Z,1749341671.284 [DAT](INFO): ****** received valid ping request ******
2025-06-08T00:14:31.284Z,1749341671.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-08T00:14:31.545Z,1749341671.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760577
2025-06-08T00:14:31.796Z,1749341671.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011601
2025-06-08T00:14:32.048Z,1749341672.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263551
2025-06-08T00:14:32.300Z,1749341672.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515653
2025-06-08T00:14:32.553Z,1749341672.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768688
2025-06-08T00:14:32.804Z,1749341672.804 [DAT](INFO): DAT read: Rx Time:00:14:31.9443

2025-06-08T00:14:32.805Z,1749341672.805 [DAT](INFO): Rx dataTimestamp_ set to:1749341672.804254
2025-06-08T00:14:32.805Z,1749341672.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020553
2025-06-08T00:14:33.056Z,1749341673.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271837
2025-06-08T00:14:33.314Z,1749341673.314 [DAT](INFO): DAT read: 00:14:31.9443 LVL= 11456, 18353, 16802, 17875, AGC= 49, IDX= 448,-0.01, 0.031, 0.437,-0.206, 1.137, PHS=-1.018,-0.652,-1.346, RAW= 358.2,  60.6, CAL= 354.9,  61.6, ROT= 155.1, -61.6

2025-06-08T00:14:33.318Z,1749341673.318 [DAT](INFO): got valid direction response:
 00:14:31.9443 LVL= 11456, 18353, 16802, 17875, AGC= 49, IDX= 448,-0.01, 0.031, 0.437,-0.206, 1.137, PHS=-1.018,-0.652,-1.346, RAW= 358.2,  60.6, CAL= 354.9,  61.6, ROT= 155.1, -61.6

2025-06-08T00:14:33.319Z,1749341673.319 [DAT](INFO): DAT read: Bearing 155.1, -61.6 (Local)

2025-06-08T00:14:33.319Z,1749341673.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.1, -61.6 (Local)

2025-06-08T00:14:33.325Z,1749341673.325 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:33.325Z,1749341673.325 [DAT](INFO): DAT read: user:2167>

2025-06-08T00:14:33.326Z,1749341673.326 [DAT](INFO): DAT read: Tx time:00:14:33.0367

2025-06-08T00:14:33.326Z,1749341673.326 [DAT](INFO): Ping request sent.
2025-06-08T00:14:33.326Z,1749341673.326 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:33.327Z,1749341673.327 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-08T00:14:33.329Z,1749341673.329 [DAT](INFO): direction in FSK: [-0.431412,0.200255,0.879649]
2025-06-08T00:14:33.329Z,1749341673.329 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:33.329Z,1749341673.329 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:33.332Z,1749341673.332 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:33.333Z,1749341673.332 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:33.560Z,1749341673.560 [DAT](INFO): DAT read: TxSync time:00:14:33.0359

2025-06-08T00:14:36.332Z,1749341676.332 [DAT](INFO): DAT read: Rx Time:00:14:35.4444

2025-06-08T00:14:36.333Z,1749341676.333 [DAT](INFO): Rx dataTimestamp_ set to:1749341676.332415
2025-06-08T00:14:36.853Z,1749341676.853 [DAT](INFO): DAT read: 00:14:35.4444 LVL=  9920, 13777, 13298, 15715, AGC= 48, IDX= 448,-0.48,-1.201,-0.307,-1.206, 0.172, PHS=-1.286,-0.433,-1.382, RAW= 335.3,  50.5, CAL= 335.1,  50.3, ROT= 174.9, -50.3

2025-06-08T00:14:36.854Z,1749341676.854 [DAT](INFO): got valid direction response:
 00:14:35.4444 LVL=  9920, 13777, 13298, 15715, AGC= 48, IDX= 448,-0.48,-1.201,-0.307,-1.206, 0.172, PHS=-1.286,-0.433,-1.382, RAW= 335.3,  50.5, CAL= 335.1,  50.3, ROT= 174.9, -50.3

2025-06-08T00:14:36.855Z,1749341676.855 [DAT](INFO): DAT read: Bearing 174.9, -50.3 (Local)

2025-06-08T00:14:36.856Z,1749341676.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.9, -50.3 (Local)

2025-06-08T00:14:36.857Z,1749341676.857 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:36.858Z,1749341676.858 [DAT](INFO): DAT read: user:2168>

2025-06-08T00:14:36.858Z,1749341676.858 [DAT](INFO): DAT read: Tx time:00:14:36.5368

2025-06-08T00:14:36.859Z,1749341676.859 [DAT](INFO): Ping request sent.
2025-06-08T00:14:36.859Z,1749341676.859 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:36.883Z,1749341676.883 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-08T00:14:36.884Z,1749341676.884 [DAT](INFO): direction in FSK: [-0.636239,0.056783,0.769400]
2025-06-08T00:14:36.885Z,1749341676.885 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:36.885Z,1749341676.885 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:36.894Z,1749341676.894 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:36.894Z,1749341676.894 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:37.096Z,1749341677.096 [DAT](INFO): DAT read: TxSync time:00:14:36.5360

2025-06-08T00:14:39.868Z,1749341679.868 [DAT](INFO): DAT read: Rx Time:00:14:38.9443

2025-06-08T00:14:39.869Z,1749341679.869 [DAT](INFO): Rx dataTimestamp_ set to:1749341679.868298
2025-06-08T00:14:40.378Z,1749341680.378 [DAT](INFO): DAT read: 00:14:38.9443 LVL=  9904, 15697, 13938, 15731, AGC= 49, IDX= 447, 0.08,-0.905,-0.675,-1.321, 0.069, PHS=-0.886,-0.697,-1.392, RAW=  14.8,  59.4, CAL=  11.0,  61.7, ROT= 139.0, -61.7

2025-06-08T00:14:40.383Z,1749341680.383 [DAT](INFO): got valid direction response:
 00:14:38.9443 LVL=  9904, 15697, 13938, 15731, AGC= 49, IDX= 447, 0.08,-0.905,-0.675,-1.321, 0.069, PHS=-0.886,-0.697,-1.392, RAW=  14.8,  59.4, CAL=  11.0,  61.7, ROT= 139.0, -61.7

2025-06-08T00:14:40.384Z,1749341680.384 [DAT](INFO): DAT read: Bearing 139.0, -61.7 (Local)

2025-06-08T00:14:40.385Z,1749341680.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.0, -61.7 (Local)

2025-06-08T00:14:40.391Z,1749341680.391 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-06-08T00:14:40.392Z,1749341680.392 [DAT](INFO): DAT read: user:2169>

2025-06-08T00:14:40.393Z,1749341680.393 [DAT](INFO): DAT read: Tx time:00:14:40.0368

2025-06-08T00:14:40.393Z,1749341680.393 [DAT](INFO): Ping request sent.
2025-06-08T00:14:40.393Z,1749341680.393 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:40.394Z,1749341680.394 [DAT](INFO): DAT read: TxSync time:00:14:40.0360

2025-06-08T00:14:40.394Z,1749341680.394 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-08T00:14:40.407Z,1749341680.407 [DAT](INFO): direction in FSK: [-0.357799,0.311030,0.880477]
2025-06-08T00:14:40.429Z,1749341680.429 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:40.440Z,1749341680.440 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:40.450Z,1749341680.450 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:40.450Z,1749341680.450 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:43.151Z,1749341683.151 [DAT](INFO): DAT read: Rx Time:00:14:42.4444

2025-06-08T00:14:43.152Z,1749341683.152 [DAT](INFO): Rx dataTimestamp_ set to:1749341683.151361
2025-06-08T00:14:43.914Z,1749341683.914 [DAT](INFO): DAT read: 00:14:42.4444 LVL=  9264, 17313, 15090, 19763, AGC= 49, IDX= 448,-0.23,-2.970,-2.508,-3.114,-1.733, PHS=-1.149,-0.728,-1.384, RAW= 350.6,  63.5, CAL= 348.2,  63.9, ROT= 161.8, -63.9

2025-06-08T00:14:43.915Z,1749341683.915 [DAT](INFO): got valid direction response:
 00:14:42.4444 LVL=  9264, 17313, 15090, 19763, AGC= 49, IDX= 448,-0.23,-2.970,-2.508,-3.114,-1.733, PHS=-1.149,-0.728,-1.384, RAW= 350.6,  63.5, CAL= 348.2,  63.9, ROT= 161.8, -63.9

2025-06-08T00:14:43.916Z,1749341683.916 [DAT](INFO): DAT read: Bearing 161.8, -63.9 (Local)

2025-06-08T00:14:43.917Z,1749341683.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.8, -63.9 (Local)

2025-06-08T00:14:43.918Z,1749341683.918 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:43.931Z,1749341683.931 [DAT](INFO): DAT read: user:2170>

2025-06-08T00:14:43.932Z,1749341683.932 [DAT](INFO): DAT read: Tx time:00:14:43.5368

2025-06-08T00:14:43.933Z,1749341683.933 [DAT](INFO): Ping request sent.
2025-06-08T00:14:43.933Z,1749341683.933 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:43.934Z,1749341683.934 [DAT](INFO): DAT read: TxSync time:00:14:43.5360

2025-06-08T00:14:43.935Z,1749341683.935 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-08T00:14:43.936Z,1749341683.936 [DAT](INFO): direction in FSK: [-0.417930,0.137408,0.898028]
2025-06-08T00:14:43.936Z,1749341683.936 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:43.937Z,1749341683.937 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:43.977Z,1749341683.977 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:43.977Z,1749341683.977 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:46.680Z,1749341686.680 [DAT](INFO): DAT read: Rx Time:00:14:45.9445

2025-06-08T00:14:46.681Z,1749341686.681 [DAT](INFO): Rx dataTimestamp_ set to:1749341686.680577
2025-06-08T00:14:47.221Z,1749341687.221 [DAT](INFO): DAT read: 00:14:45.9445 LVL=  9456, 15089, 13042, 13491, AGC= 46, IDX= 448, 0.37,-3.109,-1.312,-2.262,-0.911, PHS=-2.110,-0.354,-1.354, RAW= 304.6,  41.5, CAL= 312.4,  41.5, ROT= 197.6, -41.5

2025-06-08T00:14:47.225Z,1749341687.225 [DAT](INFO): got valid direction response:
 00:14:45.9445 LVL=  9456, 15089, 13042, 13491, AGC= 46, IDX= 448, 0.37,-3.109,-1.312,-2.262,-0.911, PHS=-2.110,-0.354,-1.354, RAW= 304.6,  41.5, CAL= 312.4,  41.5, ROT= 197.6, -41.5

2025-06-08T00:14:47.228Z,1749341687.228 [DAT](INFO): DAT read: Bearing 197.6, -41.5 (Local)

2025-06-08T00:14:47.229Z,1749341687.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6, -41.5 (Local)

2025-06-08T00:14:47.260Z,1749341687.260 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:47.261Z,1749341687.261 [DAT](INFO): DAT read: user:2171>

2025-06-08T00:14:47.262Z,1749341687.262 [DAT](INFO): DAT read: Tx time:00:14:47.0369

2025-06-08T00:14:47.262Z,1749341687.262 [DAT](INFO): Ping request sent.
2025-06-08T00:14:47.262Z,1749341687.262 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:47.262Z,1749341687.262 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-08T00:14:47.283Z,1749341687.283 [DAT](INFO): direction in FSK: [-0.713898,-0.226462,0.662620]
2025-06-08T00:14:47.284Z,1749341687.284 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:47.284Z,1749341687.284 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:47.307Z,1749341687.307 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:47.307Z,1749341687.307 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:47.437Z,1749341687.437 [DAT](INFO): DAT read: TxSync time:00:14:47.0361

2025-06-08T00:14:50.209Z,1749341690.209 [DAT](INFO): DAT read: Rx Time:00:14:49.4445

2025-06-08T00:14:50.209Z,1749341690.209 [DAT](INFO): Rx dataTimestamp_ set to:1749341690.208920
2025-06-08T00:14:50.718Z,1749341690.718 [DAT](INFO): DAT read: 00:14:49.4445 LVL=  9184, 13297, 13266, 14739, AGC= 48, IDX= 448,-0.08, 1.516,-3.008, 2.389,-2.548, PHS=-2.132,-0.413,-1.350, RAW= 303.0,  42.7, CAL= 310.9,  42.8, ROT= 199.1, -42.8

2025-06-08T00:14:50.719Z,1749341690.719 [DAT](INFO): got valid direction response:
 00:14:49.4445 LVL=  9184, 13297, 13266, 14739, AGC= 48, IDX= 448,-0.08, 1.516,-3.008, 2.389,-2.548, PHS=-2.132,-0.413,-1.350, RAW= 303.0,  42.7, CAL= 310.9,  42.8, ROT= 199.1, -42.8

2025-06-08T00:14:50.720Z,1749341690.720 [DAT](INFO): DAT read: Bearing 199.1, -42.8 (Local)

2025-06-08T00:14:50.720Z,1749341690.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.1, -42.8 (Local)

2025-06-08T00:14:50.722Z,1749341690.722 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:50.722Z,1749341690.722 [DAT](INFO): DAT read: user:2172>

2025-06-08T00:14:50.723Z,1749341690.723 [DAT](INFO): DAT read: Tx time:00:14:50.5369

2025-06-08T00:14:50.724Z,1749341690.724 [DAT](INFO): Ping request sent.
2025-06-08T00:14:50.724Z,1749341690.724 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:50.724Z,1749341690.724 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-08T00:14:50.725Z,1749341690.725 [DAT](INFO): direction in FSK: [-0.693337,-0.240090,0.679441]
2025-06-08T00:14:50.725Z,1749341690.725 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:50.725Z,1749341690.725 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:50.729Z,1749341690.729 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:50.729Z,1749341690.729 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:50.965Z,1749341690.965 [DAT](INFO): DAT read: TxSync time:00:14:50.5361

2025-06-08T00:14:53.736Z,1749341693.736 [DAT](INFO): DAT read: Rx Time:00:14:52.9445

2025-06-08T00:14:53.737Z,1749341693.737 [DAT](INFO): Rx dataTimestamp_ set to:1749341693.736535
2025-06-08T00:14:54.248Z,1749341694.248 [DAT](INFO): DAT read: 00:14:52.9445 LVL=  7920, 14865, 16338, 16643, AGC= 50, IDX= 448,-0.42, 1.057, 1.317, 0.735, 2.102, PHS=-0.957,-0.738,-1.370, RAW=  10.1,  62.8, CAL=   6.7,  64.6, ROT= 143.3, -64.6

2025-06-08T00:14:54.250Z,1749341694.250 [DAT](INFO): got valid direction response:
 00:14:52.9445 LVL=  7920, 14865, 16338, 16643, AGC= 50, IDX= 448,-0.42, 1.057, 1.317, 0.735, 2.102, PHS=-0.957,-0.738,-1.370, RAW=  10.1,  62.8, CAL=   6.7,  64.6, ROT= 143.3, -64.6

2025-06-08T00:14:54.251Z,1749341694.251 [DAT](INFO): DAT read: Bearing 143.3, -64.6 (Local)

2025-06-08T00:14:54.253Z,1749341694.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.3, -64.6 (Local)

2025-06-08T00:14:54.255Z,1749341694.255 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:14:54.256Z,1749341694.256 [DAT](INFO): DAT read: user:2173>

2025-06-08T00:14:54.257Z,1749341694.257 [DAT](INFO): DAT read: Tx time:00:14:54.0369

2025-06-08T00:14:54.257Z,1749341694.257 [DAT](INFO): Ping request sent.
2025-06-08T00:14:54.257Z,1749341694.257 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:54.258Z,1749341694.258 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-08T00:14:54.260Z,1749341694.260 [DAT](INFO): direction in FSK: [-0.343910,0.256342,0.903335]
2025-06-08T00:14:54.260Z,1749341694.260 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:54.260Z,1749341694.260 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:54.268Z,1749341694.268 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:54.269Z,1749341694.269 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:54.492Z,1749341694.492 [DAT](INFO): DAT read: TxSync time:00:14:54.0361

2025-06-08T00:14:57.264Z,1749341697.264 [DAT](INFO): DAT read: Rx Time:00:14:56.4446

2025-06-08T00:14:57.265Z,1749341697.265 [DAT](INFO): Rx dataTimestamp_ set to:1749341697.264605
2025-06-08T00:14:57.774Z,1749341697.774 [DAT](INFO): DAT read: 00:14:56.4447 LVL=  8864, 17729, 15346, 19027, AGC= 48, IDX= 448, 0.10,-3.051,-2.626, 3.089,-1.788, PHS=-1.174,-0.790,-1.409, RAW= 352.1,  65.6, CAL= 349.6,  66.1, ROT= 160.4, -66.1

2025-06-08T00:14:57.775Z,1749341697.775 [DAT](INFO): got valid direction response:
 00:14:56.4447 LVL=  8864, 17729, 15346, 19027, AGC= 48, IDX= 448, 0.10,-3.051,-2.626, 3.089,-1.788, PHS=-1.174,-0.790,-1.409, RAW= 352.1,  65.6, CAL= 349.6,  66.1, ROT= 160.4, -66.1

2025-06-08T00:14:57.776Z,1749341697.776 [DAT](INFO): DAT read: Bearing 160.4, -66.1 (Local)

2025-06-08T00:14:57.777Z,1749341697.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.4, -66.1 (Local)

2025-06-08T00:14:57.778Z,1749341697.778 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:14:57.779Z,1749341697.779 [DAT](INFO): DAT read: user:2174>

2025-06-08T00:14:57.779Z,1749341697.779 [DAT](INFO): DAT read: Tx time:00:14:57.5370

2025-06-08T00:14:57.780Z,1749341697.780 [DAT](INFO): Ping request sent.
2025-06-08T00:14:57.780Z,1749341697.780 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:14:57.780Z,1749341697.780 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-08T00:14:57.781Z,1749341697.781 [DAT](INFO): direction in FSK: [-0.381667,0.135905,0.914254]
2025-06-08T00:14:57.781Z,1749341697.781 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:57.782Z,1749341697.782 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:57.789Z,1749341697.789 [DAT](INFO): publishing transmit ping time
2025-06-08T00:14:57.789Z,1749341697.789 [DAT](INFO): publishing direction and range info
2025-06-08T00:14:58.020Z,1749341698.020 [DAT](INFO): DAT read: TxSync time:00:14:57.5362

2025-06-08T00:15:00.611Z,1749341700.611 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-08T00:15:00.611Z,1749341700.611 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-08T00:15:00.611Z,1749341700.611 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-08T00:15:00.740Z,1749341700.740 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-08T00:15:00.796Z,1749341700.796 [DAT](INFO): DAT read: Rx Time:00:14:59.9446

2025-06-08T00:15:00.797Z,1749341700.797 [DAT](INFO): Rx dataTimestamp_ set to:1749341700.796395
2025-06-08T00:15:00.989Z,1749341700.989 [RDI_Pathfinder](INFO): Powering down
2025-06-08T00:15:01.301Z,1749341701.301 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:01.302Z,1749341701.302 [DAT](INFO): DAT read: user:2175>

2025-06-08T00:15:01.303Z,1749341701.303 [DAT](INFO): DAT read: Tx time:00:15:01.0370

2025-06-08T00:15:01.303Z,1749341701.303 [DAT](INFO): Ping request sent.
2025-06-08T00:15:01.303Z,1749341701.303 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:01.303Z,1749341701.303 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-06-08T00:15:01.304Z,1749341701.304 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:01.304Z,1749341701.304 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:01.552Z,1749341701.552 [DAT](INFO): DAT read: TxSync time:00:15:01.0362

2025-06-08T00:15:01.876Z,1749341701.876 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-08T00:15:01.876Z,1749341701.876 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-08T00:15:02.216Z,1749341702.216 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-08T00:15:04.328Z,1749341704.328 [DAT](INFO): DAT read: Rx Time:00:15:03.4446

2025-06-08T00:15:04.329Z,1749341704.329 [DAT](INFO): Rx dataTimestamp_ set to:1749341704.328401
2025-06-08T00:15:04.838Z,1749341704.838 [DAT](INFO): DAT read: 00:15:03.4446 LVL= 10624, 16769, 15906, 17107, AGC= 49, IDX= 447, 0.38, 0.433, 0.771, 0.071, 1.465, PHS=-0.944,-0.647,-1.397, RAW=   6.9,  58.2, CAL=   3.0,  60.0, ROT= 147.0, -60.0

2025-06-08T00:15:04.839Z,1749341704.839 [DAT](INFO): got valid direction response:
 00:15:03.4446 LVL= 10624, 16769, 15906, 17107, AGC= 49, IDX= 447, 0.38, 0.433, 0.771, 0.071, 1.465, PHS=-0.944,-0.647,-1.397, RAW=   6.9,  58.2, CAL=   3.0,  60.0, ROT= 147.0, -60.0

2025-06-08T00:15:04.840Z,1749341704.840 [DAT](INFO): DAT read: Bearing 147.0, -60.0 (Local)

2025-06-08T00:15:04.841Z,1749341704.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.0, -60.0 (Local)

2025-06-08T00:15:04.842Z,1749341704.842 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:04.843Z,1749341704.843 [DAT](INFO): DAT read: user:2176>

2025-06-08T00:15:04.844Z,1749341704.844 [DAT](INFO): DAT read: Tx time:00:15:04.5370

2025-06-08T00:15:04.844Z,1749341704.844 [DAT](INFO): Ping request sent.
2025-06-08T00:15:04.844Z,1749341704.844 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:04.845Z,1749341704.845 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-08T00:15:04.845Z,1749341704.845 [DAT](INFO): direction in FSK: [-0.419335,0.272319,0.866025]
2025-06-08T00:15:04.846Z,1749341704.846 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:04.846Z,1749341704.846 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:04.849Z,1749341704.849 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:04.849Z,1749341704.849 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:05.085Z,1749341705.085 [DAT](INFO): DAT read: TxSync time:00:15:04.5362

2025-06-08T00:15:07.860Z,1749341707.860 [DAT](INFO): DAT read: Rx Time:00:15:06.9446

2025-06-08T00:15:07.861Z,1749341707.861 [DAT](INFO): Rx dataTimestamp_ set to:1749341707.860646
2025-06-08T00:15:08.370Z,1749341708.370 [DAT](INFO): DAT read: 00:15:06.9446 LVL=  9920, 19265, 17394, 18867, AGC= 50, IDX= 448, 0.10,-0.127, 0.241,-0.194, 1.186, PHS=-1.225,-0.899,-1.383, RAW= 348.6,  71.0, CAL= 347.0,  71.3, ROT= 163.0, -71.3

2025-06-08T00:15:08.371Z,1749341708.371 [DAT](INFO): got valid direction response:
 00:15:06.9446 LVL=  9920, 19265, 17394, 18867, AGC= 50, IDX= 448, 0.10,-0.127, 0.241,-0.194, 1.186, PHS=-1.225,-0.899,-1.383, RAW= 348.6,  71.0, CAL= 347.0,  71.3, ROT= 163.0, -71.3

2025-06-08T00:15:08.372Z,1749341708.372 [DAT](INFO): DAT read: Bearing 163.0, -71.3 (Local)

2025-06-08T00:15:08.372Z,1749341708.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.0, -71.3 (Local)

2025-06-08T00:15:08.375Z,1749341708.375 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:08.378Z,1749341708.378 [DAT](INFO): DAT read: user:2177>

2025-06-08T00:15:08.380Z,1749341708.380 [DAT](INFO): DAT read: Tx time:00:15:08.0370

2025-06-08T00:15:08.380Z,1749341708.380 [DAT](INFO): Ping request sent.
2025-06-08T00:15:08.381Z,1749341708.381 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:08.381Z,1749341708.381 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-08T00:15:08.382Z,1749341708.382 [DAT](INFO): direction in FSK: [-0.306604,0.093738,0.947210]
2025-06-08T00:15:08.382Z,1749341708.382 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:08.382Z,1749341708.382 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:08.386Z,1749341708.386 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:08.386Z,1749341708.386 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:08.618Z,1749341708.618 [DAT](INFO): DAT read: TxSync time:00:15:08.0362

2025-06-08T00:15:11.389Z,1749341711.389 [DAT](INFO): DAT read: Rx Time:00:15:10.4447

2025-06-08T00:15:11.389Z,1749341711.389 [DAT](INFO): Rx dataTimestamp_ set to:1749341711.388974
2025-06-08T00:15:11.894Z,1749341711.894 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:11.895Z,1749341711.895 [DAT](INFO): DAT read: user:2178>

2025-06-08T00:15:11.896Z,1749341711.896 [DAT](INFO): DAT read: Tx time:00:15:11.5371

2025-06-08T00:15:11.896Z,1749341711.896 [DAT](INFO): Ping request sent.
2025-06-08T00:15:11.896Z,1749341711.896 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:11.897Z,1749341711.897 [DAT](INFO): DAT read: TxSync time:00:15:11.5363

2025-06-08T00:15:11.897Z,1749341711.897 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-06-08T00:15:11.897Z,1749341711.897 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:11.898Z,1749341711.898 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:14.669Z,1749341714.669 [DAT](INFO): DAT read: Rx Time:00:15:13.9446

2025-06-08T00:15:14.669Z,1749341714.669 [DAT](INFO): Rx dataTimestamp_ set to:1749341714.668927
2025-06-08T00:15:15.174Z,1749341715.174 [DAT](INFO): DAT read: Range 10 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-06-08T00:15:15.175Z,1749341715.175 [DAT](INFO): DAT read: user:2179>

2025-06-08T00:15:15.177Z,1749341715.177 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-06-08T00:15:15.424Z,1749341715.424 [DAT](INFO): DAT read: Tx time:00:15:15.0371

2025-06-08T00:15:15.425Z,1749341715.425 [DAT](INFO): Ping request sent.
2025-06-08T00:15:15.425Z,1749341715.425 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:15.425Z,1749341715.425 [DAT](INFO): DAT read: TxSync time:00:15:15.0363

2025-06-08T00:15:15.426Z,1749341715.426 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:18.196Z,1749341718.196 [DAT](INFO): DAT read: Rx Time:00:15:17.4447

2025-06-08T00:15:18.197Z,1749341718.197 [DAT](INFO): Rx dataTimestamp_ set to:1749341718.196394
2025-06-08T00:15:18.701Z,1749341718.701 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:18.702Z,1749341718.702 [DAT](INFO): DAT read: user:2180>

2025-06-08T00:15:18.703Z,1749341718.703 [DAT](INFO): DAT read: Tx time:00:15:18.5371

2025-06-08T00:15:18.703Z,1749341718.703 [DAT](INFO): Ping request sent.
2025-06-08T00:15:18.703Z,1749341718.703 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:18.703Z,1749341718.703 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-08T00:15:18.704Z,1749341718.704 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:18.704Z,1749341718.704 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:18.953Z,1749341718.953 [DAT](INFO): DAT read: TxSync time:00:15:18.5363

2025-06-08T00:15:21.724Z,1749341721.724 [DAT](INFO): DAT read: Rx Time:00:15:20.9448

2025-06-08T00:15:21.725Z,1749341721.725 [DAT](INFO): Rx dataTimestamp_ set to:1749341721.724543
2025-06-08T00:15:22.234Z,1749341722.234 [DAT](INFO): DAT read: 00:15:20.9448 LVL=  8560, 17441, 14722, 19379, AGC= 49, IDX= 448,-0.23,-0.372, 0.084,-0.446, 0.900, PHS=-1.184,-0.768,-1.349, RAW= 345.9,  66.1, CAL= 344.4,  66.3, ROT= 165.6, -66.3

2025-06-08T00:15:22.235Z,1749341722.235 [DAT](INFO): got valid direction response:
 00:15:20.9448 LVL=  8560, 17441, 14722, 19379, AGC= 49, IDX= 448,-0.23,-0.372, 0.084,-0.446, 0.900, PHS=-1.184,-0.768,-1.349, RAW= 345.9,  66.1, CAL= 344.4,  66.3, ROT= 165.6, -66.3

2025-06-08T00:15:22.236Z,1749341722.236 [DAT](INFO): DAT read: Bearing 165.6, -66.3 (Local)

2025-06-08T00:15:22.236Z,1749341722.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.6, -66.3 (Local)

2025-06-08T00:15:22.238Z,1749341722.238 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:22.239Z,1749341722.239 [DAT](INFO): DAT read: user:2181>

2025-06-08T00:15:22.239Z,1749341722.239 [DAT](INFO): DAT read: Tx time:00:15:22.0372

2025-06-08T00:15:22.240Z,1749341722.240 [DAT](INFO): Ping request sent.
2025-06-08T00:15:22.240Z,1749341722.240 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:22.240Z,1749341722.240 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-06-08T00:15:22.241Z,1749341722.241 [DAT](INFO): direction in FSK: [-0.389320,0.099960,0.915663]
2025-06-08T00:15:22.241Z,1749341722.241 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:22.242Z,1749341722.242 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:22.245Z,1749341722.245 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:22.245Z,1749341722.245 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:22.481Z,1749341722.481 [DAT](INFO): DAT read: TxSync time:00:15:22.0364

2025-06-08T00:15:25.252Z,1749341725.252 [DAT](INFO): DAT read: Rx Time:00:15:24.4449

2025-06-08T00:15:25.253Z,1749341725.253 [DAT](INFO): Rx dataTimestamp_ set to:1749341725.252471
2025-06-08T00:15:25.762Z,1749341725.762 [DAT](INFO): DAT read: 00:15:24.4449 LVL= 10288, 17393, 15586, 19811, AGC= 49, IDX= 448, 0.10,-2.489,-2.041,-2.666,-1.228, PHS=-1.173,-0.766,-1.441, RAW= 353.2,  63.8, CAL= 350.4,  64.4, ROT= 159.6, -64.4

2025-06-08T00:15:25.771Z,1749341725.771 [DAT](INFO): got valid direction response:
 00:15:24.4449 LVL= 10288, 17393, 15586, 19811, AGC= 49, IDX= 448, 0.10,-2.489,-2.041,-2.666,-1.228, PHS=-1.173,-0.766,-1.441, RAW= 353.2,  63.8, CAL= 350.4,  64.4, ROT= 159.6, -64.4

2025-06-08T00:15:25.772Z,1749341725.772 [DAT](INFO): DAT read: Bearing 159.6, -64.4 (Local)

2025-06-08T00:15:25.773Z,1749341725.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.6, -64.4 (Local)

2025-06-08T00:15:25.774Z,1749341725.774 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:15:25.775Z,1749341725.775 [DAT](INFO): DAT read: user:2182>

2025-06-08T00:15:25.780Z,1749341725.780 [DAT](INFO): DAT read: Tx time:00:15:25.5372

2025-06-08T00:15:25.780Z,1749341725.780 [DAT](INFO): Ping request sent.
2025-06-08T00:15:25.780Z,1749341725.780 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:25.780Z,1749341725.780 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-08T00:15:25.781Z,1749341725.781 [DAT](INFO): direction in FSK: [-0.404986,0.150613,0.901833]
2025-06-08T00:15:25.782Z,1749341725.782 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:25.782Z,1749341725.782 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:25.793Z,1749341725.793 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:25.793Z,1749341725.793 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:26.008Z,1749341726.008 [DAT](INFO): DAT read: TxSync time:00:15:25.5364

2025-06-08T00:15:28.788Z,1749341728.788 [DAT](INFO): DAT read: Rx Time:00:15:27.9448

2025-06-08T00:15:28.789Z,1749341728.789 [DAT](INFO): Rx dataTimestamp_ set to:1749341728.788497
2025-06-08T00:15:29.300Z,1749341729.300 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:29.301Z,1749341729.301 [DAT](INFO): DAT read: user:2183>

2025-06-08T00:15:29.302Z,1749341729.302 [DAT](INFO): DAT read: Tx time:00:15:29.0372

2025-06-08T00:15:29.302Z,1749341729.302 [DAT](INFO): Ping request sent.
2025-06-08T00:15:29.302Z,1749341729.302 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:29.303Z,1749341729.303 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-08T00:15:29.303Z,1749341729.303 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:29.305Z,1749341729.305 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:29.544Z,1749341729.544 [DAT](INFO): DAT read: TxSync time:00:15:29.0364

2025-06-08T00:15:31.776Z,1749341731.776 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-06-08T00:10:31.5Z
2025-06-08T00:15:31.776Z,1749341731.776 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-08T00:15:31.776Z,1749341731.776 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-06-08T00:15:31.776Z,1749341731.776 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-08T00:15:31.777Z,1749341731.777 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-06-08T00:15:32.137Z,1749341732.137 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-06-08T00:15:32.137Z,1749341732.137 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-08T00:15:32.137Z,1749341732.137 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-06-08T00:15:32.137Z,1749341732.137 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-06-08T00:15:32.138Z,1749341732.138 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-06-08T00:15:32.138Z,1749341732.138 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-06-08T00:15:32.147Z,1749341732.147 [DockingStepper](INFO): Pause
2025-06-08T00:15:32.316Z,1749341732.316 [DAT](INFO): DAT read: Rx Time:00:15:31.4449

2025-06-08T00:15:32.317Z,1749341732.317 [DAT](INFO): Rx dataTimestamp_ set to:1749341732.316548
2025-06-08T00:15:32.533Z,1749341732.533 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-06-08T00:15:32.534Z,1749341732.534 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-06-08T00:15:32.534Z,1749341732.534 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-06-08T00:15:32.534Z,1749341732.534 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-06-08T00:15:32.534Z,1749341732.534 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-08T00:15:32.534Z,1749341732.534 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-06-08T00:15:32.534Z,1749341732.534 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-06-08T00:15:32.534Z,1749341732.534 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-06-08T00:15:32.534Z,1749341732.534 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-06-08T00:15:32.535Z,1749341732.535 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-06-08T00:15:32.826Z,1749341732.826 [DAT](INFO): DAT read: 00:15:31.4449 LVL= 11856, 17969, 15426, 14611, AGC= 49, IDX= 447, 0.28, 2.423, 2.214, 1.575, 2.980, PHS=-0.469,-0.720,-1.408, RAW=  44.9,  47.5, CAL=  42.0,  52.5, ROT= 108.0, -52.5

2025-06-08T00:15:32.827Z,1749341732.827 [DAT](INFO): got valid direction response:
 00:15:31.4449 LVL= 11856, 17969, 15426, 14611, AGC= 49, IDX= 447, 0.28, 2.423, 2.214, 1.575, 2.980, PHS=-0.469,-0.720,-1.408, RAW=  44.9,  47.5, CAL=  42.0,  52.5, ROT= 108.0, -52.5

2025-06-08T00:15:32.828Z,1749341732.828 [DAT](INFO): DAT read: Bearing 108.0, -52.5 (Local)

2025-06-08T00:15:32.829Z,1749341732.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.0, -52.5 (Local)

2025-06-08T00:15:32.830Z,1749341732.830 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:32.831Z,1749341732.831 [DAT](INFO): DAT read: user:2184>

2025-06-08T00:15:32.832Z,1749341732.832 [DAT](INFO): DAT read: Tx time:00:15:32.5373

2025-06-08T00:15:32.832Z,1749341732.832 [DAT](INFO): Ping request sent.
2025-06-08T00:15:32.832Z,1749341732.832 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:32.832Z,1749341732.832 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-08T00:15:32.833Z,1749341732.833 [DAT](INFO): direction in FSK: [-0.188118,0.578967,0.793353]
2025-06-08T00:15:32.834Z,1749341732.834 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:32.834Z,1749341732.834 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:32.837Z,1749341732.837 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:32.837Z,1749341732.837 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:33.013Z,1749341733.013 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-06-08T00:15:33.014Z,1749341733.014 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-06-08T00:15:33.015Z,1749341733.015 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-06-08T00:15:33.015Z,1749341733.015 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-06-08T00:15:33.015Z,1749341733.015 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-06-08T00:15:33.015Z,1749341733.015 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-06-08T00:15:33.019Z,1749341733.019 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-06-08T00:15:33.072Z,1749341733.072 [DAT](INFO): DAT read: TxSync time:00:15:32.5365

2025-06-08T00:15:33.347Z,1749341733.347 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-08T00:15:33.348Z,1749341733.348 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-08T00:15:33.349Z,1749341733.349 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-06-08T00:15:33.349Z,1749341733.349 [lineCaptureHoming:Lap] Stopped
2025-06-08T00:15:33.349Z,1749341733.349 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-08T00:15:33.357Z,1749341733.357 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-06-08T00:15:33.358Z,1749341733.358 [MissionManager](INFO): lineCaptureHoming is completed.
2025-06-08T00:15:33.358Z,1749341733.358 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-08T00:15:33.358Z,1749341733.358 [lineCaptureHoming] Stopped
2025-06-08T00:15:33.358Z,1749341733.358 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-08T00:15:33.358Z,1749341733.358 [lineCaptureHoming:Science] Stopped
2025-06-08T00:15:33.358Z,1749341733.358 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-08T00:15:33.358Z,1749341733.358 [lineCaptureHoming:Science:B] Stopped
2025-06-08T00:15:33.358Z,1749341733.358 [lineCaptureHoming:Science:C] Stopped
2025-06-08T00:15:33.358Z,1749341733.358 [lineCaptureHoming:Science:E] Stopped
2025-06-08T00:15:33.358Z,1749341733.358 [lineCaptureHoming:Science:F] Stopped
2025-06-08T00:15:33.359Z,1749341733.359 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-08T00:15:33.359Z,1749341733.359 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-08T00:15:33.359Z,1749341733.359 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-08T00:15:33.359Z,1749341733.359 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-08T00:15:33.379Z,1749341733.379 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-08T00:15:33.379Z,1749341733.379 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-08T00:15:33.379Z,1749341733.379 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-08T00:15:33.379Z,1749341733.379 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-08T00:15:33.379Z,1749341733.379 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-08T00:15:33.380Z,1749341733.380 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-08T00:15:33.380Z,1749341733.380 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-08T00:15:33.380Z,1749341733.380 [lineCaptureHoming:TrackAC.] Stopped
2025-06-08T00:15:33.380Z,1749341733.380 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-08T00:15:33.409Z,1749341733.409 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-06-08T00:15:33.657Z,1749341733.657 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-08T00:15:33.658Z,1749341733.658 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-08T00:15:33.674Z,1749341733.674 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-08T00:15:33.816Z,1749341733.816 [WetLabsBB2FL](INFO): Powering down
2025-06-08T00:15:35.844Z,1749341735.844 [DAT](INFO): DAT read: Rx Time:00:15:34.9450

2025-06-08T00:15:35.845Z,1749341735.845 [DAT](INFO): Rx dataTimestamp_ set to:1749341735.844439
2025-06-08T00:15:36.354Z,1749341736.354 [DAT](INFO): DAT read: 00:15:34.9450 LVL= 10896, 19105, 14802, 16627, AGC= 49, IDX= 448, 0.14,-1.173,-0.661,-0.930, 0.463, PHS=-1.549,-1.078,-1.397, RAW= 311.6,  73.7, CAL= 314.0,  73.7, ROT= 196.0, -73.7

2025-06-08T00:15:36.355Z,1749341736.355 [DAT](INFO): got valid direction response:
 00:15:34.9450 LVL= 10896, 19105, 14802, 16627, AGC= 49, IDX= 448, 0.14,-1.173,-0.661,-0.930, 0.463, PHS=-1.549,-1.078,-1.397, RAW= 311.6,  73.7, CAL= 314.0,  73.7, ROT= 196.0, -73.7

2025-06-08T00:15:36.356Z,1749341736.356 [DAT](INFO): DAT read: Bearing 196.0, -73.7 (Local)

2025-06-08T00:15:36.357Z,1749341736.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.0, -73.7 (Local)

2025-06-08T00:15:36.358Z,1749341736.358 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-06-08T00:15:36.359Z,1749341736.359 [DAT](INFO): DAT read: user:2185>

2025-06-08T00:15:36.360Z,1749341736.360 [DAT](INFO): DAT read: Tx time:00:15:36.0373

2025-06-08T00:15:36.360Z,1749341736.360 [DAT](INFO): Ping request sent.
2025-06-08T00:15:36.360Z,1749341736.360 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:36.360Z,1749341736.360 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-08T00:15:36.361Z,1749341736.361 [DAT](INFO): direction in FSK: [-0.269794,-0.077362,0.959805]
2025-06-08T00:15:36.362Z,1749341736.362 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:36.362Z,1749341736.362 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:36.365Z,1749341736.365 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:36.365Z,1749341736.365 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:36.601Z,1749341736.601 [DAT](INFO): DAT read: TxSync time:00:15:36.0365

2025-06-08T00:15:38.489Z,1749341738.489 [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>

2025-06-08T00:15:38.494Z,1749341738.494 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-08T00:15:38.497Z,1749341738.497 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-08T00:15:38.500Z,1749341738.500 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-08T00:15:38.502Z,1749341738.502 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-08T00:15:38.504Z,1749341738.504 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-08T00:15:38.506Z,1749341738.506 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-08T00:15:38.537Z,1749341738.537 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-08T00:15:38.544Z,1749341738.544 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-08T00:15:38.546Z,1749341738.546 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-08T00:15:38.556Z,1749341738.556 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-08T00:15:38.559Z,1749341738.559 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-08T00:15:38.573Z,1749341738.573 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-08T00:15:38.580Z,1749341738.580 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-08T00:15:38.580Z,1749341738.580 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-08T00:15:38.580Z,1749341738.580 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-08T00:15:38.581Z,1749341738.581 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-08T00:15:38.702Z,1749341738.702 [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>

2025-06-08T00:15:38.710Z,1749341738.710 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-08T00:15:38.716Z,1749341738.716 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-08T00:15:38.719Z,1749341738.719 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-08T00:15:38.758Z,1749341738.758 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-08T00:15:38.760Z,1749341738.760 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-08T00:15:38.786Z,1749341738.786 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-08T00:15:38.797Z,1749341738.797 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-08T00:15:38.841Z,1749341738.841 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-08T00:15:38.841Z,1749341738.841 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-08T00:15:38.851Z,1749341738.851 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-08T00:15:38.908Z,1749341738.908 [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>

2025-06-08T00:15:38.911Z,1749341738.911 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-08T00:15:38.913Z,1749341738.913 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-08T00:15:38.916Z,1749341738.916 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-08T00:15:38.916Z,1749341738.916 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-08T00:15:38.917Z,1749341738.917 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-08T00:15:39.032Z,1749341739.032 [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>

2025-06-08T00:15:39.036Z,1749341739.036 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-08T00:15:39.038Z,1749341739.038 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-08T00:15:39.040Z,1749341739.040 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-08T00:15:39.042Z,1749341739.042 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-08T00:15:39.044Z,1749341739.044 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-08T00:15:39.120Z,1749341739.120 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-08T00:15:39.128Z,1749341739.128 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-08T00:15:39.136Z,1749341739.136 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-08T00:15:39.136Z,1749341739.136 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-08T00:15:39.145Z,1749341739.145 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-08T00:15:39.372Z,1749341739.372 [DAT](INFO): DAT read: Rx Time:00:15:38.4449

2025-06-08T00:15:39.373Z,1749341739.373 [DAT](INFO): Rx dataTimestamp_ set to:1749341739.372445
2025-06-08T00:15:39.928Z,1749341739.928 [DAT](INFO): DAT read: 00:15:38.4449 LVL= 10672, 19233, 14578, 22707, AGC= 49, IDX= 448,-0.23,-3.102,-2.401, 3.132,-1.718, PHS=-1.296,-0.636,-1.436, RAW= 339.4,  58.1, CAL= 338.7,  58.1, ROT= 171.3, -58.1

2025-06-08T00:15:39.929Z,1749341739.929 [DAT](INFO): got valid direction response:
 00:15:38.4449 LVL= 10672, 19233, 14578, 22707, AGC= 49, IDX= 448,-0.23,-3.102,-2.401, 3.132,-1.718, PHS=-1.296,-0.636,-1.436, RAW= 339.4,  58.1, CAL= 338.7,  58.1, ROT= 171.3, -58.1

2025-06-08T00:15:39.930Z,1749341739.930 [DAT](INFO): DAT read: Bearing 171.3, -58.1 (Local)

2025-06-08T00:15:39.930Z,1749341739.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.3, -58.1 (Local)

2025-06-08T00:15:39.944Z,1749341739.944 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:39.945Z,1749341739.945 [DAT](INFO): DAT read: user:2186>

2025-06-08T00:15:39.946Z,1749341739.946 [DAT](INFO): DAT read: Tx time:00:15:39.5373

2025-06-08T00:15:39.946Z,1749341739.946 [DAT](INFO): Ping request sent.
2025-06-08T00:15:39.946Z,1749341739.946 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:39.947Z,1749341739.947 [DAT](INFO): DAT read: TxSync time:00:15:39.5365

2025-06-08T00:15:39.956Z,1749341739.956 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-06-08T00:15:39.957Z,1749341739.957 [DAT](INFO): direction in FSK: [-0.522358,0.079932,0.848972]
2025-06-08T00:15:39.957Z,1749341739.957 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:39.957Z,1749341739.957 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:39.997Z,1749341739.997 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:39.997Z,1749341739.997 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:42.648Z,1749341742.648 [DAT](INFO): DAT read: Rx Time:00:15:41.9449

2025-06-08T00:15:42.649Z,1749341742.649 [DAT](INFO): Rx dataTimestamp_ set to:1749341742.648676
2025-06-08T00:15:43.401Z,1749341743.401 [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>

2025-06-08T00:15:43.410Z,1749341743.410 [DAT](INFO): DAT read: 00:15:41.9449 LVL=  9840, 12529, 13154, 15091, AGC= 47, IDX= 448, 0.31,-2.178,-0.472,-1.480,-0.101, PHS=-1.989,-0.324,-1.382, RAW= 308.9,  41.8, CAL= 315.8,  41.6, ROT= 194.2, -41.6

2025-06-08T00:15:43.412Z,1749341743.412 [DAT](INFO): got valid direction response:
 00:15:41.9449 LVL=  9840, 12529, 13154, 15091, AGC= 47, IDX= 448, 0.31,-2.178,-0.472,-1.480,-0.101, PHS=-1.989,-0.324,-1.382, RAW= 308.9,  41.8, CAL= 315.8,  41.6, ROT= 194.2, -41.6

2025-06-08T00:15:43.413Z,1749341743.413 [DAT](INFO): DAT read: Bearing 194.2, -41.6 (Local)

2025-06-08T00:15:43.413Z,1749341743.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.2, -41.6 (Local)

2025-06-08T00:15:43.415Z,1749341743.415 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:43.428Z,1749341743.428 [DAT](INFO): DAT read: user:2187>

2025-06-08T00:15:43.429Z,1749341743.429 [DAT](INFO): DAT read: Tx time:00:15:43.0373

2025-06-08T00:15:43.429Z,1749341743.429 [DAT](INFO): Ping request sent.
2025-06-08T00:15:43.429Z,1749341743.429 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:43.430Z,1749341743.430 [DAT](INFO): DAT read: TxSync time:00:15:43.0365

2025-06-08T00:15:43.431Z,1749341743.431 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-08T00:15:43.432Z,1749341743.432 [DAT](INFO): direction in FSK: [-0.724949,-0.183440,0.663926]
2025-06-08T00:15:43.432Z,1749341743.432 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:43.432Z,1749341743.432 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:43.464Z,1749341743.464 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:43.464Z,1749341743.464 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:43.585Z,1749341743.585 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-08T00:15:43.586Z,1749341743.586 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-08T00:15:43.599Z,1749341743.599 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-08T00:15:43.609Z,1749341743.609 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-08T00:15:43.611Z,1749341743.611 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-08T00:15:43.617Z,1749341743.617 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-08T00:15:43.635Z,1749341743.635 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-08T00:15:43.637Z,1749341743.637 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-08T00:15:43.644Z,1749341743.644 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-08T00:15:43.646Z,1749341743.646 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-08T00:15:43.651Z,1749341743.651 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-08T00:15:43.665Z,1749341743.665 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-08T00:15:43.667Z,1749341743.667 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-08T00:15:43.677Z,1749341743.677 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-08T00:15:43.679Z,1749341743.679 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-08T00:15:43.681Z,1749341743.681 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-08T00:15:43.687Z,1749341743.687 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-08T00:15:43.692Z,1749341743.692 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-08T00:15:43.694Z,1749341743.694 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-08T00:15:43.697Z,1749341743.697 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-08T00:15:43.699Z,1749341743.699 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-08T00:15:43.705Z,1749341743.705 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-08T00:15:43.711Z,1749341743.711 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-08T00:15:43.714Z,1749341743.714 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-08T00:15:43.720Z,1749341743.720 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-08T00:15:43.723Z,1749341743.723 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-08T00:15:43.733Z,1749341743.733 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-08T00:15:43.747Z,1749341743.747 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-08T00:15:43.750Z,1749341743.750 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-08T00:15:43.761Z,1749341743.761 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-08T00:15:43.763Z,1749341743.763 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-08T00:15:43.769Z,1749341743.769 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-08T00:15:43.776Z,1749341743.776 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-08T00:15:43.778Z,1749341743.778 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-08T00:15:43.784Z,1749341743.784 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-08T00:15:43.787Z,1749341743.787 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-08T00:15:43.793Z,1749341743.793 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-08T00:15:43.799Z,1749341743.799 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-08T00:15:43.801Z,1749341743.801 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-08T00:15:43.804Z,1749341743.804 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-08T00:15:43.806Z,1749341743.806 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-08T00:15:43.820Z,1749341743.820 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-08T00:15:43.823Z,1749341743.823 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-08T00:15:43.829Z,1749341743.829 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-08T00:15:43.839Z,1749341743.839 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-08T00:15:43.842Z,1749341743.842 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-08T00:15:43.848Z,1749341743.848 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-08T00:15:43.850Z,1749341743.850 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-08T00:15:43.857Z,1749341743.857 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-08T00:15:43.860Z,1749341743.860 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-08T00:15:43.872Z,1749341743.872 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-08T00:15:43.874Z,1749341743.874 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-08T00:15:43.892Z,1749341743.892 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-08T00:15:43.956Z,1749341743.956 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-08T00:15:43.958Z,1749341743.958 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-08T00:15:43.977Z,1749341743.977 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-08T00:15:43.988Z,1749341743.988 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-08T00:15:43.990Z,1749341743.990 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-08T00:15:44.001Z,1749341744.001 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-08T00:15:44.011Z,1749341744.011 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-08T00:15:44.014Z,1749341744.014 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-08T00:15:44.021Z,1749341744.021 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-08T00:15:44.056Z,1749341744.056 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-08T00:15:44.058Z,1749341744.058 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-08T00:15:44.065Z,1749341744.065 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-08T00:15:44.072Z,1749341744.072 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-08T00:15:44.075Z,1749341744.075 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-08T00:15:44.097Z,1749341744.097 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-08T00:15:44.101Z,1749341744.101 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-08T00:15:44.103Z,1749341744.103 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-08T00:15:44.113Z,1749341744.113 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-08T00:15:44.120Z,1749341744.120 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-08T00:15:44.122Z,1749341744.122 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-08T00:15:44.129Z,1749341744.129 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-08T00:15:44.136Z,1749341744.136 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-08T00:15:44.139Z,1749341744.139 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-08T00:15:44.153Z,1749341744.153 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-08T00:15:44.163Z,1749341744.163 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-08T00:15:44.166Z,1749341744.166 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-08T00:15:44.168Z,1749341744.168 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-08T00:15:44.170Z,1749341744.170 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-08T00:15:44.188Z,1749341744.188 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-08T00:15:44.191Z,1749341744.191 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-08T00:15:44.209Z,1749341744.209 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-08T00:15:44.215Z,1749341744.215 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-08T00:15:44.221Z,1749341744.221 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-08T00:15:44.223Z,1749341744.223 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-08T00:15:44.225Z,1749341744.225 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-08T00:15:44.232Z,1749341744.232 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-08T00:15:44.234Z,1749341744.234 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-08T00:15:44.241Z,1749341744.241 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-08T00:15:44.247Z,1749341744.247 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-08T00:15:44.250Z,1749341744.250 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-08T00:15:44.256Z,1749341744.256 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-08T00:15:44.259Z,1749341744.259 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-08T00:15:44.277Z,1749341744.277 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-08T00:15:44.284Z,1749341744.284 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-08T00:15:44.286Z,1749341744.286 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-08T00:15:44.316Z,1749341744.316 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-08T00:15:44.319Z,1749341744.319 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-08T00:15:44.325Z,1749341744.325 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-08T00:15:44.364Z,1749341744.364 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-08T00:15:44.367Z,1749341744.367 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-08T00:15:44.373Z,1749341744.373 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-08T00:15:44.384Z,1749341744.384 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-08T00:15:44.386Z,1749341744.386 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-08T00:15:44.397Z,1749341744.397 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-08T00:15:44.408Z,1749341744.408 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-08T00:15:44.410Z,1749341744.410 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-08T00:15:44.421Z,1749341744.421 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-08T00:15:44.423Z,1749341744.423 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-08T00:15:44.425Z,1749341744.425 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-08T00:15:44.444Z,1749341744.444 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-08T00:15:44.447Z,1749341744.447 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-08T00:15:44.457Z,1749341744.457 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-08T00:15:44.464Z,1749341744.464 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-08T00:15:44.466Z,1749341744.466 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-08T00:15:44.473Z,1749341744.473 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-08T00:15:44.477Z,1749341744.477 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-08T00:15:44.492Z,1749341744.492 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-08T00:15:44.494Z,1749341744.494 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-08T00:15:44.501Z,1749341744.501 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-08T00:15:44.507Z,1749341744.507 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-08T00:15:44.512Z,1749341744.512 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-08T00:15:44.515Z,1749341744.515 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-08T00:15:44.517Z,1749341744.517 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-08T00:15:44.524Z,1749341744.524 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-08T00:15:44.526Z,1749341744.526 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-08T00:15:44.529Z,1749341744.529 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-08T00:15:44.539Z,1749341744.539 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-08T00:15:44.541Z,1749341744.541 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-08T00:15:44.552Z,1749341744.552 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-08T00:15:44.590Z,1749341744.590 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:44.630Z,1749341744.630 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-08T00:15:44.692Z,1749341744.692 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-08T00:15:44.767Z,1749341744.767 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:44.802Z,1749341744.802 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:44.837Z,1749341744.837 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-08T00:15:44.875Z,1749341744.875 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:44.903Z,1749341744.903 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:44.987Z,1749341744.987 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-08T00:15:45.005Z,1749341745.005 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:45.039Z,1749341745.039 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-08T00:15:45.097Z,1749341745.097 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:45.121Z,1749341745.121 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-08T00:15:45.226Z,1749341745.226 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:45.271Z,1749341745.271 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-08T00:15:45.334Z,1749341745.334 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-08T00:15:45.362Z,1749341745.362 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-08T00:15:45.428Z,1749341745.428 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-08T00:15:45.504Z,1749341745.504 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-08T00:15:45.507Z,1749341745.507 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-08T00:15:45.513Z,1749341745.513 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-08T00:15:45.514Z,1749341745.514 [OnDock:N.Docked](DEBUG): Construct.
2025-06-08T00:15:45.514Z,1749341745.514 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-08T00:15:45.573Z,1749341745.573 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-08T00:15:45.573Z,1749341745.573 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-08T00:15:45.709Z,1749341745.709 [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
    }
  }
}


2025-06-08T00:15:45.709Z,1749341745.709 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-06-08T00:15:46.080Z,1749341746.080 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-08T00:15:46.081Z,1749341746.081 [DefaultWithUndock] Running Loop=1
2025-06-08T00:15:46.081Z,1749341746.081 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-08T00:15:46.081Z,1749341746.081 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-08T00:15:46.081Z,1749341746.081 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-08T00:15:46.176Z,1749341746.176 [DAT](INFO): DAT read: Rx Time:00:15:45.4450

2025-06-08T00:15:46.177Z,1749341746.177 [DAT](INFO): Rx dataTimestamp_ set to:1749341746.176592
2025-06-08T00:15:46.684Z,1749341746.684 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:46.685Z,1749341746.685 [DAT](INFO): DAT read: user:2188>

2025-06-08T00:15:46.686Z,1749341746.686 [DAT](INFO): DAT read: Tx time:00:15:46.5374

2025-06-08T00:15:46.686Z,1749341746.686 [DAT](INFO): Ping request sent.
2025-06-08T00:15:46.686Z,1749341746.686 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:46.686Z,1749341746.686 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-06-08T00:15:46.686Z,1749341746.686 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:46.687Z,1749341746.687 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:46.932Z,1749341746.932 [DAT](INFO): DAT read: TxSync time:00:15:46.5366

2025-06-08T00:15:49.704Z,1749341749.704 [DAT](INFO): DAT read: Rx Time:00:15:48.9450

2025-06-08T00:15:49.705Z,1749341749.705 [DAT](INFO): Rx dataTimestamp_ set to:1749341749.704659
2025-06-08T00:15:50.077Z,1749341750.077 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 3 hour
2025-06-08T00:15:50.077Z,1749341750.077 [CommandExec](IMPORTANT): got command run
2025-06-08T00:15:50.087Z,1749341750.087 [CommandExec](IMPORTANT): Running 
2025-06-08T00:15:50.101Z,1749341750.101 [DefaultWithUndock] Stopped
2025-06-08T00:15:50.101Z,1749341750.101 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-08T00:15:50.101Z,1749341750.101 [DefaultWithUndock:A.Wait] Stopped
2025-06-08T00:15:50.101Z,1749341750.101 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-08T00:15:50.101Z,1749341750.101 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-08T00:15:50.101Z,1749341750.101 [OnDock] Running Loop=1
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-08T00:15:50.102Z,1749341750.102 [OnDock:BackseatDriver] Running Loop=1
2025-06-08T00:15:50.103Z,1749341750.103 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-08T00:15:50.103Z,1749341750.103 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-08T00:15:50.103Z,1749341750.103 [OnDock:PowerOnly] Running Loop=1
2025-06-08T00:15:50.103Z,1749341750.103 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-08T00:15:50.103Z,1749341750.103 [OnDock:PowerOnly:A] Running Loop=1
2025-06-08T00:15:50.103Z,1749341750.103 [OnDock:PowerOnly:B] Running Loop=1
2025-06-08T00:15:50.103Z,1749341750.103 [OnDock:PowerOnly:C] Running Loop=1
2025-06-08T00:15:50.103Z,1749341750.103 [OnDock:PowerOnly:D] Running Loop=1
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:dataRead] Running Loop=1
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:dataRead:A] Running Loop=1
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:science] Running Loop=1
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:science:Science] Running Loop=1
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:science:Science:A] Running Loop=1
2025-06-08T00:15:50.104Z,1749341750.104 [OnDock:science:Science:B] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:C] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:D] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:E] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:F] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-08T00:15:50.105Z,1749341750.105 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-08T00:15:50.106Z,1749341750.106 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-08T00:15:50.106Z,1749341750.106 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-08T00:15:50.106Z,1749341750.106 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-08T00:15:50.106Z,1749341750.106 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-08T00:15:50.106Z,1749341750.106 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-08T00:15:50.106Z,1749341750.106 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-08T00:15:50.107Z,1749341750.107 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-08T00:15:50.107Z,1749341750.107 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-08T00:15:50.107Z,1749341750.107 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-08T00:15:50.107Z,1749341750.107 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-08T00:15:50.107Z,1749341750.107 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-08T00:15:50.107Z,1749341750.107 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-08T00:15:50.107Z,1749341750.107 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-08T00:15:50.108Z,1749341750.108 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-08T00:15:50.108Z,1749341750.108 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-08T00:15:50.108Z,1749341750.108 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-08T00:15:50.108Z,1749341750.108 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-08T00:15:50.108Z,1749341750.108 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-08T00:15:50.108Z,1749341750.108 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-08T00:15:50.108Z,1749341750.108 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-08T00:15:50.108Z,1749341750.108 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-08T00:15:50.109Z,1749341750.109 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-08T00:15:50.109Z,1749341750.109 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-08T00:15:50.109Z,1749341750.109 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-08T00:15:50.109Z,1749341750.109 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-08T00:15:50.109Z,1749341750.109 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-08T00:15:50.109Z,1749341750.109 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-08T00:15:50.110Z,1749341750.110 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-08T00:15:50.111Z,1749341750.111 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-08T00:15:50.111Z,1749341750.111 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-08T00:15:50.111Z,1749341750.111 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-08T00:15:50.111Z,1749341750.111 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-08T00:15:50.111Z,1749341750.111 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-08T00:15:50.112Z,1749341750.112 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-08T00:15:50.113Z,1749341750.113 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-08T00:15:50.113Z,1749341750.113 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-08T00:15:50.113Z,1749341750.113 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-08T00:15:50.113Z,1749341750.113 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-08T00:15:50.113Z,1749341750.113 [OnDock:J.] Running Loop=1
2025-06-08T00:15:50.113Z,1749341750.113 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-08T00:15:50.113Z,1749341750.113 [OnDock:PeriodicCheck] Running Loop=1
2025-06-08T00:15:50.113Z,1749341750.113 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-08T00:15:50.114Z,1749341750.114 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-08T00:15:50.114Z,1749341750.114 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-08T00:15:50.114Z,1749341750.114 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-08T00:15:50.114Z,1749341750.114 [OnDock:B] Running Loop=1
2025-06-08T00:15:50.114Z,1749341750.114 [OnDock:PeriodicCheck] Running Loop=1
2025-06-08T00:15:50.115Z,1749341750.115 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-08T00:15:50.115Z,1749341750.115 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-08T00:15:50.140Z,1749341750.140 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-08T00:15:50.140Z,1749341750.140 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-08T00:15:50.140Z,1749341750.140 [OnDock:J.] Running Loop=1
2025-06-08T00:15:50.140Z,1749341750.140 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:A] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:B] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:C] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:D] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:E] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:F] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:Read_Oil] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-08T00:15:50.141Z,1749341750.141 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-08T00:15:50.142Z,1749341750.142 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-08T00:15:50.143Z,1749341750.143 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-08T00:15:50.143Z,1749341750.143 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-08T00:15:50.143Z,1749341750.143 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-08T00:15:50.143Z,1749341750.143 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-08T00:15:50.143Z,1749341750.143 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-08T00:15:50.147Z,1749341750.147 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-08T00:15:50.148Z,1749341750.148 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-08T00:15:50.148Z,1749341750.148 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-08T00:15:50.148Z,1749341750.148 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-08T00:15:50.148Z,1749341750.148 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-08T00:15:50.149Z,1749341750.149 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-08T00:15:50.149Z,1749341750.149 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-08T00:15:50.149Z,1749341750.149 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-08T00:15:50.149Z,1749341750.149 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-08T00:15:50.149Z,1749341750.149 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-08T00:15:50.150Z,1749341750.150 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-08T00:15:50.150Z,1749341750.150 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-08T00:15:50.150Z,1749341750.150 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-08T00:15:50.150Z,1749341750.150 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-08T00:15:50.150Z,1749341750.150 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-08T00:15:50.151Z,1749341750.151 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-08T00:15:50.151Z,1749341750.151 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-08T00:15:50.155Z,1749341750.155 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-08T00:15:50.156Z,1749341750.156 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-08T00:15:50.156Z,1749341750.156 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-08T00:15:50.156Z,1749341750.156 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-08T00:15:50.156Z,1749341750.156 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-08T00:15:50.157Z,1749341750.157 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-08T00:15:50.157Z,1749341750.157 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-08T00:15:50.157Z,1749341750.157 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-08T00:15:50.157Z,1749341750.157 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-08T00:15:50.157Z,1749341750.157 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-08T00:15:50.158Z,1749341750.158 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-08T00:15:50.158Z,1749341750.158 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-08T00:15:50.158Z,1749341750.158 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-08T00:15:50.158Z,1749341750.158 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-08T00:15:50.159Z,1749341750.159 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-08T00:15:50.159Z,1749341750.159 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-08T00:15:50.159Z,1749341750.159 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-08T00:15:50.164Z,1749341750.164 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-08T00:15:50.164Z,1749341750.164 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-08T00:15:50.164Z,1749341750.164 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-08T00:15:50.164Z,1749341750.164 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-08T00:15:50.165Z,1749341750.165 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-08T00:15:50.165Z,1749341750.165 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-08T00:15:50.165Z,1749341750.165 [OnDock:dataRead] Running Loop=1
2025-06-08T00:15:50.166Z,1749341750.166 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-08T00:15:50.167Z,1749341750.167 [OnDock:PowerOnly] Running Loop=1
2025-06-08T00:15:50.173Z,1749341750.173 [OnDock:PowerOnly:D] Stopped
2025-06-08T00:15:50.173Z,1749341750.173 [OnDock:PowerOnly:C] Stopped
2025-06-08T00:15:50.173Z,1749341750.173 [OnDock:PowerOnly:B] Stopped
2025-06-08T00:15:50.173Z,1749341750.173 [OnDock:PowerOnly:A] Stopped
2025-06-08T00:15:50.173Z,1749341750.173 [OnDock:BackseatDriver] Running Loop=1
2025-06-08T00:15:50.175Z,1749341750.175 [OnDock:B] Stopped
2025-06-08T00:15:50.181Z,1749341750.181 [OnDock:C] Running Loop=1
2025-06-08T00:15:50.181Z,1749341750.181 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-08T00:15:50.181Z,1749341750.181 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-08T00:15:50.182Z,1749341750.182 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-08T00:15:50.183Z,1749341750.183 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-08T00:15:50.198Z,1749341750.198 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-08T00:15:50.260Z,1749341750.260 [DAT](INFO): DAT read: 00:15:48.9450 LVL=  9712, 17905, 16338, 17651, AGC= 49, IDX= 448,-0.42, 1.831, 2.321, 1.616, 3.002, PHS=-1.083,-0.634,-1.389, RAW= 353.8,  59.1, CAL= 350.5,  59.8, ROT= 159.5, -59.8

2025-06-08T00:15:50.262Z,1749341750.262 [DAT](INFO): got valid direction response:
 00:15:48.9450 LVL=  9712, 17905, 16338, 17651, AGC= 49, IDX= 448,-0.42, 1.831, 2.321, 1.616, 3.002, PHS=-1.083,-0.634,-1.389, RAW= 353.8,  59.1, CAL= 350.5,  59.8, ROT= 159.5, -59.8

2025-06-08T00:15:50.263Z,1749341750.263 [DAT](INFO): DAT read: Bearing 159.5, -59.8 (Local)

2025-06-08T00:15:50.264Z,1749341750.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 159.5, -59.8 (Local)

2025-06-08T00:15:50.266Z,1749341750.266 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.0 m/s

2025-06-08T00:15:50.267Z,1749341750.267 [DAT](INFO): DAT read: user:2189>

2025-06-08T00:15:50.269Z,1749341750.269 [DAT](INFO): DAT read: Tx time:00:15:50.0374

2025-06-08T00:15:50.270Z,1749341750.270 [DAT](INFO): Ping request sent.
2025-06-08T00:15:50.270Z,1749341750.270 [DAT](INFO): transmitted an acoustic signal
2025-06-08T00:15:50.270Z,1749341750.270 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-08T00:15:50.292Z,1749341750.292 [DAT](INFO): direction in FSK: [-0.471165,0.176161,0.864275]
2025-06-08T00:15:50.292Z,1749341750.292 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:50.293Z,1749341750.293 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:50.309Z,1749341750.309 [DAT](INFO): publishing transmit ping time
2025-06-08T00:15:50.310Z,1749341750.310 [DAT](INFO): publishing direction and range info
2025-06-08T00:15:50.462Z,1749341750.462 [DAT](INFO): DAT read: TxSync time:00:15:50.0366

2025-06-08T00:15:50.501Z,1749341750.501 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:34689 errors:0 dropped:0 overruns:0 frame:0
            TX packets:54910 errors:0 dropped:0 overruns:0 carrier:0
            collisions:331 txqueuelen:1000 
            RX bytes:13205318 (12.5 Mb)  TX bytes:7345363 (7.0 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:9984 errors:0 dropped:0 overruns:0 frame:0
            TX packets:9984 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:902470 (881.3 Kb)  TX bytes:902470 (881.3 Kb)
  
  
2025-06-08T00:15:50.949Z,1749341750.949 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-08T00:15:50.950Z,1749341750.950 [OnDock:C] Stopped
2025-06-08T00:15:50.951Z,1749341750.951 [OnDock:D] Running Loop=1
2025-06-08T00:15:51.342Z,1749341751.342 [OnDock:D] Stopped
2025-06-08T00:15:51.342Z,1749341751.342 [OnDock:E] Running Loop=1
2025-06-08T00:15:51.703Z,1749341751.703 [OnDock:E] Stopped
2025-06-08T00:15:51.703Z,1749341751.703 [OnDock:K] Running Loop=1
2025-06-08T00:15:52.127Z,1749341752.127 [OnDock:K](IMPORTANT): Restarting logs
2025-06-08T00:15:52.127Z,1749341752.127 [OnDock:K] Stopped
2025-06-08T00:15:52.127Z,1749341752.127 [OnDock:L.Execute] Running Loop=1
2025-06-08T00:15:52.509Z,1749341752.509 [OnDock:L.Execute](INFO): Executing command restart logs
2025-06-08T00:15:52.510Z,1749341752.510 [OnDock:L.Execute] Stopped
2025-06-08T00:15:52.510Z,1749341752.510 [OnDock:N.Docked] Running Loop=1
2025-06-08T00:15:52.510Z,1749341752.510 [OnDock:N.Docked](DEBUG): Initialize.
2025-06-08T00:15:52.510Z,1749341752.510 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.